Merge pull request #2 from commaai/release

Release
8 years ago · 721ed4ec0e
parent 7fe46f1e1d 70be4ceab1
commit 721ed4ec0e
46 changed files with 652 additions and 2029 deletions
--- a/.gitignore
+++ b/.gitignore
@ -3,17 +3,19 @@
 .ipynb_checkpoints
 model2.png
 *.d
 *.pyc
 *.pyo
 .*.swp
 .*.swo
 .*.un~
 *.o
 *.d
 *.so
 *.a
 *.clb
 *.class
 *.pyxbldc
 *.vcd
 config.json
 clcache
--- a/.gitmodules
+++ b/.gitmodules
@ -1,3 +1,6 @@
 [submodule "panda"]
 	path = panda
 	url = https://github.com/commaai/panda.git
 [submodule "opendbc"]
 	path = opendbc
 	url = https://github.com/commaai/opendbc.git
--- a/README.md
+++ b/README.md
@ -7,6 +7,8 @@ Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Ke
 The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
 Hardware
 ------
@ -18,17 +20,20 @@ Supported Cars
 ------
 - Acura ILX 2016 with AcuraWatch Plus
-  - Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
+  - Due to use of the cruise control for gas, it can only be enabled above 25 mph
 - Honda Civic 2016 with Honda Sensing
-  - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
+  - Due to limitations in steering firmware, steering is disabled below 12 mph
 - Honda CR-V Touring 2015-2016 (very alpha!)
  - Can only be enabled above 25 mph
 Directory structure
 ------
 - cereal        -- The messaging spec used for all logs on the phone
 - common        -- Library like functionality we've developed here
- dbcs          -- Files showing how to interpret data from cars
+- opendbc       -- Files showing how to interpret data from cars
 - panda         -- Code used to communicate on CAN and LIN
 - phonelibs     -- Libraries used on the phone
 - selfdrive     -- Code needed to drive the car
@ -66,11 +71,9 @@ More extensive testing infrastructure and simulation environments are coming soo
 Adding Car Support
 ------
-It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
+comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.
 The Honda Accord uses different signaling for the steering and probably requires new hardware.
-Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
+CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.
 User Data / chffr Account / Crash Reporting
 ------
@ -91,7 +94,7 @@ We welcome both pull requests and issues on
 [github](http://github.com/commaai/openpilot). See the TODO file for a list of
 good places to start.
-Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/hiring.html)
+Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)
 Licensing
 ------
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,3 +1,13 @@
 Version 0.3.3  (2017-06-28)
 ===========================
  * Improved model trained on more data
  * Alpha CR-V support thanks to energee and johnnwvs!
  * Using the opendbc project for DBC files
  * Minor performance improvements
  * UI update thanks to pjlao307
  * Power off button
  * 6% more torque on the Civic
 Version 0.3.2  (2017-05-22)
 ===========================
  * Minor stability bugfixes
--- a/apk/com.baseui.apk
+++ b/apk/com.baseui.apk
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@ -145,6 +145,7 @@ struct SensorEventData {
    magnetic @5 :SensorVec;
    orientation @6 :SensorVec;
    gyro @7 :SensorVec;
    pressure @9 :SensorVec;
  }
  source @8 :SensorSource;
@ -297,8 +298,8 @@ struct LiveTracks {
 struct Live100Data {
  canMonoTime @16 :UInt64;
  canMonoTimes @21 :List(UInt64);
-  l20MonoTime @17 :UInt64;
+  l20MonoTimeDEPRECATED @17 :UInt64;
-  mdMonoTime @18 :UInt64;
+  mdMonoTimeDEPRECATED @18 :UInt64;
  vEgo @0 :Float32;
  aEgoDEPRECATED @1 :Float32;
--- a/common/api/init.py
+++ b/common/api/init.py
@ -1,13 +1,15 @@
 import requests
 from selfdrive.version import version
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"
  params['_version'] = "OPENPILOTv0.3"
  headers = {}
  if access_token is not None:
    headers['Authorization'] = "JWT "+access_token
  headers['User-Agent'] = "openpilot-" + version
  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
--- a/common/dbc.py
+++ b/common/dbc.py
@ -1,6 +1,6 @@
 import re
 import bitstring
-from binascii import hexlify
+import struct
 from collections import namedtuple
 def int_or_float(s):
@ -36,6 +36,7 @@ class dbc(object):
    for i in range(0, 64, 8):
      for j in range(7, -1, -1):
        self.bits.append(i+j)
    self.bits_index = dict(zip(self.bits, range(64)))
    for l in self.txt:
      l = l.strip()
@ -102,7 +103,7 @@ class dbc(object):
        if s.is_little_endian:
          ss = s.start_bit
        else:
-          ss = self.bits.index(s.start_bit)
+          ss = self.bits_index[s.start_bit]
        if s.is_signed:
@ -135,9 +136,6 @@ class dbc(object):
        Returns (None, None) if the message could not be decoded.
    """
    def swap_order(d, wsz=4, gsz=2 ):
      return "".join(["".join([m[i:i+gsz] for i in range(wsz-gsz,-gsz,-gsz)]) for m in [d[i:i+wsz] for i in range(0,len(d),wsz)]])
    if arr is None:
      out = {}
    else:
@ -156,6 +154,9 @@ class dbc(object):
    blen = 8*len(x[2])
    st = x[2].rjust(8, '\x00')
    le, be = None, None
    for s in msg[1]:
      if arr is not None and s[0] not in arr:
        continue
@ -163,15 +164,18 @@ class dbc(object):
      # big or little endian?
      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
      if s[3] is False:
-        ss = self.bits.index(s[1])
+        ss = self.bits_index[s[1]]
-        x2_int = int(hexlify(x[2]), 16)
+        if be is None:
          be = struct.unpack(">Q", st)[0]
        x2_int = be
        data_bit_pos = (blen - (ss + s[2]))
      else:
-        x2_int = int(swap_order(hexlify(x[2]), 16, 2), 16)
+        if le is None:
          le = struct.unpack("<Q", st)[0]
        x2_int = le
        ss = s[1]
        data_bit_pos = ss
      if data_bit_pos < 0:
        continue
      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@ -12,6 +12,11 @@ _FINGERPRINTS = {
  },
  "HONDA ACCORD 2016 TOURING": {
    1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
  },
  "HONDA CR-V 2016 TOURING": {
    57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
    # sent messages
    0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
  }
 }
@ -121,8 +126,9 @@ def fingerprint(logcan):
      ret.steerKp, ret.steerKi = 12.0, 1.0
  elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
    ret.steerKp, ret.steerKi = 12.0, 1.0
  elif candidate_cars[0] == "HONDA CR-V 2016 TOURING":
    ret.steerKp, ret.steerKi = 6.0, 0.5
  else:
    raise ValueError("unsupported car %s" % candidate_cars[0])
  return ret
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@ -8,6 +8,14 @@ from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
 def json_handler(obj):
  # if isinstance(obj, (datetime.date, datetime.time)):
  #   return obj.isoformat()
  return repr(obj)
 def json_robust_dumps(obj):
  return json.dumps(obj, default=json_handler)
 class SwagFormatter(logging.Formatter):
  def __init__(self, swaglogger):
    logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
@ -15,12 +23,7 @@ class SwagFormatter(logging.Formatter):
    self.swaglogger = swaglogger
    self.host = socket.gethostname()
-  def json_handler(self, obj):
+  def format_dict(self, record):
    # if isinstance(obj, (datetime.date, datetime.time)):
    #   return obj.isoformat()
    return repr(obj)
  def format(self, record):
    record_dict = OrderedDict()
    if isinstance(record.msg, dict):
@ -50,9 +53,10 @@ class SwagFormatter(logging.Formatter):
    record_dict['threadName'] = record.threadName
    record_dict['created'] = record.created
-    # asctime = self.formatTime(record, self.datefmt)
+    return record_dict
-    return json.dumps(record_dict, default=self.json_handler)
+  def format(self, record):
    return json_robust_dumps(self.format_dict(record))
 _tmpfunc = lambda: 0
 _srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
--- a/common/realtime.py
+++ b/common/realtime.py
@ -1,43 +1,53 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
 import os
 import time
 import ctypes
 import platform
 import threading
 import subprocess
 import multiprocessing
 import os
-from ctypes.util import find_library
+from cffi import FFI
 ffi = FFI()
 ffi.cdef("""
 typedef int clockid_t;
 struct timespec {
    long tv_sec;   /* Seconds.  */
    long tv_nsec;  /* Nanoseconds.  */
 };
 int clock_gettime (clockid_t clk_id, struct timespec *tp);
-CLOCK_MONOTONIC_RAW = 4 # see <linux/time.h>
+long syscall(long number, ...);
 CLOCK_BOOTTIME = 7
-class timespec(ctypes.Structure):
+"""
-  _fields_ = [
+)
-    ('tv_sec', ctypes.c_long),
+libc = ffi.dlopen(None)
    ('tv_nsec', ctypes.c_long),
  ]
-libc_name = find_library('c')
+
-libc = ctypes.CDLL(libc_name, use_errno=True)
+# see <linux/time.h>
 CLOCK_MONOTONIC_RAW = 4
 CLOCK_BOOTTIME = 7
 if hasattr(libc, 'clock_gettime'):
-  libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
+  c_clock_gettime = libc.clock_gettime
  has_clock_gettime = True
 else:
  has_clock_gettime = False
-def clock_gettime(clk_id):
+  tlocal = threading.local()
-  if not has_clock_gettime:
+  def clock_gettime(clk_id):
    if not hasattr(tlocal, 'ts'):
      tlocal.ts = ffi.new('struct timespec *')
    ts = tlocal.ts
    r = c_clock_gettime(clk_id, ts)
    if r != 0:
      raise OSError("clock_gettime")
    return ts.tv_sec + ts.tv_nsec * 1e-9
 else:
  # hack. only for OS X < 10.12
  def clock_gettime(clk_id):
    return time.time()
  t = timespec()
  if libc.clock_gettime(clk_id, ctypes.pointer(t)) != 0:
    errno_ = ctypes.get_errno()
    raise OSError(errno_, os.strerror(errno_))
  return t.tv_sec + t.tv_nsec * 1e-9
 def monotonic_time():
  return clock_gettime(CLOCK_MONOTONIC_RAW)
@ -96,3 +106,6 @@ class Ratekeeper(object):
    self._frame += 1
    self._remaining = remaining
    return lagged
 if __name__ == "__main__":
  print sec_since_boot()
--- a/common/testing.py
+++ b/common/testing.py
@ -0,0 +1,9 @@
 import os
 from nose.tools import nottest
 def phone_only(x):
  if os.path.isfile("/init.qcom.rc"):
    return x
  else:
    return nottest(x)
--- a/dbcs/init.py
+++ b/dbcs/init.py
@ -1,2 +0,0 @@
 import os
 DBC_PATH = os.path.dirname(os.path.abspath(__file__))
--- a/dbcs/acura_ilx_2016_can.dbc
+++ b/dbcs/acura_ilx_2016_can.dbc
@ -1,324 +0,0 @@
 VERSION ""
 NS_ : 
 	NS_DESC_
 	CM_
 	BA_DEF_
 	BA_
 	VAL_
 	CAT_DEF_
 	CAT_
 	FILTER
 	BA_DEF_DEF_
 	EV_DATA_
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
 	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
 	SIG_GROUP_
 	SIG_VALTYPE_
 	SIGTYPE_VALTYPE_
 	BO_TX_BU_
 	BA_DEF_REL_
 	BA_REL_
 	BA_DEF_DEF_REL_
 	BU_SG_REL_
 	BU_EV_REL_
 	BU_BO_REL_
 	SG_MUL_VAL_
 BS_:
 BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX
 BO_ 57 XXX_1: 3 XXX
 BO_ 145 XXX_2: 8 XXX
 SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
 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 : 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|3] ""  EPS
 BO_ 304 GAS_PEDAL2: 8 PCM
 SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
 SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
 BO_ 316 GAS_PEDAL: 8 PCM
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
 BO_ 342 STEERING_SENSORS: 6 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
 SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s"  NEO
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
 BO_ 344 POWERTRAIN_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 380 POWERTRAIN_DATA2: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
 SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
 SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
 SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 398 XXX_3: 3 XXX
 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
 SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 419 GEARBOX: 8 PCM
 SG_ GEAR : 7|8@0+ (1,0) [0|256] ""  NEO
 SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] ""  NEO
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 422 SCM_BUTTONS: 8 SCM
 SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
 SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
 SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
 SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 428 XXX_4: 8 XXX
 BO_ 432 STANDSTILL: 7 VSA
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
 SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 476 XXX_5: 4 XXX
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
 SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_BOH3 : 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_BOH4 : 31|8@0+ (1,0) [0|1] ""  EBCM
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_BOH5 : 38|7@0+ (1,0) [0|1] ""  EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
 SG_ CRUISE_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] ""  EBCM
 SG_ CRUISE_BOH7 : 41|10@0+ (1,0) [0|0] ""  EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
 BO_ 512 GAS_COMMAND: 3 NEO
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] ""  INTERCEPTOR
 SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
 SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
 BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] ""  NEO
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] ""  NEO
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
 BO_ 542 XXX_6: 7 XXX
 BO_ 545 XXX_7: 4 XXX
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
 SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
 BO_ 660 SCM_COMMANDS: 8 SCM
 SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] ""  NEO
 BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
 SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 777 XXX_8: 8 XXX
 BO_ 780 ACC_HUD: 8 ADAS
 SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
 SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
 SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  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_ BOH_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_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] ""  BDY
 SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] ""  BDY
 SG_ BOH_3 : 43|1@0+ (1,0) [0|3] ""  BDY
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] ""  BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] ""  BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] ""  BDY
 SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] ""  BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 BO_ 800 XXX_9: 8 XXX
 BO_ 804 CRUISE: 8 PCM
 SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
 SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
 SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
 SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
 SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
 SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 808 XXX_10: 8 XXX
 BO_ 819 XXX_11: 7 XXX
 BO_ 821 XXX_12: 5 XXX
 BO_ 829 LKAS_HUD_2: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  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|3] ""  BDY
 BO_ 882 XXX_13: 2 XXX
 BO_ 884 XXX_14: 7 XXX
 BO_ 887 XXX_15: 8 XXX
 BO_ 888 XXX_16: 8 XXX
 BO_ 892 XXX_17: 8 XXX
 BO_ 923 XXX_18: 2 XXX
 BO_ 929 XXX_19: 4 XXX
 BO_ 983 XXX_20: 8 XXX
 BO_ 985 XXX_21: 3 XXX
 BO_ 1024 XXX_22: 5 XXX
 BO_ 1027 XXX_23: 5 XXX
 BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 1030 XXX_24: 5 VSA
 BO_ 1034 XXX_25: 5 XXX
 BO_ 1036 XXX_26: 8 XXX
 BO_ 1039 XXX_27: 8 XXX
 BO_ 1057 XXX_28: 5 EPS
 BO_ 1064 XXX_29: 7 XXX
 BO_ 1108 XXX_30: 8 XXX
 BO_ 1365 XXX_31: 5 XXX
 BO_ 1600 XXX_32: 5 XXX
 BO_ 1601 XXX_33: 8 XXX
 BO_TX_BU_ 228 : NEO,ADAS;
 BO_TX_BU_ 506 : NEO,ADAS;
 BO_TX_BU_ 780 : NEO,ADAS;
 BO_TX_BU_ 829 : NEO,ADAS;
 CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
 CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/dbcs/acura_ilx_2016_nidec.dbc
+++ b/dbcs/acura_ilx_2016_nidec.dbc
@ -1,183 +0,0 @@
 VERSION ""
 NS_ : 
 	NS_DESC_
 	CM_
 	BA_DEF_
 	BA_
 	VAL_
 	CAT_DEF_
 	CAT_
 	FILTER
 	BA_DEF_DEF_
 	EV_DATA_
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
 	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
 	SIG_GROUP_
 	SIG_VALTYPE_
 	SIGTYPE_VALTYPE_
 	BO_TX_BU_
 	BA_DEF_REL_
 	BA_REL_
 	BA_DEF_DEF_REL_
 	BU_SG_REL_
 	BU_EV_REL_
 	BU_BO_REL_
 	SG_MUL_VAL_
 BS_:
 BU_: ADAS RADAR NEO XXX
 BO_ 768 VEHICLE_STATE: 8 ADAS
 SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX
 SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX
 BO_ 769 VEHICLE_STATE2: 8 ADAS
 SG_ SET_ME_0F18510 : 7|28@0+ (1,0) [0|268435455] "" Vector__XXX
 SG_ SET_ME_25A0000 : 27|28@0+ (1,0) [0|268435455] "" Vector__XXX
 BO_ 1024 XXX_100: 8 RADAR
 BO_ 1040 XXX_101: 8 RADAR
 BO_ 1041 XXX_102: 8 RADAR
 BO_ 1042 XXX_103: 8 RADAR
 BO_ 1043 XXX_104: 8 RADAR
 BO_ 1044 XXX_105: 8 RADAR
 BO_ 1045 XXX_106: 8 RADAR
 BO_ 1046 XXX_107: 8 RADAR
 BO_ 1047 XXX_108: 8 RADAR
 BO_ 1056 XXX_109: 8 RADAR
 BO_ 1057 XXX_110: 8 RADAR
 BO_ 1058 XXX_111: 8 RADAR
 BO_ 1059 XXX_112: 8 RADAR
 BO_ 1060 XXX_113: 8 RADAR
 BO_ 1072 TRACK_0: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1073 TRACK_1: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1074 TRACK_2: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1075 TRACK_3: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1076 TRACK_4: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1077 TRACK_5: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1078 TRACK_6: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1079 TRACK_7: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1080 TRACK_8: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1081 TRACK_9: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1088 TRACK_10: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1089 TRACK_11: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1090 TRACK_12: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1091 TRACK_13: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1092 TRACK_14: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1093 TRACK_15: 8 RADAR
 SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
 SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
 SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 BO_ 1279 XXX_114: 8 RADAR
 BO_ 1280 XXX_115: 8 RADAR
 BO_ 1296 XXX_116: 8 RADAR
 BO_ 1297 XXX_117: 8 RADAR
 BO_TX_BU_ 768 : NEO,ADAS;
 BO_TX_BU_ 769 : NEO,ADAS;
--- a/dbcs/honda_accord_touring_2016_can.dbc
+++ b/dbcs/honda_accord_touring_2016_can.dbc
@ -1,305 +0,0 @@
 VERSION ""
 NS_ : 
 	NS_DESC_
 	CM_
 	BA_DEF_
 	BA_
 	VAL_
 	CAT_DEF_
 	CAT_
 	FILTER
 	BA_DEF_DEF_
 	EV_DATA_
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
 	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
 	SIG_GROUP_
 	SIG_VALTYPE_
 	SIGTYPE_VALTYPE_
 	BO_TX_BU_
 	BA_DEF_REL_
 	BA_REL_
 	BA_DEF_DEF_REL_
 	BU_SG_REL_
 	BU_EV_REL_
 	BU_BO_REL_
 	SG_MUL_VAL_
 BS_:
 BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
 BO_ 57 XXX_1: 3 XXX
 BO_ 342 STEERING_SENSORS: 6 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
 SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s"  NEO
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
 BO_ 344 POWERTRAIN_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 380 POWERTRAIN_DATA2: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
 SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
 SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
 SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  NEO
 SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] ""  NEO
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 422 SCM_BUTTONS: 8 SCM
 SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
 SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
 SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
 SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 427 XXX_3: 3 VSA
 BO_ 428 XXX_4: 8 XXX
 BO_ 432 STANDSTILL: 7 VSA
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
 SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 450 XXX_5: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
 BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 470 XXX_6: 2 VSA
 BO_ 476 XXX_7: 7 XXX
 BO_ 487 XXX_8: 4 VSA
 SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] ""  NEO
 SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] ""  NEO
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
 BO_ 493 XXX_9: 5 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
 SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_BOH3 : 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
 SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] ""  EBCM
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] ""  EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
 SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
 SG_ FCW : 43|1@0+ (1,0) [0|3] ""  EBCM
 SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] ""  EBCM
 SG_ FCW2 : 40|1@0+ (1,0) [0|0] ""  EBCM
 SG_ ZEROS_BOH4 : 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|3] ""  EBCM
 BO_ 512 GAS_COMMAND: 3 NEO
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
 SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
 SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
 BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
 BO_ 545 XXX_10: 6 XXX
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
 SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
 BO_ 660 SCM_COMMANDS: 8 SCM
 SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] ""  NEO
 BO_ 662 CRUISE_BUTTONS: 4 SCM
 SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
 SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] ""  NEO
 BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
 SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 777 XXX_11: 8 XXX
 BO_ 780 ACC_HUD: 8 ADAS
 SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
 SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
 SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  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_ BOH_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_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 BO_ 795 XXX_12: 8 XXX
 BO_ 800 XXX_13: 8 XXX
 BO_ 804 CRUISE: 8 PCM
 SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
 SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
 SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
 SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
 SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
 SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 808 XXX_14: 8 XXX
 BO_ 829 LKAS_HUD_2: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  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|3] ""  BDY
 BO_ 862 XXX_15: 8 ADAS
 SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] ""  BDY
 BO_ 884 XXX_16: 8 XXX
 BO_ 891 XXX_17: 8 XXX
 BO_ 892 XXX_18: 8 XXX
 BO_ 927 XXX_19: 8 ADAS
 SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] ""  BDY
 SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] ""  BDY
 SG_ ZEROS_BOH2 : 22|1@0+ (1,0) [0|1] ""  BDY
 SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] ""  BDY
 SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] ""  BDY
 SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] ""  BDY
 SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] ""  BDY
 SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] ""  BDY
 SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] ""  BDY
 SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] ""  BDY
 BO_ 929 XXX_20: 8 XXX
 BO_ 985 XXX_21: 3 XXX
