Merge opendbc subtree

old-commit-hash: 261fb00e11

opendbc/.gitignore

@@ -1,2 +1,10 @@
 *.pyc
+*.os
+*.tmp
 .*.swp
+can/*.so
+can/build/
+can/obj/
+can/packer_pyx.cpp
+can/parser_pyx.cpp
+can/packer_impl.cpp

opendbc/Dockerfile

@@ -0,0 +1,25 @@
+from ubuntu:16.04
+
+RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+
+COPY requirements.txt /tmp/
+RUN pip install -r /tmp/requirements.txt
+
+ENV PYTHONPATH=/project
+
+# TODO: Add tag to cereal
+RUN git clone https://github.com/commaai/cereal.git /project/cereal
+RUN /project/cereal/install_capnp.sh
+
+WORKDIR /project
+
+COPY SConstruct .
+COPY . /project/opendbc
+
+RUN scons -c && scons -j$(nproc)

opendbc/README.md

@@ -42,7 +42,7 @@ For example:
     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:
+- Signal 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
     ```

opendbc/SConstruct

@@ -0,0 +1,57 @@
+import os
+import subprocess
+
+zmq = 'zmq'
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+
+cereal_dir = Dir('.')
+
+cpppath = [
+    '#',
+    '#cereal',
+    "#cereal/messaging",
+    "#opendbc/can",
+    '/usr/lib/include',
+]
+
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Werror=implicit-function-declaration",
+    "-Werror=incompatible-pointer-types",
+    "-Werror=int-conversion",
+    "-Werror=return-type",
+    "-Werror=format-extra-args",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++14",
+  CPPPATH=cpppath,
+)
+
+Export('env', 'zmq', 'arch')
+
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+Export('cereal', 'messaging')
+
+SConscript(['cereal/SConscript'])
+SConscript(['opendbc/can/SConscript'])

opendbc/acura_ilx_2016_can_generated.dbc

@@ -271,8 +271,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/acura_rdx_2018_can_generated.dbc

@@ -259,8 +259,8 @@ BO_ 392 GEARBOX: 6 XXX
  SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON
 
 BO_ 399 STEER_STATUS: 6 EPS
- SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON

opendbc/azure-pipelines.yml

@@ -0,0 +1,16 @@
+pr: none
+
+pool:
+  vmImage: 'ubuntu-16.04'
+steps:
+- script: |
+    set -e
+    docker build -t opendbc .
+  displayName: 'Build'
+- script: |
+    docker run opendbc bash -c "python -m unittest discover opendbc"
+  displayName: 'Unit tests'
+- script: |
+    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
+    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
+  displayName: 'Python linter'

opendbc/can/SConscript

@@ -0,0 +1,27 @@
+Import('env', 'cereal')
+
+import os
+from opendbc.can.process_dbc import process
+
+dbcs = []
+for x in sorted(os.listdir('../')):
+  if x.endswith(".dbc"):
+    def compile_dbc(target, source, env):
+      process(source[0].path, target[0].path)
+    in_fn = [os.path.join('../', x), 'dbc_template.cc']
+    out_fn = os.path.join('dbc_out', x.replace(".dbc", ".cc"))
+    dbc = env.Command(out_fn, in_fn, compile_dbc)
+    dbcs.append(dbc)
+
+
+libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])
+
+# packer
+env.Command(['packer_pyx.so'],
+  [libdbc, 'packer_pyx.pyx', 'packer_pyx_setup.py'],
+  "cd opendbc/can && python3 packer_pyx_setup.py build_ext --inplace")
+
+# parser
+env.Command(['parser_pyx.so'],
+  [libdbc, cereal, 'parser_pyx_setup.py', 'parser_pyx.pyx', 'common.pxd'],
+  "cd opendbc/can && python3 parser_pyx_setup.py build_ext --inplace")

opendbc/can/can_define.py

@@ -0,0 +1,2 @@
+from opendbc.can.parser_pyx import CANDefine # pylint: disable=no-name-in-module, import-error
+assert CANDefine

