Merge pull request #165 from commaai/devel

openpilot v0.4.0.1
8 years ago · c2e120c362
parent 5ae7119646 7ef3fd567f
commit c2e120c362
434 changed files with 93885 additions and 2873 deletions
--- a/.gitmodules
+++ b/.gitmodules
@ -1,9 +0,0 @@
-[submodule "panda"]
-	path = panda
-	url = https://github.com/commaai/panda.git
-[submodule "opendbc"]
-	path = opendbc
-	url = https://github.com/commaai/opendbc.git
-[submodule "pyextra"]
-	path = pyextra
-	url = https://github.com/commaai/openpilot-pyextra.git
--- a/README.md
+++ b/README.md
@ -3,7 +3,7 @@ Welcome to openpilot

 [openpilot](http://github.com/commaai/openpilot) is an open source driving agent.

-Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras and Toyotas. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

 The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.

@ -29,13 +29,18 @@ Supported Cars
 - Honda CR-V Touring 2015-2016
  - Can only be enabled above 25 mph

- Toyota RAV-4 2016+ with TSS-P (alpha!)
+- Toyota RAV-4 2016+ non-hybrid with TSS-P
  - By default it uses stock Toyota ACC for longitudinal control
-  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29) and can be enabled above 20 mph
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph

 - Toyota Prius 2017 (alpha!)
  - By default it uses stock Toyota ACC for longitudinal control
-  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29)
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29)
+  - Lateral control needs improvements
+
+- Toyota RAV-4 2017 hybrid (alpha!)
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can do stop and go

 In Progress Cars
 ------
@ -50,6 +55,12 @@ Community WIP Cars

 - [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)

+- [Honda Odyssey 2018 with Honda Sensing](https://github.com/commaai/openpilot/pull/155)
+
+- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
+
+- [Acura RDX 2018 with AcuraWatch Plus](https://github.com/commaai/openpilot/pull/162)
+
 Directory structure
 ------

--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,3 +1,12 @@
+Version 0.4.0.1 (2017-12-21)
+==========================
+ * New UI to match chffrplus
+ * Improved lateral control tuning to fix oscillations on Civic
+ * Add alpha support for 2017 Toyota Rav4 Hybrid
+ * Reduced CPU usage
+ * Removed unnecessary utilization of fan at max speed
+ * Minor bug fixes
+
 Version 0.3.9 (2017-11-21)
 ==========================
 * Add alpha support for 2017 Toyota Prius
--- a/apk/ai.comma.plus.black.apk
+++ b/apk/ai.comma.plus.black.apk
--- a/apk/ai.comma.plus.frame.apk
+++ b/apk/ai.comma.plus.frame.apk
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/apk/com.baseui.apk
+++ b/apk/com.baseui.apk
--- a/apk/external/.gitignore
+++ b/apk/external/.gitignore
@ -0,0 +1,2 @@
+src/*
+out/*
--- a/apk/external/com.spotify.music.apkpatch
+++ b/apk/external/com.spotify.music.apkpatch
--- a/apk/external/com.waze.apkpatch
+++ b/apk/external/com.waze.apkpatch
--- a/apk/external/out/.gitkeep
+++ b/apk/external/out/.gitkeep
--- a/apk/external/patcher.py
+++ b/apk/external/patcher.py
@ -0,0 +1,122 @@
+#!/usr/bin/env python2.7
+
+import os
+import sys
+import glob
+import shutil
+import urllib2
+import hashlib
+import subprocess
+
+
+EXTERNAL_PATH = os.path.dirname(os.path.abspath(__file__))
+
+if os.path.exists("/init.qcom.rc"):
+  # android
+  APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch_android')
+  SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk_android')
+else:
+  APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch')
+  SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk')
+
+APKS = {
+  'com.waze': {
+    'src': 'https://apkcache.s3.amazonaws.com/com.waze_1021278.apk',
+    'src_sha256': 'f00957e93e2389f9e30502ac54994b98ac769314b0963c263d4e8baa625ab0c2',
+    'patch': 'com.waze.apkpatch',
+    'out_sha256': '9ec8b0ea3c78c666342865b1bfb66e368a3f5c911df2ad12835206ec8b19f444'
+  },
+  'com.spotify.music': {
+    'src': 'https://apkcache.s3.amazonaws.com/com.spotify.music_24382006.apk',
+    'src_sha256': '0610fea68ee7ba5f8e4e0732ad429d729dd6cbb8bc21222c4c99db6cb09fbff4',
+    'patch': 'com.spotify.music.apkpatch',
+    'out_sha256': '5a3d6f478c7e40403a98ccc8906d7e0ae12b06543b41f5df52149dd09c647c11'
+  },
+}
+
+def sha256_path(path):
+  with open(path, 'rb') as f:
+    return hashlib.sha256(f.read()).hexdigest()
+
+def remove(path):
+  try:
+    os.remove(path)
+  except OSError:
+    pass
+
+def process(download, patch):
+  # clean up any junk apks
+  for out_apk in glob.glob(os.path.join(EXTERNAL_PATH, 'out/*.apk')):
+    app = os.path.basename(out_apk)[:-4]
+    if app not in APKS:
+      print "remove junk", out_apk
+      remove(out_apk)
+
+  complete = True
+  for k,v in APKS.iteritems():
+    apk_path = os.path.join(EXTERNAL_PATH, 'out', k+'.apk')
+    print "checking", apk_path
+    if os.path.exists(apk_path) and sha256_path(apk_path) == v['out_sha256']:
+      # nothing to do
+      continue
+
+    complete = False
+
+    remove(apk_path)
+
+    src_path = os.path.join(EXTERNAL_PATH, 'src', v['src_sha256'])
+    if not os.path.exists(src_path) or sha256_path(src_path) != v['src_sha256']:
+      if not download:
+        continue
+
+      print "downloading", v['src'], "to", src_path
+      # download it
+      resp = urllib2.urlopen(v['src'])
+      data = resp.read()
+      with open(src_path, 'wb') as src_f:
+        src_f.write(data)
+
+      if sha256_path(src_path) != v['src_sha256']:
+        print "download was corrupted..."
+        continue
+
+    if not patch:
+      continue
+
+    # ignoring lots of TOCTTOU here...
+
+    apk_temp = "/tmp/"+k+".patched"
+    remove(apk_temp)
+    apk_temp2 = "/tmp/"+k+".signed"
+    remove(apk_temp2)
+
+    try:
+      print "patching", v['patch']
+      subprocess.check_call([APKPATCH, 'apply', src_path, apk_temp, os.path.join(EXTERNAL_PATH, v['patch'])])
+      print "signing", apk_temp
+      subprocess.check_call([SIGNAPK,
+        os.path.join(EXTERNAL_PATH, 'tools/certificate.pem'), os.path.join(EXTERNAL_PATH, 'tools/key.pk8'),
+        apk_temp, apk_temp2])
+
+      out_sha256 = sha256_path(apk_temp2) if os.path.exists(apk_temp2) else None
+
+      if out_sha256 == v['out_sha256']:
+        print "done", apk_path
+        shutil.move(apk_temp2, apk_path)
+      else:
+        print "patch was corrupted", apk_temp2, out_sha256
+    finally:
+      remove(apk_temp)
+      remove(apk_temp2)
+
+  return complete
+
+if __name__ == "__main__":
+  ret = True
+  if len(sys.argv) == 2 and sys.argv[1] == "download":
+    ret = process(True, False)
+  elif len(sys.argv) == 2 and sys.argv[1] == "patch":
+    ret = process(False, True)
+  else:
+    ret = process(True, True)
+  sys.exit(0 if ret else 1)
--- a/apk/external/src/.gitkeep
+++ b/apk/external/src/.gitkeep
--- a/apk/external/tools/ApkPatch.android.jar
+++ b/apk/external/tools/ApkPatch.android.jar
--- a/apk/external/tools/apkpatch_android
+++ b/apk/external/tools/apkpatch_android
@ -0,0 +1,7 @@
+#!/system/bin/sh
+
+DIR="$(cd "$(dirname "$0")" && pwd)"
+
+export LD_LIBRARY_PATH=/system/lib64
+export CLASSPATH="$DIR"/ApkPatch.android.jar
+exec app_process "$DIR" ApkPatch "$@"
--- a/apk/external/tools/certificate.pem
+++ b/apk/external/tools/certificate.pem
@ -0,0 +1,17 @@
+-----BEGIN CERTIFICATE-----
+MIICtTCCAh4CCQDm79UqF+Dc5zANBgkqhkiG9w0BAQUFADCBnjELMAkGA1UEBhMC
+SUQxEzARBgNVBAgTCkphd2EgQmFyYXQxEDAOBgNVBAcTB0JhbmR1bmcxEjAQBgNV
+BAoTCUxvbmRhdGlnYTETMBEGA1UECxMKQW5kcm9pZERldjEaMBgGA1UEAxMRTG9y
+ZW5zaXVzIFcuIEwuIFQxIzAhBgkqhkiG9w0BCQEWFGxvcmVuekBsb25kYXRpZ2Eu
+bmV0MB4XDTEwMDUwNTA5MjEzOFoXDTEzMDEyODA5MjEzOFowgZ4xCzAJBgNVBAYT
+AklEMRMwEQYDVQQIEwpKYXdhIEJhcmF0MRAwDgYDVQQHEwdCYW5kdW5nMRIwEAYD
+VQQKEwlMb25kYXRpZ2ExEzARBgNVBAsTCkFuZHJvaWREZXYxGjAYBgNVBAMTEUxv
+cmVuc2l1cyBXLiBMLiBUMSMwIQYJKoZIhvcNAQkBFhRsb3JlbnpAbG9uZGF0aWdh
+Lm5ldDCBnzANBgkqhkiG9w0BAQEFAAOBjQAwgYkCgYEAy2oWtbdVXMHGiS6cA3qi
+3VfZt5Vz9jTlux+TEcGx5h18ZKwclyo+z2B0L/p5bYdnrTdFEiD7IxvX+h3lu0JV
+B9rdXZdyrzXNOw5YFrsn2k7hKvB8KEBaga1gZEwodlc6N14H3FbZdZkIA9V716Pu
+e5CWBZ2VqU03lUJmKnpH8c8CAwEAATANBgkqhkiG9w0BAQUFAAOBgQBpNgXh8dw9
+uMjZxzLUXovV5ptHd61jAcZlQlffqPsz6/2QNfIShVdGH9jkm0IudfKkbvvOKive
+a77t9c4sDh2Sat2L/rx6BfTuS1+y9wFr1Ee8Rrr7wGHhRkx2qqGrXGVWqXn8aE3E
+P6e7BTPF0ibS+tG8cdDPEisqGFxw36nTNQ==
+-----END CERTIFICATE-----
--- a/apk/external/tools/key.pk8
+++ b/apk/external/tools/key.pk8
--- a/apk/external/tools/signapk.android.jar
+++ b/apk/external/tools/signapk.android.jar
--- a/apk/external/tools/signapk_android
+++ b/apk/external/tools/signapk_android
@ -0,0 +1,7 @@
+#!/system/bin/sh
+
+DIR="$(cd "$(dirname "$0")" && pwd)"
+
+export LD_LIBRARY_PATH=/system/lib64
+export CLASSPATH="$DIR"/signapk.android.jar
+exec app_process "$DIR" com.android.signapk.SignApk "$@"
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@ -12,12 +12,13 @@ $Java.outerClassname("Car");
 struct CarEvent @0x9b1657f34caf3ad3 {
  name @0 :EventName;
  enable @1 :Bool;
-  preEnable @7 :Bool;
  noEntry @2 :Bool;
  warning @3 :Bool;
  userDisable @4 :Bool;
  softDisable @5 :Bool;
  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool;

  enum EventName @0xbaa8c5d505f727de {
    # TODO: copy from error list
@ -64,9 +65,10 @@ struct CarState {
  events @13 :List(CarEvent);

  # car speed
-  vEgo @1 :Float32;       # best estimate of speed
-  aEgo @16 :Float32;       # best estimate of acceleration
-  vEgoRaw @17 :Float32;       # unfiltered speed
+  vEgo @1 :Float32;         # best estimate of speed
+  aEgo @16 :Float32;        # best estimate of acceleration
+  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
+  yawRate @22 :Float32;     # best estimate of yaw rate
  standstill @18 :Bool;
  wheelSpeeds @2 :WheelSpeeds;

@ -309,4 +311,5 @@ struct CarParams {
  directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
  stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
  startAccel @35 :Float32; # Required acceleraton to overcome creep braking
+  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
 }
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@ -28,6 +28,7 @@ struct InitData {
  version @4 :Text;
  gitCommit @10 :Text;
  gitBranch @11 :Text;
+  gitRemote @13 :Text;

  androidBuildInfo @5 :AndroidBuildInfo;
  androidSensors @6 :List(AndroidSensor);
@ -154,6 +155,8 @@ struct SensorEventData {
    pressure @9 :SensorVec;
    magneticUncalibrated @11 :SensorVec;
    gyroUncalibrated @12 :SensorVec;
+    proximity @13: Float32;
+    light @14: Float32;
  }
  source @8 :SensorSource;

@ -242,8 +245,11 @@ struct ThermalData {
  freeSpace @7 :Float32;
  batteryPercent @8 :Int16;
  batteryStatus @9 :Text;
+  usbOnline @12 :Bool;

  fanSpeed @10 :UInt16;
+  started @11 :Bool;
+  startedTs @13 :UInt64;
 }

 struct HealthData {
@ -349,6 +355,7 @@ struct Live100Data {
  jerkFactor @12 :Float32;
  angleSteers @13 :Float32;     # Steering angle in degrees.
  angleSteersDes @29 :Float32;
+  curvature @37 :Float32;       # path curvature from vehicle model
  hudLeadDEPRECATED @14 :Int32;
  cumLagMs @15 :Float32;

@ -361,6 +368,8 @@ struct Live100Data {
  rearViewCam @23 :Bool;
  alertText1 @24 :Text;
  alertText2 @25 :Text;
+  alertStatus @38 :AlertStatus;
+  alertSize @39 :AlertSize;
  awarenessStatus @26 :Float32;

  angleOffset @27 :Float32;
@ -378,6 +387,20 @@ struct Live100Data {
    stopping @2;
    starting @3;
  }
+
+  enum AlertStatus {
+    normal @0;       # low priority alert for user's convenience
+    userPrompt @1;   # mid piority alert that might require user intervention
+    critical @2;     # high priority alert that needs immediate user intervention
+  }
+
+  enum AlertSize {
+    none @0;    # don't display the alert
+    small @1;   # small box
+    mid @2;     # mid screen
+    full @3;    # full screen
+  }
+
 }

 struct LiveEventData {
@ -600,6 +623,23 @@ struct NavUpdate {
  }
 }

+struct NavStatus {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
 struct CellInfo {
  timestamp @0 :UInt64;
  repr @1 :Text; # android toString() for now
@ -1300,5 +1340,6 @@ struct Event {
    clocks @35 :Clocks;
    liveMpc @36 :LiveMpcData;
    liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
+    navStatus @38 :NavStatus;
  }
 }
--- a/common/basedir.py
+++ b/common/basedir.py
@ -1,4 +1,4 @@
 import os
-BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))


--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@ -19,6 +19,9 @@ _FINGERPRINTS = {
  "TOYOTA RAV4 2017": {
    36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
  },
+  "TOYOTA RAV4 2017 HYBRID": {
+   36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8, 581L: 5, 296: 8, 552L: 8, 560L: 7, 552L: 4, 713L: 8, 550L: 8, 608L: 8, 37L: 8, 36L: 8, 950L: 8, 1198L: 8, 1197L: 8, 1199L: 8, 1212L: 8, 953L: 3, 1264L: 8, 1184L: 8, 1005L: 2, 1185L: 8, 1232L: 8, 1186L: 8
+ },
  "TOYOTA PRIUS 2017": {
    36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
  },
--- a/common/kalman/ekf.py
+++ b/common/kalman/ekf.py
@ -35,7 +35,7 @@ class SensorReading:
 # A generic sensor class that does no pre-processing of data
 class SimpleSensor:
  # obs_model can be
-  #   a full obesrvation model matrix, or
+  #   a full observation model matrix, or
  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
  # covar can be
  #   a full covariance matrix
@ -129,7 +129,7 @@ class EKF:
      print "covar:\n",self.covar

  def update_scalar(self, reading):
-    # like update but knowing that measurment is a scalar
+    # like update but knowing that measurement is a scalar
    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot

    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
@ -188,7 +188,7 @@ class EKF:

    Current implementations calculate A and J as functions of state. Control input
      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calcualtion of A and J
+      and using it during calculation of A and J
    """


--- a/common/params.py
+++ b/common/params.py
@ -52,12 +52,14 @@ keys = {
  "Version": TxType.PERSISTANT,
  "GitCommit": TxType.PERSISTANT,
  "GitBranch": TxType.PERSISTANT,
+  "GitRemote": TxType.PERSISTANT,
 # written: baseui
 # read:    ui, controls
  "IsMetric": TxType.PERSISTANT,
  "IsRearViewMirror": TxType.PERSISTANT,
  "IsFcwEnabled": TxType.PERSISTANT,
  "HasAcceptedTerms": TxType.PERSISTANT,
+  "IsUploadVideoOverCellularEnabled": TxType.PERSISTANT,
 # written: visiond
 # read:    visiond, controlsd
  "CalibrationParams": TxType.PERSISTANT,
@ -69,6 +71,7 @@ keys = {
  "CarParams": TxType.CLEAR_ON_CAR_START,

  "Passive": TxType.PERSISTANT,
+  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
 }

 def fsync_dir(path):
--- a/common/profiler.py
+++ b/common/profiler.py
@ -1,32 +1,47 @@
-from common.realtime import sec_since_boot
+import time

 class Profiler(object):
  def __init__(self, enabled=False):
    self.enabled = enabled
-    self.cp = []
-    self.start_time = sec_since_boot()
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.clock()
    self.last_time = self.start_time
-
-  def checkpoint(self, name):
-    if not self.enabled:
-      return
-    tt = sec_since_boot()
-    self.cp.append((name, tt - self.last_time))
-    self.last_time = tt
+    self.tot = 0.

  def reset(self, enabled=False):
    self.enabled = enabled
-    self.cp = []
-    self.start_time = sec_since_boot()
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.clock()
    self.last_time = self.start_time

+  def checkpoint(self, name, ignore=False):
+    # ignore flag needed when benchmarking threads with ratekeeper
+    if not self.enabled:
+      return
+    tt = time.clock()
+    if name not in self.cp:
+      self.cp[name] = 0.
+      if ignore:
+        self.cp_ignored.append(name)
+    self.cp[name] += tt - self.last_time
+    if not ignore:
+      self.tot += tt - self.last_time
+    self.last_time = tt
+
  def display(self):
    if not self.enabled:
      return
+    self.iter += 1
    print "******* Profiling *******"
-    tot = 0.0
-    for n, ms in self.cp:
-      print "%30s: %7.2f" % (n, ms*1000.0)
-      tot += ms
-    print "    TOTAL: %7.2f" % (tot*1000.0)
+    for n in self.cp:
+      ms = self.cp[n]
+      if n in self.cp_ignored:
+        print "%30s: %7.2f   perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100), "  IGNORED"
+      else:
+        print "%30s: %7.2f   perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100)
+    print "Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot)