 BO_ 1024 XXX_22: 5 XXX
 BO_ 1027 XXX_23: 5 XXX
 BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 1036 XXX_24: 8 XXX
 BO_ 1039 XXX_25: 8 XXX
 BO_ 1108 XXX_26: 8 XXX
 BO_ 1302 XXX_27: 8 XXX
 BO_ 1322 XXX_28: 5 XXX
 BO_ 1361 XXX_29: 5 XXX
 BO_ 1365 XXX_30: 5 XXX
 BO_ 1424 XXX_31: 5 XXX
 BO_ 1600 XXX_32: 5 XXX
 BO_ 1601 XXX_33: 8 XXX
 BO_ 1633 XXX_34: 8 XXX
 BO_TX_BU_ 228 : NEO,ADAS;
 BO_TX_BU_ 506 : NEO,ADAS;
 BO_TX_BU_ 780 : NEO,ADAS;
 BO_TX_BU_ 829 : NEO,ADAS;
 BO_TX_BU_ 862 : NEO,ADAS;
 BO_TX_BU_ 927 : NEO,ADAS;
--- a/dbcs/honda_civic_touring_2016_can.dbc
+++ b/dbcs/honda_civic_touring_2016_can.dbc
@ -1,343 +0,0 @@
 VERSION ""
 NS_ : 
 	NS_DESC_
 	CM_
 	BA_DEF_
 	BA_
 	VAL_
 	CAT_DEF_
 	CAT_
 	FILTER
 	BA_DEF_DEF_
 	EV_DATA_
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
 	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
 	SIG_GROUP_
 	SIG_VALTYPE_
 	SIGTYPE_VALTYPE_
 	BO_TX_BU_
 	BA_DEF_REL_
 	BA_REL_
 	BA_DEF_DEF_REL_
 	BU_SG_REL_
 	BU_EV_REL_
 	BU_BO_REL_
 	SG_MUL_VAL_
 BS_:
 BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
 BO_ 57 XXX_1: 3 XXX
 BO_ 148 XXX_2: 8 XXX
 SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
 SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2"  NEO
 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_ CHECKSUM : 39|4@0+ (1,0) [0|15] ""  EPS
 SG_ COUNTER : 33|2@0+ (1,0) [0|3] ""  EPS
 BO_ 304 GAS_PEDAL2: 8 PCM
 SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
 SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s"  NEO
 SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg"  NEO
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 344 POWERTRAIN_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 380 POWERTRAIN_DATA2: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
 SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
 SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
 SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
 SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  NEO
 SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] ""  NEO
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 427 XXX_3: 3 VSA
 BO_ 428 XXX_4: 8 XXX
 BO_ 432 STANDSTILL: 7 VSA
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
 SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 450 XXX_5: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
 BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 470 XXX_6: 2 VSA
 BO_ 476 XXX_7: 7 XXX
 BO_ 487 XXX_8: 4 VSA
 SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] ""  NEO
 SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] ""  NEO
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
 BO_ 493 XXX_9: 5 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
 SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_BOH3 : 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
 SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] ""  EBCM
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] ""  EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
 SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
 SG_ FCW : 43|1@0+ (1,0) [0|3] ""  EBCM
 SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] ""  EBCM
 SG_ FCW2 : 40|1@0+ (1,0) [0|0] ""  EBCM
 SG_ ZEROS_BOH4 : 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|3] ""  EBCM
 BO_ 512 GAS_COMMAND: 3 NEO
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
 SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
 SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
 BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
 BO_ 545 XXX_10: 6 XXX
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
 SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
 BO_ 662 CRUISE_BUTTONS: 4 SCM
 SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
 SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] ""  NEO
 BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
 SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 777 XXX_11: 8 XXX
 BO_ 780 ACC_HUD: 8 ADAS
 SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s"  BDY
 SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
 SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  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_ BOH_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_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 BO_ 795 XXX_12: 8 XXX
 BO_ 800 XXX_13: 8 XXX
 BO_ 804 CRUISE: 8 PCM
 SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
 SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
 SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
 SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
 SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
 SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 806 SCM_FEEDBACK: 8 SCM
 SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] ""  NEO
 SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] ""  NEO
 SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] ""  NEO
 SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] ""  NEO
 BO_ 808 XXX_14: 8 XXX
 BO_ 829 LKAS_HUD_2: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  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|3] ""  BDY
 BO_ 862 XXX_15: 8 ADAS
 SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] ""  BDY
 BO_ 884 XXX_16: 8 XXX
 BO_ 891 XXX_17: 8 XXX
 BO_ 892 XXX_18: 8 XXX
 BO_ 927 XXX_19: 8 ADAS
 SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] ""  BDY
 SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] ""  BDY
 SG_ ZEROS_BOH2 : 22|1@0+ (1,0) [0|1] ""  BDY
 SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] ""  BDY
 SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] ""  BDY
 SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] ""  BDY
 SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] ""  BDY
 SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] ""  BDY
 SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] ""  BDY
 SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] ""  BDY
 BO_ 929 XXX_20: 8 XXX
 BO_ 985 XXX_21: 3 XXX
 BO_ 1024 XXX_22: 5 XXX
 BO_ 1027 XXX_23: 5 XXX
 BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 1036 XXX_24: 8 XXX
 BO_ 1039 XXX_25: 8 XXX
 BO_ 1108 XXX_26: 8 XXX
 BO_ 1302 XXX_27: 8 XXX
 BO_ 1322 XXX_28: 5 XXX
 BO_ 1361 XXX_29: 5 XXX
 BO_ 1365 XXX_30: 5 XXX
 BO_ 1424 XXX_31: 5 XXX
 BO_ 1600 XXX_32: 5 XXX
 BO_ 1601 XXX_33: 8 XXX
 BO_ 1633 XXX_34: 8 XXX
 BO_TX_BU_ 228 : NEO,ADAS;
 BO_TX_BU_ 506 : NEO,ADAS;
 BO_TX_BU_ 780 : NEO,ADAS;
 BO_TX_BU_ 829 : NEO,ADAS;
 BO_TX_BU_ 862 : NEO,ADAS;
 BO_TX_BU_ 927 : NEO,ADAS;
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
 CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 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_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
--- a/dbcs/honda_crv_2017_can.dbc
+++ b/dbcs/honda_crv_2017_can.dbc
@ -1,303 +0,0 @@
 VERSION ""
 NS_ :
 	NS_DESC_
 	CM_
 	BA_DEF_
 	BA_
 	VAL_
 	CAT_DEF_
 	CAT_
 	FILTER
 	BA_DEF_DEF_
 	EV_DATA_
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
 	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
 	SIG_GROUP_
 	SIG_VALTYPE_
 	SIGTYPE_VALTYPE_
 	BO_TX_BU_
 	BA_DEF_REL_
 	BA_REL_
 	BA_DEF_DEF_REL_
 	BU_SG_REL_
 	BU_EV_REL_
 	BU_BO_REL_
 	SG_MUL_VAL_
 BS_:
 BU_: EBCM NEO CAM RADAR PCM EPS VSA SCM BDY XXX EPB
 BO_ 57 XXX_1: 3 XXX
 BO_ 148 XXX_2: 8 XXX
 BO_ 228 STEERING_CONTROL: 5 NEO
 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_ CHECKSUM : 39|4@0+ (1,0) [0|15] ""  EPS
 SG_ COUNTER : 33|2@0+ (1,0) [0|3] ""  EPS
 BO_ 232 BRAKE_COMMAND: 7 NEO
 SG_ CAR_SPEED : 3|10@0- (1,0)  [1,0]
 SG_ XXX : 8|1@0- (1,0)  [1,0]
 SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" EBCM
 SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  BDY
 BO_ 304 GAS_PEDAL: 8 PCM
 SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
 SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s"  NEO
 SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg"  NEO
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 340 XXX_4: 8 XXX
 BO_ 344 POWERTRAIN_DATA: 8 PCM
 SG_ TRANSMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
 SG_ TRANSMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 380 POWERTRAIN_DATA2: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
 SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
 SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
 SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
 SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
 SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  NEO
 SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] ""  NEO
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 427 XXX_5: 3 VSA
 BO_ 432 STANDSTILL: 7 VSA
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
 SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
 SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 441 XXX_6: 5 VSA
 BO_ 446 XXX_7: 3 VSA
 BO_ 450 XXX_8: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 474 XXX_9: 8 XXX
 BO_ 477 XXX_10: 8 XXX
 BO_ 479 COMPUTER_GAS: 8 NEO
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] "" PCM
 SG_ COMPUTER_GAS_ENABLED : 23|3@0+ (1,0) [0|5] ""  PCM
 SG_ XXX : 20|1@0+ (1,0) [0|1] ""  XXX
 SG_ XXX : 16|1@0+ (1,0) [0|1] ""  XXX
 SG_ XXX : 19|1@0+ (1,0) [0|1] ""  XXX
 SG_ XXX : 31|8@0+ (1,0) [0|255] ""  XXX
 SG_ XXX : 39|3@0+ (1,0) [0|1] ""  XXX
 SG_ XXX : 62|1@0+ (1,0) [0|1] ""  XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 BO_ 490 XXX_12: 8 XXX
 BO_ 495 XXX_13: 8 XXX
 BO_ 545 XXX_14: 6 SCM
 SG_ ECON_ON : 23|1@0+ (1,0) [0|1] ""  XXX
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  BDY
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
 SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
 SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
 BO_ 662 CRUISE_BUTTONS: 4 SCM
 SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
 SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] ""  NEO
 SG_ COUNTER : 31|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 29|4@0+ (1,0) [0|3] ""  BDY
 BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
 SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 BO_ 777 ACC_HUD: 8 PCM
 SG_ CAR_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 BO_ 780 ACC_HUD_2: 8 RADAR
 SG_ ACC_SPEED : 31|8@0+ (1,0) [0|255] "kph"  BDY
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] ""  BDY
 SG_ RDMS_STATE : 28|2 @0+ (1,0) [0|1] ""  BDY
 SG_ CMBS_OFF : 35|1@0+ (1,0) [0|1] ""  BDY
 SG_ CMBS_PROBLEM : 34|1@0+ (1,0) [0|1] ""  BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] ""  BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] ""  BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 BO_ 800 XXX_16: 8 XXX
 BO_ 804 TRIP: 8 PCM
 SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
 SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
 SG_ CAR_SPEED : 39|8@0+ (1,0) [0|255] ""  NEO
 SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
 SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 806 SCM_FEEDBACK: 8 SCM
 SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] ""  NEO
 SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] ""  NEO
 SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] ""  NEO
 SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 BO_ 808 XXX_17: 8 XXX
 BO_ 814 XXX_18: 4 XXX
 BO_ 829 LKAS_HUD: 5 RADAR
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
 SG_ LKAS_ON : 0|1@0+ (1,0) [0|1] ""  BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] ""  BDY
 SG_ LANE_DEPARTURE : 8|1@0+ (1,0) [0|1] ""  BDY
 SG_ SOLID_LANE_LINES : 10|1@0+ (1,0) [0|1] ""  BDY
 SG_ LANE_LINES_ON : 14|1@0+ (1,0) [0|1] ""  BDY
 SG_ RDM_ON : 20|1@0+ (1,0) [0|1] ""  BDY