opendbc/can/common.cc

@@ -0,0 +1,165 @@
+#include "common.h"
+
+unsigned int honda_checksum(unsigned int address, uint64_t d, int l) {
+  d >>= ((8-l)*8); // remove padding
+  d >>= 4; // remove checksum
+
+  int s = 0;
+  while (address) { s += (address & 0xF); address >>= 4; }
+  while (d) { s += (d & 0xF); d >>= 4; }
+  s = 8-s;
+  s &= 0xF;
+
+  return s;
+}
+
+unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
+  d >>= ((8-l)*8); // remove padding
+  d >>= 8; // remove checksum
+
+  unsigned int s = l;
+  while (address) { s += address & 0xff; address >>= 8; }
+  while (d) { s += d & 0xff; d >>= 8; }
+
+  return s & 0xFF;
+}
+
+// Static lookup table for fast computation of CRC8 poly 0x2F, aka 8H2F/AUTOSAR
+uint8_t crc8_lut_8h2f[256];
+
+void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
+  uint8_t crc;
+  int i, j;
+
+   for (i = 0; i < 256; i++) {
+    crc = i;
+    for (j = 0; j < 8; j++) {
+      if ((crc & 0x80) != 0)
+        crc = (uint8_t)((crc << 1) ^ poly);
+      else
+        crc <<= 1;
+    }
+    crc_lut[i] = crc;
+  }
+}
+
+void init_crc_lookup_tables() {
+  // At init time, set up static lookup tables for fast CRC computation.
+
+  gen_crc_lookup_table(0x2F, crc8_lut_8h2f);    // CRC-8 8H2F/AUTOSAR for Volkswagen
+}
+
+unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
+  // Volkswagen uses standard CRC8 8H2F/AUTOSAR, but they compute it with
+  // a magic variable padding byte tacked onto the end of the payload.
+  // https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf
+
+  uint8_t *dat = (uint8_t *)&d;
+  uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR
+
+  // CRC the payload first, skipping over the first byte where the CRC lives.
+  for (int i = 1; i < l; i++) {
+    crc ^= dat[i];
+    crc = crc8_lut_8h2f[crc];
+  }
+
+  // Look up and apply the magic final CRC padding byte, which permutes by CAN
+  // address, and additionally (for SOME addresses) by the message counter.
+  uint8_t counter = dat[1] & 0x0F;
+  switch(address) {
+    case 0x86:  // LWI_01 Steering Angle
+      crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
+      break;
+    case 0x9F:  // EPS_01 Electric Power Steering
+      crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
+      break;
+    case 0xAD:  // Getriebe_11 Automatic Gearbox
+      crc ^= (uint8_t[]){0x3F,0x69,0x39,0xDC,0x94,0xF9,0x14,0x64,0xD8,0x6A,0x34,0xCE,0xA2,0x55,0xB5,0x2C}[counter];
+      break;
+    case 0xFD:  // ESP_21 Electronic Stability Program
+      crc ^= (uint8_t[]){0xB4,0xEF,0xF8,0x49,0x1E,0xE5,0xC2,0xC0,0x97,0x19,0x3C,0xC9,0xF1,0x98,0xD6,0x61}[counter];
+      break;
+    case 0x106: // ESP_05 Electronic Stability Program
+      crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
+      break;
+    case 0x117: // ACC_10 Automatic Cruise Control
+      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
+      break;
+    case 0x122: // ACC_06 Automatic Cruise Control
+      crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
+      break;
+    case 0x126: // HCA_01 Heading Control Assist
+      crc ^= (uint8_t[]){0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA}[counter];
+      break;
+    case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
+      crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
+      break;
+    case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
+      crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
+      break;
+    case 0x30C: // ACC_02 Automatic Cruise Control
+      crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
+      break;
+    case 0x3C0: // Klemmen_Status_01 ignition and starting status
+      crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
+      break;
+    case 0x65D: // ESP_20 Electronic Stability Program
+      crc ^= (uint8_t[]){0xAC,0xB3,0xAB,0xEB,0x7A,0xE1,0x3B,0xF7,0x73,0xBA,0x7C,0x9E,0x06,0x5F,0x02,0xD9}[counter];
+      break;
+    default:    // As-yet undefined CAN message, CRC check expected to fail
+      printf("Attempt to CRC check undefined Volkswagen message 0x%02X\n", address);
+      crc ^= (uint8_t[]){0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}[counter];
+      break;
+  }
+  crc = crc8_lut_8h2f[crc];
+
+  return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR
+}
+
+
+unsigned int pedal_checksum(uint64_t d, int l) {
+  uint8_t crc = 0xFF;
+  uint8_t poly = 0xD5; // standard crc8
+
+  d >>= ((8-l)*8); // remove padding
+  d >>= 8; // remove checksum
+
+  uint8_t *dat = (uint8_t *)&d;
+
+  int i, j;
+  for (i = 0; i < l - 1; i++) {
+    crc ^= dat[i];
+    for (j = 0; j < 8; j++) {
+      if ((crc & 0x80) != 0) {
+        crc = (uint8_t)((crc << 1) ^ poly);
+      }
+      else {
+        crc <<= 1;
+      }
+    }
+  }
+  return crc;
+}
+
+
+uint64_t read_u64_be(const uint8_t* v) {
+  return (((uint64_t)v[0] << 56)
+          | ((uint64_t)v[1] << 48)
+          | ((uint64_t)v[2] << 40)
+          | ((uint64_t)v[3] << 32)
+          | ((uint64_t)v[4] << 24)
+          | ((uint64_t)v[5] << 16)
+          | ((uint64_t)v[6] << 8)
+          | (uint64_t)v[7]);
+}
+
+uint64_t read_u64_le(const uint8_t* v) {
+  return ((uint64_t)v[0]
+          | ((uint64_t)v[1] << 8)
+          | ((uint64_t)v[2] << 16)
+          | ((uint64_t)v[3] << 24)
+          | ((uint64_t)v[4] << 32)
+          | ((uint64_t)v[5] << 40)
+          | ((uint64_t)v[6] << 48)
+          | ((uint64_t)v[7] << 56));
+}