--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@ -0,0 +1,39 @@
+#!/usr/bin/bash
+
+function launch {
+  # apply update
+  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+     git reset --hard @{u} &&
+     git clean -xdf &&
+     exec "${BASH_SOURCE[0]}"
+  fi
+
+  # no cpu rationing for now
+  echo 0-3 > /dev/cpuset/background/cpus
+  echo 0-3 > /dev/cpuset/system-background/cpus
+  echo 0-3 > /dev/cpuset/foreground/boost/cpus
+  echo 0-3 > /dev/cpuset/foreground/cpus
+  echo 0-3 > /dev/cpuset/android/cpus
+
+  # wait for network
+  (cd selfdrive/ui/spinner && exec ./spinner 'waiting for network...') & spin_pid=$!
+  until ping -W 1 -c 1 8.8.8.8; do sleep 1; done
+  kill $spin_pid
+
+  # check if NEOS update is required
+  while [ "$(cat /VERSION)" -lt 4 ] && [ ! -e /data/media/0/noupdate ]; do
+    curl -o /tmp/updater https://neos.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater
+    sleep 10
+  done
+
+  export PYTHONPATH="$PWD"
+
+  # start manager
+  cd selfdrive
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch
--- a/1
+++ b/1
@ -1 +0,0 @@
-Subproject commit 242698f80038bab677a4a6e58127309f9ed38d93
--- a/opendbc/.gitignore
+++ b/opendbc/.gitignore
@ -0,0 +1,2 @@
+*.pyc
+.*.swp
--- a/opendbc/README.md
+++ b/opendbc/README.md
@ -0,0 +1,49 @@
+opendbc
+======
+
+The project to democratize access to the decoder ring of your car.
+
+
+
+### DBC file basics
+
+A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file.
+Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) a good overview.
+
+### How to start reverse engineering cars
+
+[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).
+
+Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
+
+### Good practices for contributing to opendbc
+
+- Comments: the best way to store comments is to add them directly to the DBC files. For example: 
+    ```
+    CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+    ```
+    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
+
+- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better. 
+For example:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM
+    ```
+    is better than:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM
+    ```
+    However, the cleanest option is really:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
+    ``` 
+
+- Signal's size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
+    ```
+    SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
+    ```
+    However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is:
+    ```
+    SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM
+    ```
+    which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else.
--- a/opendbc/init.py
+++ b/opendbc/init.py
@ -0,0 +1,2 @@
+import os
+DBC_PATH = os.path.dirname(os.path.abspath(__file__))
--- a/opendbc/acura_ilx_2016_can.dbc
+++ b/opendbc/acura_ilx_2016_can.dbc
@ -0,0 +1,323 @@
+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 : 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
+ SG_ ODOMETER : 55|8@0+ (1,0) [0|255] "" XXX
+
+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_SWITCH : 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 : 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_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph"  NEO
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph"  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 : 23|2@0+ (1,0) [0|4] "" 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_ 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 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph"  NEO
+
+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" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/acura_ilx_2016_nidec.dbc
+++ b/opendbc/acura_ilx_2016_nidec.dbc
@ -0,0 +1,185 @@
+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 RADAR_DIAGNOSTIC: 8 RADAR
+ SG_ RADAR_STATE : 7|8@0+ (1,0) [0|255] "" NEO
+
+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;
+
+
+CM_ SG_ 1024 RADAR_STATE "need to find out more diagnostic values";
+VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted";
--- a/opendbc/acura_rdx_2018_can.dbc
+++ b/opendbc/acura_rdx_2018_can.dbc
@ -0,0 +1,315 @@
+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 CAM PCM EPS VSA SCM BDY XXX EPB
+
+
+BO_ 57 XXX_1: 3 XXX
+
+BO_ 145 XXX_2: 8 XXX
+
+BO_ 316 XXX_3: 8 PCM
+
+BO_ 340 XXX_4: 8 PCM
+
+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|15] "" 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|15] "" 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_SWITCH : 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|15] "" NEO
+
+BO_ 392 GEARBOX: 6 XXX
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX
+ SG_ GEAR_SHIFTER : 27|4@0+ (1,0) [0|15] "" NEO
+ SG_ GEAR : 36|5@0+ (1,0) [0|31] "" NEO
+
+BO_ 398 XXX_5: 3 PCM
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd" NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" NEO
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" NEO
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" NEO
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 404 STEERING_CONTROL: 4 NEO
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ CHECKSUM : 29|2@0+ (1,0) [0|3] "" EPS
+ SG_ COUNTER : 27|4@0+ (1,0) [0|15] "" EPS
+
+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|15] "" 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_ PARKING_BREAK_LIGHT : 2|1@0+ (1,0) [0|1] "" 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|15] "" NEO
+
+BO_ 426 XXX_6: 8 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|15] "" 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|15] "" NEO
+
+BO_ 474 XXX_7: 5 VSA
+
+BO_ 476 XXX_8: 5 XXX
+
+BO_ 487 XXX_9: 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
+ SG_ CHECKSUM : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 27|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 493 XXX_10: 3 VSA
+
+BO_ 506 BRAKE_COMMAND: 8 NEO
+ 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|15] "" EBCM
+
+BO_ 507 XXX_11: 1 NEO
+
+BO_ 542 XXX_12: 7 XXX
+
+BO_ 545 XXX_13: 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 : 47|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|15] "" 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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 661 XXX_14: 4 XXX
+
+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|15] "" NEO
+
+BO_ 777 XXX_15: 8 XXX
+
+BO_ 780 ACC_HUD: 8 CAM
+ 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|15] "" BDY
+
+BO_ 800 XXX_16: 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|15] "" NEO
+
+BO_ 808 XXX_17: 8 XXX
+
+BO_ 829 LKAS_HUD_2: 5 CAM
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" 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_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 882 XXX_18: 2 XXX
+
+BO_ 884 XXX_19: 7 XXX
+
+BO_ 888 XXX_20: 8 XXX
+
+BO_ 891 XXX_21: 8 XXX
+
+BO_ 923 XXX_23: 2 XXX
+
+BO_ 929 XXX_24: 8 XXX
+
+BO_ 983 XXX_25: 8 XXX
+
+BO_ 985 XXX_26: 3 XXX
+
+BO_ 1024 XXX_27: 5 XXX
+
+BO_ 1027 XXX_28: 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|15] "" NEO
+
+BO_ 1033 XXX_29: 5 XXX
+
+BO_ 1036 XXX_30: 8 XXX
+
+BO_ 1039 XXX_31: 8 XXX
+
+BO_ 1057 XXX_32: 5 XXX
+
+BO_ 1064 XXX_32: 7 XXX
+
+BO_ 1108 XXX_33: 8 XXX
+
+BO_ 1125 XXX_34: 8 XXX
+
+BO_ 1296 XXX_35: 8 XXX
+
+BO_ 1365 XXX_36: 5 XXX
+
+BO_ 1424 XXX_37: 5 XXX
+
+BO_ 1600 XXX_38: 5 XXX
+
+BO_ 1601 XXX_39: 8 XXX
+
+BO_TX_BU_ 399 : NEO,CAM;
+BO_TX_BU_ 506 : NEO,CAM;
+BO_TX_BU_ 780 : NEO,CAM;
+BO_TX_BU_ 829 : NEO,CAM;
+
+
+CM_ SG_ 422 PARKING_BREAK_LIGHT "Believe this is just the dash light for the parking break";
+VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
+VAL_ 392 GEAR 26 "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" ;
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/ford_cgea1_2_bodycan_2011.dbc
+++ b/opendbc/ford_cgea1_2_bodycan_2011.dbc
--- a/opendbc/ford_cgea1_2_ptcan_2011.dbc
+++ b/opendbc/ford_cgea1_2_ptcan_2011.dbc
--- a/opendbc/gm_global_a_chassis.dbc
+++ b/opendbc/gm_global_a_chassis.dbc
@ -0,0 +1,75 @@
+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_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM
+
+
+
+BO_ 823 PACMParkAssitCmd: 7 NEO
+ SG_ RollingCounter : 35|2@0+ (1,0) [0|0] ""  NEO
+ SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] ""  NEO
+ SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] ""  NEO
+
+BO_ 560 EBCMRegen: 6 K17_EBCM
+ SG_ Regen : 1|10@0+ (1,0) [0|0] ""  NEO
+
+BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM
+ SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] ""  NEO
+
+BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM
+ SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ FirctionBrakeCmd : 3|12@0+ (1,0) [0|0] ""  NEO
+
+BO_TX_BU_ 823 : K43_PSCM,NEO;
+BO_TX_BU_ 789 : NEO,K17_EBCM;
+
+
+CM_ BU_ K182_PACM "Parking Assist Control Module";
+CM_ BU_ K43_PSCM "Power Steering Control Module";
+CM_ BU_ K17_EBCM "Electronic Brake Control Module";
+CM_ BU_ NEO "Comma NEO";
+CM_ BU_ K124_ASCM "Active Safety Control Module";
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "UseGMParameterIDs" 0;
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+
--- a/opendbc/gm_global_a_lowspeed.dbc
+++ b/opendbc/gm_global_a_lowspeed.dbc
@ -0,0 +1,110 @@
+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_: GMLAN NEO
+VAL_TABLE_ GearShifter 3 "Park" 0 "Drive/Low" ;
+VAL_TABLE_ DriverDoorStatus 1 "Opened" 0 "Closed" ;
+VAL_TABLE_ LKAGapButton 2 "???" 1 "??" 0 "None" ;
+VAL_TABLE_ CruiseButtons 12 "Cancel" 10 "Enabled" 6 "Set" 4 "Resume" 2 "None" ;
+VAL_TABLE_ CruiseControlActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ BlinkerStatus 1 "Active" 0 "Inactive" ;
+
+
+BO_ 274923520 DriverDoorStatus: 1 GMLAN
+ SG_ DriverDoorOpened : 0|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 272629760 Chime: 5 NEO
+ SG_ ChimeType : 7|8@0+ (1,0) [0|0] ""  GMLAN
+ SG_ ChimeRepeat : 23|8@0+ (1,0) [0|0] ""  GMLAN
+ SG_ ChimeDuration : 15|8@0+ (1,0) [0|0] ""  GMLAN
+ SG_ ChimeByte5 : 39|8@0+ (1,0) [0|0] ""  GMLAN
+ SG_ ChimeByte4 : 31|8@0+ (1,0) [0|0] ""  GMLAN
+
+BO_ 270581760 BlinkerStatus: 5 GMLAN
+ SG_ RightBlinker : 6|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LeftBlinker : 7|1@0+ (1,0) [0|0] ""  NEO
+ SG_ BlinkerLight : 25|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 270794752 SteeringWheelAngle: 8 GMLAN
+ SG_ SteeringWheelAngle : 39|16@0- (0.0625,0) [-540|540] "deg"  NEO
+
+BO_ 271368192 GearShifter: 8 GMLAN
+ SG_ GearShifter : 17|2@0+ (1,0) [0|3] ""  NEO
+
+BO_ 271360000 GasPedalRegenCruise: 8 GMLAN
+ SG_ CruiseControlActive : 56|1@0+ (1,0) [0|0] ""  GMLAN
+ SG_ MaxRegen : 12|1@0+ (1,0) [0|1] ""  GMLAN,NEO
+ SG_ GasPedal : 47|8@0+ (1,0) [0|254] ""  GMLAN,NEO
+ SG_ GearShifter2NotUsed : 55|8@0+ (1,0) [0|255] ""  GMLAN,NEO
+
+BO_ 270860288 BrakePedal: 2 GMLAN
+ SG_ BrakeLevel : 2|2@0+ (1,0) [0|3] ""  NEO
+ SG_ BrakeSensor : 15|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 275480576 WheelSpeed: 8 GMLAN
+ SG_ WheelSpeedFL : 7|16@0+ (0.01,0) [0|70] "yd/s"  NEO
+ SG_ WheelSpeedFR : 39|16@0+ (0.01,0) [0|70] "yd/s"  NEO
+ SG_ WheelSpeedRL : 23|16@0+ (0.01,0) [0|70] "yd/s"  NEO
+ SG_ WheelSpeedRR : 55|16@0+ (0.01,0) [0|70] "yd/s"  NEO
+
+BO_ 270598144 VehicleSpeed: 8 GMLAN
+ SG_ VehicleSpeed1 : 7|16@0+ (0.01,0) [0|100] "mph"  NEO
+ SG_ VehicleSpeed2 : 39|16@0+ (0.01,0) [0|100] "mph"  NEO
+
+BO_ 276135936 CruiseButtons: 3 GMLAN
+ SG_ CruiseButtons : 3|4@0+ (1,0) [0|12] ""  NEO
+
+BO_ 276127744 CruiseButtons2: 1 GMLAN
+ SG_ LKAGapButton : 1|2@0+ (1,0) [0|2] ""  NEO
+
+
+
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+VAL_ 274923520 DriverDoorOpened 1 "Opened" 0 "Closed" ;
+VAL_ 270581760 RightBlinker 1 "Active" 0 "Inactive" ;
+VAL_ 270581760 LeftBlinker 1 "Active" 0 "Inactive" ;
+VAL_ 270581760 BlinkerLight 1 "Active" 0 "Inactive" ;
+VAL_ 271368192 GearShifter 3 "Park" 0 "Drive/Low" ;
+VAL_ 271360000 CruiseControlActive 1 "Active" 0 "Inactive" ;
+VAL_ 276135936 CruiseButtons 12 "Cancel" 10 "Enabled" 6 "Set" 4 "Resume" 2 "None" ;
+VAL_ 276127744 LKAGapButton 2 "???" 1 "??" 0 "None" ;
+
--- a/opendbc/gm_global_a_lowspeed_1818125.dbc
+++ b/opendbc/gm_global_a_lowspeed_1818125.dbc
--- a/opendbc/gm_global_a_object.dbc
+++ b/opendbc/gm_global_a_object.dbc
@ -0,0 +1,255 @@
+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_: K109_FCM B233B_LRR NEO K124_ASCM
+VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ;
+VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected " 1 "New object" 0 "No object" ;
+VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction " 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
+
+
+BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
+ SG_ Always12 : 0|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TimeStatusChecksum : 0|12@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 161 ASCMTimeStatus: 7 NEO
+ SG_ TimeStatus : 7|28@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ RollingCounter : 27|2@0+ (1,0) [0|0] ""  B233B_LRR
+
+BO_ 774 ASCMSteeringStatus: 8 NEO
+ SG_ ASCMSterringStatusChecksum : 55|16@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ AlwaysF0 : 15|8@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ Always20 : 23|8@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  B233B_LRR
+
+BO_ 784 ASCMHeadlight: 2 NEO
+ SG_ Always42 : 7|8@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ Always4 : 15|8@0+ (1,0) [0|0] ""  B233B_LRR
+
+BO_ 776 ASCMAccSpeedStatus: 7 NEO
+ SG_ AccSpeedChecksum : 42|11@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ RollingCounter : 46|2@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ NearRangeMode : 43|1@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ FarRangeMode : 44|1@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ VehicleAcceleration : 19|12@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ VehicleSpeed : 15|12@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ AlwaysOne : 3|1@0+ (1,0) [0|0] ""  B233B_LRR
+
+BO_ 1120 LRRNumObjects: 8 B233B_LRR
+ SG_ LRRNumObjects : 20|5@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1134 LRRObject14: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1132 LRRObject12: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1131 LRRObject11: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1130 LRRObject10: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1129 LRRObject09: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1128 LRRObject08: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1127 LRRObject07: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1126 LRRObject06: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1125 LRRObject05: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1124 LRRObject04: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1123 LRRObject03: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1140 LRRObject20: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1139 LRRObject19: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1138 LRRObject18: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1137 LRRObject17: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1136 LRRObject16: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1135 LRRObject15: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1133 LRRObject13: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1122 LRRObject02: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1121 LRRObject01: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_TX_BU_ 161 : K124_ASCM,NEO;
+BO_TX_BU_ 774 : K124_ASCM,NEO;
+BO_TX_BU_ 784 : K124_ASCM,NEO;
+BO_TX_BU_ 776 : K124_ASCM,NEO;
+
+
+CM_ BU_ K109_FCM "Frontview Camera Module ";
+CM_ BU_ B233B_LRR "Radar Sensor Module Long Range";
+CM_ BU_ NEO "Comma NEO";
+CM_ BU_ K124_ASCM "Active Safety Control Module";
+CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider.";
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+BA_ "UseGMParameterIDs" 0;
+VAL_ 776 NearRangeMode 1 "Active" 0 "Inactive" ;
+VAL_ 776 FarRangeMode 1 "Active" 0 "Inactive" ;
+
--- a/opendbc/gm_global_a_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
@ -0,0 +1,216 @@
+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_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM
+VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
+VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
+VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
+VAL_TABLE_ ACCGapButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCCancelButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_TABLE_ DriverDoorStatus 1 "Opened" 0 "Closed" ;
+VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
+VAL_TABLE_ ACCButton 1 "Pressed" 0 "Depressed" ;
+VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
+VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ;
+VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
+
+
+BO_ 320 BCMTurnSignals: 3 K9_BCM
+ SG_ TurnSignals : 19|2@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+
+BO_ 1249 VIN_Part2: 8 K20_ECM
+ SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1300 VIN_Part1: 8 K20_ECM
+ SG_ VINPart1 : 7|64@0+ (1,0) [0|0] ""  NEO
+
+BO_ 481 ASCMSteeringButton: 7 K124_ASCM
+ SG_ ACCGapButton : 22|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCCancelButton : 7|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1912 PSCM_778: 8 K43_PSCM
+
+BO_ 328 PSCM_148: 1 K43_PSCM
+
+BO_ 309 ECMPRDNL: 8 K20_ECM
+ SG_ PRNDL : 2|3@0+ (1,0) [0|0] ""  NEO
+
+BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
+ SG_ GPSLongitude : 39|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
+ SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
+
+BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
+ SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
+
+BO_ 298 BCMDoorStatus: 8 K9_BCM
+ SG_ DriverDoorStatus : 55|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 381 MSG_17D: 6 K20_ECM
+ SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] ""  NEO
+
+BO_ 201 ECMEngineStatus: 8 K20_ECM
+ SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%"  NEO
+ SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM"  NEO
+
+BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
+ SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] ""  NEO
+
+BO_ 384 ASCMLKASteeringCmd: 4 NEO
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmd : 2|11@0+ (1,0) [0|0] ""  NEO
+
+BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
+ SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h"  NEO
+ SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1930 ASCM_78A: 7 K124_ASCM
+
+BO_ 1296 ASCM_510: 4 K124_ASCM
+
+BO_ 1034 ASCM_40A: 7 K124_ASCM
+
+BO_ 869 ASCM_365: 4 K124_ASCM
+
+BO_ 717 ASCM_2CD: 5 K124_ASCM
+
+BO_ 1033 ASCMKeepAlive: 7 NEO
+ SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO
+
+BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
+ SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
+
+BO_ 388 PSCMStatus: 8 K43_PSCM
+ SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] ""  NEO
+ SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] ""  NEO
+ SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
+ SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
+
+BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
+ SG_ YawRate : 51|12@0- (0.0625,0) [-2047|2047] "grad/s"  NEO
+ SG_ LateralAcceleration : 3|12@0- (0.0161,0) [-2047|2047] "m/s2"  NEO
+ SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
+ SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
+
+BO_ 190 ECMAcceleratorPos: 6 K20_ECM
+ SG_ AcceleratorPos : 23|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
+ SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,1) [1|1] ""  NEO
+ SG_ GasRegenAlwaysOne : 14|1@0+ (1,1) [1|1] ""  NEO
+ SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmd : 23|16@0+ (1,0) [0|0] ""  NEO
+
+BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
+ SG_ FLWheelSpd : 7|16@0+ (0.0305,0) [0|255] "km/h"  NEO
+ SG_ FRWheelSpd : 23|16@0+ (0.0305,0) [0|255] "km/h"  NEO
+
+BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
+ SG_ RLWheelSpd : 7|16@0+ (0.0305,0) [0|255] "km/h"  NEO
+ SG_ RRWheelSpd : 23|16@0+ (0.0305,0) [0|255] "km/h"  NEO
+
+BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
+ SG_ BrakePedalPosition : 15|8@0+ (0.392157,0) [0|255] "%"  NEO
+
+BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
+ SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V"  NEO
+ SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
+
+BO_TX_BU_ 384 : K124_ASCM,NEO;
+BO_TX_BU_ 880 : NEO,K124_ASCM;
+BO_TX_BU_ 1033 : K124_ASCM,NEO;
+BO_TX_BU_ 715 : NEO,K124_ASCM;
+
+
+CM_ BU_ K16_BECM "Battery Energy Control Module";
+CM_ BU_ K73_TCIC "Telematics Communication Control Module";
+CM_ BU_ K9_BCM "Body Control Module";
+CM_ BU_ K43_PSCM "Power Steering Control Module";
+CM_ BU_ K17_EBCM "Electronic Brake Control Module";
+CM_ BU_ K20_ECM "Engine Control Module";
+CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
+CM_ BU_ NEO "Comma NEO";
+CM_ BU_ K124_ASCM "Active Safety Control Module";
+CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+BA_ "UseGMParameterIDs" 0;
+VAL_ 481 ACCGapButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 ACCCancelButton 1 "Active" 0 "Inactive" ;
+VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_ 298 DriverDoorStatus 1 "Opened" 0 "Closed" ;
+VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
+VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
+VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
+VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
+VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ;
+VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
+VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
+VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
+VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+
--- a/opendbc/honda_accord_touring_2016_can.dbc
+++ b/opendbc/honda_accord_touring_2016_can.dbc
@ -0,0 +1,396 @@
+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
+ SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" NEO
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 145 XXX_2: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|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|15] "" 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|15] "" NEO
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ ZEROS_BOH : 23|16@0+ (1,0) [0|15000] "" 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|15] "" 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_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BRAKE_SWITCH : 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|15] "" NEO
+
+BO_ 398 XXX_3: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" XXX
+
+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|15] "" 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|15] "" 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|15] "" NEO
+
+BO_ 426 XXX_4: 8 VSA
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+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|15] "" 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|15] "" NEO
+
+BO_ 476 XXX_5: 4 XXX
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 487 XXX_6: 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
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+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|15] "" EBCM
+
+BO_ 507 XXX_7: 1 XXX
+
+BO_ 542 XXX_8: 7 XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 545 XXX_9: 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|15] "" 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] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 660 SCM_COMMANDS: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 661 XXX_10: 4 XXX
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
+
+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 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
+
+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|15] "" NEO
+
+BO_ 777 XXX_11: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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|15] "" BDY
+
+BO_ 800 XXX_12: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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|15] "" NEO
+
+BO_ 808 XXX_13: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" 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_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 871 XXX_14: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 882 XXX_15: 2 XXX
+ SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 11|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 XXX_16: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 891 XXX_17: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 918 XXX_18: 7 XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 923 XXX_19: 2 XXX
+ SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 11|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 ACC_HUD_2: 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 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" 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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 929 XXX_20: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 983 XXX_21: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 985 XXX_22: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" XXX
+
+BO_ 1024 XXX_23: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1027 XXX_24: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" 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|15] "" NEO
+
+BO_ 1036 XXX_25: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1039 XXX_26: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1057 XXX_27: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1064 XXX_28: 7 XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1088 XXX_29: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1089 XXX_30: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1108 XXX_31: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1125 XXX_32: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1296 XXX_33: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" XXX
+
+BO_ 1365 XXX_34: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1424 XXX_35: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1600 XXX_36: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1601 XXX_37: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1633 XXX_38: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+BO_TX_BU_ 927 : NEO,ADAS;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_civic_hatchback_ex_2017_can.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can.dbc
@ -0,0 +1,463 @@
+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
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 148 XXX_2: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 228 STEERING_CONTROL: 5 NEO
+ 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_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 XXX_3: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+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 : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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|15] "" NEO
+
+BO_ 340 XXX_4: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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] "" NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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|15] "" NEO
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
+ SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
+ SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_HOLD_ENABLED : 45|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
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 428 XXX_6: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" NEO
+ 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|15] "" NEO
+
+BO_ 441 XXX_7: 5 VSA
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 446 XXX_7: 3 VSA
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 450 ELECTRONIC_PARKING_BRAKE: 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] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+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|15] "" NEO
+
+BO_ 470 XXX_8: 2 XXX
+ SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 11|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 474 XXX_9: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 476 XXX_9: 7 XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 477 XXX_10: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 479 ACC_CONTROL: 8 NEO
+ SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 XXX_11: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 493 XXX_12: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 506 XXX_13: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 545 XXX_14: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" 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] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+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 : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|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|15] "" NEO
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ 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_ 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_ 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_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 795 XXX_15: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 800 XXX_16: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 TRIP: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" NEO
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" 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|15] "" NEO
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ 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_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 808 XXX_17: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 814 XXX_18: 4 XXX
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" 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_ 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_ ZEROS_BOH : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_TO_1 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_ZERO : 20|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS_1: 8 XXX
+ SG_ LIGHT_SWITCH_AUTO : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" NEO
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 929 XXX_23: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 985 XXX_24: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1024 XXX_25: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1027 XXX_26: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" 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_ TRUNK_OPEN : 41|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|15] "" NEO
+
+BO_ 1036 XXX_27: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1039 XXX_28: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1108 XXX_29: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 XXX_30: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1322 XXX_31: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1361 XXX_32: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1365 XXX_33: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1424 XXX_34: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1600 XXX_35: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1601 XXX_36: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1618 XXX_37: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1633 XXX_38: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1670 XXX_39: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+
+CM_ SG_ 344 DISTANCE_COUNTER "";
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
+CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
+CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
+CM_ SG_ 479 ZEROS_BOH "Signed value, negative when braking, positive when applying gas";
+CM_ SG_ 780 HUD_LEAD "0: blank, 1:  no car, 2: car, 3: ACC Off";
+CM_ SG_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+CM_ SG_ 806 CMBS_STATES "3: Pressed, 2: On, 0: Off";
+CM_ SG_ 884 WIPER_SWITCH "0 = PARKED, 1 = INTERMITTENT, 2 = LOW, 3 = HIGH/QUICK WIPE";
+CM_ SG_ 891 HIGH_BEAMS "FLASH TO PASS OR FULL ON";
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_civic_touring_2016_can.dbc
+++ b/opendbc/honda_civic_touring_2016_can.dbc
@ -0,0 +1,435 @@
+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
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+
+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
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" 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_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" 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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|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_ 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
+ SG_ TRIP_DISTANCE : 55|8@0+ (0.010588,0) [0|255] "km" 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_SWITCH : 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 : 43|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_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_HOLD_ENABLED : 45|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
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|6] "" NEO
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 428 XXX_4: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" NEO
+ 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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|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_ 470 XXX_6: 2 VSA
+ SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 8|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 476 XXX_7: 7 XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+
+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
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 493 XXX_9: 5 VSA
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" 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_ 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,-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_ 545 XXX_10: 6 XXX
+ SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" NEO
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" NEO
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" NEO
+
+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 : 47|8@0+ (1,0) [0|255] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|6] "" NEO
+ SG_ COUNTER : 61|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
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 29|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_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" NEO
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|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
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOORS_LOCKED : 55|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_ 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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 800 XXX_13: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" NEO
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" 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
+ SG_ REVERSE_LIGHT : 18|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_ 808 XXX_14: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" 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_ 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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" NEO
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" NEO
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" NEO
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 891 XXX_17: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+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 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" 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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 929 XXX_20: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 985 XXX_21: 3 XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1024 XXX_22: 5 XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1027 XXX_23: 5 XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+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_ TRUNK_OPEN : 41|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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1039 XXX_25: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1108 XXX_26: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1302 XXX_27: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1322 XXX_28: 5 XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+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_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
+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_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "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_ 545 ECON_ON_2 0 "off" 3 "on" ;
+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_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+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" ;
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_crv_ex_2017_can.dbc
+++ b/opendbc/honda_crv_ex_2017_can.dbc
@ -0,0 +1,423 @@
+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
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 148 XXX_2: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 228 STEERING_CONTROL: 5 NEO
+ 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_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED3 : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_TO_1 : 9|2@0- (1,0) [1|0] "" XXX
+ SG_ ZEROS_BOH2 : 28|5@0+ (1,0) [0|31] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+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 : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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|15] "" NEO
+
+BO_ 340 XXX_4: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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] "" NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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|15] "" NEO
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
+ SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
+ SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 427 XXX_5: 3 VSA
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" 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|15] "" NEO
+
+BO_ 441 XXX_6: 5 VSA
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 446 XXX_7: 3 VSA
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 450 ELECTRONIC_PARKING_BRAKE: 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] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ 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_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 474 XXX_9: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 477 XXX_10: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 479 ACC_CONTROL: 8 NEO
+ SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 XXX_12: 8 XXX
+ SG_ BOH : 7|32@0+ (1,0) [0|65535] "" XXX
+ SG_ BOH_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" 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|15] "" 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] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