 SG_ STEERING_REQ_CHIME : 17|2@0+ (1,0) [0|1] ""  BDY
 SG_ RDMS_STATE : 28|2 @0+ (1,0) [0|1] ""  BDY
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  BDY
 BO_ 862 CAMERA_MESSAGES: 8 CAM
 SG_ HEARTBEAT : 7|56@0+ (1,0) [0|127] ""  BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 BO_ 884 XXX_20: 8 XXX
 BO_ 891 XXX_21: 8 XXX
 BO_ 927 RADAR_HUD: 8 RADAR
 SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] ""  BDY
 SG_ XXX : 13|1@0+ (1,0) [0|1] "" BDY
 SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ALERTS : 20|5@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_ 929 XXX_23: 8 XXX
 BO_ 985 XXX_24: 3 XXX
 BO_ 1024 XXX_25: 5 XXX
 BO_ 1027 XXX_26: 5 XXX
 BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
 SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 BO_ 1036 XXX_27: 8 XXX
 BO_ 1039 XXX_28: 8 XXX
 BO_ 1108 XXX_29: 8 XXX
 BO_ 1302 XXX_30: 8 XXX
 BO_ 1322 XXX_31: 5 XXX
 BO_ 1361 XXX_32: 5 XXX
 BO_ 1365 XXX_33: 5 XXX
 BO_ 1424 XXX_34: 5 XXX
 BO_ 1600 XXX_35: 5 XXX
 BO_ 1601 XXX_36: 8 XXX
 BO_ 1618 XXX_37: 5 XXX
 BO_ 1633 XXX_38: 8 XXX
 BO_ 1670 XXX_39: 8 XXX
 BO_TX_BU_ 0xE4 : NEO,RADAR;
 BO_TX_BY_ 0xE8 : NEO,RADAR;
 BO_TX_BU_ 0x1DF : NEO,RADAR;
 BO_TX_BU_ 0x30C : NEO,RADAR;
 BO_TX_BU_ 0x33D : NEO,RADAR;
 BO_TX_BU_ 0x35E : NEO,CAM;
 BO_TX_BU_ 0x39F : NEO,RADAR;
--- a/dbcs/tesla_can.dbc
+++ b/dbcs/tesla_can.dbc
@ -1,405 +0,0 @@
 VERSION ""
 NS_ : 
 	NS_DESC_
 	CM_
 	BA_DEF_
 	BA_
 	VAL_
 	CAT_DEF_
 	CAT_
 	FILTER
 	BA_DEF_DEF_
 	EV_DATA_
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
 	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
 	SIG_GROUP_
 	SIG_VALTYPE_
 	SIGTYPE_VALTYPE_
 	BO_TX_BU_
 	BA_DEF_REL_
 	BA_REL_
 	BA_DEF_DEF_REL_
 	BU_SG_REL_
 	BU_EV_REL_
 	BU_BO_REL_
 	SG_MUL_VAL_
 BS_:
 BU_:
    NEO
    MCU
    GTW
    EPAS
    DI
    ESP
    SBW
    STW
 VAL_TABLE_ StW_AnglHP_Spd 16383 "SNA" ;
 VAL_TABLE_ DI_aebFaultReason 15 "DI_AEB_FAULT_DAS_REQ_DI_UNAVAIL" 14 "DI_AEB_FAULT_ACCEL_REQ_INVALID" 13 "DI_AEB_FAULT_MIN_TIME_BTWN_EVENTS" 12 "DI_AEB_FAULT_ESP_MIA" 11 "DI_AEB_FAULT_ESP_FAULT" 10 "DI_AEB_FAULT_EPB_NOT_PARKED" 9 "DI_AEB_FAULT_ACCEL_OUT_OF_BOUNDS" 8 "DI_AEB_FAULT_PM_REQUEST" 7 "DI_AEB_FAULT_VEL_EST_ABNORMAL" 6 "DI_AEB_FAULT_DAS_SNA" 5 "DI_AEB_FAULT_DAS_CONTROL_MIA" 4 "DI_AEB_FAULT_SPEED_DELTA" 3 "DI_AEB_FAULT_EBR_FAULT" 2 "DI_AEB_FAULT_PM_MIA" 1 "DI_AEB_FAULT_EPB_MIA" 0 "DI_AEB_FAULT_NONE" ;
 VAL_TABLE_ DI_aebLockState 3 "AEB_LOCK_STATE_SNA" 2 "AEB_LOCK_STATE_UNUSED" 1 "AEB_LOCK_STATE_UNLOCKED" 0 "AEB_LOCK_STATE_LOCKED" ;
 VAL_TABLE_ DI_aebSmState 7 "DI_AEB_STATE_FAULT" 6 "DI_AEB_STATE_EXIT" 5 "DI_AEB_STATE_STANDSTILL" 4 "DI_AEB_STATE_STOPPING" 3 "DI_AEB_STATE_ENABLE" 2 "DI_AEB_STATE_ENABLE_INIT" 1 "DI_AEB_STATE_STANDBY" 0 "DI_AEB_STATE_UNAVAILABLE" ;
 VAL_TABLE_ DI_aebState 7 "AEB_CAN_STATE_SNA" 4 "AEB_CAN_STATE_FAULT" 3 "AEB_CAN_STATE_STANDSTILL" 2 "AEB_CAN_STATE_ENABLED" 1 "AEB_CAN_STATE_STANDBY" 0 "AEB_CAN_STATE_UNAVAILABLE" ;
 VAL_TABLE_ DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
 VAL_TABLE_ DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
 VAL_TABLE_ DI_gpoReason 8 "DI_GPO_NUMREASONS" 7 "DI_GPO_CAPACITOR_OVERTEMP" 6 "DI_GPO_NOT_ENOUGH_12V" 5 "DI_GPO_NO_BATTERY_POWER" 4 "DI_GPO_AMBIENT_OVERTEMP" 3 "DI_GPO_FLUID_DELTAT" 2 "DI_GPO_STATOR_OVERTEMP" 1 "DI_GPO_HEATSINK_OVERTEMP" 0 "DI_GPO_OUTLET_OVERTEMP" ;
 VAL_TABLE_ DI_immobilizerCondition 1 "DI_IMM_CONDITION_LEARNED" 0 "DI_IMM_CONDITION_VIRGIN_SNA" ;
 VAL_TABLE_ DI_immobilizerState 7 "DI_IMM_STATE_FAULT" 6 "DI_IMM_STATE_FAULTRETRY" 5 "DI_IMM_STATE_RESET" 4 "DI_IMM_STATE_LEARN" 3 "DI_IMM_STATE_DISARMED" 2 "DI_IMM_STATE_AUTHENTICATING" 1 "DI_IMM_STATE_REQUEST" 0 "DI_IMM_STATE_INIT_SNA" ;
 VAL_TABLE_ DI_limpReason 24 "DI_LIMP_NUMREASONS" 23 "DI_LIMP_CAPACITOR_OVERTEMP" 22 "DI_LIMP_GTW_MIA" 21 "DI_LIMP_TRQCMD_VALIDITY_UNKNOWN" 20 "DI_LIMP_DI_MIA" 19 "DI_LIMP_CONFIG_MISMATCH" 18 "DI_LIMP_HEATSINK_TEMP" 17 "DI_LIMP_PMREQUEST" 16 "DI_LIMP_PMHEARTBEAT" 15 "DI_LIMP_TRQ_CROSS_CHECK" 14 "DI_LIMP_EXTERNAL_COMMAND" 13 "DI_LIMP_WRONG_CS_CALIBRATION" 12 "DI_LIMP_STATOR_TEMP" 11 "DI_LIMP_DELTAT_TOO_NEGATIVE" 10 "DI_LIMP_DELTAT_TOO_POSITIVE" 9 "DI_LIMP_AMBIENT_TEMP" 8 "DI_LIMP_OUTLET_TEMP" 7 "DI_LIMP_LOW_FLOW" 6 "DI_LIMP_BMS_MIA" 5 "DI_LIMP_12V_SUPPLY_UNDERVOLTAGE" 4 "DI_LIMP_NO_FLUID" 3 "DI_LIMP_NO_FUNC_HEATSINK_SENSOR" 2 "DI_LIMP_NO_FUNC_STATORT_SENSOR" 1 "DI_LIMP_BUSV_SENSOR_IRRATIONAL" 0 "DI_LIMP_PHASE_IMBALANCE" ;
 VAL_TABLE_ DI_mode 2 "DI_MODE_DYNO" 1 "DI_MODE_DRIVE" 0 "DI_MODE_UNDEF" ;
 VAL_TABLE_ DI_motorType 14 "DI_MOTOR_F2AE" 13 "DI_MOTOR_F2AD" 12 "DI_MOTOR_F2AC" 11 "DI_MOTOR_F2AB" 10 "DI_MOTOR_F1AC" 9 "DI_MOTOR_SSR1A" 8 "DI_MOTOR_F1A" 7 "DI_MOTOR_M7M6" 6 "DI_MOTOR_M8A" 5 "DI_MOTOR_M7M5" 4 "DI_MOTOR_M7M4" 3 "DI_MOTOR_M7M3" 2 "DI_MOTOR_ROADSTER_SPORT" 1 "DI_MOTOR_ROADSTER_BASE" 0 "DI_MOTOR_SNA" ;
 VAL_TABLE_ DI_speedUnits 1 "DI_SPEED_KPH" 0 "DI_SPEED_MPH" ;
 VAL_TABLE_ DI_state 4 "DI_STATE_ENABLE" 3 "DI_STATE_FAULT" 2 "DI_STATE_CLEAR_FAULT" 1 "DI_STATE_STANDBY" 0 "DI_STATE_PREAUTH" ;
 VAL_TABLE_ DI_velocityEstimatorState 4 "VE_STATE_BACKUP_MOTOR" 3 "VE_STATE_BACKUP_WHEELS_B" 2 "VE_STATE_BACKUP_WHEELS_A" 1 "VE_STATE_WHEELS_NORMAL" 0 "VE_STATE_NOT_INITIALIZED" ;
 BO_ 1160 DAS_steeringControl: 4 NEO
 SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|0] "" EPAS
 SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|0] "" EPAS
 SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|0] "" EPAS
 SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" EPAS
 SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|0] "" EPAS
 BO_ 257 GTW_epasControl: 3 NEO
 SG_ GTW_epasControlChecksum : 16|8@1+ (1,0) [0|255] "" NEO
 SG_ GTW_epasControlCounter : 12|4@1+ (1,0) [0|15] "" NEO
 SG_ GTW_epasControlType : 8|2@1+ (1,0) [4|-1] "" NEO
 SG_ GTW_epasEmergencyOn : 0|1@1+ (1,0) [2|-1] "" NEO
 SG_ GTW_epasLDWEnabled : 11|1@1+ (1,0) [2|-1] "" NEO
 SG_ GTW_epasPowerMode : 1|4@1+ (1,0) [4|14] "" NEO
 SG_ GTW_epasTuneRequest : 5|3@1+ (1,0) [8|-1] "" NEO
 BO_ 880 EPAS_sysStatus: 8 EPAS
 SG_ EPAS_currentTuneMode : 0|4@1+ (1,0) [8|15] "" NEO
 SG_ EPAS_eacErrorCode : 16|4@1+ (1,0) [16|-1] "" NEO
 SG_ EPAS_eacStatus : 48|3@1+ (1,0) [5|7] "" NEO
 SG_ EPAS_handsOnLevel : 32|2@1+ (1,0) [4|-1] "" NEO
 SG_ EPAS_internalSAS : 37|14@0+ (0.10,-819.200010) [0|0] "deg" NEO
 SG_ EPAS_steeringFault : 5|1@1+ (1,0) [2|-1] "" NEO
 SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [0|0] "N" NEO
 SG_ EPAS_steeringReduced : 4|1@1+ (1,0) [2|-1] "" NEO
 SG_ EPAS_sysStatusChecksum : 56|8@1+ (1,0) [0|255] "" NEO
 SG_ EPAS_sysStatusCounter : 52|4@1+ (1,0) [0|15] "" NEO
 SG_ EPAS_torsionBarTorque : 19|12@0+ (0.010,-20.50) [0|0] "Nm" NEO
 BO_ 3 STW_ANGL_STAT: 8 STW
 SG_ CRC_STW_ANGL_STAT : 56|8@1+ (1,0) [0|255] "" NEO
 SG_ MC_STW_ANGL_STAT : 52|4@1+ (1,0) [0|15] "" NEO
 SG_ StW_Angl : 5|14@0+ (0.50,-2048) [0|0] "deg" NEO
 SG_ StW_AnglSens_Id : 36|2@1+ (1,0) [3|3] "" NEO
 SG_ StW_AnglSens_Stat : 38|2@1+ (1,0) [4|-1] "" NEO
 SG_ StW_AnglSpd : 21|14@0+ (0.50,-2048) [0|0] "/s" NEO
 BO_ 14 STW_ANGLHP_STAT: 8 GTW
 SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg" NEO
 SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s" NEO
 SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] "" NEO
 SG_ StW_AnglHP_Sens_Id : 35|2@0+ (1,0) [0|0] "" NEO
 SG_ MC_STW_ANGLHP_STAT : 55|4@0+ (1,0) [0|15] "" NEO
 SG_ CRC_STW_ANGLHP_STAT : 63|8@0+ (1,0) [0|0] "" NEO
 BO_ 264 DI_torque1: 8 DI
 SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO
 SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO
 SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO
 SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO
 SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO
 SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO
 SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO
 BO_ 280 DI_torque2: 6 DI
 SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO
 SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO
 SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO
 SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO
 SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO
 SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO
 SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO
 SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO
 SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO
 SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO
 SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO
 BO_ 309 ESP_135h: 5 ESP
 SG_ ESP_135hChecksum : 16|8@1+ (1,0) [0|255] "" NEO
 SG_ ESP_135hCounter : 12|4@1+ (1,0) [0|15] "" NEO
 SG_ ESP_absBrakeEvent : 5|1@1+ (1,0) [2|-1] "" NEO
 SG_ ESP_brakeDiscWipingActive : 3|1@1+ (1,0) [2|-1] "" NEO
 SG_ ESP_brakeLamp : 4|1@1+ (1,0) [2|-1] "" NEO
 SG_ ESP_espFaultLamp : 1|1@1+ (1,0) [2|-1] "" NEO
 SG_ ESP_espLampFlash : 0|1@1+ (1,0) [2|-1] "" NEO
 SG_ ESP_hillStartAssistActive : 6|2@1+ (1,0) [4|-1] "" NEO
 SG_ ESP_messagePumpService : 31|1@1+ (1,0) [0|1] "" NEO
 SG_ ESP_messagePumpFailure : 30|1@1+ (1,0) [0|1] "" NEO
 SG_ ESP_messageEBDFailure : 29|1@1+ (1,0) [0|1] "" NEO
 SG_ ESP_absFaultLamp : 28|1@1+ (1,0) [2|-1] "" NEO
 SG_ ESP_tcDisabledByFault : 27|1@1+ (1,0) [0|1] "" NEO
 SG_ ESP_messageDynoModeActive : 26|1@1+ (1,0) [0|1] "" NEO
 SG_ ESP_hydraulicBoostEnabled : 25|1@1+ (1,0) [0|1] "" NEO
 SG_ ESP_espOffLamp : 24|1@1+ (1,0) [2|-1] "" NEO
 SG_ ESP_stabilityControlSts : 9|3@1+ (1,0) [6|7] "" NEO
 SG_ ESP_tcLampFlash : 2|1@1+ (1,0) [2|-1] "" NEO
 SG_ ESP_tcOffLamp : 8|1@1+ (1,0) [0|1] "" NEO
 BO_ 792 GTW_carState: 8 GTW
 SG_ BOOT_STATE : 40|2@1+ (1,0) [4|-1] "" NEO
 SG_ CERRD : 0|1@1+ (1,0) [2|-1] "" NEO
 SG_ DAY : 35|5@1+ (1,0) [2|31] "" NEO
 SG_ DOOR_STATE_FL : 10|2@1+ (1,0) [4|-1] "" NEO
 SG_ DOOR_STATE_FR : 8|2@1+ (1,0) [4|-1] "" NEO
 SG_ DOOR_STATE_FrontTrunk : 52|2@1+ (1,0) [4|-1] "" NEO
 SG_ DOOR_STATE_RL : 16|2@1+ (1,0) [4|-1] "" NEO
 SG_ DOOR_STATE_RR : 25|2@1+ (1,0) [4|-1] "" NEO
 SG_ GTW_updateInProgress : 54|2@1+ (1,0) [4|-1] "" NEO
 SG_ Hour : 27|5@1+ (1,0) [0|29] "h" NEO
 SG_ MCU_factoryMode : 51|1@1+ (1,0) [2|-1] "" NEO
 SG_ MCU_transportModeOn : 50|1@1+ (1,0) [1|1] "" NEO
 SG_ MINUTE : 42|6@1+ (1,0) [0|61] "min" NEO
 SG_ MONTH : 12|4@1+ (1,0) [0|14] "Month" NEO
 SG_ SECOND : 18|6@1+ (1,0) [0|61] "s" NEO
 SG_ YEAR : 1|7@1+ (1,2000) [2000|2125] "Year" NEO
 BO_ 872 DI_state: 8 DI
 SG_ DI_aebState : 44|3@1+ (1,0) [5|6] "" NEO
 SG_ DI_analogSpeed : 20|12@1+ (0.10,0) [0|409.40] "speed" NEO
 SG_ DI_cruiseSet : 39|9@1+ (0.50,0) [0|255.50] "speed" NEO
 SG_ DI_cruiseState : 8|4@1+ (1,0) [8|15] "" NEO
 SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|254] "" NEO
 SG_ DI_driveReady : 0|1@1+ (1,0) [0|1] "" NEO
 SG_ DI_immobilizerState : 25|3@1+ (1,0) [7|7] "" NEO
 SG_ DI_proximity : 1|1@1+ (1,0) [0|1] "" NEO
 SG_ DI_regenLight : 15|1@1+ (1,0) [0|1] "" NEO
 SG_ DI_speedUnits : 24|1@1+ (1,0) [2|-1] "" NEO
 SG_ DI_state : 12|3@1+ (1,0) [5|7] "" NEO
 SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|255] "" NEO
 SG_ DI_stateCounter : 40|4@1+ (1,0) [0|15] "" NEO
 SG_ DI_systemState : 5|3@1+ (1,0) [5|7] "" NEO
 SG_ DI_vehicleHoldState : 2|3@1+ (1,0) [8|-1] "" NEO
 BO_ 109 SBW_RQ_SCCM: 4 STW
 SG_ StW_Sw_Stat3 : 0|3@1+ (1,0) [0|0] "" NEO
 SG_ MsgTxmtId : 6|2@1+ (1,0) [0|0] "" NEO
 SG_ TSL_RND_Posn_StW : 8|4@1+ (1,0) [0|0] "" NEO
 SG_ TSL_P_Psd_StW : 12|2@1+ (1,0) [0|0] "" NEO
 SG_ MC_SBW_RQ_SCCM : 20|4@1+ (1,0) [0|15] "" NEO
 SG_ CRC_SBW_RQ_SCCM : 24|8@1+ (1,0) [0|0] "" NEO
 BO_ 69 STW_ACTN_RQ: 8 STW
 SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO
 SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO
 SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO
 SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO
 SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO
 SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO
 SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO
 SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO
 SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO
 SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO
 SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO
 SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO
 SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO
 SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO
 SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO
 BO_ 643 BODY_R1: 8 GTW
 SG_ AirTemp_Insd : 40|8@1+ (0.25,0) [0|63.5] "C" NEO
 SG_ AirTemp_Outsd : 56|8@1+ (0.5,-40) [-40|86.5] "C" NEO
 SG_ Bckl_Sw_RL_Stat_SAM_R : 54|2@1+ (1,0) [4|-1] "" NEO
 SG_ Bckl_Sw_RM_Stat_SAM_R : 50|2@1+ (1,0) [4|-1] "" NEO
 SG_ Bckl_Sw_RR_Stat_SAM_R : 52|2@1+ (1,0) [4|-1] "" NEO
 SG_ DL_RLtch_Stat : 14|2@1+ (1,0) [4|-1] "" NEO
 SG_ DrRLtch_FL_Stat : 6|2@1+ (1,0) [4|-1] "" NEO
 SG_ DrRLtch_FR_Stat : 4|2@1+ (1,0) [4|-1] "" NEO
 SG_ DrRLtch_RL_Stat : 2|2@1+ (1,0) [4|-1] "" NEO
 SG_ DrRLtch_RR_Stat : 0|2@1+ (1,0) [4|-1] "" NEO
 SG_ EngHd_Stat : 12|2@1+ (1,0) [4|-1] "" NEO
 SG_ LoBm_On_Rq : 39|1@1+ (1,0) [0|1] "" NEO
 SG_ HiBm_On : 38|1@1+ (1,0) [0|1] "" NEO
 SG_ Hrn_On : 29|1@1+ (1,0) [0|1] "" NEO
 SG_ IrLmp_D_Lt_Flt : 37|1@1+ (1,0) [0|1] "" NEO
 SG_ IrLmp_P_Rt_Flt : 36|1@1+ (1,0) [0|1] "" NEO
 SG_ LgtSens_Twlgt : 21|3@1+ (1,0) [0|7] "Steps" NEO
 SG_ LgtSens_SNA : 20|1@1+ (1,0) [0|1] "" NEO
 SG_ LgtSens_Tunnel : 19|1@1+ (1,0) [0|1] "" NEO
 SG_ LgtSens_Flt : 18|1@1+ (1,0) [0|1] "" NEO
 SG_ LgtSens_Night : 17|1@1+ (1,0) [2|-1] "" NEO
 SG_ ADL_LoBm_On_Rq : 16|1@1+ (1,0) [0|1] "" NEO
 SG_ LoBm_D_Lt_Flt : 35|1@1+ (1,0) [0|1] "" NEO
 SG_ LoBm_P_Rt_Flt : 34|1@1+ (1,0) [0|1] "" NEO
 SG_ MPkBrk_Stat : 27|1@1+ (1,0) [2|-1] "" NEO
 SG_ RevGr_Engg : 32|2@1+ (1,0) [4|-1] "" NEO
 SG_ StW_Cond_Stat : 48|2@1+ (1,0) [4|-1] "" NEO
 SG_ Term54_Actv : 28|1@1+ (1,0) [0|1] "" NEO
 SG_ Trlr_Stat : 30|2@1+ (1,0) [4|-1] "" NEO
 SG_ VTA_Alm_Actv : 10|1@1+ (1,0) [0|1] "" NEO
 SG_ WprOutsdPkPosn : 26|1@1+ (1,0) [0|1] "" NEO
 BO_ 760 MCU_gpsVehicleSpeed: 8 MCU
 SG_ MCU_gpsHDOP : 0|8@1+ (0.10,0) [0|25.50] "1" NEO
 SG_ MCU_gpsVehicleHeading : 8|16@1+ (0.007810,0) [0|511.828350] "deg" NEO
 SG_ MCU_gpsVehicleSpeed : 24|16@1+ (0.003910,0) [0|256.241850] "km/hr" NEO
 SG_ MCU_mppSpeedLimit : 51|5@1+ (5,0) [0|155] "kph/mph" NEO
 SG_ MCU_speedLimitUnits : 41|1@1+ (1,0) [2|-1] "" NEO
 SG_ MCU_userSpeedOffset : 42|6@1+ (1,-30) [-30|33] "kph/mph" NEO
 SG_ MCU_userSpeedOffsetUnits : 40|1@1+ (1,0) [2|-1] "" NEO
 BO_ 904 MCU_clusterBacklightRequest: 3 NEO
 SG_ MCU_clusterBacklightOn : 7|1@1+ (1,0) [0|1] "" NEO
 SG_ MCU_clusterBrightnessLevel : 8|8@1+ (0.5,0) [0|127.5] "%" NEO
 SG_ MCU_clusterReadyForDrive : 6|1@1+ (1,0) [2|-1] "" NEO
 SG_ MCU_clusterReadyForPowerOff : 5|1@1+ (1,0) [0|1] "" NEO
 BO_ 984 MCU_locationStatus: 8 MCU
 SG_ MCU_gpsAccuracy : 56|7@1+ (0.200000003,0) [0|25.200000378] "m" NEO
 SG_ MCU_latitude : 0|28@1- (0.000001,0) [-134.21772759734682|134.21772659734683] "deg" NEO
 SG_ MCU_longitude : 28|28@1- (0.000001,0) [-268.43545519469365|268.43545419469365] "deg" NEO
 BO_ 840 GTW_status: 8 GTW
 SG_ GTW_accGoingDown : 1|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_accRailReq : 15|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_brakePressed : 6|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_driveGoingDown : 0|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_driveRailReq : 7|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_driverIsLeaving : 2|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_driverPresent : 5|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_hvacGoingDown : 12|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_hvacRailReq : 14|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_icPowerOff : 3|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_notEnough12VForDrive : 4|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_preconditionRequest : 13|1@1+ (1,0) [0|1] "" NEO
 SG_ GTW_statusChecksum : 56|8@1+ (1,0) [0|255] "" NEO
 SG_ GTW_statusCounter : 52|4@1+ (1,0) [0|15] "" NEO
 VAL_ 3 StW_Angl 16383 "SNA" ;
 VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
 VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ;
 VAL_ 3 StW_AnglSpd 16383 "SNA" ;
 VAL_ 14 StW_AnglHP 16383 "SNA" ;
 VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ;
 VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ;
 VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
 VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
 VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
 VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
 VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
 VAL_ 69 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ;
 VAL_ 69 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ;
 VAL_ 69 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ;
 VAL_ 69 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ;
 VAL_ 69 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ;
 VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
 VAL_ 69 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
 VAL_ 69 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
 VAL_ 69 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
 VAL_ 69 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;VAL_ 257 GTW_epasControlType 0 "WITHOUT" 1 "WITH_ANGLE" 3 "WITH_BOTH" 2 "WITH_TORQUE" ;
 VAL_ 109 StW_Sw_Stat3 7 "SNA" 6 "NDEF6" 5 "NDEF5" 4 "NDEF4" 3 "PLUS_MINUS" 2 "MINUS" 1 "PLUS" 0 "NPSD" ;
 VAL_ 109 MsgTxmtId 3 "NDEF3" 2 "NDEF2" 1 "SCCM" 0 "EWM" ;
 VAL_ 109 TSL_RND_Posn_StW 15 "SNA" 8 "D" 6 "INI" 4 "N_DOWN" 2 "N_UP" 1 "R" 0 "IDLE" ;
 VAL_ 109 TSL_P_Psd_StW 3 "SNA" 2 "INI" 1 "PSD" 0 "IDLE" ;
 VAL_ 257 GTW_epasEmergencyOn 1 "EMERGENCY_POWER" 0 "NONE" ;
 VAL_ 257 GTW_epasLDWEnabled 1 "ALLOWED" 0 "INHIBITED" ;
 VAL_ 257 GTW_epasPowerMode 0 "DRIVE_OFF" 1 "DRIVE_ON" 3 "LOAD_SHED" 2 "SHUTTING_DOWN" 15 "SNA" ;
 VAL_ 257 GTW_epasTuneRequest 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "SNA" ;
 VAL_ 264 DI_torqueDriver -4096 "SNA" ;
 VAL_ 264 DI_torqueMotor -4096 "SNA" ;
 VAL_ 264 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ;
 VAL_ 264 DI_motorRPM -32768 "SNA" ;
 VAL_ 264 DI_pedalPos 255 "SNA" ;
 VAL_ 280 DI_torqueEstimate -2048 "SNA" ;
 VAL_ 280 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
 VAL_ 280 DI_brakePedal 1 "Applied" 0 "Not_applied" ;
 VAL_ 280 DI_vehicleSpeed 4095 "SNA" ;
 VAL_ 280 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
 VAL_ 280 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ;
 VAL_ 280 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ;
 VAL_ 280 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ;
 VAL_ 280 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
 VAL_ 309 ESP_absBrakeEvent 1 "ACTIVE" 0 "NOT_ACTIVE" ;
 VAL_ 309 ESP_brakeDiscWipingActive 1 "ACTIVE" 0 "INACTIVE" ;
 VAL_ 309 ESP_brakeLamp 0 "OFF" 1 "ON" ;
 VAL_ 309 ESP_espFaultLamp 0 "OFF" 1 "ON" ;
 VAL_ 309 ESP_espLampFlash 1 "FLASH" 0 "OFF" ;
 VAL_ 309 ESP_hillStartAssistActive 1 "ACTIVE" 0 "INACTIVE" 2 "NOT_AVAILABLE" 3 "SNA" ;
 VAL_ 309 ESP_absFaultLamp 0 "OFF" 1 "ON" ;
 VAL_ 309 ESP_espOffLamp 0 "OFF" 1 "ON" ;
 VAL_ 309 ESP_stabilityControlSts 2 "ENGAGED" 3 "FAULTED" 5 "INIT" 4 "NOT_CONFIGURED" 0 "OFF" 1 "ON" ;
 VAL_ 309 ESP_tcLampFlash 1 "FLASH" 0 "OFF" ;
 VAL_ 760 MCU_speedLimitUnits 1 "KPH" 0 "MPH" ;
 VAL_ 760 MCU_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ;
 VAL_ 643 AirTemp_Insd 255 "SNA" ;
 VAL_ 643 AirTemp_Outsd 254 "INIT" 255 "SNA" ;
 VAL_ 643 Bckl_Sw_RL_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
 VAL_ 643 Bckl_Sw_RM_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
 VAL_ 643 Bckl_Sw_RR_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
 VAL_ 643 DL_RLtch_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
 VAL_ 643 DrRLtch_FL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
 VAL_ 643 DrRLtch_FR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
 VAL_ 643 DrRLtch_RL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
 VAL_ 643 DrRLtch_RR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
 VAL_ 643 EngHd_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
 VAL_ 643 LgtSens_Night 0 "DAY" 1 "NIGHT" ;
 VAL_ 643 MPkBrk_Stat 1 "ENGG" 0 "RELS" ;
 VAL_ 643 RevGr_Engg 0 "DISENGG" 1 "ENGG" 2 "NDEF2" 3 "SNA" ;
 VAL_ 643 StW_Cond_Stat 3 "BLINK" 1 "NDEF1" 0 "OFF" 2 "ON" ;
 VAL_ 643 Trlr_Stat 2 "NDEF2" 0 "NONE" 1 "OK" 3 "SNA" ;
 VAL_ 792 BOOT_STATE 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
 VAL_ 792 CERRD 1 "CAN error detect" 0 "no Can error detected" ;
 VAL_ 792 DAY 1 "Init" 0 "SNA" ;
 VAL_ 792 DOOR_STATE_FL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
 VAL_ 792 DOOR_STATE_FR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
 VAL_ 792 DOOR_STATE_FrontTrunk 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
 VAL_ 792 DOOR_STATE_RL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
 VAL_ 792 DOOR_STATE_RR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
 VAL_ 792 GTW_updateInProgress 1 "IN_PROGRESS" 2 "IN_PROGRESS_NOT_USED" 3 "IN_PROGRESS_SNA" 0 "NOT_IN_PROGRESS" ;
 VAL_ 792 Hour 30 "Init" 31 "SNA" ;
 VAL_ 792 MCU_factoryMode 1 "FACTORY_MODE" 0 "NORMAL_MODE" ;
 VAL_ 792 MCU_transportModeOn 0 "NORMAL_MODE" ;
 VAL_ 792 MINUTE 62 "Init" 63 "SNA" ;
 VAL_ 792 MONTH 1 "Init" 15 "SNA" ;
 VAL_ 792 SECOND 62 "Init" 63 "SNA" ;
 VAL_ 792 YEAR 126 "Init" 127 "SNA" ;
 VAL_ 872 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
 VAL_ 872 DI_analogSpeed 4095 "SNA" ;
 VAL_ 872 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ;
 VAL_ 872 DI_digitalSpeed 255 "SNA" ;
 VAL_ 872 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ;
 VAL_ 872 DI_speedUnits 1 "KPH" 0 "MPH" ;
 VAL_ 872 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
 VAL_ 872 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
 VAL_ 872 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
 VAL_ 880 EPAS_currentTuneMode 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "UNAVAILABLE" ;
 VAL_ 880 EPAS_eacErrorCode 14 "EAC_ERROR_EPB_INHIBIT" 3 "EAC_ERROR_HANDS_ON" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 0 "EAC_ERROR_IDLE" 12 "EAC_ERROR_LOW_ASSIST" 2 "EAC_ERROR_MAX_SPEED" 1 "EAC_ERROR_MIN_SPEED" 13 "EAC_ERROR_PINION_VEL_DIFF" 4 "EAC_ERROR_TMP_FAULT" 5 "EAR_ERROR_MAX_STEER_DELTA" 15 "SNA" ;
 VAL_ 880 EPAS_eacStatus 2 "EAC_ACTIVE" 1 "EAC_AVAILABLE" 3 "EAC_FAULT" 0 "EAC_INHIBITED" 4 "SNA" ;
 VAL_ 880 EPAS_handsOnLevel 0 "0" 1 "1" 2 "2" 3 "3" ;
 VAL_ 880 EPAS_steeringFault 1 "FAULT" 0 "NO_FAULT" ;
 VAL_ 880 EPAS_steeringRackForce 1022 "NOT_IN_SPEC" 1023 "SNA" ;
 VAL_ 880 EPAS_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ;
 VAL_ 880 EPAS_torsionBarTorque 0 "SEE_SPECIFICATION" 4095 "SNA" 4094 "UNDEFINABLE_DATA" ;
 VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
--- a/1
+++ b/1
@ -0,0 +1 @@
 Subproject commit d584cdd46ca398aace9f1a7ee6c967a8c7602e8e
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit be7d2ee3973be06466faa724453674af228f6b0b
+Subproject commit 5409c51041cfe8f139650a4e0decf4f6d863eb07
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -51,6 +51,9 @@ bool usb_connect() {
  // power off ESP
  libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
  // forward CAN1 to CAN3...soon
  //libusb_control_transfer(dev_handle, 0xc0, 0xdd, 1, 2, NULL, 0, TIMEOUT);
  // set UART modes for Honda Accord
  for (int uart = 2; uart <= 3; uart++) {
    // 9600 baud
--- a/selfdrive/car/honda/can_parser.py
+++ b/selfdrive/car/honda/can_parser.py
@ -1,5 +1,5 @@
 import os
-import dbcs
+import opendbc
 from collections import defaultdict
 from selfdrive.car.honda.hondacan import fix
@ -19,12 +19,12 @@ class CANParser(object):
