diff --git a/opendbc/ford_fusion_2018_adas.dbc b/opendbc/ford_fusion_2018_adas.dbc
new file mode 100644
index 0000000000..63a0b9909c
--- /dev/null
+++ b/opendbc/ford_fusion_2018_adas.dbc
@@ -0,0 +1,419 @@
+VERSION ""
+
+
+NS_ : 
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BU_: XXX
+
+BO_ 1280 Object_00: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1281 Object_01: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1282 Object_02: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1283 Object_03: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1284 Object_04: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1299 Object_19: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1300 Object_20: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1301 Object_21: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1302 Object_22: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1303 Object_23: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1304 Object_24: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1305 Object_25: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1306 Object_26: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1307 Object_27: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1308 Object_28: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
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+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
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+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
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+
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+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
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+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
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+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
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+BO_ 1334 Object_54: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1335 Object_55: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1336 Object_56: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1337 Object_57: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1338 Object_58: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1339 Object_59: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1340 Object_60: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1341 Object_61: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1342 Object_62: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1343 Object_63: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
diff --git a/opendbc/ford_fusion_2018_pt.dbc b/opendbc/ford_fusion_2018_pt.dbc
new file mode 100644
index 0000000000..eb3f8167f1
--- /dev/null
+++ b/opendbc/ford_fusion_2018_pt.dbc
@@ -0,0 +1,125 @@
+VERSION ""
+
+
+NS_ : 
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BU_: XXX
+
+BO_ 130 EPAS_INFO: 8 XXX
+ SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6.0) [0|0] "Volts" XXX
+ SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64.0) [0|0] "Amps" XXX
+ SG_ EPAS_FAILURE : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8.0) [0|0] "Nm" XXX
+ SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|0] "" XXX
+
+BO_ 118 Steering_Wheel_Data_CG1: 8 XXX
+ SG_ SteWhlRelInit_An_Sns : 6|15@0+ (0.1,-1600.0) [0|0] "deg" XXX
+ SG_ SteWhlRelCalib_An_Sns : 23|15@0+ (0.1,-1600.0) [0|0] "deg" XXX
+ SG_ SteWhlRelInit2_An_Sns : 55|16@0+ (0.1,-3200.0) [0|0] "deg" XXX
+ SG_ SteWhlAn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ SteWhlAn_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX
+
+BO_ 131 Steering_Buttons: 8 XXX
+ SG_ Right_Turn_Light : 5|1@0+ (1,0) [0|0] "" XXX
+ SG_ Left_Turn_Light : 4|1@0+ (1,0) [0|0] "" XXX
+ SG_ Dist_Decr : 12|1@0+ (1,0) [0|0] "" XXX
+ SG_ Dist_Incr : 11|1@0+ (1,0) [0|0] "" XXX
+ SG_ Cancel : 8|1@0+ (1,0) [0|0] "" XXX
+ SG_ Resume : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ Set : 28|1@0+ (1,0) [0|0] "" XXX
+ SG_ Main : 38|1@0+ (1,0) [0|0] "" XXX
+
+BO_ 145 Yaw_Data: 8 XXX
+ SG_ VehYaw_W_Actl : 39|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
+ SG_ VehRol_W_Actl : 23|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
+ SG_ VehPtch_W_Actl : 7|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
+
+BO_ 146 Accel_Data: 8 XXX
+ SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|0] "" XXX
+ SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|0] "" XXX
+ SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|0] "" XXX
+ SG_ VehVert_A_Actl : 36|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX
+ SG_ VehLong_A_Actl : 20|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX
+ SG_ VehLat_A_Actl : 4|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX
+
+BO_ 357 Cruise_Status: 8 XXX
+ SG_ Cruise_State : 11|4@0+ (1,0) [0|0] "" XXX
+ SG_ Set_Speed : 23|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 516 EngineData_14: 8 XXX
+ SG_ ApedPosScal_Pc_Actl : 1|10@0+ (0.1,0) [0|0] "%" XXX
+
+BO_ 535 WheelSpeed_CG1: 8 XXX
+ SG_ WhlRr_W_Meas : 55|14@0+ (0.04,0) [0|0] "rad/s" XXX
+ SG_ WhlRl_W_Meas : 39|14@0+ (0.04,0) [0|0] "rad/s" XXX
+ SG_ WhlFr_W_Meas : 23|14@0+ (0.04,0) [0|0] "rad/s" XXX
+ SG_ WhlFl_W_Meas : 7|14@0+ (0.04,0) [0|0] "rad/s" XXX
+
+BO_ 534 WheelData: 8 XXX
+ SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|0] "" XXX
+ SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX
+ SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|0] "" XXX
+ SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|0] "" XXX
+ SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ WHEEL_ROLLING_TIMESTAMP : 47|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 970 Lane_Keep_Assist_Control: 8 XXX
+ SG_ Lkas_Action : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ Lkas_Alert : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ Lane_Curvature : 15|12@0+ (5e-06,-0.01) [0|0] "1/m" XXX
+ SG_ Steer_Angle_Req : 19|12@0+ (0.04297,-88.00445) [0|0] "deg" XXX
+
+BO_ 972 Lane_Keep_Assist_Status: 8 XXX
+ SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX
+
+BO_ 984 Lane_Keep_Assist_Ui: 8 XXX
+ SG_ Set_Me_X80 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ Set_Me_X45 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Lines_Hud : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ Hands_Warning_W_Chime : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ Hands_Warning : 49|1@0+ (1,0) [0|1] "" XXX
+ SG_ Set_Me_X30 : 63|8@0+ (1,0) [0|255] "" XXX
+
+VAL_ 357 Cruise_State 4 "active" 3 "standby" 0 "off" ;
+VAL_ 970 Lkas_Action 15 "off" 9 "active" ;
+VAL_ 970 Lkas_Alert 15 "no_alert" 3 "high_intensity" 2 "mid_intensity" 1 "low_intensity" ;
+VAL_ 972 LaActAvail_D_Actl 3 "available" 2 "tbd" 1 "not_available" 0 "fault" ;
+VAL_ 984 Lines_Hud 15 "none" 11 "grey_yellow" 8 "green_red" 7 "yellow_grey" 6 "grey_grey" 4 "red_green" 3 "green_green" ;