opendbc/can/common.h

@@ -0,0 +1,70 @@
+#pragma once
+
+#include <vector>
+#include <map>
+#include <unordered_map>
+
+#include "common_dbc.h"
+#include <capnp/serialize.h>
+#include "cereal/gen/cpp/log.capnp.h"
+
+#define MAX_BAD_COUNTER 5
+
+// Helper functions
+unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
+unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
+void init_crc_lookup_tables();
+unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
+unsigned int pedal_checksum(uint64_t d, int l);
+uint64_t read_u64_be(const uint8_t* v);
+uint64_t read_u64_le(const uint8_t* v);
+
+class MessageState {
+public:
+  uint32_t address;
+  unsigned int size;
+
+  std::vector<Signal> parse_sigs;
+  std::vector<double> vals;
+
+  uint16_t ts;
+  uint64_t seen;
+  uint64_t check_threshold;
+
+  uint8_t counter;
+  uint8_t counter_fail;
+
+  bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
+  bool update_counter_generic(int64_t v, int cnt_size);
+};
+
+class CANParser {
+private:
+  const int bus;
+
+  const DBC *dbc = NULL;
+  std::unordered_map<uint32_t, MessageState> message_states;
+
+public:
+  bool can_valid = false;
+  uint64_t last_sec = 0;
+
+  CANParser(int abus, const std::string& dbc_name,
+            const std::vector<MessageParseOptions> &options,
+            const std::vector<SignalParseOptions> &sigoptions);
+  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
+  void UpdateValid(uint64_t sec);
+  void update_string(std::string data, bool sendcan);
+  std::vector<SignalValue> query_latest();
+};
+
+class CANPacker {
+private:
+  const DBC *dbc = NULL;
+  std::map<std::pair<uint32_t, std::string>, Signal> signal_lookup;
+  std::map<uint32_t, Msg> message_lookup;
+
+public:
+  CANPacker(const std::string& dbc_name);
+  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter);
+};