    #               monitored.
    #             - frequency is the frequency at which health should be monitored.
-    self.msgs_ck = [check[0] for check in checks]
+    self.msgs_ck = set([check[0] for check in checks])
-    self.frqs = [check[1] for check in checks]
+    self.frqs = dict(checks)
    self.can_valid = False  # start with False CAN assumption
    # list of received msg we want to monitor counter and checksum for
    # read dbc file
-    self.can_dbc = dbc(os.path.join(dbcs.DBC_PATH, dbc_f))
+    self.can_dbc = dbc(os.path.join(opendbc.DBC_PATH, dbc_f))
    # initialize variables to initial values
    self.vl = {}    # signal values
    self.ts = {}    # time stamp recorded in log
@ -57,6 +57,8 @@ class CANParser(object):
    msgs_upd = []
    cn_vl_max = 5   # no more than 5 wrong counter checks
    self.sec_since_boot_cached = sec_since_boot()
    # we are subscribing to PID_XXX, else data from USB
    for msg, ts, cdat, _ in can_recv:
      idxs = self._message_indices[msg]
@ -93,7 +95,7 @@ class CANParser(object):
        # update msg time stamps and counter value
        self.ts[msg] = ts
-        self.ct[msg] = sec_since_boot()
+        self.ct[msg] = self.sec_since_boot_cached
        self.cn[msg] = cn
        self.cn_vl[msg] = min(max(self.cn_vl[msg], 0), cn_vl_max)
@ -121,5 +123,5 @@ class CANParser(object):
    ### input:
    ## simple stuff for now: msg is not valid if a message isn't received for 10 consecutive steps
    for msg in set(self._msgs):
-      if msg in self.msgs_ck and sec_since_boot() - self.ct[msg] > 10./self.frqs[self.msgs_ck.index(msg)]:
+      if msg in self.msgs_ck and self.sec_since_boot_cached - self.ct[msg] > 10./self.frqs[msg]:
        self.ok[msg] = False
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -140,6 +140,11 @@ class CarController(object):
    tt = sec_since_boot()
    GAS_MAX = 1004
    BRAKE_MAX = 1024/4
    if CS.civic:
      STEER_MAX = 0x1000
    elif CS.crv:
      STEER_MAX = 0x300  # CR-V only uses 12-bits and requires a lower value
    else:
      STEER_MAX = 0xF00
    GAS_OFFSET = 328
@ -197,7 +202,7 @@ class CarController(object):
      can_sends.append(hondacan.create_accord_steering_control(apply_steer, idx))
    else:
      idx = frame % 4
-      can_sends.append(hondacan.create_steering_control(apply_steer, idx))
+      can_sends.extend(hondacan.create_steering_control(apply_steer, CS.crv, idx))
    # Send gas and brake commands.
    if (frame % 2) == 0:
@ -214,17 +219,16 @@ class CarController(object):
    # Send dashboard UI commands.
    if (frame % 10) == 0:
      idx = (frame/10) % 4
-      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, idx))
+      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, CS.crv, idx))
    # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
-    if CS.civic or CS.accord:
+    if CS.civic or CS.accord or CS.crv:
      radar_send_step = 5
    else:
      radar_send_step = 2
    if (frame % radar_send_step) == 0:
      idx = (frame/radar_send_step) % 4
-      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, idx))
+      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, idx))
    sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@ -1,4 +1,4 @@
-import numpy as np
+import common.numpy_fast as np
 import selfdrive.messaging as messaging
 from common.realtime import sec_since_boot
@ -162,7 +162,58 @@ def get_can_parser(CP):
      (0x324, 10),
      (0x405, 3),
    ]
-
+  elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
    dbc_f = 'honda_crv_touring_2016_can.dbc'
    signals = [
      ("XMISSION_SPEED", 0x158, 0),
      ("WHEEL_SPEED_FL", 0x1d0, 0),
      ("WHEEL_SPEED_FR", 0x1d0, 0),
      ("WHEEL_SPEED_RL", 0x1d0, 0),
      ("STEER_ANGLE", 0x156, 0),
      ("STEER_TORQUE_SENSOR", 0x18f, 0),
      ("GEAR", 0x191, 0),
      ("WHEELS_MOVING", 0x1b0, 1),
      ("DOOR_OPEN_FL", 0x405, 1),
      ("DOOR_OPEN_FR", 0x405, 1),
      ("DOOR_OPEN_RL", 0x405, 1),
      ("DOOR_OPEN_RR", 0x405, 1),
      ("CRUISE_SPEED_PCM", 0x324, 0),
      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
      ("BRAKE_PRESSED", 0x17c, 0),
      #("CAR_GAS", 0x130, 0),
      ("CRUISE_BUTTONS", 0x1a6, 0),
      ("ESP_DISABLED", 0x1a4, 1),
      ("HUD_LEAD", 0x30c, 0),
      ("USER_BRAKE", 0x1a4, 0),
      ("STEER_STATUS", 0x18f, 5),
      ("WHEEL_SPEED_RR", 0x1d0, 0),
      ("BRAKE_ERROR_1", 0x1b0, 1),
      ("BRAKE_ERROR_2", 0x1b0, 1),
      ("GEAR_SHIFTER", 0x191, 0),
      ("MAIN_ON", 0x1a6, 0),
      ("ACC_STATUS", 0x17c, 0),
      ("PEDAL_GAS", 0x17c, 0),
      ("CRUISE_SETTING", 0x1a6, 0),
      ("LEFT_BLINKER", 0x294, 0),
      ("RIGHT_BLINKER", 0x294, 0),
      ("COUNTER", 0x324, 0),
      ("ENGINE_RPM", 0x17C, 0)
    ]
    checks = [
      (0x156, 100),
      (0x158, 100),
      (0x17c, 100),
      (0x191, 100),
      (0x1a3, 50),
      (0x1a4, 50),
      (0x1a6, 50),
      (0x1b0, 50),
      (0x1d0, 50),
      (0x305, 10),
      (0x324, 10),
      (0x405, 3),
    ]
  # add gas interceptor reading if we are using it
  if CP.enableGas:
    signals.append(("INTERCEPTOR_GAS", 0x201, 0))
@ -174,6 +225,7 @@ class CarState(object):
  def __init__(self, CP, logcan):
    self.civic = False
    self.accord = False
    self.crv = False
    if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
      self.civic = True
    elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
@ -181,6 +233,8 @@ class CarState(object):
    elif CP.carFingerprint == "HONDA ACCORD 2016 TOURING":
      # fake civic
      self.accord = True
    elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
      self.crv = True
    else:
      raise ValueError("unsupported car %s" % CP.carFingerprint)
@ -278,6 +332,17 @@ class CarState(object):
      self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
      self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
    elif self.crv:
      self.gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
      self.gear = cp.vl[0x191]['GEAR']
      self.cruise_setting = cp.vl[0x1A6]['CRUISE_SETTING']
      self.cruise_buttons = cp.vl[0x1A6]['CRUISE_BUTTONS']
      self.main_on = cp.vl[0x1A6]['MAIN_ON']
      self.gear_shifter_valid = self.gear_shifter in [1,8]  # TODO: 1/P allowed for debug
      self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
      self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
    else:
      self.gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
@ -293,6 +358,10 @@ class CarState(object):
      # on the accord, this doesn't seem to include cruise control
      self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
      self.steer_override = False
    elif self.crv:
      # like accord, crv doesn't include cruise control
      self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
      self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
    else:
      self.car_gas = cp.vl[0x130]['CAR_GAS']
      self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
@ -304,4 +373,3 @@ class CarState(object):
    self.pedal_gas = cp.vl[0x17C]['PEDAL_GAS']
    self.hud_lead = cp.vl[0x30C]['HUD_LEAD']
    self.counter_pcm = cp.vl[0x324]['COUNTER']
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@ -68,12 +68,18 @@ def create_accord_steering_control(apply_steer, idx):
  return [0,0,dat,8]
-def create_steering_control(apply_steer, idx):
+def create_steering_control(apply_steer, crv, idx):
  """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
-  msg = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
+  commands = []
-  return make_can_msg(0xe4, msg, idx, 0)
+  if crv:
    msg_0x194 = struct.pack("!h", apply_steer << 4) + ("\x80" if apply_steer != 0 else "\x00")
    commands.append(make_can_msg(0x194, msg_0x194, idx, 0))
  else:
    msg_0xe4 = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
    commands.append(make_can_msg(0xe4, msg_0xe4, idx, 0))
  return commands
-def create_ui_commands(pcm_speed, hud, civic, accord, idx):
+def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):
  """Creates an iterable of CAN messages for the UIs."""
  commands = []
  pcm_speed_real = np.clip(int(round(pcm_speed / 0.002759506)), 0,
@ -94,11 +100,12 @@ def create_ui_commands(pcm_speed, hud, civic, accord, idx):
    commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
  return commands
-def create_radar_commands(v_ego, civic, accord, idx):
+def create_radar_commands(v_ego, civic, accord, crv, idx):
  """Creates an iterable of CAN messages for the radar system."""
  commands = []
  v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
  speed = struct.pack('!B', v_ego_kph)
  msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +\
                  ("\x20" if idx == 0 or idx == 3 else "\x00") +\
                    "\x00\x00")
@ -112,6 +119,9 @@ def create_radar_commands(v_ego, civic, accord, idx):
    msg_0x301 = "\x0e\xd8\x52\x22\x56\x00\x00"
    # add 0xc on idx? WTF is this?
    commands.append(make_can_msg(0x300, msg_0x300, idx + 0xc, 1))
  elif crv:
    msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
  else:
    msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -1,6 +1,6 @@
 #!/usr/bin/env python
 import time
-import numpy as np
+import common.numpy_fast as np
 from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.carstate import CarState
@ -246,4 +246,3 @@ class CarInterface(object):
    self.frame += 1
    return not (c.enabled and not self.CC.controls_allowed)
--- a/selfdrive/common/framebuffer.cc
+++ b/selfdrive/common/framebuffer.cc
@ -38,7 +38,7 @@ extern "C" void framebuffer_set_power(FramebufferState *s, int mode) {
 }
 extern "C" FramebufferState* framebuffer_init(
-    const char* name, int32_t layer,
+    const char* name, int32_t layer, int alpha,
    EGLDisplay *out_display, EGLSurface *out_surface,
    int *out_w, int *out_h) {
  status_t status;
@ -86,6 +86,7 @@ extern "C" FramebufferState* framebuffer_init(
    EGL_RED_SIZE,     8,
    EGL_GREEN_SIZE,   8,
    EGL_BLUE_SIZE,    8,
    EGL_ALPHA_SIZE,   alpha ? 8 : 0,
    EGL_DEPTH_SIZE,   0,
    EGL_STENCIL_SIZE, 8,
    EGL_RENDERABLE_TYPE, EGL_OPENGL_ES3_BIT_KHR,
--- a/selfdrive/common/framebuffer.h
+++ b/selfdrive/common/framebuffer.h
@ -10,7 +10,7 @@ extern "C" {
 typedef struct FramebufferState FramebufferState;
 FramebufferState* framebuffer_init(
-    const char* name, int32_t layer,
+    const char* name, int32_t layer, int alpha,
    EGLDisplay *out_display, EGLSurface *out_surface,
    int *out_w, int *out_h);
--- a/selfdrive/common/swaglog.c
+++ b/selfdrive/common/swaglog.c
@ -12,6 +12,7 @@
 #include <json.h>
 #include "common/timing.h"
 #include "common/version.h"
 #include "swaglog.h"
@ -28,6 +29,10 @@ static LogState s = {
  .lock = PTHREAD_MUTEX_INITIALIZER,
 };
 static void cloudlog_bind_locked(const char* k, const char* v) {
  json_append_member(s.ctx_j, k, json_mkstring(v));
 }
 static void cloudlog_init() {
  if (s.inited) return;
  s.ctx_j = json_mkobject();
@ -47,6 +52,15 @@ static void cloudlog_init() {
    }
  }
  // openpilot bindings
  char* dongle_id = getenv("DONGLE_ID");
  if (dongle_id) {
    cloudlog_bind_locked("dongle_id", dongle_id);
  }
  cloudlog_bind_locked("version", OPENPILOT_VERSION);
  bool dirty = !getenv("CLEAN");
  json_append_member(s.ctx_j, "dirty", json_mkbool(dirty));
  s.inited = true;
 }
@ -100,6 +114,6 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
 void cloudlog_bind(const char* k, const char* v) {
  pthread_mutex_lock(&s.lock);
  cloudlog_init();
-  json_append_member(s.ctx_j, k, json_mkstring(v));
+  cloudlog_bind_locked(k, v);
  pthread_mutex_unlock(&s.lock);
 }
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@ -1 +1 @@
-const char *openpilot_version = "0.3.2";
+#define OPENPILOT_VERSION "0.3.3"
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -1,7 +1,6 @@
 #!/usr/bin/env python
 import os
 import zmq
 import numpy as np
 import selfdrive.messaging as messaging
 from cereal import car, log
@ -93,19 +92,21 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
  rk = Ratekeeper(rate, print_delay_threshold=2./1000)
  while 1:
    prof = Profiler()
    cur_time = sec_since_boot()
    prof = Profiler()
    # read CAN
    CS = CI.update()
    prof.checkpoint("CarInterface")
    # broadcast carState
    cs_send = messaging.new_message()
    cs_send.init('carState')
    cs_send.carState = CS    # copy?