+ SG_ WHEEL_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+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 : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" 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 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ 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_ 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_ 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_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 800 XXX_16: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 TRIP: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" NEO
+ SG_ ENGINE_TEMPERATURE : 0|8@0+ (1,0) [0|65535] "" XXX
+ SG_ BOH_2 : 32|23@0+ (1,0) [0|255] "" NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOOLEAN : 55|1@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ 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_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 808 XXX_17: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 814 XXX_18: 4 XXX
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" 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_ 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_ ZEROS_BOH : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_TO_1 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_ZERO : 20|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 48|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 XXX_20: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 891 XXX_21: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 929 XXX_23: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 985 XXX_24: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1024 XXX_25: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1027 XXX_26: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" 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|15] "" NEO
+
+BO_ 1036 XXX_27: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1039 XXX_28: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1108 XXX_29: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 XXX_30: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1322 XXX_31: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1361 XXX_32: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1365 XXX_33: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1424 XXX_34: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1600 XXX_35: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1601 XXX_36: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1618 XXX_37: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1633 XXX_38: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1670 XXX_39: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+
+
+
+CM_ SG_ 344 DISTANCE_COUNTER "";
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
+CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
+CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
+CM_ SG_ 479 ZEROS_BOH "Signed value, negative when braking, positive when applying gas";
+CM_ SG_ 780 HUD_LEAD "0: blank, 1:  no car, 2: car, 3: ACC Off";
+CM_ SG_ 806 CMBS_STATES "3: Pressed, 2: On, 0: Off";
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_crv_touring_2016_can.dbc
+++ b/opendbc/honda_crv_touring_2016_can.dbc
@ -0,0 +1,312 @@
+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 CAM PCM EPS VSA SCM BDY XXX EPB
+
+
+BO_ 57 XXX_1: 3 XXX
+
+BO_ 145 XXX_2: 8 XXX
+
+BO_ 316 XXX_3: 8 PCM
+
+BO_ 340 XXX_4: 8 PCM
+
+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|15] ""  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|15] ""  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_SWITCH : 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|15] ""  NEO
+
+BO_ 398 XXX_5: 3 PCM
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd"  NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  NEO
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] ""  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|15] ""  NEO
+
+BO_ 404 STEERING_CONTROL: 4 NEO
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] ""  EPS
+ SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] ""  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_ CHECKSUM : 29|2@0+ (1,0) [0|3] ""  EPS
+ SG_ COUNTER : 27|4@0+ (1,0) [0|15] ""  EPS
+
+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|15] ""  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|15] ""  NEO
+
+BO_ 426 XXX_6: 8 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|15] ""  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|15] ""  NEO
+
+BO_ 474 XXX_7: 5 VSA
+
+BO_ 476 XXX_8: 5 XXX
+
+BO_ 487 XXX_9: 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
+ SG_ CHECKSUM : 29|2@0+ (1,0) [0|3] ""  NEO
+ SG_ COUNTER : 27|4@0+ (1,0) [0|15] ""  NEO
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] ""  NEO
+
+BO_ 493 XXX_10: 3 VSA
+
+BO_ 506 BRAKE_COMMAND: 8 NEO
+ 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|15] ""  EBCM
+
+BO_ 507 XXX_11: 1 NEO
+
+BO_ 542 XXX_12: 7 XXX
+
+BO_ 545 XXX_13: 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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] ""  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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] ""  NEO
+
+BO_ 661 XXX_14: 4 XXX
+
+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|15] ""  NEO
+
+BO_ 777 XXX_15: 8 XXX
+
+BO_ 780 ACC_HUD: 8 CAM
+ 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|15] ""  BDY
+
+BO_ 800 XXX_16: 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|15] ""  NEO
+
+BO_ 808 XXX_17: 8 XXX
+
+BO_ 829 LKAS_HUD_2: 5 CAM
+ 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|15] ""  BDY
+
+BO_ 882 XXX_18: 2 XXX
+
+BO_ 884 XXX_19: 7 XXX
+
+BO_ 888 XXX_20: 8 XXX
+
+BO_ 891 XXX_21: 8 XXX
+
+BO_ 923 XXX_23: 2 XXX
+
+BO_ 929 XXX_24: 8 XXX
+
+BO_ 983 XXX_25: 8 XXX
+
+BO_ 985 XXX_26: 3 XXX
+
+BO_ 1024 XXX_27: 5 XXX
+
+BO_ 1027 XXX_28: 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|15] ""  NEO
+
+BO_ 1033 XXX_29: 5 XXX
+
+BO_ 1036 XXX_30: 8 XXX
+
+BO_ 1039 XXX_31: 8 XXX
+
+BO_ 1057 XXX_32: 5 XXX
+
+BO_ 1064 XXX_32: 7 XXX
+
+BO_ 1108 XXX_33: 8 XXX
+
+BO_ 1125 XXX_34: 8 XXX
+
+BO_ 1296 XXX_35: 8 XXX
+
+BO_ 1365 XXX_36: 5 XXX
+
+BO_ 1424 XXX_37: 5 XXX
+
+BO_ 1600 XXX_38: 5 XXX
+
+BO_ 1601 XXX_39: 8 XXX
+
+BO_TX_BU_ 399 : NEO,CAM;
+BO_TX_BU_ 506 : NEO,CAM;
+BO_TX_BU_ 780 : NEO,CAM;
+BO_TX_BU_ 829 : NEO,CAM;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_odyssey_exl_2018.dbc
+++ b/opendbc/honda_odyssey_exl_2018.dbc
@ -0,0 +1,386 @@
+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 EON CAM PCM EPS VSA SCM BDY XXX
+
+
+BO_ 57 XXX_1: 3 XXX
+
+BO_ 148 XXX_2: 8 XXX
+
+BO_ 228 STEERING_CONTROL: 5 CAM
+ 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 : 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_ 229 XXX_3: 4 XXX
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ ODOMETER : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 411 XXX_4: 5 XXX
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 427 XXX_5: 3 XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 450 XXX_6: 8 XXX
+ SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 463 XXX_7: 8 XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 476 XXX_8: 4 XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+
+BO_ 506 BRAKE_COMMAND: 8 CAM
+ 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_ 542 XXX_9: 7 XXX
+
+BO_ 545 XXX_10: 4 XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] "" EON
+
+BO_ 662 CRUISE_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 XXX_11: 8 XXX
+
+BO_ 780 ACC_HUD: 8 CAM
+ 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_ 795 XXX_12: 8 XXX
+
+BO_ 800 XXX_13: 8 XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 808 XXX_14: 8 XXX
+
+BO_ 817 XXX_15: 4 XXX
+
+BO_ 819 XXX_16: 7 XXX
+
+BO_ 821 XXX_17: 5 XXX
+
+BO_ 825 XXX_18: 4 XXX
+
+BO_ 829 LKAS_HUD: 5 CAM
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" 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_ 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_ 837 XXX_19: 5 XXX
+
+BO_ 856 XXX_20: 7 XXX
+
+BO_ 862 XXX_21: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 871 XXX_22: 8 XXX
+
+BO_ 881 XXX_23: 8 XXX
+
+BO_ 882 XXX_24: 4 XXX
+
+BO_ 884 XXX_25: 8 XXX
+
+BO_ 891 XXX_26: 8 XXX
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+
+BO_ 905 XXX_27: 8 XXX
+
+BO_ 923 XXX_28: 2 XXX
+
+BO_ 927 ACC_HUD_2: 8 CAM
+ 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 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" 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
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 929 XXX_29: 8 XXX
+
+BO_ 963 XXX_30: 8 XXX
+
+BO_ 965 XXX_31: 8 XXX
+
+BO_ 966 XXX_32: 8 XXX
+
+BO_ 967 XXX_33: 8 XXX
+
+BO_ 983 XXX_34: 8 XXX
+
+BO_ 985 XXX_35: 3 XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 1036 XXX_36: 8 XXX
+
+BO_ 1052 XXX_37: 8 XXX
+
+BO_ 1064 XXX_38: 7 XXX
+
+BO_ 1088 XXX_39: 8 XXX
+
+BO_ 1089 XXX_40: 8 XXX
+
+BO_ 1092 XXX_41: 1 XXX
+
+BO_ 1108 XXX_42: 8 XXX
+
+BO_ 1110 XXX_43: 8 XXX
+
+BO_ 1125 XXX_44: 8 XXX
+
+BO_ 1296 XXX_45: 8 XXX
+
+BO_ 1302 XXX_46: 8 XXX
+
+BO_ 1600 XXX_47: 5 XXX
+
+BO_ 1601 XXX_48: 8 XXX
+
+BO_ 1612 XXX_49: 5 XXX
+
+BO_ 1613 XXX_50: 5 XXX
+
+BO_ 1614 XXX_51: 5 XXX
+
+BO_ 1615 XXX_52: 8 XXX
+
+BO_ 1616 XXX_53: 5 XXX
+
+BO_ 1619 XXX_54: 5 XXX
+
+BO_ 1623 XXX_55: 5 XXX
+
+BO_ 1668 XXX_56: 5 XXX
+
+BO_TX_BU_ 228 : EON,CAM;
+BO_TX_BU_ 506 : EON,CAM;
+BO_TX_BU_ 780 : EON,CAM;
+BO_TX_BU_ 829 : EON,CAM;
+BO_TX_BU_ 862 : EON,CAM;
+BO_TX_BU_ 927 : EON,CAM;
+
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
+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 warnings 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_ 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" ;
+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" ;
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_pilot_touring_2017_can.dbc
+++ b/opendbc/honda_pilot_touring_2017_can.dbc
@ -0,0 +1,322 @@
+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 : 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
+ SG_ ODOMETER : 55|8@0+ (1,0) [0|255] "" XXX
+
+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_SWITCH : 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" NEO
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" 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 : 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_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" NEO
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" 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 : 23|2@0+ (1,0) [0|4] "" 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_ 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 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
+
+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_ 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  32 "D" 8 "R" 4 "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" ;
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/hyundai_i30_2014.dbc
+++ b/opendbc/hyundai_i30_2014.dbc
@ -0,0 +1,549 @@
+VERSION ""
+
+
+NS_ : 
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 128 EMS_DCT1: 8 XXX
+    SG_ PV_AV_CAN : 0|8@1+ (0.3906,0) [0|99.603] "%" XXX
+    SG_ TQ_STND : 8|6@1+ (10,0) [0|630] "Nm" XXX
+    SG_ F_N_ENG : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ F_SUB_TQI : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX
+    SG_ TQI_ACOR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ CF_Ems_Alive : 56|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Ems_ChkSum : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 129 EMS_DCT2: 8 XXX
+    SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5,0) [0|315] "Min" XXX
+    SG_ BRAKE_ACT : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Ems_EngOperStat : 8|8@1+ (1,0) [0|255] "" XXX
+    SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX
+    SG_ CF_Ems_Alive2 : 56|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Ems_ChkSum2 : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 160 EngFrzFrm1: 8 XXX
+    SG_ PID_04h : 0|8@1+ (0.392157,0) [0|100] "%" XXX
+    SG_ PID_05h : 8|8@1+ (1,-40) [-40|215] "" XXX
+    SG_ PID_0Ch : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX
+    SG_ PID_0Dh : 32|8@1+ (1,0) [0|255] "km/h" XXX
+    SG_ PID_11h : 40|8@1+ (0.392157,0) [0|100] "%" XXX
+    SG_ PID_03h : 48|16@1+ (1,0) [0|65535] "" XXX
+
+
+BO_ 161 EngFrzFrm2: 8 XXX
+    SG_ PID_06h : 0|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
+    SG_ PID_07h : 8|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
+    SG_ PID_08h : 16|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
+    SG_ PID_09h : 24|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
+    SG_ PID_0Bh : 32|8@1+ (1,0) [0|255] "kPa" XXX
+    SG_ PID_23h : 40|16@1+ (10,0) [0|655350] "kPa" XXX
+
+
+BO_ 304 YRS1: 8 XXX
+    SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "" XXX
+    SG_ CF_Yrs_SnsStat1 : 16|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Yrs_YrStat : 20|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_LatAc : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX
+    SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Yrs_LatAcStat1 : 52|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 305 YRS3: 8 XXX
+    SG_ CR_Yrs_YawAcc : 0|16@1+ (0.125,-4096) [-4096|4095.75] "" XXX
+    SG_ CF_Yrs_YawAccStat : 20|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_Ax : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX
+    SG_ CR_Yrs_MsgCnt3 : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Yrs_AxStat : 52|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_Crc3 : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 320 YRS2: 8 XXX
+    SG_ CF_Yrs_McuStat : 0|8@1+ (1,0) [0|255] "" XXX
+    SG_ CF_Yrs_SnsStat2 : 8|8@1+ (1,0) [0|255] "" XXX
+    SG_ CF_Yrs_ExtSysStat : 32|8@1+ (1,0) [0|255] "" XXX
+    SG_ CR_Yrs_Diag : 40|8@1+ (1,0) [0|255] "" XXX
+    SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Yrs_Type : 52|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 339 TCS1: 8 XXX
+    SG_ TCS_REQ : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ MSR_C_REQ : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_PAS : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_GSC : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Esc_LimoInfo : 4|2@1+ (1,0) [0|3] "" XXX
+    SG_ ABS_DIAG : 6|1@1+ (1,0) [0|1] "" XXX
+    SG_ ABS_DEF : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_DEF : 8|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_CTL : 9|1@1+ (1,0) [0|1] "" XXX
+    SG_ ABS_ACT : 10|1@1+ (1,0) [0|1] "" XXX
+    SG_ EBD_DEF : 11|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP_PAS : 12|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP_DEF : 13|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP_CTL : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_MFRN : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ DBC_CTL : 16|1@1+ (1,0) [0|1] "" XXX
+    SG_ DBC_PAS : 17|1@1+ (1,0) [0|1] "" XXX
+    SG_ DBC_DEF : 18|1@1+ (1,0) [0|1] "" XXX
+    SG_ HAC_CTL : 19|1@1+ (1,0) [0|1] "" XXX
+    SG_ HAC_PAS : 20|1@1+ (1,0) [0|1] "" XXX
+    SG_ HAC_DEF : 21|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESS_STAT : 22|2@1+ (1,0) [0|3] "" XXX
+    SG_ TQI_TCS : 24|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI_MSR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ CF_Esc_BrkCtl : 48|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESC_OFF_STEP : 49|2@1+ (1,0) [0|3] "" XXX
+    SG_ _4WD_Status : 51|1@1+ (1,0) [0|1] "" XXX
+    SG_ AliveCounter_TCS1 : 52|4@1+ (1,0) [0|1] "" XXX
+    SG_ CheckSum_TCS1 : 56|8@1+ (1,0) [0|1] "" XXX
+
+
+BO_ 356 VSM1: 8 XXX
+    SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX
+    SG_ CF_Esc_Act : 12|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Esc_CtrMode : 13|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Esc_Def : 16|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Esc_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Esc_Chksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 357 VSM2: 8 XXX
+    SG_ CR_Mdps_StrTq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX
+    SG_ CR_Mdps_OutTq : 12|12@1+ (0.1,-204.8) [-204.8|204.7] "" XXX
+    SG_ CF_Mdps_Def : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Mdps_SErr : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Mdps_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Mdps_Chksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 399 EMS_H2: 8 XXX
+    SG_ R_TqAcnApvC : 0|8@1+ (0.2,0) [0|51] "Nm" XXX
+    SG_ R_PAcnC : 8|8@1+ (125,0) [0|31875] "hPa" XXX
+    SG_ TQI_B : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ SLD_VS : 24|8@1+ (1,0) [0|255] "km/h" XXX
+    SG_ CF_CdaStat : 32|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Ems_IsgStat : 35|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Ems_OilChg : 38|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1,0) [0|1] "" XXX
+    SG_ R_NEngIdlTgC : 40|8@1+ (10,0) [0|2550] "rpm" XXX
+    SG_ CF_Ems_UpTarGr : 48|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_DownTarGr : 49|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_DesCurGr : 50|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Ems_SldAct : 54|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_SldPosAct : 55|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_HPresStat : 56|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_IsgBuz : 57|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_FCopen : 59|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_ActEcoAct : 60|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_EngRunNorm : 61|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_IsgStat2 : 62|2@1+ (2,0) [0|3] "" XXX
+
+
+BO_ 497 TCS5: 8 XXX
+    SG_ ABS_W_LAMP : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ EBD_W_LAMP : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_OFF_LAMP : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_LAMP : 3|2@1+ (1,0) [0|3] "" XXX
+    SG_ DBC_W_LAMP : 5|1@1+ (1,0) [0|1] "" XXX
+    SG_ DBC_F_LAMP : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ ODOMETER_LEFT : 8|4@1+ (1,0) [0|15] "m" XXX
+    SG_ ODOMETER_RIGHT : 12|4@1+ (1,0) [0|15] "m" XXX
+    SG_ WHEEL_FL : 16|12@1+ (0.125,0) [0|511.875] "km/h" XXX
+    SG_ WHEEL_FR : 28|12@1+ (0.125,0) [0|511.875] "km/h" XXX
+    SG_ WHEEL_RL : 40|12@1+ (0.125,0) [0|511.875] "km/h" XXX
+    SG_ WHEEL_RR : 52|12@1+ (0.125,0) [0|511.875] "km/h" XXX
+
+
+BO_ 544 ESP2: 8 XXX
+    SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
+    SG_ ESP2_AliveCounter_LSB : 11|3@1+ (1,0) [0|7] "" XXX
+    SG_ LAT_ACCEL_STAT : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ LAT_ACCEL_DIAG : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ LONG_ACCEL : 16|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
+    SG_ ESP2_AliveCounter_MSB : 27|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP2_Checksum_LSB : 28|2@1+ (1,0) [0|3] "" XXX
+    SG_ LONG_ACCEL_STAT : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ LONG_ACCEL_DIAG : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CYL_PRES : 32|12@1+ (0.1,0) [0|409.5] "Bar" XXX
+    SG_ ESP12_Checksum_MSB : 44|2@1+ (1,0) [0|3] "" XXX
+    SG_ CYL_PRES_STAT : 46|1@1+ (1,0) [0|1] "" XXX
+    SG_ CYL_PRESS_DIAG : 47|1@1+ (1,0) [0|1] "" XXX
+    SG_ YAW_RATE : 48|13@1+ (0.01,-40.95) [-40.95|40.96] "" XXX
+    SG_ CYL_PRES_FLAG : 61|1@1+ (1,0) [0|1] "" XXX
+    SG_ YAW_RATE_STAT : 62|1@1+ (1,0) [0|1] "" XXX
+    SG_ YAW_RATE_DIAG : 63|1@1+ (1,0) [0|1] "" XXX
+
+
+BO_ 608 EMS6: 8 XXX
+    SG_ TQI_MIN : 0|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI_TARGET : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ GLOW_STAT : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CRUISE_LAMP_M : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ CRUISE_LAMP_S : 26|1@1+ (1,0) [0|1] "" XXX
+    SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1,0) [0|1] "" XXX
+    SG_ ENG_STAT : 28|3@1+ (1,0) [0|7] "" XXX
+    SG_ SOAK_TIME_ERROR : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ SOAK_TIME : 32|8@1+ (1,0) [0|255] "Min" XXX
+    SG_ TQI_MAX : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60] "" XXX
+    SG_ Checksum : 56|4@1+ (1,0) [0|15] "" XXX
+    SG_ AliveCounter : 60|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Ems_AclAct : 62|2@1+ (1,0) [0|3] "" XXX
+
+
+BO_ 672 EMS5: 8 XXX
+    SG_ ECGPOvrd : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ QECACC : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ ECFail : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ SwitchOffCondExt : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ BLECFail : 4|1@1+ (1,0) [0|1] "" XXX
+    SG_ AliveCounter : 5|2@1+ (1,0) [0|3] "" XXX
+    SG_ Byte0Parity : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ FA_PV_CAN : 8|8@1+ (0.3906,0) [0|99.2] "%" XXX
+    SG_ IntAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX
+    SG_ STATE_DC_OBD : 24|7@1+ (1,0) [0|127] "" XXX
+    SG_ INH_DC_OBD : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CTR_IG_CYC_OBD : 32|16@1+ (1,0) [0|65535] "" XXX
+    SG_ CTR_CDN_OBD : 48|16@1+ (1,0) [0|65535] "" XXX
+
+
+BO_ 688 SAS1: 8 XXX
+    SG_ SAS_Angle : 0|16@1+ (0.1,0) [-3276.8|3276.7] "Deg" XXX
+    SG_ SAS_Speed : 16|8@1+ (4,0) [0|1016] "" XXX
+    SG_ SAS_Stat : 24|8@1+ (1,0) [0|255] "" XXX
+    SG_ MsgCount : 32|4@1+ (1,0) [0|15] "" XXX
+    SG_ CheckSum : 36|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 790 EMS1: 8 XXX
+    SG_ SWI_IGK : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ F_N_ENG : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ ACK_TCS : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ PUC_STAT : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ TQ_COR_STAT : 4|2@1+ (1,0) [0|3] "" XXX
+    SG_ RLY_AC : 6|1@1+ (1,0) [0|1] "" XXX
+    SG_ F_SUB_TQI : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ TQI_ACOR : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX
+    SG_ TQI : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ VS : 48|8@1+ (1,0) [0|254] "km/h" XXX
+    SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0) [0|2] "" XXX
+
+
+BO_ 809 EMS2: 8 XXX
+    SG_ TQ_STND : 0|6@1+ (10,0) [0|630] "Nm" XXX
+    SG_ CAN_VERS : 0|6@1+ (1,0) [0|7.7] "" XXX
+    SG_ CONF_TCU : 0|6@1+ (1,0) [0|63] "" XXX
+    SG_ OBD_FRF_ACK : 0|6@1+ (1,0) [0|63] "" XXX
+    SG_ MUL_CODE : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ TEMP_ENG : 8|8@1+ (0.75,-48) [-48|143.25] "" XXX
+    SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0) [0|1.99155] "" XXX
+    SG_ VB_OFF_ACT : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ ACK_ES : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ CONF_MIL_FMY : 26|3@1+ (1,0) [0|7] "" XXX
+    SG_ OD_OFF_REQ : 29|1@1+ (1,0) [0|1] "" XXX
+    SG_ ACC_ACT : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ CLU_ACK : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ BRAKE_ACT : 32|2@1+ (1,0) [0|3] "" XXX
+    SG_ ENG_CHR : 34|4@1+ (1,0) [0|15] "" XXX
+    SG_ GP_CTL : 38|2@1+ (1,0) [0|3] "" XXX
+    SG_ TPS : 40|8@1+ (0.469484,-15.0235) [-15.0235|104.695] "%" XXX
+    SG_ PV_AV_CAN : 48|8@1+ (0.3906,0) [0|99.603] "%" XXX
+    SG_ ENG_VOL : 56|8@1+ (0.1,0) [0|25.5] "liter" XXX
+
+
+BO_ 848 FATC: 8 XXX
+    SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0) [0|50.8] "Nm" XXX
+    SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_EcvFlt : 10|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_BlwrOn : 11|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_FATC_Iden : 12|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Fatc_BlwrMax : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_EngStartReq : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_CtrInf : 17|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Fatc_MsgCnt : 20|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40) [-40|60] "" XXX
+    SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40) [-40|60] "" XXX
+    SG_ CF_Fatc_Compload : 40|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Fatc_ActiveEco : 43|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_AutoActivation : 44|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_DefSw : 45|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_ChkSum : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 880 TCU3: 8 XXX
+    SG_ N_TGT_LUP : 0|8@1+ (10,500) [500|3040] "rpm" XXX
+    SG_ SLOPE_TCU : 8|6@1+ (0.5,-16) [-16|15.5] "%" XXX
+    SG_ CF_Tcu_InhCda : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_IsgInhib : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_NCStat : 18|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_TarGr : 20|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_ShfPatt : 24|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_InhVis : 28|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_PRelReq : 29|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_ITPhase : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10,0) [0|2540] "Nm/s" XXX
+    SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20,0) [0|3500] "rpm" XXX
+    SG_ TQI_TCU_INC : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_SptRdy : 57|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_Alive3 : 58|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 898 EMS9: 8 XXX
+    SG_ CF_Ems_BrkReq : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_DnShftReq : 1|4@1+ (1,0) [0|14] "" XXX
+    SG_ CF_Ems_RepModChk : 5|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_DecelReq : 8|12@1+ (0.001,-4.094) [-4.094|0] "m/s^2" XXX
+    SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0) [0|4094] "hPa" XXX
+    SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40) [0|254] "" XXX
+    SG_ CF_Ems_PumpTPres : 40|8@1+ (3.13725,0) [0|800] "kPa" XXX
+    SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41) [-40|60] "" XXX
+    SG_ CF_Ems_OPSFail : 56|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_ECTTRQLIM : 57|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 1075 EPB1: 8 XXX
+    SG_ EPB_I_LAMP : 0|4@1+ (1,0) [0|15] "" XXX
+    SG_ EPB_F_LAMP : 4|2@1+ (1,0) [0|3] "" XXX
+    SG_ EPB_ALARM : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ EPB_CLU : 8|8@1+ (1,0) [0|255] "" XXX
+    SG_ EPB_SWITCH : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ EPB_RBL : 18|1@1+ (1,0) [0|1] "" XXX
+    SG_ EPB_STATUS : 19|3@1+ (1,0) [0|7] "" XXX
+    SG_ EPB_FRC_ERR : 22|2@1+ (1,0) [0|3] "" XXX
+    SG_ EPB_DBF_STAT : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP_ACK : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ EPB_DBF_REQ : 26|1@1+ (1,0) [0|1] "" XXX
+    SG_ EPB_FAIL : 29|3@1+ (1,0) [0|7] "" XXX
+    SG_ EPB_FORCE : 32|12@1+ (1,-1000) [-1000|3000] "" XXX
+    SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0) [0|2.54] "g" XXX
+
+
+BO_ 1087 TCU1: 8 XXX
+    SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX
+    SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX
+    SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX
+    SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX
+    SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX
+    SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX
+    SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX
+    SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX
+    SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX
+    SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX
+
+
+BO_ 1088 TCU2: 8 XXX
+    SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX
+    SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX
+    SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX
+    SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX
+    SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX
+    SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX
+    SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX
+    SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX
+    SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX
+    SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX
+
+
+BO_ 1200 WHL_SPD: 8 XXX
+    SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
+    SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
+    SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
+    SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
+
+
+BO_ 1201 WHL_PUL: 8 XXX
+    SG_ WHL_PUL_FL : 0|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
+    SG_ WHL_PUL_FR : 8|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
+    SG_ WHL_PUL_RL : 16|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
+    SG_ WHL_PUL_RR : 24|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
+    SG_ WHL_DIR_FL : 32|2@1+ (1,0) [0|3] "" XXX
+    SG_ WHL_DIR_FR : 34|2@1+ (1,0) [0|3] "" XXX
+    SG_ WHL_DIR_RL : 36|2@1+ (1,0) [0|3] "" XXX
+    SG_ WHL_DIR_RR : 38|2@1+ (1,0) [0|3] "" XXX
+    SG_ WHL_PUL_Chksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 1264 CLU1: 8 XXX
+    SG_ CF_Clu_CruiseSwState : 0|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Blr_MaxStat : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_SldMainSW : 4|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_ParityBit1 : 5|1@1+ (1,0) [0|1] "pulse count" XXX
+    SG_ CF_Clu_SPEED_UNIT : 6|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_ParkBrakeSw : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0) [0|255.5] "km/h or MPH" XXX
+    SG_ CF_Clu_AliveCounter : 17|7@1+ (1,0) [0|127] "" XXX
+    SG_ CF_Clu_CruiseSwMain : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_VanzDecimal : 25|2@1+ (1,0) [0|0.375] "" XXX
+    SG_ VEHICLE_INFO : 27|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_StrRlyState : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_SMKOption : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ R_TqAcnOutC : 32|8@1+ (1,0) [0|51] "Nm" XXX
+    SG_ CF_Clu_Odometer : 40|24@1+ (0.1,0) [0|1.67772e+006] "km" XXX
+
+
+BO_ 1265 CLU3: 8 XXX
+    SG_ CF_Clu_AcnRqSwi : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_AcnCltEnRq : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_RefDetMod : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_DefoggerRly : 5|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_LowfuelWarn : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_SportsModeSwi : 18|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_ALightStat : 20|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_FrtFog : 21|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_DetentOut : 22|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HeadLampTail : 23|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_TrailerMode : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_DTE : 25|10@1+ (1,0) [0|1023] "" XXX
+    SG_ CF_Clu_TripUnit : 35|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_IsaMainSW : 37|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_FlexSteerSW : 40|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_AvsmCur : 41|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudSpeedset : 42|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudTbtSet : 43|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudSccSet : 44|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudLdwsSet : 45|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudDisSet : 46|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudFontSizeSet : 47|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_HudFontColorSet : 49|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_HudBrightSet : 51|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_HudHeightSet : 53|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_CluInfo : 55|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_RheostatLevel : 56|5@1+ (1,0) [0|31] "" XXX
+    SG_ CF_Clu_DrivinglampStat : 61|3@1+ (1,0) [0|7] "" XXX
+
+
+BO_ 1349 EMS4: 8 XXX
+    SG_ IMMO_LAMP_STAT : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ L_MIL : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ IM_STAT : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ AMP_CAN : 3|5@1+ (10.7316,458.98) [458.98|791.66] "mmHg" XXX
+    SG_ FCO : 8|16@1+ (0.128,0) [0|8388.48] "ul" XXX
+    SG_ VB : 24|8@1+ (0.101563,0) [0|25.8984] "V" XXX
+    SG_ TEMP_FUEL : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX
+    SG_ Split_Stat : 56|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_IsaAct : 57|1@1+ (1,0) [0|1] "" XXX
+
+
+BO_ 1435 TCU4: 8 XXX
+    SG_ CF_TCU_WarnMsg : 0|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_TCU_WarnImg : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_TCU_WarnSnd : 4|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_EolStat : 5|1@1+ (1,0) [0|1] "" XXX
+    SG_ CR_Tcu_GearSelDisp2 : 8|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_StRelStat : 12|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_DrivingModeReq : 18|4@1+ (1,0) [0|0] "" XXX
+    SG_ CF_Tcu_DrivingModeDisp : 22|4@1+ (1,0) [0|0] "" XXX
+    SG_ CF_Tcu_SiCluster : 26|5@1+ (1,0) [0|0] "" XXX
+    SG_ CF_Tcu_DSmode_Inf : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_Alive4 : 58|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_ChkSum4 : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 1508 MDPS1: 8 XXX
+    SG_ CF_Mdps_WLmp : 1|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Mdps_ALTRequest : 5|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Mdps_Flex : 8|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Mdps_FlexDisp : 11|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Mdps_CurrMode : 12|2@1+ (1,0) [0|3] "" XXX
+
+
+BO_ 1680 CLU2: 8 XXX
+    SG_ CF_Clu_IGNSw : 0|3@1+ (1,0) [0|7] "" XXX
+    SG_ RKE_CMD : 3|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_DrvDrSw : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_DrvKeyLockSw : 8|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_DrvKeyUnlockSw : 9|1@1+ (1,0) [0|1] "" XXX
+    SG_ PIC_Lock : 10|3@1+ (1,0) [0|7] "" XXX
+    SG_ PIC_Unlock : 13|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_DrvSeatBeltSw : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_TrunkTgSw : 18|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_AstSeatBeltSw : 20|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_HoodSw : 22|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_TurnSigLh : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_TurnSigRh : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_LdwsLkasSW : 26|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_WiperIntT : 27|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_WiperIntSW : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_WiperLow : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_WiperHigh : 32|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_WiperAuto : 33|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_RainSnsStat : 34|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_HeadLampLow : 37|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HeadLampHigh : 38|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_AltLStatus : 39|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_SwiGearR : 43|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_SWL_Stat : 45|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_ActiveEcoSW : 48|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HazardSW : 49|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_AliveCnt2 : 50|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Clu_AstDrSw : 54|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_LkasDispMode : 56|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_AutoLightLevel : 58|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_SunRoofOpenState : 60|1@1+ (1,0) [0|1] "" XXX
+
+
--- a/opendbc/mercedes_benz_e350_2010.dbc
+++ b/opendbc/mercedes_benz_e350_2010.dbc
@ -0,0 +1,62 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 3 NEW_MSG_1: 8 XXX
+ SG_ STEERING_ANGLE : 7|32@0- (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 5 NEW_MSG_2: 8 XXX
+ SG_ BRAKE_POSITION : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ BRAKE_PRESSED : 0|8@1+ (1,0) [0|17] "" XXX
+
+BO_ 69 NEW_MSG_3: 8 XXX
+ SG_ TURN_SIGNAL_LEVER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_CONTROL_LEVER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEERING_WHEEL_BUTTONS : 32|8@1+ (1,0) [0|255] "4 directional, 2 volume control, & 2 phone buttons" XXX
+ SG_ MORE_STEERING_WHEELS_BUTTONS : 40|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1 NEW_MSG_4: 8 XXX
+ SG_ DOOR_LOCK_STATUS : 31|16@0+ (1,0) [0|65535] "" XXX
+
+
+
+
+CM_ SG_ 5 BRAKE_PRESSED "appears to be boolean (brake pressed)";
+CM_ SG_ 69 MORE_STEERING_WHEELS_BUTTONS "back, ok, voice assistance, and mute buttons";
--- a/opendbc/subaru_outback_2016_eyesight.dbc
+++ b/opendbc/subaru_outback_2016_eyesight.dbc
@ -0,0 +1,73 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 884 DoorStatus: 8 XXX
+ SG_ DoorOpenFD : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ DoorOpenFP : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ DoorOpenRP : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ DoorOpenRD : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ DoorOpenHatch : 28|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 324 CruiseControl: 7 XXX
+ SG_ BrakeApplied : 8|1@0+ (1,0) [0|0] "" XXX
+ SG_ CruiseEnabled : 48|1@0+ (1,0) [0|0] "" XXX
+ SG_ BrakeStatus : 51|1@0+ (1,0) [0|0] "" XXX
+ SG_ CruiseButtons : 4|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ ThrottlePosition : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 209 NEW_MSG_1: 8 XXX
+ SG_ BrakePosition : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 2 Steering: 8 XXX
+ SG_ SteeringAngle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+
+BO_ 642 NEW_MSG_2: 8 XXX
+ SG_ TurnSignal : 45|2@0+ (1,0) [0|3] "" XXX
+
+
+
+CM_ "CHFFR_METRIC 2 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+VAL_ 324 BrakeApplied 1 "On" 0 "Off" ;
+VAL_ 324 CruiseEnabled 1 "On" 0 "Off" ;
+VAL_ 324 BrakeStatus 1 "On" 0 "Off" ;
+VAL_ 324 CruiseButtons 2 "Set" 1 "Resume" ;
+
+VAL_ 642 TurnSignal 2 "Left" 1 "Right" ;
--- a/opendbc/tesla_can.dbc
+++ b/opendbc/tesla_can.dbc
@ -0,0 +1,420 @@
+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 : 23|8@0+ (1,0) [0|255] ""  NEO
+ SG_ GTW_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO
+ SG_ GTW_epasControlType : 15|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ GTW_epasEmergencyOn : 7|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ GTW_epasLDWEnabled : 12|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ GTW_epasPowerMode : 6|4@0+ (1,0) [4|14] ""  NEO
+ SG_ GTW_epasTuneRequest : 2|3@0+ (1,0) [-1|8] ""  NEO
+
+BO_ 880 EPAS_sysStatus: 8 EPAS
+ SG_ EPAS_currentTuneMode : 7|4@0+ (1,0) [8|15] ""  NEO
+ SG_ EPAS_eacErrorCode : 23|4@0+ (1,0) [-1|16] ""  NEO
+ SG_ EPAS_eacStatus : 55|3@0+ (1,0) [5|7] ""  NEO
+ SG_ EPAS_handsOnLevel : 39|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ EPAS_internalSAS : 37|14@0+ (0.1,-819.200012) [0|0] "deg"  NEO
+ SG_ EPAS_steeringFault : 2|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [0|0] "N" NEO
+ SG_ EPAS_steeringReduced : 3|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ EPAS_sysStatusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
+ SG_ EPAS_sysStatusCounter : 51|4@0+ (1,0) [0|15] ""  NEO
+ SG_ EPAS_torsionBarTorque : 19|12@0+ (0.01,-20.5) [0|0] "Nm"  NEO
+
+BO_ 3 STW_ANGL_STAT: 8 STW
+ SG_ StW_Angl : 5|14@0+ (0.5,-2048) [0|0] "deg"  NEO
+ SG_ StW_AnglSpd : 21|14@0+ (0.5,-2048) [0|0] "/s"  NEO
+ SG_ StW_AnglSens_Stat : 33|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ StW_AnglSens_Id : 35|2@0+ (1,0) [3|3] ""  NEO
+ SG_ MC_STW_ANGL_STAT : 55|4@0+ (1,0) [0|15] ""  NEO
+ SG_ CRC_STW_ANGL_STAT : 63|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 14 STW_ANGLHP_STAT: 8 STW
 