opendbc/can/common.pxd

@@ -0,0 +1,82 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libc.stdint cimport uint32_t, uint64_t, uint16_t
+from libcpp.vector cimport vector
+from libcpp.map cimport map
+from libcpp.string cimport string
+from libcpp.unordered_set cimport unordered_set
+from libcpp cimport bool
+
+
+cdef extern from "common_dbc.h":
+  ctypedef enum SignalType:
+    DEFAULT,
+    HONDA_CHECKSUM,
+    HONDA_COUNTER,
+    TOYOTA_CHECKSUM,
+    PEDAL_CHECKSUM,
+    PEDAL_COUNTER,
+    VOLKSWAGEN_CHECKSUM,
+    VOLKSWAGEN_COUNTER
+
+  cdef struct Signal:
+    const char* name
+    int b1, b2, bo
+    bool is_signed
+    double factor, offset
+    SignalType type
+
+  cdef struct Msg:
+    const char* name
+    uint32_t address
+    unsigned int size
+    size_t num_sigs
+    const Signal *sigs
+
+  cdef struct Val:
+    const char* name
+    uint32_t address
+    const char* def_val
+    const Signal *sigs
+
+  cdef struct DBC:
+    const char* name
+    size_t num_msgs
+    const Msg *msgs
+    const Val *vals
+    size_t num_vals
+
+  cdef struct SignalParseOptions:
+    uint32_t address
+    const char* name
+    double default_value
+
+
+  cdef struct MessageParseOptions:
+    uint32_t address
+    int check_frequency
+
+  cdef struct SignalValue:
+    uint32_t address
+    uint16_t ts
+    const char* name
+    double value
+
+  cdef struct SignalPackValue:
+    const char * name
+    double value
+
+
+cdef extern from "common.h":
+  cdef const DBC* dbc_lookup(const string);
+
+  cdef cppclass CANParser:
+    bool can_valid
+    CANParser(int, string, vector[MessageParseOptions], vector[SignalParseOptions])
+    void update_string(string, bool)
+    vector[SignalValue] query_latest()
+
+  cdef cppclass CANPacker:
+   CANPacker(string)
+   uint64_t pack(uint32_t, vector[SignalPackValue], int counter)

opendbc/can/common_dbc.h

@@ -0,0 +1,82 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <string>
+
+#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
+
+struct SignalPackValue {
+  const char* name;
+  double value;
+};
+
+struct SignalParseOptions {
+  uint32_t address;
+  const char* name;
+  double default_value;
+};
+
+struct MessageParseOptions {
+  uint32_t address;
+  int check_frequency;
+};
+
+struct SignalValue {
+  uint32_t address;
+  uint16_t ts;
+  const char* name;
+  double value;
+};
+
+enum SignalType {
+  DEFAULT,
+  HONDA_CHECKSUM,
+  HONDA_COUNTER,
+  TOYOTA_CHECKSUM,
+  PEDAL_CHECKSUM,
+  PEDAL_COUNTER,
+  VOLKSWAGEN_CHECKSUM,
+  VOLKSWAGEN_COUNTER,
+};
+
+struct Signal {
+  const char* name;
+  int b1, b2, bo;
+  bool is_signed;
+  double factor, offset;
+  bool is_little_endian;
+  SignalType type;
+};
+
+struct Msg {
+  const char* name;
+  uint32_t address;
+  unsigned int size;
+  size_t num_sigs;
+  const Signal *sigs;
+};
+
+struct Val {
+  const char* name;
+  uint32_t address;
+  const char* def_val;
+  const Signal *sigs;
+};
+
+struct DBC {
+  const char* name;
+  size_t num_msgs;
+  const Msg *msgs;
+  const Val *vals;
+  size_t num_vals;
+};
+
+const DBC* dbc_lookup(const std::string& dbc_name);
+
+void dbc_register(const DBC* dbc);
+
+#define dbc_init(dbc) \
+static void __attribute__((constructor)) do_dbc_init_ ## dbc(void) { \
+  dbc_register(&dbc); \
+}