    carstate.send(cs_send.to_bytes())
-    prof.checkpoint("CarInterface")
+    prof.checkpoint("CarState")
    # did it request to enable?
    enable_request, enable_condition = False, False
@ -180,6 +181,10 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
      if CS.gasPressed or CS.brakePressed:
        AM.add("disable", enabled)
      # how did we get into this state?
      if CP.enableCruise and not CS.cruiseState.enabled:
        AM.add("cruiseDisabled", enabled)
    if enable_request:
      # check for pressed pedals
      if CS.gasPressed or CS.brakePressed:
@ -241,7 +246,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
    # *** angle offset learning ***
    if rk.frame % 5 == 2 and plan.lateralValid:
      # *** run this at 20hz again ***
-      angle_offset = learn_angle_offset(enabled, CS.vEgo, angle_offset, np.asarray(plan.dPoly), LaC.y_des, CS.steeringPressed)
+      angle_offset = learn_angle_offset(enabled, CS.vEgo, angle_offset, plan.dPoly, LaC.y_des, CS.steeringPressed)
    # *** gas/brake PID loop ***
    final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph,
@ -351,8 +356,6 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
    # what packets were used to process
    dat.live100.canMonoTimes = list(CS.canMonoTimes)
    #dat.live100.mdMonoTime = PP.logMonoTime
    #dat.live100.l20MonoTime = AC.logMonoTime
    # if controls is enabled
    dat.live100.enabled = enabled
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@ -55,6 +55,7 @@ class AlertManager(object):
    "doorOpen":           alert("Take Control Immediately","Door Open",            ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
    "seatbeltNotLatched": alert("Take Control Immediately","Seatbelt Unlatched",   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
    "espDisabled":        alert("Take Control Immediately","ESP Off",              ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
    "cruiseDisabled":     alert("Take Control Immediately","Cruise Is Off",        ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",             ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
    "outOfSpace":         alert("Comma Unavailable","Out of Space",                ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
    "dataNeeded":         alert("Comma Unavailable","Data needed for calibration. Upload drive, try again", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
--- a/selfdrive/debug/test_carcontroller.py
+++ b/selfdrive/debug/test_carcontroller.py
@ -60,7 +60,7 @@ if __name__ == "__main__":
    # **** handle car ****
    CS = CI.update()
-    print CS
+    #print CS
    CC = car.CarControl.new_message()
@ -68,7 +68,7 @@ if __name__ == "__main__":
    CC.gas = float(np.clip(-axis_values[1], 0, 1.0))
    CC.brake = float(np.clip(axis_values[1], 0, 1.0))
-    CC.steeringTorque = float(axis_values[0])
+    CC.steeringTorque = float(-axis_values[0])
    CC.hudControl.speedVisible = bool(button_values[1])
    CC.hudControl.lanesVisible = bool(button_values[2])
@ -83,7 +83,7 @@ if __name__ == "__main__":
    CC.hudControl.visualAlert = "none"
    CC.hudControl.audibleAlert = "none"
-    print CC
+    #print CC
    if not CI.apply(CC):
      print "CONTROLS FAILED"
--- a/selfdrive/loggerd/loggerd
+++ b/selfdrive/loggerd/loggerd
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@ -131,10 +131,10 @@ class Uploader(object):
      url_resp_json = json.loads(url_resp.text)
      url = url_resp_json['url']
      headers = url_resp_json['headers']
-      cloudlog.info({"upload_url v1.1", url, str(headers)})
+      cloudlog.info("upload_url v1.1 %s %s", url, str(headers))
      if fake_upload:
-        print "*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url
+        cloudlog.info("*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url)
        class FakeResponse(object):
          def __init__(self):
            self.status_code = 200
--- a/selfdrive/logmessaged.py
+++ b/selfdrive/logmessaged.py
@ -7,7 +7,7 @@ import selfdrive.messaging as messaging
 def main(gctx):
  # setup logentries. we forward log messages to it
  le_token = "e8549616-0798-4d7e-a2ca-2513ae81fa17"
-  le_handler = LogentriesHandler(le_token, use_tls=False)
+  le_handler = LogentriesHandler(le_token, use_tls=False, verbose=False)
  le_level = 20 #logging.INFO
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@ -36,6 +36,8 @@ from common.params import Params
 from selfdrive.loggerd.config import ROOT
 BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
 # comment out anything you don't want to run
 managed_processes = {
  "uploader": "selfdrive.loggerd.uploader",
@ -53,6 +55,8 @@ managed_processes = {
  "sensord": ("sensord", ["./sensord"]), }
 running = {}
 def get_running():
  return running
 # due to qualcomm kernel bugs SIGKILLing visiond sometimes causes page table corruption
 unkillable_processes = ['visiond']
@ -114,7 +118,7 @@ def start_managed_process(name):
    running[name] = Process(name=name, target=launcher, args=(proc, gctx))
  else:
    pdir, pargs = proc
-    cwd = os.path.dirname(os.path.realpath(__file__))
+    cwd = os.path.join(BASEDIR, "selfdrive")
    if pdir is not None:
      cwd = os.path.join(cwd, pdir)
    cloudlog.info("starting process %s" % name)
@ -190,7 +194,7 @@ def manager_init():
  if not dirty:
    os.environ['CLEAN'] = '1'
-  cloudlog.bind_global(dongle_id=dongle_id, version=version)
+  cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty)
  crash.bind_user(id=dongle_id)
  crash.bind_extra(version=version, dirty=dirty)
@ -238,12 +242,8 @@ def manager_thread():
  # flash the device
  if os.getenv("NOPROG") is None:
    # checkout the matching panda repo
    rootdir = os.path.dirname(os.path.abspath(__file__))
    system("cd %s && git submodule init" % rootdir)
    system("cd %s && git submodule update" % rootdir)
    # flash the board
-    boarddir = os.path.dirname(os.path.abspath(__file__))+"/../panda/board/"
+    boarddir = os.path.join(BASEDIR, "panda/board/")
    mkfile = "Makefile" if panda else "Makefile.legacy"
    print "using", mkfile
    system("cd %s && make -f %s" % (boarddir, mkfile))
@ -344,8 +344,12 @@ def get_installed_apks():
 # optional, build the c++ binaries and preimport the python for speed
 def manager_prepare():
  # update submodules
  system("cd %s && git submodule init" % BASEDIR)
  system("cd %s && git submodule update" % BASEDIR)
  # build cereal first
-  subprocess.check_call(["make", "-j4"], cwd="../cereal")
+  subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, "cereal"))
  # build all processes
  os.chdir(os.path.dirname(os.path.abspath(__file__)))
@ -368,14 +372,14 @@ def manager_prepare():
  # install apks
  installed = get_installed_apks()
-  for app in os.listdir("../apk/"):
+  for app in os.listdir(os.path.join(BASEDIR, "apk/")):
    if ".apk" in app:
      app = app.split(".apk")[0]
      if app not in installed:
        installed[app] = None
  cloudlog.info("installed apks %s" % (str(installed), ))
  for app in installed:
-    apk_path = "../apk/"+app+".apk"
+    apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
    if os.path.isfile(apk_path):
      h1 = hashlib.sha1(open(apk_path).read()).hexdigest()
      h2 = None
--- a/selfdrive/test/plant/plant.py
+++ b/selfdrive/test/plant/plant.py
@ -5,7 +5,7 @@ import struct
 import zmq
 import numpy as np
-from dbcs import DBC_PATH
+from opendbc import DBC_PATH
 from common.realtime import Ratekeeper
@ -143,6 +143,10 @@ class Plant(object):
    self.cp = get_car_can_parser()
  def close(self):
    Plant.logcan.close()
    Plant.model.close()
  def speed_sensor(self, speed):
    if speed<0.3:
      return 0
@ -152,7 +156,7 @@ class Plant(object):
  def current_time(self):
    return float(self.rk.frame) / self.rate
-  def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0):
+  def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0, publish_model = True):
    # dbc_f, sgs, ivs, msgs, cks_msgs, frqs = initialize_can_struct(self.civic, self.brake_only)
    cp2 = get_can_parser(fake_car_params())
    sgs = cp2._sgs
@ -198,7 +202,7 @@ class Plant(object):
      acceleration = 0
    # ******** lateral ********
-    self.angle_steer -= steer_torque
+    self.angle_steer -= (steer_torque/10.0) * self.ts
    # *** radar model ***
    if self.lead_relevancy:
@ -228,7 +232,6 @@ class Plant(object):
           # interceptor_gas
           0,0]
    # TODO: publish each message at proper frequency
    can_msgs = []
    for msg in set(msgs):
@ -261,6 +264,7 @@ class Plant(object):
    Plant.logcan.send(can_list_to_can_capnp(can_msgs).to_bytes())
    # ******** publish a fake model going straight ********
    if publish_model:
      md = messaging.new_message()
      md.init('model')
      md.model.frameId = 0
@ -271,8 +275,11 @@ class Plant(object):
      # fake values?
      Plant.model.send(md.to_bytes())
    # ******** update prevs ********
    self.speed = speed
    self.distance = distance
    self.distance_lead = distance_lead
    self.speed_prev = speed
    self.distance_prev = distance
    self.distance_lead_prev = distance_lead
--- a/selfdrive/test/plant/plant_ui.py
+++ b/selfdrive/test/plant/plant_ui.py
@ -0,0 +1,122 @@
 #!/usr/bin/env python
 import pygame
 from plant import Plant
 from selfdrive.config import CruiseButtons
 import numpy as np
 import selfdrive.messaging as messaging
 import math
 CAR_WIDTH = 2.0
 CAR_LENGTH = 4.5
 METER = 8
 def rot_center(image, angle):
  """rotate an image while keeping its center and size"""
  orig_rect = image.get_rect()
  rot_image = pygame.transform.rotate(image, angle)
  rot_rect = orig_rect.copy()
  rot_rect.center = rot_image.get_rect().center
  rot_image = rot_image.subsurface(rot_rect).copy()
  return rot_image
 def car_w_color(c):
  car = pygame.Surface((METER*CAR_LENGTH, METER*CAR_LENGTH))
  car.set_alpha(0)
  car.fill((10,10,10))
  car.set_alpha(128)
  pygame.draw.rect(car, c, (METER*1.25, 0, METER*CAR_WIDTH, METER*CAR_LENGTH), 1)
  return car
 if __name__ == "__main__":
  pygame.init()
  display = pygame.display.set_mode((1000, 1000))
  pygame.display.set_caption('Plant UI')
  car = car_w_color((255,0,255))
  leadcar = car_w_color((255,0,0))
  carx, cary, heading = 10.0, 50.0, 0.0
  plant = Plant(100, distance_lead = 40.0)
  control_offset = 2.0
  control_pts = zip(np.arange(0, 100.0, 10.0), [50.0 + control_offset]*10)
  def pt_to_car(pt):
    x,y = pt
    x -= carx
    y -= cary
    rx = x * math.cos(-heading) + y * -math.sin(-heading)
    ry = x * math.sin(-heading) + y * math.cos(-heading)
    return rx, ry
  def pt_from_car(pt):
    x,y = pt
    rx = x * math.cos(heading) + y * -math.sin(heading)
    ry = x * math.sin(heading) + y * math.cos(heading)
    rx += carx
    ry += cary
    return rx, ry
  while 1:
    if plant.rk.frame%100 >= 20 and plant.rk.frame%100 <= 25:
      cruise_buttons = CruiseButtons.RES_ACCEL
    else:
      cruise_buttons = 0
    md = messaging.new_message()
    md.init('model')
    md.model.frameId = 0
    for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
      x.points = [0.0]*50
      x.prob = 0.0
      x.std = 1.0
    car_pts = map(pt_to_car, control_pts)
    print car_pts
    car_poly = np.polyfit([x[0] for x in car_pts], [x[1] for x in car_pts], 3)
    md.model.path.points = np.polyval(car_poly, np.arange(0, 50)).tolist()
    md.model.path.prob = 1.0
    Plant.model.send(md.to_bytes())
    plant.step(cruise_buttons = cruise_buttons, v_lead = 2.0, publish_model = False)
    display.fill((10,10,10))
    carx += plant.speed * plant.ts * math.cos(heading)
    cary += plant.speed * plant.ts * math.sin(heading)
    # positive steering angle = steering right
    print plant.angle_steer
    heading += plant.angle_steer * plant.ts
    print heading
    # draw my car
    display.blit(pygame.transform.rotate(car, 90-math.degrees(heading)), (carx*METER, cary*METER))
    # draw control pts
    for x,y in control_pts:
      pygame.draw.circle(display, (255,255,0), (int(x * METER),int(y * METER)), 2)
    # draw path 
    path_pts = zip(np.arange(0, 50), md.model.path.points)
    for x,y in path_pts:
      x,y = pt_from_car((x,y))
      pygame.draw.circle(display, (0,255,0), (int(x * METER),int(y * METER)), 1)
    """
    # draw lead car
    dl = (plant.distance_lead - plant.distance) + 4.5
    lx = carx + dl * math.cos(heading)
    ly = cary + dl * math.sin(heading)
    display.blit(pygame.transform.rotate(leadcar, 90-math.degrees(heading)), (lx*METER, ly*METER))
    """
    pygame.display.flip()
--- a/selfdrive/test/test_openpilot.py
+++ b/selfdrive/test/test_openpilot.py
@ -0,0 +1,101 @@
 import os
 os.environ['FAKEUPLOAD'] = "1"
 from common.testing import phone_only