+ 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 : 23|8@0+ (1,0) [0|255] ""  NEO
+ SG_ ESP_135hCounter : 11|4@0+ (1,0) [0|15] ""  NEO
+ SG_ ESP_absBrakeEvent : 2|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_brakeDiscWipingActive : 4|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_brakeLamp : 3|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_espFaultLamp : 6|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_espLampFlash : 7|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_hillStartAssistActive : 1|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ ESP_messagePumpService : 24|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_messagePumpFailure : 25|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_messageEBDFailure : 26|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_absFaultLamp : 27|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_tcDisabledByFault : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_messageDynoModeActive : 29|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_hydraulicBoostEnabled : 30|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_espOffLamp : 31|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_stabilityControlSts : 14|3@0+ (1,0) [6|7] ""  NEO
+ SG_ ESP_tcLampFlash : 5|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] ""  NEO

BO_ 341 ESP_B: 8 ESP
 
+ SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] ""  NEO,EPAS
 
+ SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] ""  NEO,EPAS
 
+ SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph"  NEO,EPAS
 
+ SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] ""  NEO,EPAS
 
+ SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
+ SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
+ SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
+ SG_ ESP_wheelPulseCountReR : 31|8@0+ (1,0) [0|254] ""  NEO,EPAS
+
+BO_ 532 EPB_epasControl: 3 EPB
 
+ SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS
 
+ SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS
 
+ SG_ EPB_epasEACAllow : 2|3@0+ (1,0) [4|7] ""  NEO,EPAS
+
+BO_ 792 GTW_carState: 8 GTW
+ SG_ BOOT_STATE : 47|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ CERRD : 7|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ DAY : 36|5@0+ (1,0) [2|31] ""  NEO
+ SG_ DOOR_STATE_FL : 13|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DOOR_STATE_FR : 15|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DOOR_STATE_FrontTrunk : 51|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DOOR_STATE_RL : 23|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DOOR_STATE_RR : 30|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ GTW_updateInProgress : 49|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Hour : 28|5@0+ (1,0) [0|29] "h"  NEO
+ SG_ MCU_factoryMode : 52|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ MCU_transportModeOn : 53|1@0+ (1,0) [1|1] ""  NEO
+ SG_ MINUTE : 45|6@0+ (1,0) [0|61] "min"  NEO
+ SG_ MONTH : 11|4@0+ (1,0) [0|14] "Month"  NEO
+ SG_ SECOND : 21|6@0+ (1,0) [0|61] "s"  NEO
+ SG_ YEAR : 6|7@0+ (1,2000) [2000|2125] "Year"  NEO
+
+BO_ 872 DI_state: 8 DI
+ SG_ DI_systemState : 0|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_proximity : 6|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_state : 9|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed"  NEO
+ SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] ""  NEO
+ SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed"  NEO
+ SG_ DI_aebState : 41|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] ""  NEO
+ SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] ""  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 : 47|8@0+ (0.25,0) [0|63.5] "C"  NEO
+ SG_ AirTemp_Outsd : 63|8@0+ (0.5,-40) [-40|86.5] "C"  NEO
+ SG_ Bckl_Sw_RL_Stat_SAM_R : 49|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Bckl_Sw_RM_Stat_SAM_R : 53|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Bckl_Sw_RR_Stat_SAM_R : 51|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DL_RLtch_Stat : 9|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_FL_Stat : 1|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_FR_Stat : 3|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_RL_Stat : 5|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_RR_Stat : 7|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ EngHd_Stat : 11|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ LoBm_On_Rq : 32|1@0+ (1,0) [0|1] ""  NEO
+ SG_ HiBm_On : 33|1@0+ (1,0) [0|1] ""  NEO
+ SG_ Hrn_On : 26|1@0+ (1,0) [0|1] ""  NEO
+ SG_ IrLmp_D_Lt_Flt : 34|1@0+ (1,0) [0|1] ""  NEO
+ SG_ IrLmp_P_Rt_Flt : 35|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Twlgt : 18|3@0+ (1,0) [0|7] "Steps"  NEO
+ SG_ LgtSens_SNA : 19|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Tunnel : 20|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Flt : 21|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Night : 22|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ADL_LoBm_On_Rq : 23|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LoBm_D_Lt_Flt : 36|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LoBm_P_Rt_Flt : 37|1@0+ (1,0) [0|1] ""  NEO
+ SG_ MPkBrk_Stat : 28|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ RevGr_Engg : 39|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ StW_Cond_Stat : 55|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Term54_Actv : 27|1@0+ (1,0) [0|1] ""  NEO
+ SG_ Trlr_Stat : 25|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ VTA_Alm_Actv : 13|1@0+ (1,0) [0|1] ""  NEO
+ SG_ WprOutsdPkPosn : 29|1@0+ (1,0) [0|1] ""  NEO
+
+BO_ 760 MCU_gpsVehicleSpeed: 8 MCU
+ SG_ MCU_gpsHDOP : 0|8@1+ (0.1,0) [0|25.5] "1"  NEO
+ SG_ MCU_gpsVehicleHeading : 8|16@1+ (0.00781,0) [0|511.82835] "deg"  NEO
+ SG_ MCU_gpsVehicleSpeed : 24|16@1+ (0.00391,0) [0|256.24185] "km/hr"  NEO
+ SG_ MCU_mppSpeedLimit : 51|5@1+ (5,0) [0|155] "kph/mph" NEO
+ SG_ MCU_speedLimitUnits : 41|1@1+ (1,0) [-1|2] ""  NEO
+ SG_ MCU_userSpeedOffset : 42|6@1+ (1,-30) [-30|33] "kph/mph" NEO
+ SG_ MCU_userSpeedOffsetUnits : 40|1@1+ (1,0) [-1|2] ""  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) [-1|2] ""  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- (1E-006,0) [-134.217727597347|134.217726597347] "deg"  NEO
+ SG_ MCU_longitude : 28|28@1- (1E-006,0) [-268.435455194694|268.435454194694] "deg"  NEO
+
+BO_ 840 GTW_status: 8 GTW
+ SG_ GTW_accGoingDown : 6|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_accRailReq : 8|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_brakePressed : 1|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driveGoingDown : 7|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driveRailReq : 0|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driverIsLeaving : 5|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driverPresent : 2|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_hvacGoingDown : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_hvacRailReq : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_icPowerOff : 4|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_notEnough12VForDrive : 3|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_preconditionRequest : 10|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
+ SG_ GTW_statusCounter : 51|4@0+ (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" ;
+
+CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";
--- a/opendbc/toyota_iQ_2009_can.dbc
+++ b/opendbc/toyota_iQ_2009_can.dbc
@ -0,0 +1,197 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 1552 CONTAINS_LRES_SPEED: 8 XXX
+ SG_ SPEED_LOWRES : 16|8@1+ (1,0) [0|255] "km/h?" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 452 ENGINE: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIFFERENT_EACH_RIDE : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ A_DECREASING_VALUE : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 37 STEERING: 8 XXX
+ SG_ STEER_DIRECTION : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 42|2@0- (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 44|2@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 46|2@0- (1,0) [0|3] "" XXX
+ SG_ STEER_ANGLE : 2|11@0- (1,0) [-350|350] "" XXX
+
+BO_ 36 ACCELERATIONS: 8 XXX
+ SG_ ACC_LAT_CLEAN : 2|11@0- (1,0) [0|255] "" XXX
+ SG_ ACC_LATERAL : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ ACC_FRONT_BACK_1 : 31|8@0- (1,0) [0|255] "" XXX
+ SG_ ACC_FRONT_BACK_2 : 47|8@0- (1,0) [0|255] "" XXX
+
+BO_ 947 LOW_RES_INDICATORS: 8 XXX
+ SG_ LOW_RES_ACC_PEDAL : 23|7@0+ (1,0) [0|63] "" XXX
+ SG_ LOW_RES_RPM : 7|16@0+ (1,0) [0|255] "rpm" XXX
+
+BO_ 955 BRAKING_PLUS_OTHER: 8 XXX
+ SG_ IS_BRAKING_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ ENGINE_TEMPERATURE : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ MAYBE_CLUTCH : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1595 CONTAINS_TIME: 8 XXX
+ SG_ TIME_ON : 55|16@0+ (0.1,0) [0|65535] "s" XXX
+ SG_ BETWEEN_RIDES : 7|32@0+ (1,0) [0|4294967295] "" XXX
+
+BO_ 170 WHEELS_SPEEDS: 8 XXX
+ SG_ FRONT_LEFT_WHEEL_SPEED : 23|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
+ SG_ REAR_RIGHT_WHEEL_SPEED : 39|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
+ SG_ REAR_LEFT_WHEEL_SPEED : 55|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
+ SG_ FRONT_RIGHT_WHEEL_SPEED : 7|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
+
+BO_ 180 VEHICLE_DYNAMICS: 8 XXX
+ SG_ WIERD_STUFF : 8|2@1+ (1,0) [0|3] "" XXX
+ SG_ VEHICLE_SPEED : 47|16@0+ (0.01,0) [0|255] "km/h" XXX
+ SG_ SPEED_MOD_256 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ MAYBE_DISTANCE_MOD_256 : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 186 NEW_MSG_9: 8 XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 426 NEW_MSG_5: 8 XXX
+ SG_ CONSTANT : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 906 BOOLS: 8 XXX
+ SG_ MAY_CONTAIN_LIGHTS : 7|4@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_1 : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ MOVEMENT_START_TRIGGER : 0|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 979 LOW_RES_ACCELERATOR: 8 XXX
+ SG_ VERY_LRES_ACC : 7|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1600 SLOW_VARIABLE_INFOS: 8 XXX
+ SG_ CHANGES_EACH_RIDE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_VALUE_FUEL : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1568 DOORS: 8 XXX
+ SG_ KEY_ACC : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEY_ON : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEY_INSERT : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ NOT_ON : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_RIGHT : 44|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_TRUNK : 41|1@1+ (1,0) [0|3] "" XXX
+ SG_ DOOR_LEFT : 45|1@0+ (1,0) [0|255] "" XXX
+ SG_ HANDBRAKE : 60|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_SEATBELT : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ TRIGGER_BOOL : 15|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 COMMAND: 8 XXX
+ SG_ NOT_ACCELERATING_PEDAL : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_PEDAL_SENSOR : 55|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ACC_COMMAND : 31|16@0- (1,0) [0|7] "" XXX
+ SG_ ACC_PEDAL_MEAN : 15|16@0- (1,0) [0|255] "" XXX
+ SG_ NEGATIVE_COMMAND_OFFSET : 47|8@0- (1,0) [0|255] "" XXX
+
+BO_ 928 STEER2_MAYBE: 8 XXX
+ SG_ NEW_SIGNAL_1 : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_2 : 60|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_4 : 5|6@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 46|7@0+ (1,0) [0|15] "" XXX
+
+BO_ 896 LONG_TERM_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 944 LONG_TERM_MSG: 8 XXX
+ SG_ LONG_TERM_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1553 TOTAL_DIST: 8 XXX
+ SG_ TOTAL_DISTANCE : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1572 WHY_THESE_VALUES: 8 XXX
+
+BO_ 1555 BETWEEN_RIDES_CHANGE_1: 8 XXX
+ SG_ BETWEEN_RIDES : 23|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1090 ASYNC_MSG_ACK: 8 XXX
+ SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1592 NEW_MSG_14: 8 XXX
+ SG_ DOORS_LOCKED2 : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOORS_LOCKED1 : 16|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 NEW_MSG_6: 8 XXX
+ SG_ VERY_SMALL_SIGNAL2 : 56|1@0+ (1,0) [0|255] "" XXX
+ SG_ VERY_SMALL_SIGNAL1 : 0|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 945 BETWEEN_RIDES_CHANGES_2: 8 XXX
+ SG_ BETWEEN_RIDES : 24|1@0+ (1,0) [0|65535] "" XXX
+
+
+
+
+CM_ SG_ 1552 SPEED_LOWRES "Negative values to check";
+CM_ SG_ 452 CHECKSUM "Follows path of RPMs but more precise & 1 byte only";
+CM_ SG_ 452 A_DECREASING_VALUE "stabilizes to 62 after ~10 mins";
+CM_ SG_ 37 STEER_DIRECTION "Could be intended as 12 bit steering angle";
+CM_ SG_ 37 STEER_ANGLE "can convert to degrees (imprecise) or percentage of max amplitude";
+CM_ SG_ 36 ACC_FRONT_BACK_1 "more likely up-down";
+CM_ SG_ 36 ACC_FRONT_BACK_2 "more likely front-back";
+CM_ SG_ 947 LOW_RES_ACC_PEDAL "Follows rather closely other acceleration commands";
+CM_ SG_ 947 LOW_RES_RPM "Mabe used for onboard display?";
+CM_ SG_ 955 MAYBE_CLUTCH "might be related to shifting gears";
+CM_ SG_ 1595 TIME_ON "Time since last ignition, tenth of seconds";
+CM_ SG_ 1595 BETWEEN_RIDES "the fourth byte (at least) changes between rides";
+CM_ SG_ 180 WIERD_STUFF "Might be a signed value on the whole two bytes (sometimes all set)";
+CM_ SG_ 180 VEHICLE_SPEED "Roughly 2 seconds before wheel speeds";
+CM_ SG_ 180 SPEED_MOD_256 "One byte speed, a bit before vehicle speed";
+CM_ SG_ 180 MAYBE_DISTANCE_MOD_256 "Looks like measure for distance or wheel angle";
+CM_ SG_ 906 MOVEMENT_START_TRIGGER "trigger of when speed becomes != 0";
+CM_ SG_ 979 VERY_LRES_ACC "Power used by engine? moves alongside speed, very low res, goes from 0 to 9 max?";
+CM_ SG_ 1600 CHANGES_EACH_RIDE "Small decrementation during some rides, possibly long term fuel";
+CM_ SG_ 1600 INCREASING_VALUE_FUEL "Fuel/distance? Average fuel consumption?";
+CM_ SG_ 705 NOT_ACCELERATING_PEDAL "Looks like opposite of accelerating bit";
+CM_ SG_ 705 ACC_PEDAL_SENSOR "similar to pedal sensor maybe checksum.";
+CM_ SG_ 705 ACC_COMMAND "Similar to other pedal indicator., cleaner, must be sent back to engine";
+CM_ SG_ 705 ACC_PEDAL_MEAN "Actual sensor for pedal (works when engine off)";
+CM_ SG_ 705 NEGATIVE_COMMAND_OFFSET "Mysterious for now";
+CM_ SG_ 928 NEW_SIGNAL_1 "Very slow changing noisy value, 45-49 in 10 min";
+CM_ SG_ 928 NEW_SIGNAL_2 "Other very slow changing 24-26 in 10 min";
+CM_ SG_ 928 NEW_SIGNAL_4 "Inconsistent across rides";
+CM_ SG_ 896 NEW_SIGNAL_1 "there is a difference at the beginning of 2017-10-31--12-04-05";
+CM_ SG_ 1553 TOTAL_DISTANCE "Probably also contains the previous/two previous bytes but can't confirm";
+CM_ SG_ 945 BETWEEN_RIDES "Might be others in the same message. at least this one";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 452 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 955 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/toyota_prius_2017_adas.dbc
+++ b/opendbc/toyota_prius_2017_adas.dbc
@ -0,0 +1,261 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 528 TRACK_A_0: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 529 TRACK_A_1: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 530 TRACK_A_2: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 531 TRACK_A_3: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 532 TRACK_A_4: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 533 TRACK_A_5: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 534 TRACK_A_6: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 535 TRACK_A_7: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 536 TRACK_A_8: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 537 TRACK_A_9: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 538 TRACK_A_10: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 539 TRACK_A_11: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 540 TRACK_A_12: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 541 TRACK_A_13: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 542 TRACK_A_14: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 543 TRACK_A_15: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 544 TRACK_B_0: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 545 TRACK_B_1: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 546 TRACK_B_2: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 547 TRACK_B_3: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 548 TRACK_B_4: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 549 TRACK_B_5: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 550 TRACK_B_6: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 551 TRACK_B_7: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 TRACK_B_8: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 553 TRACK_B_9: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 554 TRACK_B_10: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 555 TRACK_B_11: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 556 TRACK_B_12: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 557 TRACK_B_13: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 558 TRACK_B_14: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 559 TRACK_B_15: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
--- a/opendbc/toyota_prius_2017_pt.dbc
+++ b/opendbc/toyota_prius_2017_pt.dbc
@ -0,0 +1,206 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 295 GEAR_PACKET: 8 XXX
+ SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 8 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 8 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
--- a/opendbc/toyota_rav4_2017_pt.dbc
+++ b/opendbc/toyota_rav4_2017_pt.dbc
@ -0,0 +1,204 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 548 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 8 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 560 BRAKE_PRESSED "another brake press?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
--- a/opendbc/toyota_rav4_hybrid_2017_pt.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt.dbc
@ -0,0 +1,203 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 8 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
--- a/opendbc/vw_golf_mk4.dbc
+++ b/opendbc/vw_golf_mk4.dbc
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
--- a/1
+++ b/1
@ -1 +0,0 @@
-Subproject commit 3cab37297566962fd6e48a674db3e1f6de8fa4da
--- a/panda/.gitignore
+++ b/panda/.gitignore
@ -0,0 +1,12 @@
+*.pyc
+.*.swp
+.*.swo
+*.o
+a.out
+*~
+.#*
+dist/
+pandacan.egg-info/
+board/obj/
+examples/output.csv
+.DS_Store
--- a/panda/.travis.yml
+++ b/panda/.travis.yml
@ -0,0 +1,20 @@
+language: python
+
+cache:
+  directories:
+    - build/commaai/panda/boardesp/esp-open-sdk/crosstool-NG
+
+addons:
+  apt:
+    packages:
+    - gcc-arm-none-eabi
+    - libnewlib-arm-none-eabi
+    - gperf
+    - texinfo
+    - help2man
+
+script:
+  - python setup.py install
+  - pushd board && make bin && popd
+  - pushd boardesp && git clone --recursive https://github.com/pfalcon/esp-open-sdk.git && pushd esp-open-sdk && git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec && LD_LIBRARY_PATH="" make STANDALONE=y && popd && popd
+  - pushd boardesp && make user1.bin && popd
--- a/panda/LICENSE
+++ b/panda/LICENSE
@ -0,0 +1,7 @@
+Copyright (c) 2016, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
--- a/panda/README.md
+++ b/panda/README.md
@ -0,0 +1,89 @@
+Welcome to panda
+======
+
+[panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
+
+<a href="https://panda.comma.ai"><img src="https://github.com/commaai/panda/blob/master/panda.png">
+
+<img src="https://github.com/commaai/panda/blob/master/buy.png"></a>
+
+It supports 3x CAN, 2x LIN, and 1x GMLAN. It also charges a phone. On the computer side, it has both USB and Wi-Fi.
+
+It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004) for low level stuff and an [ESP8266](https://en.wikipedia.org/wiki/ESP8266) for Wi-Fi. They are connected over high speed SPI, so the panda is actually capable of dumping the full contents of the busses over Wi-Fi, unlike every other dongle on amazon. ELM327 is weak, panda is strong.
+
+It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.
+
+[![Build Status](https://travis-ci.org/commaai/panda.svg?branch=master)](https://travis-ci.org/commaai/panda)
+
+Usage
+------
+
+To install the library:
+```
+# pip install pandacan
+```
+
+See [this class](https://github.com/commaai/panda/blob/master/python/__init__.py#L80) for how to interact with the panda.
+
+For example, to receive CAN messages:
+```
+>>> from panda import Panda
+>>> panda = Panda()
+>>> panda.can_recv()
+```
+And to send one on bus 0:
+```
+>>> panda.can_send(0x1aa, "message", 0)
+```
+More examples coming soon
+
+Software interface support
+------
+
+As a universal car interface, it should support every reasonable software interface.
+
+- User space ([done](https://github.com/commaai/panda/tree/master/python))
+- socketcan in kernel ([alpha](https://github.com/commaai/panda/tree/master/drivers/linux))
+- ELM327 ([done](https://github.com/commaai/panda/blob/master/boardesp/elm327.c))
+- Windows J2534 ([alpha](https://github.com/commaai/panda/tree/master/drivers/windows))
+
+Directory structure
+------
+
+- board      -- Code that runs on the STM32
+- boardesp   -- Code that runs on the ESP8266
+- drivers    -- Drivers (not needed for use with python)
+- python     -- Python userspace library for interfacing with the panda
+- tests      -- Tests and helper programs for panda
+
+Programming (over USB)
+------
+
+[Programming the Board (STM32)](board/README.md)
+
+[Programming the ESP](boardesp/README.md)
+
+
+Debugging
+------
+
+To print out the serial console from the STM32, run tests/debug_console.py
+
+To print out the serial console from the ESP8266, run PORT=1 tests/debug_console.py
+
+Safety Model
+------
+
+When a panda powers up, by default it's in "SAFETY_NOOUTPUT" mode. While in no output mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB.
+
+Safety modes can also optionally support "controls_allowed", which allows or blocks a subset of messages based on a piece of state in the board.
+
+Hardware
+------
+
+Check out the hardware [guide](https://github.com/commaai/panda/blob/master/docs/guide.pdf)
+
+Licensing
+------
+
+panda software is released under the MIT license unless otherwise specified.
--- a/panda/TODO
+++ b/panda/TODO
@ -0,0 +1,31 @@
+** Projects **
+
+== ELM327 Emulator ==
+
+Write an elm327 emulator in boardesp/elm327.c and make it work with Torque
+
+You'll find a start at this in the "elm327" branch.
+
+== socketcan Kernel Driver ==
+
+Write a kernel driver version of lib/panda.py that exposes the Panda on socketcan and makes it work with those tools.
+
+You may want to switch to interrupt endpoint first. Should LIN be exposed as a serial interface?
+
+== Windows J2534 DLL ==
+
+Write a Windows DLL that exposes the J2534 API.
+
+Will make the Panda work with car diagnostic software.
+
+
+** Refactors **
+
+== USB Interrupt Endpoint ==
+
+Switch USB to use an interrupt endpoint instead of a bulk endpoint for can recv
+
+== WebSocket Support ==
+
+Add CAN streaming over WebSocket to the ELM code in addition to the UDP pipe.
+
--- a/panda/UPDATING.md
+++ b/panda/UPDATING.md
@ -0,0 +1,9 @@
+# Updating your panda
+
+Panda should update automatically via the [Chffr](http://chffr.comma.ai/) app ([apple](https://itunes.apple.com/us/app/chffr-dash-cam-that-remembers/id1146683979) and [android](https://play.google.com/store/apps/details?id=ai.comma.chffr))
+
+If it doesn't however,  you can use the following commands on linux or Mac OSX
+ `sudo pip install --upgrade pandacan`
+` PYTHONPATH="" sudo python -c "import panda; panda.flash_release()"`
+
+(You'll need to have `pip` and `sudo` installed.)
--- a/panda/VERSION
+++ b/panda/VERSION
@ -0,0 +1 @@
+v1.0.3
--- a/panda/init.py
+++ b/panda/init.py
@ -0,0 +1 @@
+from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st
--- a/panda/board/Makefile
+++ b/panda/board/Makefile
@ -0,0 +1,8 @@
+PROJ_NAME = panda
+CFLAGS = -g -Wall
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
+CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx
+STARTUP_FILE = startup_stm32f413xx
+
+include build.mk
--- a/panda/board/Makefile.legacy
+++ b/panda/board/Makefile.legacy
@ -0,0 +1,9 @@
+# :set noet
+PROJ_NAME = comma
+CFLAGS  = -g -Wall
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+STARTUP_FILE = startup_stm32f205xx
+
+include build.mk
--- a/panda/board/README.md
+++ b/panda/board/README.md
@ -0,0 +1,41 @@
+Dependencies
+--------
+
+**Mac**
+
+```
+./get_sdk_mac.sh
+```
+
+**Debian / Ubuntu**
+
+```
+./get_sdk.sh
+```
+
+
+Programming
+----
+
+**Panda**
+
+```
+make
+```
+
+**NEO**
+
+```
+make -f Makefile.legacy
+```
+
+Troubleshooting
+----
+
+If your panda will not flash and is quickly blinking a single Green LED, use:
+```
+make recover
+```
+
+
+[dfu-util](http://github.com/dsigma/dfu-util.git) for flashing
--- a/panda/board/init.py
+++ b/panda/board/init.py
--- a/panda/board/bootstub.c
+++ b/panda/board/bootstub.c
@ -0,0 +1,91 @@
+#define BOOTSTUB
+
+#include "config.h"
+#include "obj/gitversion.h"
+
+#ifdef STM32F4
+  #define PANDA
+  #include "stm32f4xx.h"
+  #include "stm32f4xx_hal_gpio_ex.h"
+#else
+  #include "stm32f2xx.h"
+  #include "stm32f2xx_hal_gpio_ex.h"
+#endif
+
+#include "libc.h"
+#include "provision.h"
+
+#include "drivers/drivers.h"
+
+#include "drivers/llgpio.h"
+#include "gpio.h"
+
+#include "drivers/spi.h"
+#include "drivers/usb.h"
+//#include "drivers/uart.h"
+
+int puts(const char *a) { return 0; }
+void puth(unsigned int i) {}
+
+#include "crypto/rsa.h"
+#include "crypto/sha.h"
+
+#include "obj/cert.h"
+
+#include "spi_flasher.h"
+
+void __initialize_hardware_early() {
+  early();
+}
+
+void fail() {
+  soft_flasher_start();
+}
+
+// know where to sig check
+extern void *_app_start[];
+
+int main() {
+  __disable_irq();
+  clock_init();
+  detect();
+
+  if (revision == PANDA_REV_C) {
+    set_usb_power_mode(USB_POWER_CLIENT);
+  }
+
+  if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
+    enter_bootloader_mode = 0;
+    soft_flasher_start();
+  }
+
+  // validate length
+  int len = (int)_app_start[0];
+  if ((len < 8) || (len > (0x1000000 - 0x4000 - 4 - RSANUMBYTES))) goto fail;
+
+  // compute SHA hash
+  uint8_t digest[SHA_DIGEST_SIZE];
+  SHA_hash(&_app_start[1], len-4, digest);
+
+  // verify RSA signature
+  if (RSA_verify(&release_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) {
+    goto good;
+  }
+
+  // allow debug if built from source
+#ifdef ALLOW_DEBUG
+  if (RSA_verify(&debug_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) {
+    goto good;
+  }
+#endif
+
+// here is a failure
+fail:
+  fail();
+  return 0;
+good:
+  // jump to flash
+  ((void(*)()) _app_start[1])();
+  return 0;
+}
+
--- a/panda/board/build.mk
+++ b/panda/board/build.mk
@ -0,0 +1,59 @@
+CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O0
+CFLAGS += -Tstm32_flash.ld
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+
+ifeq ($(RELEASE),1)
+  CERT = ../../pandaextra/certs/release
+else
+  # enable the debug cert
+  CERT = ../certs/debug
+  CFLAGS += "-DALLOW_DEBUG"
+endif
+
+DFU_UTIL = "dfu-util"
+
+# this no longer pushes the bootstub
+flash: obj/$(PROJ_NAME).bin
+	PYTHONPATH=../ python -c "from panda import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
+
+ota: obj/$(PROJ_NAME).bin
+	curl http://192.168.0.10/stupdate --upload-file $<
+
+bin: obj/$(PROJ_NAME).bin
+
+# this flashes everything
+recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
+	-PYTHONPATH=../ python -c "from panda import Panda; Panda().reset(enter_bootloader=True)"
+	sleep 1.0
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.$(PROJ_NAME).bin
+
+include ../common/version.mk
+
+obj/cert.h: ../crypto/getcertheader.py
+	../crypto/getcertheader.py ../certs/debug.pub ../certs/release.pub > $@
+
+obj/%.$(PROJ_NAME).o: %.c obj/cert.h obj/gitversion.h config.h drivers/*.h gpio.h libc.h provision.h safety.h safety/*.h spi_flasher.h
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/%.$(PROJ_NAME).o: ../crypto/%.c
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: $(STARTUP_FILE).s
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
+	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
+
+obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
+
+clean:
+	@rm -f obj/*
--- a/panda/board/config.h
+++ b/panda/board/config.h
@ -0,0 +1,40 @@
+#ifndef PANDA_CONFIG_H
+#define PANDA_CONFIG_H
+
+//#define DEBUG
+//#define DEBUG_USB
+//#define DEBUG_SPI
+
+#ifdef STM32F4
+  #define PANDA
+  #include "stm32f4xx.h"
+#else
+  #include "stm32f2xx.h"
+#endif
+
+#define USB_VID 0xbbaa
+
+#ifdef BOOTSTUB
+#define USB_PID 0xddee
+#else
+#define USB_PID 0xddcc
+#endif
+
+#include <stdbool.h>
+#define NULL ((void*)0)
+#define COMPILE_TIME_ASSERT(pred) switch(0){case 0:case pred:;}
+
+#define min(a,b) \
+ ({ __typeof__ (a) _a = (a); \
+     __typeof__ (b) _b = (b); \
+   _a < _b ? _a : _b; })
+
+#define max(a,b) \
+ ({ __typeof__ (a) _a = (a); \
+     __typeof__ (b) _b = (b); \
+   _a > _b ? _a : _b; })
+
+#define MAX_RESP_LEN 0x40
+
+#endif
+
--- a/panda/board/drivers/adc.h
+++ b/panda/board/drivers/adc.h
@ -0,0 +1,38 @@
+// ACCEL1 = ADC10
+// ACCEL2 = ADC11
+// VOLT_S = ADC12
+// CURR_S = ADC13
+
+#define ADCCHAN_ACCEL0 10
+#define ADCCHAN_ACCEL1 11
+#define ADCCHAN_VOLTAGE 12
+#define ADCCHAN_CURRENT 13
+
+void adc_init() {
+  // global setup
+  ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
+  //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
+  ADC1->CR2 = ADC_CR2_ADON;
+
+  // long
+  //ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
+  ADC1->SMPR1 = ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
+}
+
+uint32_t adc_get(int channel) {
+  // includes length
+  //ADC1->SQR1 = 0;
+
+  // select channel
+  ADC1->JSQR = channel << 15;
+
+  //ADC1->CR1 = ADC_CR1_DISCNUM_0;
+  //ADC1->CR1 = ADC_CR1_EOCIE;
+
+  ADC1->SR &= ~(ADC_SR_JEOC);
+  ADC1->CR2 |= ADC_CR2_JSWSTART;
+  while (!(ADC1->SR & ADC_SR_JEOC));
+
+  return ADC1->JDR1;
+}
+
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@ -0,0 +1,401 @@
+// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE, CAN2_TX, CAN2_RX0, CAN2_SCE, CAN3_TX, CAN3_RX0, CAN3_SCE
+#define ALL_CAN_SILENT 0xFF
+#define ALL_CAN_BUT_MAIN_SILENT 0xFE
+#define ALL_CAN_LIVE 0
+
+int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
+
+// ********************* instantiate queues *********************
+
+#define can_buffer(x, size) \
+  CAN_FIFOMailBox_TypeDef elems_##x[size]; \
+  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = size, .elems = (CAN_FIFOMailBox_TypeDef *)&elems_##x };
+
+can_buffer(rx_q, 0x1000)
+can_buffer(tx1_q, 0x100)
+can_buffer(tx2_q, 0x100)
+
+#ifdef PANDA
+  can_buffer(tx3_q, 0x100)
+  can_buffer(txgmlan_q, 0x100)
+  can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
+#else
+  can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
+#endif
+
+// ********************* interrupt safe queue *********************
+
+int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  int ret = 0;
+
+  enter_critical_section();
+  if (q->w_ptr != q->r_ptr) {
+    *elem = q->elems[q->r_ptr];
+    if ((q->r_ptr + 1) == q->fifo_size) q->r_ptr = 0;
+    else q->r_ptr += 1;
+    ret = 1;
+  }
+  exit_critical_section();
+
+  return ret;
+}
+
+int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  int ret = 0;
+  uint32_t next_w_ptr;
+
+  enter_critical_section();
+  if ((q->w_ptr + 1) == q->fifo_size) next_w_ptr = 0;
+  else next_w_ptr = q->w_ptr + 1;
+  if (next_w_ptr != q->r_ptr) {
+    q->elems[q->w_ptr] = *elem;
+    q->w_ptr = next_w_ptr;
+    ret = 1;
+  }
+  exit_critical_section();
+  if (ret == 0) puts("can_push failed!\n");
+  return ret;
+}
+
+void can_clear(can_ring *q) {
+  enter_critical_section();
+  q->w_ptr = 0;
+  q->r_ptr = 0;
+  exit_critical_section();
+}
+
+// assign CAN numbering
+// bus num: Can bus number on ODB connector. Sent to/from USB
+//    Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
+// cans: Look up MCU can interface from bus number
+// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
+// bus_lookup: Translates from 'can number' to 'bus number'.
+// can_num_lookup: Translates from 'bus number' to 'can number'.
+// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
+
+int can_rx_cnt = 0;
+int can_tx_cnt = 0;
+int can_txd_cnt = 0;
+int can_err_cnt = 0;
+
+// NEO:         Bus 1=CAN1   Bus 2=CAN2
+// Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
+#ifdef PANDA
+  CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
+  uint8_t bus_lookup[] = {0,1,2};
+  uint8_t can_num_lookup[] = {0,1,2,-1};
+  int8_t can_forwarding[] = {-1,-1,-1,-1};
+  uint32_t can_speed[] = {5000, 5000, 5000, 333};
+  #define CAN_MAX 3
+#else
+  CAN_TypeDef *cans[] = {CAN1, CAN2};
+  uint8_t bus_lookup[] = {1,0};
+  uint8_t can_num_lookup[] = {1,0};
+  int8_t can_forwarding[] = {-1,-1};
+  uint32_t can_speed[] = {5000, 5000};
+  #define CAN_MAX 2
+#endif
+
+#define CANIF_FROM_CAN_NUM(num) (cans[num])
+#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
+#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
+
+// other option
+/*#define CAN_QUANTA 16
+#define CAN_SEQ1 13
+#define CAN_SEQ2 2*/
+
+// this is needed for 1 mbps support
+#define CAN_QUANTA 8
+#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
+#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
+
+#define CAN_PCLK 24000
+// 333 = 33.3 kbps
+// 5000 = 500 kbps
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
+
+void process_can(uint8_t can_number);
+
+void can_init(uint8_t can_number) {
+  if (can_number == 0xff) return;
+
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  set_can_enable(CAN, 1);
+
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+
+  // set time quanta from defines
+  CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+             (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+             (can_speed_to_prescaler(can_speed[BUS_NUM_FROM_CAN_NUM(can_number)]) - 1);
+
+  // silent loopback mode for debugging
+  if (can_loopback) {
+    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+  }
+
+  if (can_silent & (1 << can_number)) {
+    CAN->BTR |= CAN_BTR_SILM;
+  }
+
+  // reset
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
+
+  #define CAN_TIMEOUT 1000000
+  int tmp = 0;
+  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
+
+  if (tmp == CAN_TIMEOUT) {
+    puts("CAN init FAILED!!!!!\n");
+    puth(can_number); puts(" ");
+    puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
+  }
+
+  // accept all filter
+  CAN->FMR |= CAN_FMR_FINIT;
+
+  // no mask
+  CAN->sFilterRegister[0].FR1 = 0;
+  CAN->sFilterRegister[0].FR2 = 0;
+  CAN->sFilterRegister[14].FR1 = 0;