opendbc/can/dbc.cc

@@ -0,0 +1,31 @@
+#include <vector>
+
+#include "common_dbc.h"
+
+namespace {
+
+std::vector<const DBC*>& get_dbcs() {
+  static std::vector<const DBC*> vec;
+  return vec;
+}
+
+}
+
+const DBC* dbc_lookup(const std::string& dbc_name) {
+  for (const auto& dbci : get_dbcs()) {
+    if (dbc_name == dbci->name) {
+      return dbci;
+    }
+  }
+  return NULL;
+}
+
+void dbc_register(const DBC* dbc) {
+  get_dbcs().push_back(dbc);
+}
+
+extern "C" {
+  const DBC* dbc_lookup(const char* dbc_name) {
+    return dbc_lookup(std::string(dbc_name));
+  }
+}

opendbc/can/dbc.py

@@ -0,0 +1,275 @@
+import re
+import os
+import struct
+import sys
+import numbers
+from collections import namedtuple, defaultdict
+
+def int_or_float(s):
+  # return number, trying to maintain int format
+  if s.isdigit():
+    return int(s, 10)
+  else:
+    return float(s)
+
+DBCSignal = namedtuple(
+  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
+                "factor", "offset", "tmin", "tmax", "units"])
+
+
+class dbc():
+  def __init__(self, fn):
+    self.name, _ = os.path.splitext(os.path.basename(fn))
+    with open(fn, encoding="ascii") as f:
+      self.txt = f.readlines()
+    self._warned_addresses = set()
+
+    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
+    bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
+    sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")
+
+    # A dictionary which maps message ids to tuples ((name, size), signals).
+    #   name is the ASCII name of the message.
+    #   size is the size of the message in bytes.
+    #   signals is a list signals contained in the message.
+    # signals is a list of DBCSignal in order of increasing start_bit.
+    self.msgs = {}
+
+    # A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
+    self.def_vals = defaultdict(list)
+
+    # lookup to bit reverse each byte
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in range(64)]
+
+    for l in self.txt:
+      l = l.strip()
+
+      if l.startswith("BO_ "):
+        # new group
+        dat = bo_regexp.match(l)
+
+        if dat is None:
+          print("bad BO {0}".format(l))
+
+        name = dat.group(2)
+        size = int(dat.group(3))
+        ids = int(dat.group(1), 0) # could be hex
+        if ids in self.msgs:
+          sys.exit("Duplicate address detected %d %s" % (ids, self.name))
+
+        self.msgs[ids] = ((name, size), [])
+
+      if l.startswith("SG_ "):
+        # new signal
+        dat = sg_regexp.match(l)
+        go = 0
+        if dat is None:
+          dat = sgm_regexp.match(l)
+          go = 1
+
+        if dat is None:
+          print("bad SG {0}".format(l))
+
+        sgname = dat.group(1)
+        start_bit = int(dat.group(go+2))
+        signal_size = int(dat.group(go+3))
+        is_little_endian = int(dat.group(go+4))==1
+        is_signed = dat.group(go+5)=='-'
+        factor = int_or_float(dat.group(go+6))
+        offset = int_or_float(dat.group(go+7))
+        tmin = int_or_float(dat.group(go+8))
+        tmax = int_or_float(dat.group(go+9))
+        units = dat.group(go+10)
+
+        self.msgs[ids][1].append(
+          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
+                    is_signed, factor, offset, tmin, tmax, units))
+
+      if l.startswith("VAL_ "):
+        # new signal value/definition
+        dat = val_regexp.match(l)
+
+        if dat is None:
+          print("bad VAL {0}".format(l))
+
+        ids = int(dat.group(1), 0) # could be hex
+        sgname = dat.group(2)
+        defvals = dat.group(3)
+
+        defvals = defvals.replace("?",r"\?") #escape sequence in C++
+        defvals = defvals.split('"')[:-1]
+
+        # convert strings to UPPER_CASE_WITH_UNDERSCORES