 from selfdrive.manager import manager_init, manager_prepare
 from selfdrive.manager import start_managed_process, kill_managed_process, get_running
 from selfdrive.manager import manage_baseui
 from selfdrive.config import CruiseButtons
 from selfdrive.test.plant.plant import Plant
 from functools import wraps
 import time
 DID_INIT = False
 # must run first
@phone_only
 def test_manager_prepare():
  global DID_INIT
  manager_init()
  manager_prepare()
  DID_INIT = True
 def with_processes(processes):
  def wrapper(func):
    @wraps(func)
    def wrap():
      if not DID_INIT:
        test_manager_prepare()
      # start and assert started
      [start_managed_process(p) for p in processes]
      assert all(get_running()[name].exitcode is None for name in processes)
      # call the function
      func()
      # assert processes are still started
      assert all(get_running()[name].exitcode is None for name in processes)
      # kill and assert all stopped
      [kill_managed_process(p) for p in processes]
      assert len(get_running()) == 0
    return wrap
  return wrapper
@phone_only
@with_processes(['controlsd', 'radard', 'plannerd'])
 def test_controls():
  # start the fake car for 2 seconds
  plant = Plant(100)
  for i in range(200):
    if plant.rk.frame >= 20 and plant.rk.frame <= 25:
      cruise_buttons = CruiseButtons.RES_ACCEL
      # rolling forward
      assert plant.speed > 0
    else:
      cruise_buttons = 0
    plant.step(cruise_buttons = cruise_buttons)
  plant.close()
  # assert that we stopped
  assert plant.speed == 0.0
@phone_only
@with_processes(['loggerd', 'logmessaged', 'tombstoned', 'proclogd', 'logcatd'])
 def test_logging():
  print "LOGGING IS SET UP"
  time.sleep(1.0)
@phone_only
@with_processes(['visiond'])
 def test_visiond():
  print "VISIOND IS SET UP"
  time.sleep(5.0)
@phone_only
@with_processes(['sensord'])
 def test_sensord():
  print "SENSORS ARE SET UP"
  time.sleep(1.0)
@phone_only
@with_processes(['ui'])
 def test_ui():
  print "RUNNING UI"
  time.sleep(1.0)
 # will have one thing to upload if loggerd ran
 # TODO: assert it actually uploaded
@phone_only
@with_processes(['uploader'])
 def test_uploader():
  print "UPLOADER"
  time.sleep(10.0)
@phone_only
 def test_baseui():
  manage_baseui(True)
  time.sleep(10.0)
  manage_baseui(False)
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@ -41,7 +41,7 @@ def report_tombstone(fn, client):
    message += parsedict.get('abort') or ''
  else:
    parsedict = {}
-    message = fn
+    message = fn+"\n"+dat[:1024]
  client.send(
    event_id=uuid.uuid4().hex,
--- a/selfdrive/ui/Makefile
+++ b/selfdrive/ui/Makefile
@ -36,6 +36,7 @@ OBJS = ui.o \
       ../common/params.o \
       ../common/util.o \
       ../common/touch.o \
       ../common/swaglog.o \
       $(PHONELIBS)/nanovg/nanovg.o \
       $(PHONELIBS)/json/src/json.o \
       $(CEREAL_OBJS)
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@ -20,6 +20,7 @@
 #include "common/timing.h"
 #include "common/util.h"
 #include "common/swaglog.h"
 #include "common/mat.h"
 #include "common/glutil.h"
@ -69,8 +70,6 @@ typedef struct UIScene {
 typedef struct UIState {
  pthread_mutex_t lock;
  TouchState touch;
  FramebufferState *fb;
  int fb_w, fb_h;
@ -135,7 +134,7 @@ static void set_awake(UIState *s, bool awake) {
    s->awake = awake;
    if (awake) {
-      printf("awake normal\n");
+      LOG("awake normal");
      framebuffer_set_power(s->fb, HWC_POWER_MODE_NORMAL);
      // can't hurt
@ -145,7 +144,7 @@ static void set_awake(UIState *s, bool awake) {
        fclose(f);
      }
    } else {
-      printf("awake off\n");
+      LOG("awake off");
      framebuffer_set_power(s->fb, HWC_POWER_MODE_OFF);
    }
  }
@ -230,10 +229,8 @@ static void ui_init(UIState *s) {
  s->ipc_fd = -1;
  touch_init(&s->touch);
  // init display
-  s->fb = framebuffer_init("ui", 0x00001000,
+  s->fb = framebuffer_init("ui", 0x00010000, true,
                           &s->display, &s->surface, &s->fb_w, &s->fb_h);
  assert(s->fb);
  set_awake(s, true);
@ -607,6 +604,38 @@ static void draw_frame(UIState *s) {
  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, &frame_indicies[0]);
 }
 /*
 * Draw a rect at specific position with specific dimensions
 */
 static void ui_draw_rounded_rect(
    NVGcontext* c, 
    int x,
    int y,
    int width,
    int height,
    int radius,
    NVGcolor color
 ) {
  int bottom_x = x + width;
  int bottom_y = y + height;
  nvgBeginPath(c);
  // Position the rect
  nvgRoundedRect(c, x, y, bottom_x, bottom_y, radius);
  // Color the rect
  nvgFillColor(c, color);
  // Draw the rect
  nvgFill(c);
  // Draw white border around rect
  nvgStrokeColor(c, nvgRGBA(255,255,255,200));
  nvgStroke(c);
 }
 // Draw all world space objects.
 static void ui_draw_world(UIState *s) {
  const UIScene *scene = &s->scene;
@ -614,6 +643,19 @@ static void ui_draw_world(UIState *s) {
    return;
  }
  /******************************************
   * Add background rect so it's easier to see in 
   * light background scenes 
   ******************************************/
  // Draw background around speed text
  // Left side
  ui_draw_rounded_rect(s->vg, -15, 0, 570, 180, 20, nvgRGBA(10,10,10,170));
  // Right side
  ui_draw_rounded_rect(s->vg, 1920-530, 0, 150, 180, 20, nvgRGBA(10,10,10,170));
  /******************************************/
  draw_steering(s, scene->v_ego, scene->angle_steers);
  // draw paths
@ -630,6 +672,15 @@ static void ui_draw_world(UIState *s) {
  if (scene->lead_status) {
    char radar_str[16];
    /******************************************
     * Add background rect so it's easier to see in 
     * light background scenes 
     ******************************************/
    // Draw background for radar text
    ui_draw_rounded_rect(s->vg, 578, 0, 195, 180, 20, nvgRGBA(10,10,10,170));
    /******************************************/
    if (s->is_metric) {
      int lead_v_rel = (int)(3.6 * scene->lead_v_rel);
      snprintf(radar_str, sizeof(radar_str), "%3d m %+d kph",
@ -640,9 +691,9 @@ static void ui_draw_world(UIState *s) {
               (int)(scene->lead_d_rel), lead_v_rel);
    }
    nvgFontSize(s->vg, 96.0f);
-    nvgFillColor(s->vg, nvgRGBA(128, 128, 0, 192));
+    nvgFillColor(s->vg, nvgRGBA(200, 200, 0, 192));
    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
-    nvgText(s->vg, 1920 / 2, 150, radar_str, NULL);
+    nvgText(s->vg, 1920 / 2 - 20, 40, radar_str, NULL);
    // 2.7 m fudge factor
    draw_cross(s, scene->lead_d_rel + 2.7, scene->lead_y_rel, 15,
@ -653,11 +704,10 @@ static void ui_draw_world(UIState *s) {
 static void ui_draw_vision(UIState *s) {
  const UIScene *scene = &s->scene;
-  if (scene->engaged) {
+  // if (scene->engaged) {
-    glClearColor(1.0, 0.5, 0.0, 1.0);
+  //   glClearColor(1.0, 0.5, 0.0, 1.0);
-  } else {
+  // } else {
  glClearColor(0.1, 0.1, 0.1, 1.0);
  }
  glClear(GL_COLOR_BUFFER_BIT);
  draw_frame(s);
@ -677,13 +727,26 @@ static void ui_draw_vision(UIState *s) {
    // draw speed
    char speed_str[16];
-    nvgFontSize(s->vg, 128.0f);
+    float defaultfontsize = 128.0f;
    float labelfontsize = 65.0f;
    if (scene->engaged) {
      nvgFillColor(s->vg, nvgRGBA(255, 128, 0, 192));
      // Add label
      nvgFontSize(s->vg, labelfontsize);
      nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
      nvgText(s->vg, 20, 175-30, "OpenPilot: On", NULL);
    } else {
-      nvgFillColor(s->vg, nvgRGBA(64, 64, 64, 192));
+      nvgFillColor(s->vg, nvgRGBA(195, 195, 195, 192));
      // Add label
      nvgFontSize(s->vg, labelfontsize);
      nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
      nvgText(s->vg, 20, 175-30, "OpenPilot: Off", NULL);
    }
    nvgFontSize(s->vg, defaultfontsize);
    if (scene->v_cruise != 255 && scene->v_cruise != 0) {
      if (s->is_metric) {
        snprintf(speed_str, sizeof(speed_str), "%3d KPH",
@ -694,9 +757,17 @@ static void ui_draw_vision(UIState *s) {
                 (int)(scene->v_cruise * 0.621371 + 0.5));
      }
      nvgTextAlign(s->vg, NVG_ALIGN_RIGHT | NVG_ALIGN_BASELINE);
-      nvgText(s->vg, 500, 150, speed_str, NULL);
+      nvgText(s->vg, 480, 95, speed_str, NULL);
    }
    // Add label
    nvgFontSize(s->vg, labelfontsize);
    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 192));
    nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
    nvgText(s->vg, 1920 - 475, 175-30, "Current Speed", NULL);
    /******************************************/
    nvgFontSize(s->vg, defaultfontsize);
    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 192));
    if (s->is_metric) {
      snprintf(speed_str, sizeof(speed_str), "%3d KPH",
@ -706,7 +777,7 @@ static void ui_draw_vision(UIState *s) {
               (int)(scene->v_ego * 2.237 + 0.5));
    }
    nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
-    nvgText(s->vg, 1920 - 500, 150, speed_str, NULL);
+    nvgText(s->vg, 1920 - 500, 95, speed_str, NULL);
    /*nvgFontSize(s->vg, 64.0f);
    nvgTextAlign(s->vg, NVG_ALIGN_RIGHT | NVG_ALIGN_BASELINE);
@ -722,19 +793,33 @@ static void ui_draw_vision(UIState *s) {
    }
  }
  nvgEndFrame(s->vg);
  glDisable(GL_BLEND);
  // glDisable(GL_CULL_FACE);
 }
 static void ui_draw_alerts(UIState *s) {
  const UIScene *scene = &s->scene;
  glEnable(GL_BLEND);
  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
  glClear(GL_STENCIL_BUFFER_BIT);
  nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
  // draw alert text
  if (strlen(scene->alert_text1) > 0) {
    nvgBeginPath(s->vg);
    nvgRoundedRect(s->vg, 100, 200, 1700, 800, 40);
    nvgFillColor(s->vg, nvgRGBA(10, 10, 10, 220));
    nvgFill(s->vg);
    nvgFontSize(s->vg, 200.0f);
    nvgFillColor(s->vg, nvgRGBA(255, 0, 0, 255));
    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
    nvgTextBox(s->vg, 100 + 50, 200 + 50, 1700 - 50, scene->alert_text1,
                NULL);
    if (strlen(scene->alert_text2) > 0) {
      nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
      nvgFontSize(s->vg, 100.0f);
@ -745,11 +830,10 @@ static void ui_draw_vision(UIState *s) {
  nvgEndFrame(s->vg);
  glDisable(GL_BLEND);
  glDisable(GL_CULL_FACE);
 }
 static void ui_draw_blank(UIState *s) {
-  glClearColor(0.1, 0.1, 0.1, 1.0);
+  glClearColor(0.0, 0.0, 0.0, 0.0);
  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 }
@ -760,6 +844,8 @@ static void ui_draw(UIState *s) {
    ui_draw_blank(s);
  }
  ui_draw_alerts(s);
  eglSwapBuffers(s->display, s->surface);
  assert(glGetError() == GL_NO_ERROR);
 }
@ -865,19 +951,22 @@ static void ui_update(UIState *s) {
    int ret = zmq_poll(polls, num_polls, 0);
    if (ret < 0) {
-      printf("poll failed (%d)\n", ret);
+      LOGW("poll failed (%d)", ret);
      break;
    }
    if (ret == 0) {
      break;
    }
    // awake on any activity
    set_awake(s, true);
    if (s->vision_connected && polls[4].revents) {
      // vision ipc event
      VisionPacket rp;
      err = vipc_recv(s->ipc_fd, &rp);
      if (err <= 0) {
-        printf("vision disconnected\n");
+        LOGW("vision disconnected");
        close(s->ipc_fd);
        s->ipc_fd = -1;
        s->vision_connected = false;
@ -1099,12 +1188,23 @@ int main() {
                       vision_connect_thread, s);
  assert(err == 0);
  TouchState touch = {0};
  touch_init(&touch);
  while (!do_exit) {
    if (s->awake) {
    pthread_mutex_lock(&s->lock);
    ui_update(s);
    if (s->awake) {
      ui_draw(s);
-      pthread_mutex_unlock(&s->lock);
+    }
    // awake on any touch
    int touch_x = -1, touch_y = -1;
    int touched = touch_poll(&touch, &touch_x, &touch_y);
    if (touched == 1) {
      // touch event will still happen :(
      set_awake(s, true);
    }
    // manage wakefulness
@ -1114,17 +1214,7 @@ int main() {
      set_awake(s, false);
    }
-    // always awake if vision is connected
+    pthread_mutex_unlock(&s->lock);
    if (s->vision_connected) {
      set_awake(s, true);
    } else {
      int touch_x = -1, touch_y = -1;
      err = touch_poll(&s->touch, &touch_x, &touch_y);
      if (err == 1) {
        // touch event will still happen :(
        set_awake(s, true);
      }
    }
    // no simple way to do 30fps vsync with surfaceflinger...
    usleep(30000);
--- a/selfdrive/visiond/visiond
+++ b/selfdrive/visiond/visiond
		`@ -1,2 +0,0 @@`
			`import os`
			`DBC_PATH = os.path.dirname(os.path.abspath(__file__))`
		`@ -0,0 +1 @@`
							`Subproject commit d584cdd46ca398aace9f1a7ee6c967a8c7602e8e`
		`@ -1 +1 @@`
			`Subproject commit be7d2ee3973be06466faa724453674af228f6b0b`				`Subproject commit 5409c51041cfe8f139650a4e0decf4f6d863eb07`
`@ -1 +1 @@`
	`const char *openpilot_version = "0.3.2";`	`#define OPENPILOT_VERSION "0.3.3"`