+  CAN->sFilterRegister[14].FR2 = 0;
+  CAN->FA1R |= 1 | (1 << 14);
+
+  CAN->FMR &= ~(CAN_FMR_FINIT);
+
+  // enable certain CAN interrupts
+  CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0;
+
+  switch (can_number) {
+    case 0:
+      NVIC_EnableIRQ(CAN1_TX_IRQn);
+      NVIC_EnableIRQ(CAN1_RX0_IRQn);
+      NVIC_EnableIRQ(CAN1_SCE_IRQn);
+      break;
+    case 1:
+      NVIC_EnableIRQ(CAN2_TX_IRQn);
+      NVIC_EnableIRQ(CAN2_RX0_IRQn);
+      NVIC_EnableIRQ(CAN2_SCE_IRQn);
+      break;
+#ifdef CAN3
+    case 2:
+      NVIC_EnableIRQ(CAN3_TX_IRQn);
+      NVIC_EnableIRQ(CAN3_RX0_IRQn);
+      NVIC_EnableIRQ(CAN3_SCE_IRQn);
+      break;
+#endif
+  }
+
+  // in case there are queued up messages
+  process_can(can_number);
+}
+
+void can_init_all() {
+  for (int i=0; i < CAN_MAX; i++) {
+    can_init(i);
+  }
+}
+
+void can_set_gmlan(int bus) {
+  if (bus == -1 || bus != can_num_lookup[3]) {
+    // GMLAN OFF
+    switch (can_num_lookup[3]) {
+      case 1:
+        puts("disable GMLAN on CAN2\n");
+        set_can_mode(1, 0);
+        bus_lookup[1] = 1;
+        can_num_lookup[1] = 1;
+        can_num_lookup[3] = -1;
+        can_init(1);
+        break;
+      case 2:
+        puts("disable GMLAN on CAN3\n");
+        set_can_mode(2, 0);
+        bus_lookup[2] = 2;
+        can_num_lookup[2] = 2;
+        can_num_lookup[3] = -1;
+        can_init(2);
+        break;
+    }
+  }
+
+  if (bus == 1) {
+    puts("GMLAN on CAN2\n");
+    // GMLAN on CAN2
+    set_can_mode(1, 1);
+    bus_lookup[1] = 3;
+    can_num_lookup[1] = -1;
+    can_num_lookup[3] = 1;
+    can_init(1);
+  } else if (bus == 2 && revision == PANDA_REV_C) {
+    puts("GMLAN on CAN3\n");
+    // GMLAN on CAN3
+    set_can_mode(2, 1);
+    bus_lookup[2] = 3;
+    can_num_lookup[2] = -1;
+    can_num_lookup[3] = 2;
+    can_init(2);
+  }
+}
+
+// CAN error
+void can_sce(CAN_TypeDef *CAN) {
+  can_err_cnt += 1;
+  #ifdef DEBUG
+    if (CAN==CAN1) puts("CAN1:  ");
+    if (CAN==CAN2) puts("CAN2:  ");
+    #ifdef CAN3
+      if (CAN==CAN3) puts("CAN3:  ");
+    #endif
+    puts("MSR:");
+    puth(CAN->MSR);
+    puts(" TSR:");
+    puth(CAN->TSR);
+    puts(" RF0R:");
+    puth(CAN->RF0R);
+    puts(" RF1R:");
+    puth(CAN->RF1R);
+    puts(" ESR:");
+    puth(CAN->ESR);
+    puts("\n");
+  #endif
+
+  // clear current send
+  CAN->TSR |= CAN_TSR_ABRQ0;
+  CAN->MSR = CAN->MSR;
+}
+
+// ***************************** CAN *****************************
+
+void process_can(uint8_t can_number) {
+  if (can_number == 0xff) return;
+
+  enter_critical_section();
+
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  #ifdef DEBUG
+    puts("process CAN TX\n");
+  #endif
+
+  // check for empty mailbox
+  CAN_FIFOMailBox_TypeDef to_send;
+  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+    // add successfully transmitted message to my fifo
+    if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
+      can_txd_cnt += 1;
+
+      if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
+        CAN_FIFOMailBox_TypeDef to_push;
+        to_push.RIR = CAN->sTxMailBox[0].TIR;
+        to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
+        to_push.RDLR = CAN->sTxMailBox[0].TDLR;
+        to_push.RDHR = CAN->sTxMailBox[0].TDHR;
+        can_push(&can_rx_q, &to_push);
+      }
+
+      if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
+        #ifdef DEBUG
+          puts("CAN TX ERROR!\n");
+        #endif
+      }
+
+      if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
+        #ifdef DEBUG
+          puts("CAN TX ARBITRATION LOST!\n");
+        #endif
+      }
+
+      // clear interrupt
+      // careful, this can also be cleared by requesting a transmission
+      CAN->TSR |= CAN_TSR_RQCP0;
+    }
+
+    if (can_pop(can_queues[bus_number], &to_send)) {
+      can_tx_cnt += 1;
+      // only send if we have received a packet
+      CAN->sTxMailBox[0].TDLR = to_send.RDLR;
+      CAN->sTxMailBox[0].TDHR = to_send.RDHR;
+      CAN->sTxMailBox[0].TDTR = to_send.RDTR;
+      CAN->sTxMailBox[0].TIR = to_send.RIR;
+    }
+  }
+
+  exit_critical_section();
+}
+
+// CAN receive handlers
+// blink blue when we are receiving CAN messages
+void can_rx(uint8_t can_number) {
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    can_rx_cnt += 1;
+
+    // can is live
+    pending_can_live = 1;
+
+    // add to my fifo
+    CAN_FIFOMailBox_TypeDef to_push;
+    to_push.RIR = CAN->sFIFOMailBox[0].RIR;
+    to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
+    to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
+    to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
+
+    // forwarding (panda only)
+    #ifdef PANDA
+      if (can_forwarding[bus_number] != -1) {
+        CAN_FIFOMailBox_TypeDef to_send;
+        to_send.RIR = to_push.RIR | 1; // TXRQ
+        to_send.RDTR = to_push.RDTR;
+        to_send.RDLR = to_push.RDLR;
+        to_send.RDHR = to_push.RDHR;
+        can_send(&to_send, can_forwarding[bus_number]);
+      }
+    #endif
+
+    // modify RDTR for our API
+    to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
+    safety_rx_hook(&to_push);
+
+    #ifdef PANDA
+      set_led(LED_BLUE, 1);
+    #endif
+    can_push(&can_rx_q, &to_push);
+
+    // next
+    CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_TX_IRQHandler() { process_can(0); }
+void CAN1_RX0_IRQHandler() { can_rx(0); }
+void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
+
+void CAN2_TX_IRQHandler() { process_can(1); }
+void CAN2_RX0_IRQHandler() { can_rx(1); }
+void CAN2_SCE_IRQHandler() { can_sce(CAN2); }
+
+#ifdef CAN3
+void CAN3_TX_IRQHandler() { process_can(2); }
+void CAN3_RX0_IRQHandler() { can_rx(2); }
+void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
+#endif
+
+void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
+  if (safety_tx_hook(to_push)) {
+    if (bus_number < BUS_MAX) {
+      // add CAN packet to send queue
+      // bus number isn't passed through
+      to_push->RDTR &= 0xF;
+      can_push(can_queues[bus_number], to_push);
+      process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
+    }
+  }
+}
+
+void can_set_forwarding(int from, int to) {
+  can_forwarding[from] = to;
+}
--- a/panda/board/drivers/dac.h
+++ b/panda/board/drivers/dac.h
@ -0,0 +1,16 @@
+void dac_init() {
+  // no buffers required since we have an opamp
+  //DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
+  DAC->DHR12R1 = 0;
+  DAC->DHR12R2 = 0;
+  DAC->CR = DAC_CR_EN1 | DAC_CR_EN2;
+}
+
+void dac_set(int channel, uint32_t value) {
+  if (channel == 0) {
+    DAC->DHR12R1 = value;
+  } else if (channel == 1) {
+    DAC->DHR12R2 = value;
+  }
+}
+
--- a/panda/board/drivers/drivers.h
+++ b/panda/board/drivers/drivers.h
@ -0,0 +1,141 @@
+#ifndef PANDA_DRIVERS_H
+#define PANDA_DRIVERS_H
+
+// ********************* LLGPIO *********************
+
+#define MODE_INPUT 0
+#define MODE_OUTPUT 1
+#define MODE_ALTERNATE 2
+#define MODE_ANALOG 3
+
+#define PULL_NONE 0
+#define PULL_UP 1
+#define PULL_DOWN 2
+
+void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode);
+void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val);
+void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode);
+void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode);
+
+int get_gpio_input(GPIO_TypeDef *GPIO, int pin);
+
+
+// ********************* USB *********************
+// IRQs: OTG_FS
+
+typedef union {
+  uint16_t w;
+  struct BW {
+    uint8_t msb;
+    uint8_t lsb;
+  }
+  bw;
+}
+uint16_t_uint8_t;
+
+typedef union _USB_Setup {
+  uint32_t d8[2];
+  struct _SetupPkt_Struc
+  {
+    uint8_t           bmRequestType;
+    uint8_t           bRequest;
+    uint16_t_uint8_t  wValue;
+    uint16_t_uint8_t  wIndex;
+    uint16_t_uint8_t  wLength;
+  } b;
+}
+USB_Setup_TypeDef;
+
+void usb_init();
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired);
+int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
+void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
+void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
+void usb_cb_enumeration_complete();
+
+
+// ********************* UART *********************
+// IRQs: USART1, USART2, USART3, UART5
+
+#define FIFO_SIZE 0x100
+typedef struct uart_ring {
+  uint8_t w_ptr_tx;
+  uint8_t r_ptr_tx;
+  uint8_t elems_tx[FIFO_SIZE];
+  uint8_t w_ptr_rx;
+  uint8_t r_ptr_rx;
+  uint8_t elems_rx[FIFO_SIZE];
+  USART_TypeDef *uart;
+  void (*callback)(struct uart_ring*);
+} uart_ring;
+
+void uart_init(USART_TypeDef *u, int baud);
+
+int getc(uart_ring *q, char *elem);
+int putc(uart_ring *q, char elem);
+
+int puts(const char *a);
+void puth(unsigned int i);
+void hexdump(const void *a, int l);
+
+
+// ********************* ADC *********************
+
+void adc_init();
+uint32_t adc_get(int channel);
+
+
+// ********************* DAC *********************
+
+void dac_init();
+uint32_t dac_set(int channel, uint32_t value);
+
+
+// ********************* TIMER *********************
+
+void timer_init(TIM_TypeDef *TIM, int psc);
+
+
+// ********************* SPI *********************
+// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
+
+void spi_init();
+int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
+
+
+// ********************* CAN *********************
+// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
+//       CAN2_TX, CAN2_RX0, CAN2_SCE
+//       CAN3_TX, CAN3_RX0, CAN3_SCE
+
+typedef struct {
+  uint32_t w_ptr;
+  uint32_t r_ptr;
+  uint32_t fifo_size;
+  CAN_FIFOMailBox_TypeDef *elems;
+} can_ring;
+
+#define CAN_BUS_RET_FLAG 0x80
+#define CAN_BUS_NUM_MASK 0x7F
+
+#ifdef PANDA
+  #define BUS_MAX 4
+#else
+  #define BUS_MAX 2
+#endif
+
+extern int can_live, pending_can_live;
+
+// must reinit after changing these
+extern int can_loopback, can_silent;
+extern uint32_t can_speed[];
+
+void can_set_forwarding(int from, int to);
+
+void can_init(uint8_t can_number);
+void can_init_all();
+void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
+int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
+
+#endif
+
--- a/panda/board/drivers/llgpio.h
+++ b/panda/board/drivers/llgpio.h
@ -0,0 +1,35 @@
+void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
+  uint32_t tmp = GPIO->MODER;
+  tmp &= ~(3 << (pin*2));
+  tmp |= (mode << (pin*2));
+  GPIO->MODER = tmp;
+}
+
+void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val) {
+  if (val) {
+    GPIO->ODR |= (1 << pin);
+  } else {
+    GPIO->ODR &= ~(1 << pin);
+  }
+  set_gpio_mode(GPIO, pin, MODE_OUTPUT);
+}
+
+void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode) {
+  uint32_t tmp = GPIO->AFR[pin>>3];
+  tmp &= ~(0xF << ((pin&7)*4));
+  tmp |= mode << ((pin&7)*4);
+  GPIO->AFR[pin>>3] = tmp;
+  set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
+}
+
+void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
+  uint32_t tmp = GPIO->PUPDR;
+  tmp &= ~(3 << (pin*2));
+  tmp |= (mode << (pin*2));
+  GPIO->PUPDR = tmp;
+}
+
+int get_gpio_input(GPIO_TypeDef *GPIO, int pin) {
+  return (GPIO->IDR & (1 << pin)) == (1 << pin);
+}
+
--- a/panda/board/drivers/spi.h
+++ b/panda/board/drivers/spi.h
@ -0,0 +1,120 @@
+// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
+
+#define SPI_BUF_SIZE 256
+uint8_t spi_buf[SPI_BUF_SIZE];
+int spi_buf_count = 0;
+int spi_total_count = 0;
+
+void spi_init() {
+  //puts("SPI init\n");
+  SPI1->CR1 = SPI_CR1_SPE;
+
+  // enable SPI interrupts
+  //SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
+  SPI1->CR2 = SPI_CR2_RXNEIE;
+
+  NVIC_EnableIRQ(DMA2_Stream2_IRQn);
+  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+  //NVIC_EnableIRQ(SPI1_IRQn);
+
+  // reset handshake back to pull up
+  set_gpio_mode(GPIOB, 0, MODE_INPUT);
+  set_gpio_pullup(GPIOB, 0, PULL_UP);
+
+  // setup interrupt on falling edge of SPI enable (on PA4)
+  SYSCFG->EXTICR[2] = SYSCFG_EXTICR2_EXTI4_PA;
+  EXTI->IMR = (1 << 4);
+  EXTI->FTSR = (1 << 4);
+  NVIC_EnableIRQ(EXTI4_IRQn);
+}
+
+void spi_tx_dma(void *addr, int len) {
+  // disable DMA
+  SPI1->CR2 &= ~SPI_CR2_TXDMAEN;
+  DMA2_Stream3->CR &= ~DMA_SxCR_EN;
+
+  // DMA2, stream 3, channel 3
+  DMA2_Stream3->M0AR = (uint32_t)addr;
+  DMA2_Stream3->NDTR = len;
+  DMA2_Stream3->PAR = (uint32_t)&(SPI1->DR);
+
+  // channel3, increment memory, memory -> periph, enable
+  DMA2_Stream3->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN;
+  DMA2_Stream3->CR |= DMA_SxCR_TCIE;
+
+  SPI1->CR2 |= SPI_CR2_TXDMAEN;
+
+  // signal data is ready by driving low
+  // esp must be configured as input by this point
+  set_gpio_output(GPIOB, 0, 0);
+}
+
+void spi_rx_dma(void *addr, int len) {
+  // disable DMA
+  SPI1->CR2 &= ~SPI_CR2_RXDMAEN;
+  DMA2_Stream2->CR &= ~DMA_SxCR_EN;
+
+  // drain the bus
+  volatile uint8_t dat = SPI1->DR;
+  (void)dat;
+
+  // DMA2, stream 2, channel 3
+  DMA2_Stream2->M0AR = (uint32_t)addr;
+  DMA2_Stream2->NDTR = len;
+  DMA2_Stream2->PAR = (uint32_t)&(SPI1->DR);
+
+  // channel3, increment memory, periph -> memory, enable
+  DMA2_Stream2->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_EN;
+  DMA2_Stream2->CR |= DMA_SxCR_TCIE;
+
+  SPI1->CR2 |= SPI_CR2_RXDMAEN;
+}
+
+// ***************************** SPI IRQs *****************************
+
+// can't go on the stack cause it's DMAed
+uint8_t spi_tx_buf[0x44];
+
+// SPI RX
+void DMA2_Stream2_IRQHandler(void) {
+  int *resp_len = (int*)spi_tx_buf;
+  memset(spi_tx_buf, 0xaa, 0x44);
+  *resp_len = spi_cb_rx(spi_buf, 0x14, spi_tx_buf+4);
+  #ifdef DEBUG_SPI
+    puts("SPI write: ");
+    puth(*resp_len);
+    puts("\n");
+  #endif
+  spi_tx_dma(spi_tx_buf, *resp_len + 4);
+
+  // ack
+  DMA2->LIFCR = DMA_LIFCR_CTCIF2;
+}
+
+// SPI TX
+void DMA2_Stream3_IRQHandler(void) {
+  #ifdef DEBUG_SPI
+    puts("SPI handshake\n");
+  #endif  
+
+  // reset handshake back to pull up
+  set_gpio_mode(GPIOB, 0, MODE_INPUT);
+  set_gpio_pullup(GPIOB, 0, PULL_UP);
+
+  // ack
+  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
+}
+
+void EXTI4_IRQHandler(void) {
+  volatile int pr = EXTI->PR;
+  #ifdef DEBUG_SPI
+    puts("exti4\n");
+  #endif
+  // SPI CS falling
+  if (pr & (1 << 4)) {
+    spi_total_count = 0;
+    spi_rx_dma(spi_buf, 0x14);
+  }
+  EXTI->PR = pr;
+}
+
--- a/panda/board/drivers/timer.h
+++ b/panda/board/drivers/timer.h
@ -0,0 +1,7 @@
+void timer_init(TIM_TypeDef *TIM, int psc) {
+  TIM->PSC = psc-1;
+  TIM->DIER = TIM_DIER_UIE;
+  TIM->CR1 = TIM_CR1_CEN;
+  TIM->SR = 0;
+}
+
--- a/panda/board/drivers/uart.h
+++ b/panda/board/drivers/uart.h
@ -0,0 +1,224 @@
+// IRQs: USART1, USART2, USART3, UART5
+
+// ***************************** serial port queues *****************************
+
+// esp = USART1
+uart_ring esp_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
+                       .w_ptr_rx = 0, .r_ptr_rx = 0,
+                       .uart = USART1 };
+
+// lin1, K-LINE = UART5
+// lin2, L-LINE = USART3
+uart_ring lin1_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
+                        .w_ptr_rx = 0, .r_ptr_rx = 0,
+                        .uart = UART5 };
+uart_ring lin2_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
+                        .w_ptr_rx = 0, .r_ptr_rx = 0,
+                        .uart = USART3 };
+
+// debug = USART2
+void debug_ring_callback(uart_ring *ring);
+uart_ring debug_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
+                         .w_ptr_rx = 0, .r_ptr_rx = 0,
+                         .uart = USART2,
+                         .callback = debug_ring_callback};
+
+
+uart_ring *get_ring_by_number(int a) {
+  switch(a) {
+    case 0:
+      return &debug_ring;
+    case 1:
+      return &esp_ring;
+    case 2:
+      return &lin1_ring;
+    case 3:
+      return &lin2_ring;
+    default:
+      return NULL;
+  }
+}
+
+// ***************************** serial port *****************************
+
+void uart_ring_process(uart_ring *q) {
+  enter_critical_section();
+  // TODO: check if external serial is connected
+  int sr = q->uart->SR;
+
+  if (q->w_ptr_tx != q->r_ptr_tx) {
+    if (sr & USART_SR_TXE) {
+      q->uart->DR = q->elems_tx[q->r_ptr_tx];
+      q->r_ptr_tx += 1;
+    } else {
+      // push on interrupt later
+      q->uart->CR1 |= USART_CR1_TXEIE;
+    }
+  } else {
+    // nothing to send
+    q->uart->CR1 &= ~USART_CR1_TXEIE;
+  }
+
+  if (sr & USART_SR_RXNE) {
+    uint8_t c = q->uart->DR;  // TODO: can drop packets
+    uint8_t next_w_ptr = q->w_ptr_rx + 1;
+    if (next_w_ptr != q->r_ptr_rx) {
+      q->elems_rx[q->w_ptr_rx] = c;
+      q->w_ptr_rx = next_w_ptr;
+      if (q->callback) q->callback(q);
+    }
+  }
+  exit_critical_section();
+}
+
+// interrupt boilerplate
+
+void USART1_IRQHandler(void) { uart_ring_process(&esp_ring); }
+void USART2_IRQHandler(void) { uart_ring_process(&debug_ring); }
+void USART3_IRQHandler(void) { uart_ring_process(&lin2_ring); }
+void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }
+
+int getc(uart_ring *q, char *elem) {
+  int ret = 0;
+
+  enter_critical_section();
+  if (q->w_ptr_rx != q->r_ptr_rx) {
+    *elem = q->elems_rx[q->r_ptr_rx];
+    q->r_ptr_rx += 1;
+    ret = 1;
+  }
+  exit_critical_section();
+
+  return ret;
+}
+
+int injectc(uart_ring *q, char elem) {
+  int ret = 0;
+  uint8_t next_w_ptr;
+
+  enter_critical_section();
+  next_w_ptr = q->w_ptr_rx + 1;
+  if (next_w_ptr != q->r_ptr_rx) {
+    q->elems_rx[q->w_ptr_rx] = elem;
+    q->w_ptr_rx = next_w_ptr;
+    ret = 1;
+  }
+  exit_critical_section();
+
+  return ret;
+}
+
+int putc(uart_ring *q, char elem) {
+  int ret = 0;
+  uint8_t next_w_ptr;
+
+  enter_critical_section();
+  next_w_ptr = q->w_ptr_tx + 1;
+  if (next_w_ptr != q->r_ptr_tx) {
+    q->elems_tx[q->w_ptr_tx] = elem;
+    q->w_ptr_tx = next_w_ptr;
+    ret = 1;
+  }
+  exit_critical_section();
+
+  uart_ring_process(q);
+
+  return ret;
+}
+
+void clear_uart_buff(uart_ring *q) {
+  enter_critical_section();
+  q->w_ptr_tx = 0;
+  q->r_ptr_tx = 0;
+  q->w_ptr_rx = 0;
+  q->r_ptr_rx = 0;
+  exit_critical_section();
+}
+
+// ***************************** start UART code *****************************
+
+#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_)*25)/(4*(_BAUD_)))
+#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_))/100)
+#define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
+#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
+
+void uart_set_baud(USART_TypeDef *u, int baud) {
+  if (u == USART1) {
+    // USART1 is on APB2
+    u->BRR = __USART_BRR(48000000, baud);
+  } else {
+    u->BRR = __USART_BRR(24000000, baud);
+  }
+}
+
+void uart_init(USART_TypeDef *u, int baud) {
+  // enable uart and tx+rx mode
+  u->CR1 = USART_CR1_UE;
+  uart_set_baud(u, baud);
+
+  u->CR1 |= USART_CR1_TE | USART_CR1_RE;
+  //u->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
+  //u->CR2 = USART_CR2_STOP_0;
+  // ** UART is ready to work **
+
+  // enable interrupts
+  u->CR1 |= USART_CR1_RXNEIE;
+
+  if (u == USART1) {
+    NVIC_EnableIRQ(USART1_IRQn);
+  } else if (u == USART2) {
+    NVIC_EnableIRQ(USART2_IRQn);
+  } else if (u == USART3) {
+    NVIC_EnableIRQ(USART3_IRQn);
+  } else if (u == UART5) {
+    NVIC_EnableIRQ(UART5_IRQn);
+  }
+}
+
+void putch(const char a) {
+  if (has_external_debug_serial) {
+    /*while ((debug_ring.uart->SR & USART_SR_TXE) == 0);
+    debug_ring.uart->DR = a;*/
+
+    // assuming debugging is important if there's external serial connected
+    while (!putc(&debug_ring, a));
+
+    //putc(&debug_ring, a);
+  } else {
+    injectc(&debug_ring, a);
+  }
+}
+
+int puts(const char *a) {
+  for (;*a;a++) {
+    if (*a == '\n') putch('\r');
+    putch(*a);
+  }
+  return 0;
+}
+
+void puth(unsigned int i) {
+  int pos;
+  char c[] = "0123456789abcdef";
+  for (pos = 28; pos != -4; pos -= 4) {
+    putch(c[(i >> pos) & 0xF]);
+  }
+}
+
+void puth2(unsigned int i) {
+  int pos;
+  char c[] = "0123456789abcdef";
+  for (pos = 4; pos != -4; pos -= 4) {
+    putch(c[(i >> pos) & 0xF]);
+  }
+}
+
+void hexdump(const void *a, int l) {
+  int i;
+  for (i=0;i<l;i++) {
+    if (i != 0 && (i&0xf) == 0) puts("\n");
+    puth2(((const unsigned char*)a)[i]);
+    puts(" ");
+  }
+  puts("\n");
+}
--- a/panda/board/drivers/usb.h
+++ b/panda/board/drivers/usb.h
@ -0,0 +1,705 @@
+// IRQs: OTG_FS
+
+// **** supporting defines ****
+
+typedef struct
+{
+  __IO uint32_t HPRT;
+}
+USB_OTG_HostPortTypeDef;
+
+USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
+
+#define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
+#define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
+#define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
+#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
+#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
+#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
+#define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
+
+#define  USB_REQ_GET_STATUS                             0x00
+#define  USB_REQ_CLEAR_FEATURE                          0x01
+#define  USB_REQ_SET_FEATURE                            0x03
+#define  USB_REQ_SET_ADDRESS                            0x05
+#define  USB_REQ_GET_DESCRIPTOR                         0x06
+#define  USB_REQ_SET_DESCRIPTOR                         0x07
+#define  USB_REQ_GET_CONFIGURATION                      0x08
+#define  USB_REQ_SET_CONFIGURATION                      0x09
+#define  USB_REQ_GET_INTERFACE                          0x0A
+#define  USB_REQ_SET_INTERFACE                          0x0B
+#define  USB_REQ_SYNCH_FRAME                            0x0C
+
+#define  USB_DESC_TYPE_DEVICE                              1
+#define  USB_DESC_TYPE_CONFIGURATION                       2
+#define  USB_DESC_TYPE_STRING                              3
+#define  USB_DESC_TYPE_INTERFACE                           4
+#define  USB_DESC_TYPE_ENDPOINT                            5
+#define  USB_DESC_TYPE_DEVICE_QUALIFIER                    6
+#define  USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION           7
+
+#define STS_GOUT_NAK                           1
+#define STS_DATA_UPDT                          2
+#define STS_XFER_COMP                          3
+#define STS_SETUP_COMP                         4
+#define STS_SETUP_UPDT                         6
+
+#define USBD_FS_TRDT_VALUE           5
+
+#define USB_OTG_SPEED_FULL 3
+
+uint8_t resp[MAX_RESP_LEN];
+
+// descriptor types
+// same as setupdat.h
+#define DSCR_DEVICE_TYPE 1
+#define DSCR_CONFIG_TYPE 2
+#define DSCR_STRING_TYPE 3
+#define DSCR_INTERFACE_TYPE 4
+#define DSCR_ENDPOINT_TYPE 5
+#define DSCR_DEVQUAL_TYPE 6
+
+// for the repeating interfaces
+#define DSCR_INTERFACE_LEN 9
+#define DSCR_ENDPOINT_LEN 7
+#define DSCR_CONFIG_LEN 9
+#define DSCR_DEVICE_LEN 18
+
+// endpoint types
+#define ENDPOINT_TYPE_CONTROL 0
+#define ENDPOINT_TYPE_ISO 1
+#define ENDPOINT_TYPE_BULK 2
+#define ENDPOINT_TYPE_INT 3
+
+//Convert machine byte order to USB byte order
+#define TOUSBORDER(num)\
+  (num&0xFF), ((num>>8)&0xFF)
+
+uint8_t device_desc[] = {
+  DSCR_DEVICE_LEN, DSCR_DEVICE_TYPE, 0x00, 0x01, //Length, Type, bcdUSB
+  0xFF, 0xFF, 0xFF, 0x40, // Class, Subclass, Protocol, Max Packet Size
+  TOUSBORDER(USB_VID), // idVendor
+  TOUSBORDER(USB_PID), // idProduct
+#ifdef STM32F4
+  0x00, 0x23, // bcdDevice
+#else
+  0x00, 0x22, // bcdDevice
+#endif
+  0x01, 0x02, // Manufacturer, Product
+  0x03, 0x01 // Serial Number, Num Configurations
+};
+
+#define ENDPOINT_RCV 0x80
+#define ENDPOINT_SND 0x00
+
+uint8_t configuration_desc[] = {
+  DSCR_CONFIG_LEN, DSCR_CONFIG_TYPE, // Length, Type,
+  TOUSBORDER(0x0045), // Total Len (uint16)
+  0x01, 0x01, 0x00, // Num Interface, Config Value, Configuration
+  0xc0, 0x32, // Attributes, Max Power
+  // interface 0 ALT 0
+  DSCR_INTERFACE_LEN, DSCR_INTERFACE_TYPE, // Length, Type
+  0x00, 0x00, 0x03, // Index, Alt Index idx, Endpoint count
+  0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol
+  0x00, // Interface
+    // endpoint 1, read CAN
+    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
+    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    0x00, // Polling Interval (NA)
+    // endpoint 2, send serial
+    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
+    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    0x00, // Polling Interval
+    // endpoint 3, send CAN
+    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
+    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    0x00, // Polling Interval
+  // interface 0 ALT 1
+  DSCR_INTERFACE_LEN, DSCR_INTERFACE_TYPE, // Length, Type
+  0x00, 0x01, 0x03, // Index, Alt Index idx, Endpoint count
+  0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol
+  0x00, // Interface
+    // endpoint 1, read CAN
+    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type
+    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    0x05, // Polling Interval (5 frames)
+    // endpoint 2, send serial
+    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
+    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    0x00, // Polling Interval
+    // endpoint 3, send CAN
+    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
+    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    0x00, // Polling Interval
+};
+
+uint8_t string_0_desc[] = {
+  0x04, DSCR_STRING_TYPE, 0x09, 0x04
+};
+
+uint16_t string_1_desc[] = {
+  0x0312,
+  'c', 'o', 'm', 'm', 'a', '.', 'a', 'i'
+};
+
+#ifdef PANDA
+uint16_t string_2_desc[] = {
+  0x030c,
+  'p', 'a', 'n', 'd', 'a'
+};
+#else
+uint16_t string_2_desc[] = {
+  0x030c,
+  'N', 'E', 'O', 'v', '1'
+};
+#endif
+
+uint16_t string_3_desc[] = {
+  0x030a,
+  'n', 'o', 'n', 'e'
+};
+
+// current packet
+USB_Setup_TypeDef setup;
+uint8_t usbdata[0x100];
+
+// Store the current interface alt setting.
+int current_int0_alt_setting = 0;
+
+// packet read and write
+
+void *USB_ReadPacket(void *dest, uint16_t len) {
+  uint32_t i=0;
+  uint32_t count32b = (len + 3) / 4;
+
+  for ( i = 0; i < count32b; i++, dest += 4 ) {
+    // packed?
+    *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
+  }
+  return ((void *)dest);
+}
+
+void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
+  #ifdef DEBUG_USB
+  puts("writing ");
+  hexdump(src, len);
+  #endif
+
+  uint8_t numpacket = (len+(MAX_RESP_LEN-1))/MAX_RESP_LEN;
+  uint32_t count32b = 0, i = 0;
+  count32b = (len + 3) / 4;
+
+  // bullshit
+  USBx_INEP(ep)->DIEPTSIZ = ((numpacket << 19) & USB_OTG_DIEPTSIZ_PKTCNT) |
+                            (len               & USB_OTG_DIEPTSIZ_XFRSIZ);
+  USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
+
+  // load the FIFO
+  for (i = 0; i < count32b; i++, src += 4) {
+    USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
+  }
+}
+
+void usb_reset() {
+  // unmask endpoint interrupts, so many sets
+  USBx_DEVICE->DAINT = 0xFFFFFFFF;
+  USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
+  //USBx_DEVICE->DOEPMSK = (USB_OTG_DOEPMSK_STUPM | USB_OTG_DOEPMSK_XFRCM | USB_OTG_DOEPMSK_EPDM);
+  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM | USB_OTG_DIEPMSK_ITTXFEMSK);
+  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM);
+
+  // all interrupts for debugging
+  USBx_DEVICE->DIEPMSK = 0xFFFFFFFF;
+  USBx_DEVICE->DOEPMSK = 0xFFFFFFFF;
+
+  // clear interrupts
+  USBx_INEP(0)->DIEPINT = 0xFF;
+  USBx_OUTEP(0)->DOEPINT = 0xFF;
+
+  // unset the address
+  USBx_DEVICE->DCFG &= ~USB_OTG_DCFG_DAD;
+
+  // set up USB FIFOs
+  // RX start address is fixed to 0
+  USBx->GRXFSIZ = 0x40;
+
+  // 0x100 to offset past GRXFSIZ
+  USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
+
+  // EP1, massive
+  USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
+
+  // flush TX fifo
+  USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
+  // flush RX FIFO
+  USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
+
+  // no global NAK
+  USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;
+
+  // ready to receive setup packets
+  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
+}
+
+char to_hex_char(int a) {
+  if (a < 10) {
+    return '0' + a;
+  } else {
+    return 'a' + (a-10);
+  }
+}
+
+void usb_setup() {
+  int resp_len;
+  // setup packet is ready
+  switch (setup.b.bRequest) {
+    case USB_REQ_SET_CONFIGURATION:
+      // enable other endpoints, has to be here?
+      USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
+                              USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
+      USBx_INEP(1)->DIEPINT = 0xFF;
+
+      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(2)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
+      USBx_OUTEP(2)->DOEPINT = 0xFF;
+
+      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
+      USBx_OUTEP(3)->DOEPINT = 0xFF;
+
+      // mark ready to receive
+      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+
+      USB_WritePacket(0, 0, 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      break;
+    case USB_REQ_SET_ADDRESS:
+      // set now?
+      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
+
+      #ifdef DEBUG_USB
+        puts(" set address\n");
+      #endif
+
+      // TODO: this isn't enumeration complete
+      // moved here to work better on OS X
+      usb_cb_enumeration_complete();
+
+      USB_WritePacket(0, 0, 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+
+      break;
+    case USB_REQ_GET_DESCRIPTOR:
+      switch (setup.b.wValue.bw.lsb) {
+        case USB_DESC_TYPE_DEVICE:
+          //puts("    writing device descriptor\n");
+
+          // setup transfer
+          USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+
+          //puts("D");
+          break;
+        case USB_DESC_TYPE_CONFIGURATION:
+          USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+          break;
+        case USB_DESC_TYPE_STRING:
+          switch (setup.b.wValue.bw.msb) {
+            case 0:
+              USB_WritePacket((uint8_t*)string_0_desc, min(sizeof(string_0_desc), setup.b.wLength.w), 0);
+              break;
+            case 1:
+              USB_WritePacket((uint8_t*)string_1_desc, min(sizeof(string_1_desc), setup.b.wLength.w), 0);
+              break;
+            case 2:
+              USB_WritePacket((uint8_t*)string_2_desc, min(sizeof(string_2_desc), setup.b.wLength.w), 0);
+              break;
+            case 3:
+              #ifdef PANDA
+                resp[0] = 0x02 + 12*4;
+                resp[1] = 0x03;
+
+                // 96 bits = 12 bytes
+                for (int i = 0; i < 12; i++){
+                  uint8_t cc = ((uint8_t *)UID_BASE)[i];
+                  resp[2 + i*4 + 0] = to_hex_char((cc>>4)&0xF);
+                  resp[2 + i*4 + 1] = '\0';
+                  resp[2 + i*4 + 2] = to_hex_char((cc>>0)&0xF);
+                  resp[2 + i*4 + 3] = '\0';
+                }
+
+                USB_WritePacket(resp, min(resp[0], setup.b.wLength.w), 0);
+              #else
+                USB_WritePacket((const uint8_t *)string_3_desc, min(sizeof(string_3_desc), setup.b.wLength.w), 0);
+              #endif
+              break;
+            default:
+              // nothing
+              USB_WritePacket(0, 0, 0);
+              break;
+          }
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+          break;
+        default:
+          // nothing here?
+          USB_WritePacket(0, 0, 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+          break;
+      }
+      break;
+    case USB_REQ_GET_STATUS:
+      // empty resp?
+      resp[0] = 0;
+      resp[1] = 0;
+      USB_WritePacket((void*)&resp, 2, 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      break;
+    case USB_REQ_SET_INTERFACE:
+      // Store the alt setting number for IN EP behavior.
+      current_int0_alt_setting = setup.b.wValue.w;
+      USB_WritePacket(0, 0, 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      break;
+    default:
+      resp_len = usb_cb_control_msg(&setup, resp, 1);
+      USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+  }
+}
+
+void usb_init() {
+  // full speed PHY, do reset and remove power down
+  /*puth(USBx->GRSTCTL);
+  puts(" resetting PHY\n");*/
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
+  //puts("AHB idle\n");
+
+  // reset PHY here
+  USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
+  //puts("reset done\n");
+
+  // internal PHY, force device mode
+  USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_FDMOD;
+
+  // slowest timings
+  USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
+
+  // power up the PHY
+#ifdef STM32F4
+  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN;
+
+  //USBx->GCCFG |= USB_OTG_GCCFG_VBDEN | USB_OTG_GCCFG_SDEN |USB_OTG_GCCFG_PDEN | USB_OTG_GCCFG_DCDEN;
+
+  /* B-peripheral session valid override enable*/
+  USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOVAL;
+  USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOEN;
+#else
+  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN | USB_OTG_GCCFG_NOVBUSSENS;
+#endif
+
+  // be a device, slowest timings
+  //USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
+  //USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
+  //USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
+
+  // **** for debugging, doesn't seem to work ****
+  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT;
+
+  // reset PHY clock
+  USBx_PCGCCTL = 0;
+
+  // enable the fancy OTG things
+  // DCFG_FRAME_INTERVAL_80 is 0
+  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP;
+  USBx_DEVICE->DCFG |= USB_OTG_SPEED_FULL | USB_OTG_DCFG_NZLSOHSK;
+
+  //USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD;
+  //USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD;
+
+  // clear pending interrupts
+  USBx->GINTSTS = 0xBFFFFFFFU;
+
+  // setup USB interrupts
+  // all interrupts except TXFIFO EMPTY
+  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
+  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM);
+  USBx->GINTMSK = USB_OTG_GINTMSK_USBRST | USB_OTG_GINTMSK_ENUMDNEM | USB_OTG_GINTMSK_OTGINT |
+                  USB_OTG_GINTMSK_RXFLVLM | USB_OTG_GINTMSK_GONAKEFFM | USB_OTG_GINTMSK_GINAKEFFM |
+                  USB_OTG_GINTMSK_OEPINT | USB_OTG_GINTMSK_IEPINT | USB_OTG_GINTMSK_USBSUSPM |
+                  USB_OTG_GINTMSK_CIDSCHGM | USB_OTG_GINTMSK_SRQIM | USB_OTG_GINTMSK_MMISM;
+
+  USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
+
+  // DCTL startup value is 2 on new chip, 0 on old chip
+  // THIS IS FUCKING BULLSHIT
+  USBx_DEVICE->DCTL = 0;
+
+  // enable the IRQ
+  NVIC_EnableIRQ(OTG_FS_IRQn);
+}
+
+// ***************************** USB port *****************************
+
+void usb_irqhandler(void) {
+  //USBx->GINTMSK = 0;
+
+  unsigned int gintsts = USBx->GINTSTS;
+  unsigned int gotgint = USBx->GOTGINT;
+  unsigned int daint = USBx_DEVICE->DAINT;
+
+  // gintsts SUSPEND? 04008428
+  #ifdef DEBUG_USB
+    puth(gintsts);
+    puts(" ");
+    /*puth(USBx->GCCFG);
+    puts(" ");*/
+    puth(gotgint);
+    puts(" ep ");
+    puth(daint);
+    puts(" USB interrupt!\n");
+  #endif
+
+  if (gintsts & USB_OTG_GINTSTS_CIDSCHG) {
+    puts("connector ID status change\n");
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_ESUSP) {
+    puts("ESUSP detected\n");
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_USBRST) {
+    puts("USB reset\n");
+    usb_reset();
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
+    puts("enumeration done");
+    // Full speed, ENUMSPD
+    //puth(USBx_DEVICE->DSTS);
+    puts("\n");
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_OTGINT) {
+    puts("OTG int:");
+    puth(USBx->GOTGINT);
+    puts("\n");
+
+    // getting ADTOCHG
+    //USBx->GOTGINT = USBx->GOTGINT;
+  }
+
+  // RX FIFO first
+  if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
+    // 1. Read the Receive status pop register
+    volatile unsigned int rxst = USBx->GRXSTSP;
+
+    #ifdef DEBUG_USB
+      puts(" RX FIFO:");
+      puth(rxst);
+      puts(" status: ");
+      puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
+      puts(" len: ");
+      puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
+      puts("\n");
+    #endif
+
+    if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
+      int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
+      int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
+      USB_ReadPacket(&usbdata, len);
+      #ifdef DEBUG_USB
+        puts("  data ");
+        puth(len);
+        puts("\n");
+        hexdump(&usbdata, len);
+      #endif
+
+      if (endpoint == 2) {
+        usb_cb_ep2_out(usbdata, len, 1);
+      }
+
+      if (endpoint == 3) {
+        usb_cb_ep3_out(usbdata, len, 1);
+      }
+    } else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
+      USB_ReadPacket(&setup, 8);
+      #ifdef DEBUG_USB
+        puts("  setup ");
+        hexdump(&setup, 8);
+        puts("\n");
+      #endif
+    }
+  }
+
+  /*if (gintsts & USB_OTG_GINTSTS_HPRTINT) {
+    // host
+    puts("HPRT:");
+    puth(USBx_HOST_PORT->HPRT);
+    puts("\n");
+    if (USBx_HOST_PORT->HPRT & USB_OTG_HPRT_PCDET) {
+      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PRST;
+      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PCDET;
+    }
+
+  }*/
+
+  if ((gintsts & USB_OTG_GINTSTS_BOUTNAKEFF) || (gintsts & USB_OTG_GINTSTS_GINAKEFF)) {
+    // no global NAK, why is this getting set?
+    #ifdef DEBUG_USB
+      puts("GLOBAL NAK\n");
+    #endif
+    USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_SRQINT) {
+    // we want to do "A-device host negotiation protocol" since we are the A-device
+    /*puts("start request\n");
+    puth(USBx->GOTGCTL);
+    puts("\n");*/
+    //USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
+    //USBx_HOST_PORT->HPRT = USB_OTG_HPRT_PPWR | USB_OTG_HPRT_PENA;
+    //USBx->GOTGCTL |= USB_OTG_GOTGCTL_SRQ;
+  }
+
+  // out endpoint hit
+  if (gintsts & USB_OTG_GINTSTS_OEPINT) {
+    #ifdef DEBUG_USB
+      puts("  0:");
+      puth(USBx_OUTEP(0)->DOEPINT);
+      puts(" 2:");
+      puth(USBx_OUTEP(2)->DOEPINT);
+      puts(" 3:");
+      puth(USBx_OUTEP(3)->DOEPINT);
+      puts(" ");
+      puth(USBx_OUTEP(3)->DOEPCTL);
+      puts(" 4:");
+      puth(USBx_OUTEP(4)->DOEPINT);
+      puts(" OUT ENDPOINT\n");
+    #endif
+
+    if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+      #ifdef DEBUG_USB
+        puts("  OUT2 PACKET XFRC\n");
+      #endif
+      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+    }
+
+    if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+      #ifdef DEBUG_USB
+        puts("  OUT3 PACKET XFRC\n");
+      #endif
+      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+    } else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
+      #ifdef DEBUG_USB
+        puts("  OUT3 PACKET WTF\n");
+      #endif
+      // if NAK was set trigger this, unknown interrupt
+      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+    } else if (USBx_OUTEP(3)->DOEPINT) {
+      puts("OUTEP3 error ");
+      puth(USBx_OUTEP(3)->DOEPINT);
+      puts("\n");
+    }
+
+    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
+      // ready for next packet
+      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
+    }
+
+    // respond to setup packets
+    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
+      usb_setup();
+    }
+
+    USBx_OUTEP(0)->DOEPINT = USBx_OUTEP(0)->DOEPINT;
+    USBx_OUTEP(2)->DOEPINT = USBx_OUTEP(2)->DOEPINT;
+    USBx_OUTEP(3)->DOEPINT = USBx_OUTEP(3)->DOEPINT;
+  }
+
+  // interrupt endpoint hit (Page 1221)
+  if (gintsts & USB_OTG_GINTSTS_IEPINT) {
+    #ifdef DEBUG_USB
+      puts("  ");
+      puth(USBx_INEP(0)->DIEPINT);
+      puts(" ");
+      puth(USBx_INEP(1)->DIEPINT);
+      puts(" IN ENDPOINT\n");
+    #endif
+
+    // Should likely check the EP of the IN request even if there is
+    // only one IN endpoint.
+
+    // No need to set NAK in OTG_DIEPCTL0 when nothing to send,
+    // Appears USB core automatically sets NAK. WritePacket clears it.
+
+    // Handle the two interface alternate settings. Setting 0 is has
+    // EP1 as bulk. Setting 1 has EP1 as interrupt. The code to handle
+    // these two EP variations are very similar and can be
+    // restructured for smaller code footprint. Keeping split out for
+    // now for clarity.
+
+    //TODO add default case. Should it NAK?
+    switch (current_int0_alt_setting) {
+      case 0: ////// Bulk config
+        // *** IN token received when TxFIFO is empty
+        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+          #ifdef DEBUG_USB
+          puts("  IN PACKET QUEUE\n");
+          #endif
+          // TODO: always assuming max len, can we get the length?
+          USB_WritePacket((void *)resp, usb_cb_ep1_in(resp, 0x40, 1), 1);
+        }
+        break;
+
+      case 1: ////// Interrupt config
+        // *** IN token received when TxFIFO is empty
+        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+          #ifdef DEBUG_USB
+          puts("  IN PACKET QUEUE\n");
+          #endif
+          // TODO: always assuming max len, can we get the length?
+          int len = usb_cb_ep1_in(resp, 0x40, 1);
+          if (len > 0) {
+            USB_WritePacket((void *)resp, len, 1);
+          }
+        }
+        break;
+    }
+
+    // clear interrupts
+    USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT; // Why ep0?
+    USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;
+  }
+
+  // clear all interrupts we handled
+  USBx_DEVICE->DAINT = daint;
+  USBx->GOTGINT = gotgint;
+  USBx->GINTSTS = gintsts;
+
+  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
+}
+
+void OTG_FS_IRQHandler(void) {
+  NVIC_DisableIRQ(OTG_FS_IRQn);
+  //__disable_irq();
+  usb_irqhandler();
+  //__enable_irq();
+  NVIC_EnableIRQ(OTG_FS_IRQn);
+}
+
--- a/panda/board/get_sdk.sh
+++ b/panda/board/get_sdk.sh
@ -0,0 +1,3 @@
+#!/bin/bash
+sudo apt-get install gcc-arm-none-eabi python-pip
+sudo pip2 install libusb1
--- a/panda/board/get_sdk_mac.sh
+++ b/panda/board/get_sdk_mac.sh
@ -0,0 +1,5 @@
+#!/bin/bash
+# Need formula for gcc
+brew tap ArmMbed/homebrew-formulae
+brew install python dfu-util arm-none-eabi-gcc
+pip2 install libusb1
--- a/panda/board/gpio.h
+++ b/panda/board/gpio.h
@ -0,0 +1,450 @@
+#ifdef STM32F4
+  #include "stm32f4xx_hal_gpio_ex.h"
+#else
+  #include "stm32f2xx_hal_gpio_ex.h"
+#endif
+
+// ********************* dynamic configuration detection *********************
+
+#define PANDA_REV_AB 0
+#define PANDA_REV_C 1
+
+#define PULL_EFFECTIVE_DELAY 10
+
+int has_external_debug_serial = 0;
+int is_giant_panda = 0;
+int is_entering_bootmode = 0;
+int revision = PANDA_REV_AB;
+
+int detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
+  set_gpio_mode(GPIO, pin, MODE_INPUT);
+  set_gpio_pullup(GPIO, pin, mode);
+  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
+  int ret = get_gpio_input(GPIO, pin);
+  set_gpio_pullup(GPIO, pin, PULL_NONE);
+  return ret;
+}
+
+// must call again from main because BSS is zeroed
+void detect() {
+  // detect has_external_debug_serial
+  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
+
+#ifdef PANDA
+  // detect is_giant_panda
+  is_giant_panda = detect_with_pull(GPIOB, 1, PULL_DOWN);
+
+  // detect panda REV C.
+  // A13 floats in REV AB. In REV C, A13 is pulled up to 5V with a 10K
+  // resistor and attached to the USB power control chip CTRL
+  // line. Pulling A13 down with an internal 50k resistor in REV C
+  // will produce a voltage divider that results in a high logic
+  // level. Checking if this pin reads high with a pull down should
+  // differentiate REV AB from C.
+  revision = detect_with_pull(GPIOA, 13, PULL_DOWN) ? PANDA_REV_C : PANDA_REV_AB;
+
+  // check if the ESP is trying to put me in boot mode
+  is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
+#else
+  // need to do this for early detect
+  is_giant_panda = 0;
+  revision = PANDA_REV_AB;
+  is_entering_bootmode = 0;
+#endif
+}
+
+// ********************* bringup *********************
+
+void clock_init() {
+  // enable external oscillator
+  RCC->CR |= RCC_CR_HSEON;
+  while ((RCC->CR & RCC_CR_HSERDY) == 0);
+
+  // divide shit
+  RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
+  #ifdef PANDA
+    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
+                   RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
+  #else
+    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
+                   RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
+  #endif
+
+  // start PLL
+  RCC->CR |= RCC_CR_PLLON;
+  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
+
+  // Configure Flash prefetch, Instruction cache, Data cache and wait state
+  // *** without this, it breaks ***
+  FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
+
+  // switch to PLL
+  RCC->CFGR |= RCC_CFGR_SW_PLL;
+  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
+
+  // *** running on PLL ***
+}
+
+void periph_init() {
+  // enable GPIOB, UART2, CAN, USB clock
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
+
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
+  #ifdef PANDA
+    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
+  #ifdef CAN3
+    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
+  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
+  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
+  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+
+  // needed?
+  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
+}
+
+// ********************* setters *********************
+
+void set_can_enable(CAN_TypeDef *CAN, int enabled) {
+  // enable CAN busses
+  if (CAN == CAN1) {
+    #ifdef PANDA
+      // CAN1_EN
+      set_gpio_output(GPIOC, 1, !enabled);
+    #else
+      // CAN1_EN
+      set_gpio_output(GPIOB, 3, enabled);
+    #endif
+  } else if (CAN == CAN2) {
+    #ifdef PANDA
+      // CAN2_EN
+      set_gpio_output(GPIOC, 13, !enabled);
+    #else
+      // CAN2_EN
+      set_gpio_output(GPIOB, 4, enabled);
+    #endif
+  #ifdef CAN3
+  } else if (CAN == CAN3) {
+    // CAN3_EN
+    set_gpio_output(GPIOA, 0, !enabled);
+  #endif
+  }
+}
+
+#ifdef PANDA
+  #define LED_RED 9
+  #define LED_GREEN 7
+  #define LED_BLUE 6
+#else
+  #define LED_RED 10
+  #define LED_GREEN 11
+  #define LED_BLUE -1
+#endif
+
+void set_led(int led_num, int on) {
+  if (led_num == -1) return;
+
+  #ifdef PANDA
+    set_gpio_output(GPIOC, led_num, !on);
+  #else
+    set_gpio_output(GPIOB, led_num, !on);
+  #endif
+}
+
+void set_can_mode(int can, int use_gmlan) {
+  // connects to CAN2 xcvr or GMLAN xcvr
+  if (use_gmlan) {
+    if (can == 1) {
+      // B5,B6: disable normal mode
+      set_gpio_mode(GPIOB, 5, MODE_INPUT);
+      set_gpio_mode(GPIOB, 6, MODE_INPUT);
+
+      // B12,B13: gmlan mode
+      set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+#ifdef CAN3
+    } else if (revision == PANDA_REV_C && can == 2) {
+      // A8,A15: disable normal mode
+      set_gpio_mode(GPIOA, 8, MODE_INPUT);
+      set_gpio_mode(GPIOA, 15, MODE_INPUT);
+
+      // B3,B4: enable gmlan mode
+      set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
+#endif
+    }
+  } else {
+    if (can == 1) {
+      // B12,B13: disable gmlan mode
+      set_gpio_mode(GPIOB, 12, MODE_INPUT);
+      set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+      // B5,B6: normal mode
+      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+#ifdef CAN3
+    } else if (can == 2) {
+      if(revision == PANDA_REV_C){
+        // B3,B4: disable gmlan mode
+        set_gpio_mode(GPIOB, 3, MODE_INPUT);
+        set_gpio_mode(GPIOB, 4, MODE_INPUT);
+      }
+      // A8,A15: normal mode
+      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
+#endif
+    }
+  }
+}
+
+#define USB_POWER_NONE 0
+#define USB_POWER_CLIENT 1
+#define USB_POWER_CDP 2
+#define USB_POWER_DCP 3
+
+int usb_power_mode = USB_POWER_NONE;
+
+void set_usb_power_mode(int mode) {
+  switch (mode) {
+    case USB_POWER_CLIENT:
+      // B2,A13: set client mode
+      set_gpio_output(GPIOB, 2, 0);
+      set_gpio_output(GPIOA, 13, 1);
+      break;
+    case USB_POWER_CDP:
+      // B2,A13: set CDP mode
+      set_gpio_output(GPIOB, 2, 1);
+      set_gpio_output(GPIOA, 13, 1);
+      break;
+    case USB_POWER_DCP:
+      // B2,A13: set DCP mode on the charger (breaks USB!)
+      set_gpio_output(GPIOB, 2, 0);
+      set_gpio_output(GPIOA, 13, 0);
+      break;
+  }
+  usb_power_mode = mode;
+}
+
+#define ESP_DISABLED 0
+#define ESP_ENABLED 1
+#define ESP_BOOTMODE 2
+
+void set_esp_mode(int mode) {
+  switch (mode) {
+    case ESP_DISABLED:
+      // ESP OFF
+      set_gpio_output(GPIOC, 14, 0);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    case ESP_ENABLED:
+      // ESP ON
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 1);
+      break;
+    case ESP_BOOTMODE:
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+  }
+}
+
+// ********************* big init function *********************
+
+// board specific
+void gpio_init() {
+  // pull low to hold ESP in reset??
+  // enable OTG out tied to ground
+  GPIOA->ODR = 0;
+  GPIOB->ODR = 0;
+  GPIOA->PUPDR = 0;
+  //GPIOC->ODR = 0;
+  GPIOB->AFR[0] = 0;
+  GPIOB->AFR[1] = 0;
+
+  // C2,C3: analog mode, voltage and current sense
+  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
+
+  // C8: FAN aka TIM3_CH4
+  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
+
+  // turn off LEDs and set mode
+  set_led(LED_RED, 0);
+  set_led(LED_GREEN, 0);
+  set_led(LED_BLUE, 0);
+
+  // A11,A12: USB
+  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
+  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
+  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
+
+#ifdef PANDA
+  // enable started_alt on the panda
+  set_gpio_pullup(GPIOA, 1, PULL_UP);
+
+  // A2,A3: USART 2 for debugging
+  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
+  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
+
+  // A9,A10: USART 1 for talking to the ESP
+  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
+  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
+
+  // B12: GMLAN, ignition sense, pull up
+  set_gpio_pullup(GPIOB, 12, PULL_UP);
+
+  // A4,A5,A6,A7: setup SPI
+  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
+#endif
+
+  // B8,B9: CAN 1
+#ifdef STM32F4
+  set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
+  set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
+#else
+  set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
+  set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
+#endif
+  set_can_enable(CAN1, 1);
+
+  // B5,B6: CAN 2
+  set_can_mode(1, 0);
+  set_can_enable(CAN2, 1);
+
+  // A8,A15: CAN 3
+  #ifdef CAN3
+    set_can_mode(2, 0);
+    set_can_enable(CAN3, 1);
+  #endif
+
+  /* GMLAN mode pins:
+  M0(B15)  M1(B14)  mode
+  =======================
+  0        0        sleep
+  1        0        100kbit
+  0        1        high voltage wakeup
+  1        1        33kbit (normal)
+  */
+
+  // put gmlan transceiver in normal mode
+  set_gpio_output(GPIOB, 14, 1);
+  set_gpio_output(GPIOB, 15, 1);
+
+  #ifdef PANDA
+    // K-line enable moved from B4->B7 to make room for GMLAN on CAN3
+    if (revision == PANDA_REV_C) {
+      set_gpio_output(GPIOB, 7, 1); // REV C
+    } else {
+      set_gpio_output(GPIOB, 4, 1); // REV AB
+    }
+
+    // C12,D2: K-Line setup on UART 5
+    set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
+    set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
+    set_gpio_pullup(GPIOD, 2, PULL_UP);
+
+    // L-line enable
+    set_gpio_output(GPIOA, 14, 1);
+
+    // C10,C11: L-Line setup on USART 3
+    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+    set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
+    set_gpio_pullup(GPIOC, 11, PULL_UP);
+  #endif
+
+  if (revision == PANDA_REV_C) {
+    set_usb_power_mode(USB_POWER_CLIENT);
+  }
+}
+
+// ********************* early bringup *********************
+
+#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
+#define ENTER_SOFTLOADER_MAGIC 0xdeadc0de
+#define BOOT_NORMAL 0xdeadb111
+
+extern void *g_pfnVectors;
+extern uint32_t enter_bootloader_mode;
+
+void jump_to_bootloader() {
+  // do enter bootloader
+  enter_bootloader_mode = 0;
+  void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
+
+  // jump to bootloader
+  bootloader();
+
+  // reset on exit
+  enter_bootloader_mode = BOOT_NORMAL;
+  NVIC_SystemReset();
+}
+
+void early() {
+  // after it's been in the bootloader, things are initted differently, so we reset
+  if (enter_bootloader_mode != BOOT_NORMAL &&
+      enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC &&
+      enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC) {
+    enter_bootloader_mode = BOOT_NORMAL;
+    NVIC_SystemReset();
+  }
+
+  // if wrong chip, reboot
+  volatile unsigned int id = DBGMCU->IDCODE;
+  #ifdef STM32F4
+    if ((id&0xFFF) != 0x463) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+  #else
+    if ((id&0xFFF) != 0x411) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+  #endif
+
+  // setup interrupt table
+  SCB->VTOR = (uint32_t)&g_pfnVectors;
+
+  // early GPIOs float everything
+  RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
+
+  GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0;
+  GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
+  GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;
+
+  detect();
+
+  #ifdef PANDA
+    // enable the ESP, disable ESP boot mode
+    // unless we are on a giant panda, then there's no ESP
+    if (is_giant_panda) {
+      set_esp_mode(ESP_DISABLED);
+    } else {
+      set_esp_mode(ESP_ENABLED);
+    }
+  #endif
+
+
+  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
+    set_esp_mode(ESP_DISABLED);
+    set_led(LED_GREEN, 1);
+
+    jump_to_bootloader();
+  }
+
+  if (is_entering_bootmode) {
+    enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+  }
+}
+
--- a/panda/board/inc/cmsis_gcc.h
+++ b/panda/board/inc/cmsis_gcc.h
--- a/panda/board/inc/core_cm3.h
+++ b/panda/board/inc/core_cm3.h
--- a/panda/board/inc/core_cm4.h
+++ b/panda/board/inc/core_cm4.h
--- a/panda/board/inc/core_cmFunc.h
+++ b/panda/board/inc/core_cmFunc.h
@ -0,0 +1,87 @@
+/**************************************************************************//**
+ * @file     core_cmFunc.h
+ * @brief    CMSIS Cortex-M Core Function Access Header File
+ * @version  V4.30
+ * @date     20. October 2015
+ ******************************************************************************/
+/* Copyright (c) 2009 - 2015 ARM LIMITED
+
+   All rights reserved.
+   Redistribution and use in source and binary forms, with or without
+   modification, are permitted provided that the following conditions are met:
+   - Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   - Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   - Neither the name of ARM nor the names of its contributors may be used
+     to endorse or promote products derived from this software without
+     specific prior written permission.
+   *
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+   ---------------------------------------------------------------------------*/
+
+
+#if   defined ( __ICCARM__ )
+ #pragma system_include         /* treat file as system include file for MISRA check */
+#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
+  #pragma clang system_header   /* treat file as system include file */
+#endif
+
+#ifndef __CORE_CMFUNC_H
+#define __CORE_CMFUNC_H
+
+
+/* ###########################  Core Function Access  ########################### */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
+  @{
+*/
+
+/*------------------ RealView Compiler -----------------*/
+#if   defined ( __CC_ARM )
+  #include "cmsis_armcc.h"
+
+/*------------------ ARM Compiler V6 -------------------*/
+#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
+  #include "cmsis_armcc_V6.h"
+
+/*------------------ GNU Compiler ----------------------*/
+#elif defined ( __GNUC__ )
+  #include "cmsis_gcc.h"
+
+/*------------------ ICC Compiler ----------------------*/
+#elif defined ( __ICCARM__ )
+  #include <cmsis_iar.h>
+
+/*------------------ TI CCS Compiler -------------------*/
+#elif defined ( __TMS470__ )
+  #include <cmsis_ccs.h>
+
+/*------------------ TASKING Compiler ------------------*/
+#elif defined ( __TASKING__ )
+  /*
+   * The CMSIS functions have been implemented as intrinsics in the compiler.
+   * Please use "carm -?i" to get an up to date list of all intrinsics,
+   * Including the CMSIS ones.
+   */
+
+/*------------------ COSMIC Compiler -------------------*/
+#elif defined ( __CSMC__ )
+  #include <cmsis_csm.h>
+
+#endif
+
+/*@} end of CMSIS_Core_RegAccFunctions */
+
+#endif /* __CORE_CMFUNC_H */
--- a/panda/board/inc/core_cmInstr.h
+++ b/panda/board/inc/core_cmInstr.h
@ -0,0 +1,87 @@
+/**************************************************************************//**
+ * @file     core_cmInstr.h
+ * @brief    CMSIS Cortex-M Core Instruction Access Header File
+ * @version  V4.30
+ * @date     20. October 2015
+ ******************************************************************************/
+/* Copyright (c) 2009 - 2015 ARM LIMITED
+
+   All rights reserved.
+   Redistribution and use in source and binary forms, with or without
+   modification, are permitted provided that the following conditions are met:
+   - Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   - Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   - Neither the name of ARM nor the names of its contributors may be used
+     to endorse or promote products derived from this software without
+     specific prior written permission.
+   *
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+   ---------------------------------------------------------------------------*/
+
+
+#if   defined ( __ICCARM__ )
+ #pragma system_include         /* treat file as system include file for MISRA check */
+#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
+  #pragma clang system_header   /* treat file as system include file */
+#endif
+
+#ifndef __CORE_CMINSTR_H
+#define __CORE_CMINSTR_H
+
+
+/* ##########################  Core Instruction Access  ######################### */
+/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
+  Access to dedicated instructions
+  @{
+*/
+
+/*------------------ RealView Compiler -----------------*/
+#if   defined ( __CC_ARM )
+  #include "cmsis_armcc.h"
+
+/*------------------ ARM Compiler V6 -------------------*/
+#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
+  #include "cmsis_armcc_V6.h"
+
+/*------------------ GNU Compiler ----------------------*/
+#elif defined ( __GNUC__ )
+  #include "cmsis_gcc.h"
+
+/*------------------ ICC Compiler ----------------------*/
+#elif defined ( __ICCARM__ )
+  #include <cmsis_iar.h>
+
+/*------------------ TI CCS Compiler -------------------*/
+#elif defined ( __TMS470__ )
+  #include <cmsis_ccs.h>
+
+/*------------------ TASKING Compiler ------------------*/
+#elif defined ( __TASKING__ )
+  /*
+   * The CMSIS functions have been implemented as intrinsics in the compiler.
+   * Please use "carm -?i" to get an up to date list of all intrinsics,
+   * Including the CMSIS ones.
+   */
+
+/*------------------ COSMIC Compiler -------------------*/
+#elif defined ( __CSMC__ )
+  #include <cmsis_csm.h>
+
+#endif
+
+/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
+
+#endif /* __CORE_CMINSTR_H */
--- a/panda/board/inc/core_cmSimd.h
+++ b/panda/board/inc/core_cmSimd.h
@ -0,0 +1,96 @@
+/**************************************************************************//**
+ * @file     core_cmSimd.h
+ * @brief    CMSIS Cortex-M SIMD Header File
+ * @version  V4.30
+ * @date     20. October 2015
+ ******************************************************************************/
+/* Copyright (c) 2009 - 2015 ARM LIMITED
+
+   All rights reserved.
+   Redistribution and use in source and binary forms, with or without
+   modification, are permitted provided that the following conditions are met:
+   - Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   - Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   - Neither the name of ARM nor the names of its contributors may be used
+     to endorse or promote products derived from this software without
+     specific prior written permission.
+   *
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+   ---------------------------------------------------------------------------*/
+
+
+#if   defined ( __ICCARM__ )
+ #pragma system_include         /* treat file as system include file for MISRA check */
+#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
+  #pragma clang system_header   /* treat file as system include file */
+#endif
+
+#ifndef __CORE_CMSIMD_H
+#define __CORE_CMSIMD_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+
+/* ###################  Compiler specific Intrinsics  ########################### */
+/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
+  Access to dedicated SIMD instructions
+  @{
+*/
+
+/*------------------ RealView Compiler -----------------*/
+#if   defined ( __CC_ARM )
+  #include "cmsis_armcc.h"
+
+/*------------------ ARM Compiler V6 -------------------*/
+#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
+  #include "cmsis_armcc_V6.h"
+
+/*------------------ GNU Compiler ----------------------*/
+#elif defined ( __GNUC__ )
+  #include "cmsis_gcc.h"
+
+/*------------------ ICC Compiler ----------------------*/
+#elif defined ( __ICCARM__ )
+  #include <cmsis_iar.h>
+
+/*------------------ TI CCS Compiler -------------------*/
+#elif defined ( __TMS470__ )
+  #include <cmsis_ccs.h>
+
+/*------------------ TASKING Compiler ------------------*/
+#elif defined ( __TASKING__ )
+  /*
+   * The CMSIS functions have been implemented as intrinsics in the compiler.
+   * Please use "carm -?i" to get an up to date list of all intrinsics,
+   * Including the CMSIS ones.
+   */
+
+/*------------------ COSMIC Compiler -------------------*/
+#elif defined ( __CSMC__ )
+  #include <cmsis_csm.h>
+
+#endif
+
+/*@} end of group CMSIS_SIMD_intrinsics */
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CORE_CMSIMD_H */
--- a/panda/board/inc/stm32f205xx.h
+++ b/panda/board/inc/stm32f205xx.h
--- a/panda/board/inc/stm32f2xx.h
+++ b/panda/board/inc/stm32f2xx.h
@ -0,0 +1,209 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx.h
+  * @author  MCD Application Team
+  * @version V2.1.2
+  * @date    29-June-2016
+  * @brief   CMSIS STM32F2xx Device Peripheral Access Layer Header File. 
+  *
+  *          The file is the unique include file that the application programmer
+  *          is using in the C source code, usually in main.c. This file contains:
+  *           - Configuration section that allows to select:
+  *              - The STM32F2xx device used in the target application
+  *              - To use or not the peripheral’s drivers in application code(i.e. 
+  *                code will be based on direct access to peripheral’s registers 
+  *                rather than drivers API), this option is controlled by 
+  *                "#define USE_HAL_DRIVER"
+  *  
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32f2xx
+  * @{
+  */
+    
+#ifndef __STM32F2xx_H
+#define __STM32F2xx_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif /* __cplusplus */
+   
+/** @addtogroup Library_configuration_section
+  * @{
+  */
+
+/**
+  * @brief STM32 Family
+  */
+#if !defined (STM32F2)
+#define STM32F2
+#endif /* STM32F2 */
+   
+/* Uncomment the line below according to the target STM32 device used in your
+   application 
+  */
+#if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx)
+
+  /* #define STM32F205xx */   /*!< STM32F205RG, STM32F205VG, STM32F205ZG, STM32F205RF, STM32F205VF, STM32F205ZF,
+                                   STM32F205RE, STM32F205VE, STM32F205ZE, STM32F205RC, STM32F205VC, STM32F205ZC,
+                                   STM32F205RB and STM32F205VB Devices */
+  /* #define STM32F215xx */   /*!< STM32F215RG, STM32F215VG, STM32F215ZG, STM32F215RE, STM32F215VE and STM32F215ZE Devices */
+  /* #define STM32F207xx */   /*!< STM32F207VG, STM32F207ZG, STM32F207IG, STM32F207VF, STM32F207ZF, STM32F207IF,
+                                   STM32F207VE, STM32F207ZE, STM32F207IE, STM32F207VC, STM32F207ZC and STM32F207IC Devices */
+  /* #define STM32F217xx */   /*!< STM32F217VG, STM32F217ZG, STM32F217IG, STM32F217VE, STM32F217ZE and STM32F217IE Devices */
+    
+#endif
+   
+/*  Tip: To avoid modifying this file each time you need to switch between these
+        devices, you can define the device in your toolchain compiler preprocessor.
+  */
+#if !defined  (USE_HAL_DRIVER)
+/**
+ * @brief Comment the line below if you will not use the peripherals drivers.
+   In this case, these drivers will not be included and the application code will 
+   be based on direct access to peripherals registers 
+   */
+  /*#define USE_HAL_DRIVER */
+#endif /* USE_HAL_DRIVER */
+
+/**
+  * @brief CMSIS Device version number V2.1.2
+  */
+#define __STM32F2xx_CMSIS_VERSION_MAIN   (0x02U) /*!< [31:24] main version */
+#define __STM32F2xx_CMSIS_VERSION_SUB1   (0x01U) /*!< [23:16] sub1 version */
+#define __STM32F2xx_CMSIS_VERSION_SUB2   (0x02U) /*!< [15:8]  sub2 version */
+#define __STM32F2xx_CMSIS_VERSION_RC     (0x00U) /*!< [7:0]  release candidate */
+#define __STM32F2xx_CMSIS_VERSION        ((__STM32F2xx_CMSIS_VERSION_MAIN << 24)\
+                                         |(__STM32F2xx_CMSIS_VERSION_SUB1 << 16)\
+                                         |(__STM32F2xx_CMSIS_VERSION_SUB2 << 8 )\
+                                         |(__STM32F2xx_CMSIS_VERSION))
+
+/**
+  * @}
+  */
+
+/** @addtogroup Device_Included
+  * @{
+  */
+
+#if defined(STM32F205xx)
+  #include "stm32f205xx.h"
+#elif defined(STM32F215xx)
+  #include "stm32f215xx.h"
+#elif defined(STM32F207xx)
+  #include "stm32f207xx.h"
+#elif defined(STM32F217xx)
+  #include "stm32f217xx.h"
+#else
+ #error "Please select first the target STM32F2xx device used in your application (in stm32f2xx.h file)"
+#endif
+
+/**
+  * @}
+  */
+
+/** @addtogroup Exported_types
+  * @{
+  */ 
+typedef enum 
+{
+  RESET = 0, 
+  SET = !RESET
+} FlagStatus, ITStatus;
+
+typedef enum 
+{
+  DISABLE = 0, 
+  ENABLE = !DISABLE
+} FunctionalState;
+#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
+
+typedef enum 
+{
+  ERROR = 0, 
+  SUCCESS = !ERROR
+} ErrorStatus;
+
+/**
+  * @}
+  */
+
+
+/** @addtogroup Exported_macro
+  * @{
+  */
+#define SET_BIT(REG, BIT)     ((REG) |= (BIT))
+
+#define CLEAR_BIT(REG, BIT)   ((REG) &= ~(BIT))
+
+#define READ_BIT(REG, BIT)    ((REG) & (BIT))
+
+#define CLEAR_REG(REG)        ((REG) = (0x0))
+
+#define WRITE_REG(REG, VAL)   ((REG) = (VAL))
+
+#define READ_REG(REG)         ((REG))
+
+#define MODIFY_REG(REG, CLEARMASK, SETMASK)  WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
+
+#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL))) 
+
+
+/**
+  * @}
+  */
+  
+#if defined (USE_HAL_DRIVER)
+ #include "stm32f2xx_hal.h"
+#endif /* USE_HAL_DRIVER */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* __STM32F2xx_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+  
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/panda/board/inc/stm32f2xx_hal_def.h
+++ b/panda/board/inc/stm32f2xx_hal_def.h
@ -0,0 +1,181 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx_hal_def.h
+  * @author  MCD Application Team
+  * @version V1.1.3
+  * @date    29-June-2016
+  * @brief   This file contains HAL common defines, enumeration, macros and 
+  *          structures definitions. 
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F2xx_HAL_DEF
+#define __STM32F2xx_HAL_DEF
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f2xx.h"
+//#include "Legacy/stm32_hal_legacy.h"
+//#include <stdio.h>
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  HAL Status structures definition  
+  */  
+typedef enum 
+{
+  HAL_OK       = 0x00U,
+  HAL_ERROR    = 0x01U,
+  HAL_BUSY     = 0x02U,
+  HAL_TIMEOUT  = 0x03U
+} HAL_StatusTypeDef;
+
+/** 
+  * @brief  HAL Lock structures definition  
+  */
+typedef enum 
+{
+  HAL_UNLOCKED = 0x00U,
+  HAL_LOCKED   = 0x01U  
+} HAL_LockTypeDef;
+
+/* Exported macro ------------------------------------------------------------*/
+#define HAL_MAX_DELAY      0xFFFFFFFFU
+
+#define HAL_IS_BIT_SET(REG, BIT)         (((REG) & (BIT)) != RESET)
+#define HAL_IS_BIT_CLR(REG, BIT)         (((REG) & (BIT)) == RESET)
+
+#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD_, __DMA_HANDLE_)               \
+                        do{                                                      \
+                              (__HANDLE__)->__PPP_DMA_FIELD_ = &(__DMA_HANDLE_); \
+                              (__DMA_HANDLE_).Parent = (__HANDLE__);             \
+                          } while(0)
+
+#define UNUSED(x) ((void)(x))
+							  
+/** @brief Reset the Handle's State field.
+  * @param __HANDLE__: specifies the Peripheral Handle.
+  * @note  This macro can be used for the following purpose: 
+  *          - When the Handle is declared as local variable; before passing it as parameter
+  *            to HAL_PPP_Init() for the first time, it is mandatory to use this macro 
+  *            to set to 0 the Handle's "State" field.
+  *            Otherwise, "State" field may have any random value and the first time the function 
+  *            HAL_PPP_Init() is called, the low level hardware initialization will be missed
+  *            (i.e. HAL_PPP_MspInit() will not be executed).
+  *          - When there is a need to reconfigure the low level hardware: instead of calling
+  *            HAL_PPP_DeInit() then HAL_PPP_Init(), user can make a call to this macro then HAL_PPP_Init().
+  *            In this later function, when the Handle's "State" field is set to 0, it will execute the function
+  *            HAL_PPP_MspInit() which will reconfigure the low level hardware.
+  * @retval None
+  */
+#define __HAL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = 0U)
+
+#if (USE_RTOS == 1)
+  /* Reserved for future use */
+  #error " USE_RTOS should be 0 in the current HAL release "
+#else
+  #define __HAL_LOCK(__HANDLE__)                                           \
+                                do{                                        \
+                                    if((__HANDLE__)->Lock == HAL_LOCKED)   \
+                                    {                                      \
+                                       return HAL_BUSY;                    \
+                                    }                                      \
+                                    else                                   \
+                                    {                                      \
+                                       (__HANDLE__)->Lock = HAL_LOCKED;    \
+                                    }                                      \
+                                  }while (0)
+
+  #define __HAL_UNLOCK(__HANDLE__)                                          \
+                                  do{                                       \
+                                      (__HANDLE__)->Lock = HAL_UNLOCKED;    \
+                                    }while (0)
+#endif /* USE_RTOS */
+
+#if  defined ( __GNUC__ )
+  #ifndef __weak
+    #define __weak   __attribute__((weak))
+  #endif /* __weak */
+  #ifndef __packed
+    #define __packed __attribute__((__packed__))
+  #endif /* __packed */
+#endif /* __GNUC__ */
+
+  
+/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
+#if defined   (__GNUC__)        /* GNU Compiler */
+  #ifndef __ALIGN_END
+    #define __ALIGN_END    __attribute__ ((aligned (4)))
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN  
+    #define __ALIGN_BEGIN
+  #endif /* __ALIGN_BEGIN */
+#else
+  #ifndef __ALIGN_END
+    #define __ALIGN_END
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN      
+    #if defined   (__CC_ARM)      /* ARM Compiler */
+      #define __ALIGN_BEGIN    __align(4)  
+    #elif defined (__ICCARM__)    /* IAR Compiler */
+      #define __ALIGN_BEGIN 
+    #endif /* __CC_ARM */
+  #endif /* __ALIGN_BEGIN */
+#endif /* __GNUC__ */
+
+/** 
+  * @brief  __NOINLINE definition
+  */ 
+#if defined ( __CC_ARM   ) || defined   (  __GNUC__  )
+/* ARM & GNUCompiler 
+   ---------------- 
+*/
+#define __NOINLINE __attribute__ ( (noinline) )
+
+#elif defined ( __ICCARM__ )
+/* ICCARM Compiler
+   ---------------
+*/
+#define __NOINLINE _Pragma("optimize = no_inline")
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ___STM32F2xx_HAL_DEF */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/panda/board/inc/stm32f2xx_hal_gpio_ex.h
+++ b/panda/board/inc/stm32f2xx_hal_gpio_ex.h
@ -0,0 +1,299 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx_hal_gpio_ex.h
+  * @author  MCD Application Team
+  * @version V1.1.3
+  * @date    29-June-2016
+  * @brief   Header file of GPIO HAL Extension module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F2xx_HAL_GPIO_EX_H
+#define __STM32F2xx_HAL_GPIO_EX_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f2xx_hal_def.h"
+
+/** @addtogroup STM32F2xx_HAL_Driver
+  * @{
+  */
+
+/** @defgroup GPIOEx GPIOEx
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup GPIOEx_Exported_Constants GPIO Exported Constants
+  * @{
+  */ 
+  
+/** @defgroup GPIO_Alternate_function_selection GPIO Alternate function selection 
+  * @{
+  */
+
+/** 
+  * @brief   AF 0 selection  
+  */ 
+#define GPIO_AF0_RTC_50Hz      ((uint8_t)0x00U)  /* RTC_50Hz Alternate Function mapping                       */
+#define GPIO_AF0_MCO           ((uint8_t)0x00U)  /* MCO (MCO1 and MCO2) Alternate Function mapping            */
+#define GPIO_AF0_TAMPER        ((uint8_t)0x00U)  /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */
+#define GPIO_AF0_SWJ           ((uint8_t)0x00U)  /* SWJ (SWD and JTAG) Alternate Function mapping             */
+#define GPIO_AF0_TRACE         ((uint8_t)0x00U)  /* TRACE Alternate Function mapping                          */
+
+/** 
+  * @brief   AF 1 selection  
+  */ 
+#define GPIO_AF1_TIM1          ((uint8_t)0x01U)  /* TIM1 Alternate Function mapping */
+#define GPIO_AF1_TIM2          ((uint8_t)0x01U)  /* TIM2 Alternate Function mapping */
+
+/** 
+  * @brief   AF 2 selection  
+  */ 
+#define GPIO_AF2_TIM3          ((uint8_t)0x02U)  /* TIM3 Alternate Function mapping */
+#define GPIO_AF2_TIM4          ((uint8_t)0x02U)  /* TIM4 Alternate Function mapping */
+#define GPIO_AF2_TIM5          ((uint8_t)0x02U)  /* TIM5 Alternate Function mapping */
+
+/** 
+  * @brief   AF 3 selection  
+  */ 
+#define GPIO_AF3_TIM8          ((uint8_t)0x03U)  /* TIM8 Alternate Function mapping  */
+#define GPIO_AF3_TIM9          ((uint8_t)0x03U)  /* TIM9 Alternate Function mapping  */
+#define GPIO_AF3_TIM10         ((uint8_t)0x03U)  /* TIM10 Alternate Function mapping */
+#define GPIO_AF3_TIM11         ((uint8_t)0x03U)  /* TIM11 Alternate Function mapping */
+
+/** 
+  * @brief   AF 4 selection  
+  */ 
+#define GPIO_AF4_I2C1          ((uint8_t)0x04U)  /* I2C1 Alternate Function mapping */
+#define GPIO_AF4_I2C2          ((uint8_t)0x04U)  /* I2C2 Alternate Function mapping */
+#define GPIO_AF4_I2C3          ((uint8_t)0x04U)  /* I2C3 Alternate Function mapping */
+
+/** 
+  * @brief   AF 5 selection  
+  */ 
+#define GPIO_AF5_SPI1          ((uint8_t)0x05U)  /* SPI1 Alternate Function mapping        */
+#define GPIO_AF5_SPI2          ((uint8_t)0x05U)  /* SPI2/I2S2 Alternate Function mapping   */
+/** 
+  * @brief   AF 6 selection  
+  */ 
+#define GPIO_AF6_SPI3          ((uint8_t)0x06U)  /* SPI3/I2S3 Alternate Function mapping  */
+
+/** 
+  * @brief   AF 7 selection  
+  */ 
+#define GPIO_AF7_USART1        ((uint8_t)0x07U)  /* USART1 Alternate Function mapping     */
+#define GPIO_AF7_USART2        ((uint8_t)0x07U)  /* USART2 Alternate Function mapping     */
+#define GPIO_AF7_USART3        ((uint8_t)0x07U)  /* USART3 Alternate Function mapping     */
+
+/** 
+  * @brief   AF 8 selection  
+  */ 
+#define GPIO_AF8_UART4         ((uint8_t)0x08U)  /* UART4 Alternate Function mapping  */
+#define GPIO_AF8_UART5         ((uint8_t)0x08U)  /* UART5 Alternate Function mapping  */
+#define GPIO_AF8_USART6        ((uint8_t)0x08U)  /* USART6 Alternate Function mapping */
+
+/** 
+  * @brief   AF 9 selection 
+  */ 
+#define GPIO_AF9_CAN1          ((uint8_t)0x09U)  /* CAN1 Alternate Function mapping  */
+#define GPIO_AF9_CAN2          ((uint8_t)0x09U)  /* CAN2 Alternate Function mapping  */
+#define GPIO_AF9_TIM12         ((uint8_t)0x09U)  /* TIM12 Alternate Function mapping */
+#define GPIO_AF9_TIM13         ((uint8_t)0x09U)  /* TIM13 Alternate Function mapping */
+#define GPIO_AF9_TIM14         ((uint8_t)0x09U)  /* TIM14 Alternate Function mapping */
+
+/** 
+  * @brief   AF 10 selection  
+  */ 
+#define GPIO_AF10_OTG_FS        ((uint8_t)0xAU)  /* OTG_FS Alternate Function mapping */
+#define GPIO_AF10_OTG_HS        ((uint8_t)0xAU)  /* OTG_HS Alternate Function mapping */
+
+/** 
+  * @brief   AF 11 selection  
+  */ 
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define GPIO_AF11_ETH             ((uint8_t)0x0BU)  /* ETHERNET Alternate Function mapping */
+#endif /* STM32F207xx || STM32F217xx */
+
+/** 
+  * @brief   AF 12 selection  
+  */ 
+#define GPIO_AF12_FSMC          ((uint8_t)0xCU)  /* FSMC Alternate Function mapping                     */
+#define GPIO_AF12_OTG_HS_FS     ((uint8_t)0xCU)  /* OTG HS configured in FS, Alternate Function mapping */
+#define GPIO_AF12_SDIO          ((uint8_t)0xCU)  /* SDIO Alternate Function mapping                     */
+
+/** 
+  * @brief   AF 13 selection  
+  */ 
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define GPIO_AF13_DCMI          ((uint8_t)0x0DU)  /* DCMI Alternate Function mapping */
+#endif /* STM32F207xx || STM32F217xx */
+
+/** 
+  * @brief   AF 15 selection  
+  */ 
+#define GPIO_AF15_EVENTOUT      ((uint8_t)0x0FU)  /* EVENTOUT Alternate Function mapping */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/** @defgroup GPIOEx_Exported_Macros GPIO Exported Macros
+  * @{
+  */
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/ 
+/** @defgroup GPIOEx_Exported_Functions GPIO Exported Functions
+  * @{
+  */
+/**
+  * @}
+  */
+
+/* Private types -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup GPIOEx_Private_Constants GPIO Private Constants
+  * @{
+  */
+/**
+  * @}
+  */
+
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup GPIOEx_Private_Macros GPIO Private Macros
+  * @{
+  */
+/** @defgroup GPIOEx_Get_Port_Index GPIO Get Port Index
+  * @{
+  */
+#define GPIO_GET_INDEX(__GPIOx__)    (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\
+                                               ((__GPIOx__) == (GPIOB))? 1U :\
+                                               ((__GPIOx__) == (GPIOC))? 2U :\
+                                               ((__GPIOx__) == (GPIOD))? 3U :\
+                                               ((__GPIOx__) == (GPIOE))? 4U :\
+                                               ((__GPIOx__) == (GPIOF))? 5U :\
+                                               ((__GPIOx__) == (GPIOG))? 6U :\
+                                               ((__GPIOx__) == (GPIOH))? 7U :\
+                                               ((__GPIOx__) == (GPIOI))? 8U : 9U)
+/**
+  * @}
+  */
+
+/** @defgroup GPIOEx_IS_Alternat_function_selection GPIO Check Alternate Function
+  * @{
+  */  
+#if defined(STM32F207xx) || defined(STM32F217xx)
+ 
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF9_TIM14)      || \
+                          ((AF) == GPIO_AF0_MCO)        || ((AF) == GPIO_AF0_TAMPER)     || \
+                          ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
+                          ((AF) == GPIO_AF1_TIM1)       || ((AF) == GPIO_AF1_TIM2)       || \
+                          ((AF) == GPIO_AF2_TIM3)       || ((AF) == GPIO_AF2_TIM4)       || \
+                          ((AF) == GPIO_AF2_TIM5)       || ((AF) == GPIO_AF3_TIM8)       || \
+                          ((AF) == GPIO_AF4_I2C1)       || ((AF) == GPIO_AF4_I2C2)       || \
+                          ((AF) == GPIO_AF4_I2C3)       || ((AF) == GPIO_AF5_SPI1)       || \
+                          ((AF) == GPIO_AF5_SPI2)       || ((AF) == GPIO_AF9_TIM13)      || \
+                          ((AF) == GPIO_AF6_SPI3)       || ((AF) == GPIO_AF9_TIM12)      || \
+                          ((AF) == GPIO_AF7_USART1)     || ((AF) == GPIO_AF7_USART2)     || \
+                          ((AF) == GPIO_AF7_USART3)     || ((AF) == GPIO_AF8_UART4)      || \
+                          ((AF) == GPIO_AF8_UART5)      || ((AF) == GPIO_AF8_USART6)     || \
+                          ((AF) == GPIO_AF9_CAN1)       || ((AF) == GPIO_AF9_CAN2)       || \
+                          ((AF) == GPIO_AF10_OTG_FS)    || ((AF) == GPIO_AF10_OTG_HS)    || \
+                          ((AF) == GPIO_AF11_ETH)       || ((AF) == GPIO_AF12_OTG_HS_FS) || \
+                          ((AF) == GPIO_AF12_SDIO)      || ((AF) == GPIO_AF13_DCMI)      || \
+                          ((AF) == GPIO_AF12_FSMC)      || ((AF) == GPIO_AF15_EVENTOUT))
+#else /* STM32F207xx || STM32F217xx */
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF9_TIM14)      || \
+                          ((AF) == GPIO_AF0_MCO)        || ((AF) == GPIO_AF0_TAMPER)     || \
+                          ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
+                          ((AF) == GPIO_AF1_TIM1)       || ((AF) == GPIO_AF1_TIM2)       || \
+                          ((AF) == GPIO_AF2_TIM3)       || ((AF) == GPIO_AF2_TIM4)       || \
+                          ((AF) == GPIO_AF2_TIM5)       || ((AF) == GPIO_AF3_TIM8)       || \
+                          ((AF) == GPIO_AF4_I2C1)       || ((AF) == GPIO_AF4_I2C2)       || \
+                          ((AF) == GPIO_AF4_I2C3)       || ((AF) == GPIO_AF5_SPI1)       || \
+                          ((AF) == GPIO_AF5_SPI2)       || ((AF) == GPIO_AF9_TIM13)      || \
+                          ((AF) == GPIO_AF6_SPI3)       || ((AF) == GPIO_AF9_TIM12)      || \
+                          ((AF) == GPIO_AF7_USART1)     || ((AF) == GPIO_AF7_USART2)     || \
+                          ((AF) == GPIO_AF7_USART3)     || ((AF) == GPIO_AF8_UART4)      || \
+                          ((AF) == GPIO_AF8_UART5)      || ((AF) == GPIO_AF8_USART6)     || \
+                          ((AF) == GPIO_AF9_CAN1)       || ((AF) == GPIO_AF9_CAN2)       || \
+                          ((AF) == GPIO_AF10_OTG_FS)    || ((AF) == GPIO_AF10_OTG_HS)    || \
+                          ((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDIO)      || \
+                          ((AF) == GPIO_AF12_FSMC)      || ((AF) == GPIO_AF15_EVENTOUT))
+#endif /* STM32F207xx || STM32F217xx */
+                          
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+
+/* Private functions ---------------------------------------------------------*/
+/** @defgroup GPIOEx_Private_Functions GPIO Private Functions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+  
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F2xx_HAL_GPIO_EX_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/panda/board/inc/stm32f413xx.h
+++ b/panda/board/inc/stm32f413xx.h
--- a/panda/board/inc/stm32f4xx.h
+++ b/panda/board/inc/stm32f4xx.h
@ -0,0 +1,271 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx.h
+  * @author  MCD Application Team
+  * @version V2.6.0
+  * @date    04-November-2016
+  * @brief   CMSIS STM32F4xx Device Peripheral Access Layer Header File.
+  *            
+  *          The file is the unique include file that the application programmer
+  *          is using in the C source code, usually in main.c. This file contains:
+  *           - Configuration section that allows to select:
+  *              - The STM32F4xx device used in the target application
+  *              - To use or not the peripheral’s drivers in application code(i.e. 
+  *                code will be based on direct access to peripheral’s registers 
+  *                rather than drivers API), this option is controlled by 
+  *                "#define USE_HAL_DRIVER"
+  *  
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32f4xx
+  * @{
+  */
+    
+#ifndef __STM32F4xx_H
+#define __STM32F4xx_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif /* __cplusplus */
+   
+/** @addtogroup Library_configuration_section
+  * @{
+  */
+  
+/**
+  * @brief STM32 Family
+  */
+#if !defined  (STM32F4)
+#define STM32F4
+#endif /* STM32F4 */
+
+/* Uncomment the line below according to the target STM32 device used in your
+   application 
+  */
+#if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \
+    !defined (STM32F427xx) && !defined (STM32F437xx) && !defined (STM32F429xx) && !defined (STM32F439xx) && \
+    !defined (STM32F401xC) && !defined (STM32F401xE) && !defined (STM32F410Tx) && !defined (STM32F410Cx) && \
+    !defined (STM32F410Rx) && !defined (STM32F411xE) && !defined (STM32F446xx) && !defined (STM32F469xx) && \
+    !defined (STM32F479xx) && !defined (STM32F412Cx) && !defined (STM32F412Rx) && !defined (STM32F412Vx) && \
+    !defined (STM32F412Zx) && !defined (STM32F413xx) && !defined (STM32F423xx)
+  /* #define STM32F405xx */   /*!< STM32F405RG, STM32F405VG and STM32F405ZG Devices */
+  /* #define STM32F415xx */   /*!< STM32F415RG, STM32F415VG and STM32F415ZG Devices */
+  /* #define STM32F407xx */   /*!< STM32F407VG, STM32F407VE, STM32F407ZG, STM32F407ZE, STM32F407IG  and STM32F407IE Devices */
+  /* #define STM32F417xx */   /*!< STM32F417VG, STM32F417VE, STM32F417ZG, STM32F417ZE, STM32F417IG and STM32F417IE Devices */
+  /* #define STM32F427xx */   /*!< STM32F427VG, STM32F427VI, STM32F427ZG, STM32F427ZI, STM32F427IG and STM32F427II Devices */
+  /* #define STM32F437xx */   /*!< STM32F437VG, STM32F437VI, STM32F437ZG, STM32F437ZI, STM32F437IG and STM32F437II Devices */
+  /* #define STM32F429xx */   /*!< STM32F429VG, STM32F429VI, STM32F429ZG, STM32F429ZI, STM32F429BG, STM32F429BI, STM32F429NG, 
+                                   STM32F439NI, STM32F429IG  and STM32F429II Devices */
+  /* #define STM32F439xx */   /*!< STM32F439VG, STM32F439VI, STM32F439ZG, STM32F439ZI, STM32F439BG, STM32F439BI, STM32F439NG, 
+                                   STM32F439NI, STM32F439IG and STM32F439II Devices */
+  /* #define STM32F401xC */   /*!< STM32F401CB, STM32F401CC, STM32F401RB, STM32F401RC, STM32F401VB and STM32F401VC Devices */
+  /* #define STM32F401xE */   /*!< STM32F401CD, STM32F401RD, STM32F401VD, STM32F401CE, STM32F401RE and STM32F401VE Devices */
+  /* #define STM32F410Tx */   /*!< STM32F410T8 and STM32F410TB Devices */
+  /* #define STM32F410Cx */   /*!< STM32F410C8 and STM32F410CB Devices */
+  /* #define STM32F410Rx */   /*!< STM32F410R8 and STM32F410RB Devices */
+  /* #define STM32F411xE */   /*!< STM32F411CC, STM32F411RC, STM32F411VC, STM32F411CE, STM32F411RE and STM32F411VE Devices */
+  /* #define STM32F446xx */   /*!< STM32F446MC, STM32F446ME, STM32F446RC, STM32F446RE, STM32F446VC, STM32F446VE, STM32F446ZC, 
+                                   and STM32F446ZE Devices */
+  /* #define STM32F469xx */   /*!< STM32F469AI, STM32F469II, STM32F469BI, STM32F469NI, STM32F469AG, STM32F469IG, STM32F469BG, 
+                                   STM32F469NG, STM32F469AE, STM32F469IE, STM32F469BE and STM32F469NE Devices */
+  /* #define STM32F479xx */   /*!< STM32F479AI, STM32F479II, STM32F479BI, STM32F479NI, STM32F479AG, STM32F479IG, STM32F479BG 
+                                   and STM32F479NG Devices */
+  /* #define STM32F412Cx */   /*!< STM32F412CEU and STM32F412CGU Devices */
+  /* #define STM32F412Zx */   /*!< STM32F412ZET, STM32F412ZGT, STM32F412ZEJ and STM32F412ZGJ Devices */
+  /* #define STM32F412Vx */   /*!< STM32F412VET, STM32F412VGT, STM32F412VEH and STM32F412VGH Devices */
+  /* #define STM32F412Rx */   /*!< STM32F412RET, STM32F412RGT, STM32F412REY and STM32F412RGY Devices */
+  /* #define STM32F413xx */   /*!< STM32F413CH, STM32F413MH, STM32F413RH, STM32F413VH, STM32F413ZH, STM32F413CG, STM32F413MG,
+                                   STM32F413RG, STM32F413VG and STM32F413ZG Devices */
+  /* #define STM32F423xx */   /*!< STM32F423CH, STM32F423RH, STM32F423VH and STM32F423ZH Devices */
+#endif
+   
+/*  Tip: To avoid modifying this file each time you need to switch between these
+        devices, you can define the device in your toolchain compiler preprocessor.
+  */
+#if !defined  (USE_HAL_DRIVER)
+/**
+ * @brief Comment the line below if you will not use the peripherals drivers.
+   In this case, these drivers will not be included and the application code will 
+   be based on direct access to peripherals registers 
+   */
+  /*#define USE_HAL_DRIVER */
+#endif /* USE_HAL_DRIVER */
+
+/**
+  * @brief CMSIS version number V2.6.0
+  */
+#define __STM32F4xx_CMSIS_VERSION_MAIN   (0x02U) /*!< [31:24] main version */
+#define __STM32F4xx_CMSIS_VERSION_SUB1   (0x06U) /*!< [23:16] sub1 version */
+#define __STM32F4xx_CMSIS_VERSION_SUB2   (0x00U) /*!< [15:8]  sub2 version */
+#define __STM32F4xx_CMSIS_VERSION_RC     (0x00U) /*!< [7:0]  release candidate */
+#define __STM32F4xx_CMSIS_VERSION        ((__STM32F4xx_CMSIS_VERSION_MAIN << 24)\
+                                         |(__STM32F4xx_CMSIS_VERSION_SUB1 << 16)\
+                                         |(__STM32F4xx_CMSIS_VERSION_SUB2 << 8 )\
+                                         |(__STM32F4xx_CMSIS_VERSION))
+
+/**
+  * @}
+  */
+
+/** @addtogroup Device_Included
+  * @{
+  */
+
+#if defined(STM32F405xx)
+  #include "stm32f405xx.h"
+#elif defined(STM32F415xx)
+  #include "stm32f415xx.h"
+#elif defined(STM32F407xx)
+  #include "stm32f407xx.h"
+#elif defined(STM32F417xx)
+  #include "stm32f417xx.h"
+#elif defined(STM32F427xx)
+  #include "stm32f427xx.h"
+#elif defined(STM32F437xx)
+  #include "stm32f437xx.h"
+#elif defined(STM32F429xx)
+  #include "stm32f429xx.h"
+#elif defined(STM32F439xx)
+  #include "stm32f439xx.h"
+#elif defined(STM32F401xC)
+  #include "stm32f401xc.h"
+#elif defined(STM32F401xE)
+  #include "stm32f401xe.h"
+#elif defined(STM32F410Tx)
+  #include "stm32f410tx.h"
+#elif defined(STM32F410Cx)
+  #include "stm32f410cx.h"
+#elif defined(STM32F410Rx)
+  #include "stm32f410rx.h"
+#elif defined(STM32F411xE)
+  #include "stm32f411xe.h"
+#elif defined(STM32F446xx)
+  #include "stm32f446xx.h"
+#elif defined(STM32F469xx)
+  #include "stm32f469xx.h"
+#elif defined(STM32F479xx)
+  #include "stm32f479xx.h"
+#elif defined(STM32F412Cx)
+  #include "stm32f412cx.h"
+#elif defined(STM32F412Zx)
+  #include "stm32f412zx.h"
+#elif defined(STM32F412Rx)
+  #include "stm32f412rx.h"
+#elif defined(STM32F412Vx)
+  #include "stm32f412vx.h"
+#elif defined(STM32F413xx)
+  #include "stm32f413xx.h"
+#elif defined(STM32F423xx)
+  #include "stm32f423xx.h"
+#else
+ #error "Please select first the target STM32F4xx device used in your application (in stm32f4xx.h file)"
+#endif
+
+/**
+  * @}
+  */
+
+/** @addtogroup Exported_types
+  * @{
+  */ 
+typedef enum 
+{
+  RESET = 0U, 
+  SET = !RESET
+} FlagStatus, ITStatus;
+
+typedef enum 
+{
+  DISABLE = 0U, 
+  ENABLE = !DISABLE
+} FunctionalState;
+#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
+
+typedef enum 
+{
+  ERROR = 0U, 
+  SUCCESS = !ERROR
+} ErrorStatus;
+
+/**
+  * @}
+  */
+
+
+/** @addtogroup Exported_macro
+  * @{
+  */
+#define SET_BIT(REG, BIT)     ((REG) |= (BIT))
+
+#define CLEAR_BIT(REG, BIT)   ((REG) &= ~(BIT))
+
+#define READ_BIT(REG, BIT)    ((REG) & (BIT))
+
+#define CLEAR_REG(REG)        ((REG) = (0x0))
+
+#define WRITE_REG(REG, VAL)   ((REG) = (VAL))
+
+#define READ_REG(REG)         ((REG))
+
+#define MODIFY_REG(REG, CLEARMASK, SETMASK)  WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
+
+#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL))) 
+
+
+/**
+  * @}
+  */
+
+#if defined (USE_HAL_DRIVER)
+ #include "stm32f4xx_hal.h"
+#endif /* USE_HAL_DRIVER */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* __STM32F4xx_H */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+  
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/panda/board/inc/stm32f4xx_hal_def.h
+++ b/panda/board/inc/stm32f4xx_hal_def.h
@ -0,0 +1,214 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_def.h
+  * @author  MCD Application Team
+  * @version V1.6.0
+  * @date    04-November-2016
+  * @brief   This file contains HAL common defines, enumeration, macros and 
+  *          structures definitions. 
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_HAL_DEF
+#define __STM32F4xx_HAL_DEF
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+//#include "Legacy/stm32_hal_legacy.h"
+//#include <stdio.h>
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  HAL Status structures definition  
+  */  
+typedef enum 
+{
+  HAL_OK       = 0x00U,
+  HAL_ERROR    = 0x01U,
+  HAL_BUSY     = 0x02U,
+  HAL_TIMEOUT  = 0x03U
+} HAL_StatusTypeDef;
+
+/** 
+  * @brief  HAL Lock structures definition  
+  */
+typedef enum 
+{
+  HAL_UNLOCKED = 0x00U,
+  HAL_LOCKED   = 0x01U  
+} HAL_LockTypeDef;
+
+/* Exported macro ------------------------------------------------------------*/
+#define HAL_MAX_DELAY      0xFFFFFFFFU
+
+#define HAL_IS_BIT_SET(REG, BIT)         (((REG) & (BIT)) != RESET)
+#define HAL_IS_BIT_CLR(REG, BIT)         (((REG) & (BIT)) == RESET)
+
+#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD__, __DMA_HANDLE__)               \
+                        do{                                                      \
+                              (__HANDLE__)->__PPP_DMA_FIELD__ = &(__DMA_HANDLE__); \
+                              (__DMA_HANDLE__).Parent = (__HANDLE__);             \
+                          } while(0)
+
+#define UNUSED(x) ((void)(x))
+
+/** @brief Reset the Handle's State field.
+  * @param __HANDLE__: specifies the Peripheral Handle.
+  * @note  This macro can be used for the following purpose: 
+  *          - When the Handle is declared as local variable; before passing it as parameter
+  *            to HAL_PPP_Init() for the first time, it is mandatory to use this macro 
+  *            to set to 0 the Handle's "State" field.
+  *            Otherwise, "State" field may have any random value and the first time the function 
+  *            HAL_PPP_Init() is called, the low level hardware initialization will be missed
+  *            (i.e. HAL_PPP_MspInit() will not be executed).
+  *          - When there is a need to reconfigure the low level hardware: instead of calling
+  *            HAL_PPP_DeInit() then HAL_PPP_Init(), user can make a call to this macro then HAL_PPP_Init().
+  *            In this later function, when the Handle's "State" field is set to 0, it will execute the function
+  *            HAL_PPP_MspInit() which will reconfigure the low level hardware.
+  * @retval None
+  */
+#define __HAL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = 0U)
+
+#if (USE_RTOS == 1)
+  /* Reserved for future use */
+  #error "USE_RTOS should be 0 in the current HAL release"
+#else
+  #define __HAL_LOCK(__HANDLE__)                                           \
+                                do{                                        \
+                                    if((__HANDLE__)->Lock == HAL_LOCKED)   \
+                                    {                                      \
+                                       return HAL_BUSY;                    \
+                                    }                                      \
+                                    else                                   \
+                                    {                                      \
+                                       (__HANDLE__)->Lock = HAL_LOCKED;    \
+                                    }                                      \
+                                  }while (0)
+
+  #define __HAL_UNLOCK(__HANDLE__)                                          \
+                                  do{                                       \
+                                      (__HANDLE__)->Lock = HAL_UNLOCKED;    \
+                                    }while (0)
+#endif /* USE_RTOS */
+
+#if  defined ( __GNUC__ )
+  #ifndef __weak
+    #define __weak   __attribute__((weak))
+  #endif /* __weak */
+  #ifndef __packed
+    #define __packed __attribute__((__packed__))
+  #endif /* __packed */
+#endif /* __GNUC__ */
+
+
+/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
+#if defined   (__GNUC__)        /* GNU Compiler */
+  #ifndef __ALIGN_END
+    #define __ALIGN_END    __attribute__ ((aligned (4)))
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN  
+    #define __ALIGN_BEGIN
+  #endif /* __ALIGN_BEGIN */
+#else
+  #ifndef __ALIGN_END
+    #define __ALIGN_END
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN      
+    #if defined   (__CC_ARM)      /* ARM Compiler */
+      #define __ALIGN_BEGIN    __align(4)  
+    #elif defined (__ICCARM__)    /* IAR Compiler */
+      #define __ALIGN_BEGIN 
+    #endif /* __CC_ARM */
+  #endif /* __ALIGN_BEGIN */
+#endif /* __GNUC__ */
+
+
+/** 
+  * @brief  __RAM_FUNC definition
+  */ 
+#if defined ( __CC_ARM   )
+/* ARM Compiler
+   ------------
+   RAM functions are defined using the toolchain options. 
+   Functions that are executed in RAM should reside in a separate source module.
+   Using the 'Options for File' dialog you can simply change the 'Code / Const' 
+   area of a module to a memory space in physical RAM.
+   Available memory areas are declared in the 'Target' tab of the 'Options for Target'
+   dialog. 
+*/
+#define __RAM_FUNC HAL_StatusTypeDef 
+
+#elif defined ( __ICCARM__ )
+/* ICCARM Compiler
+   ---------------
+   RAM functions are defined using a specific toolchain keyword "__ramfunc". 
+*/
+#define __RAM_FUNC __ramfunc HAL_StatusTypeDef
+
+#elif defined   (  __GNUC__  )
+/* GNU Compiler
+   ------------
+  RAM functions are defined using a specific toolchain attribute 
+   "__attribute__((section(".RamFunc")))".
+*/
+#define __RAM_FUNC HAL_StatusTypeDef  __attribute__((section(".RamFunc")))
+
+#endif
+
+/** 
+  * @brief  __NOINLINE definition
+  */ 
+#if defined ( __CC_ARM   ) || defined   (  __GNUC__  )
+/* ARM & GNUCompiler 
+   ---------------- 
+*/
+#define __NOINLINE __attribute__ ( (noinline) )
+
+#elif defined ( __ICCARM__ )
+/* ICCARM Compiler
+   ---------------
+*/
+#define __NOINLINE _Pragma("optimize = no_inline")
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ___STM32F4xx_HAL_DEF */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Show More
+++ b/Show More
				`@ -1 +0,0 @@`
				`Subproject commit 242698f80038bab677a4a6e58127309f9ed38d93`
				`@ -1 +0,0 @@`
				`Subproject commit 3cab37297566962fd6e48a674db3e1f6de8fa4da`
				`@ -0,0 +1 @@`
				`from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st`