+        defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
+        defvals = '"'+"".join(str(i) for i in defvals)+'"'
+
+        self.def_vals[ids].append((sgname, defvals))
+
+    for msg in self.msgs.values():
+      msg[1].sort(key=lambda x: x.start_bit)
+
+    self.msg_name_to_address = {}
+    for address, m in self.msgs.items():
+      name = m[0][0]
+      self.msg_name_to_address[name] = address
+
+  def lookup_msg_id(self, msg_id):
+    if not isinstance(msg_id, numbers.Number):
+      msg_id = self.msg_name_to_address[msg_id]
+    return msg_id
+
+  def reverse_bytes(self, x):
+    return ((x & 0xff00000000000000) >> 56) | \
+           ((x & 0x00ff000000000000) >> 40) | \
+           ((x & 0x0000ff0000000000) >> 24) | \
+           ((x & 0x000000ff00000000) >> 8) | \
+           ((x & 0x00000000ff000000) << 8) | \
+           ((x & 0x0000000000ff0000) << 24) | \
+           ((x & 0x000000000000ff00) << 40) | \
+           ((x & 0x00000000000000ff) << 56)
+
+  def encode(self, msg_id, dd):
+    """Encode a CAN message using the dbc.
+
+       Inputs:
+        msg_id: The message ID.
+        dd: A dictionary mapping signal name to signal data.
+    """
+    msg_id = self.lookup_msg_id(msg_id)
+
+    msg_def = self.msgs[msg_id]
+    size = msg_def[0][1]
+
+    result = 0
+    for s in msg_def[1]:
+      ival = dd.get(s.name)
+      if ival is not None:
+
+        ival = (ival / s.factor) - s.offset
+        ival = int(round(ival))
+
+        if s.is_signed and ival < 0:
+          ival = (1 << s.size) + ival
+
+        if s.is_little_endian:
+          shift = s.start_bit
+        else:
+          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
+          shift = 64 - (b1 + s.size)
+
+        mask = ((1 << s.size) - 1) << shift
+        dat = (ival & ((1 << s.size) - 1)) << shift
+
+        if s.is_little_endian:
+          mask = self.reverse_bytes(mask)
+          dat = self.reverse_bytes(dat)
+
+        result &= ~mask
+        result |= dat
+
+    result = struct.pack('>Q', result)
+    return result[:size]
+
+  def decode(self, x, arr=None, debug=False):
+    """Decode a CAN message using the dbc.
+
+       Inputs:
+        x: A collection with elements (address, time, data), where address is
+           the CAN address, time is the bus time, and data is the CAN data as a
+           hex string.
+        arr: Optional list of signals which should be decoded and returned.
+        debug: True to print debugging statements.
+
+       Returns:
+        A tuple (name, data), where name is the name of the CAN message and data
+        is the decoded result. If arr is None, data is a dict of properties.
+        Otherwise data is a list of the same length as arr.
+
+        Returns (None, None) if the message could not be decoded.
+    """
+
+    if arr is None:
+      out = {}
+    else:
+      out = [None]*len(arr)
+
+    msg = self.msgs.get(x[0])
+    if msg is None:
+      if x[0] not in self._warned_addresses:
+        #print("WARNING: Unknown message address {}".format(x[0]))
+        self._warned_addresses.add(x[0])
+      return None, None
+
+    name = msg[0][0]
+    if debug:
+      print(name)
+
+    st = x[2].ljust(8, b'\x00')
+    le, be = None, None
+
+    for s in msg[1]:
+      if arr is not None and s[0] not in arr:
+        continue
+
+      start_bit = s[1]
+      signal_size = s[2]
+      little_endian = s[3]
+      signed = s[4]
+      factor = s[5]
+      offset = s[6]
+
+      if little_endian:
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        tmp = le
+        shift_amount = start_bit
+      else:
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        tmp = be
+        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
+        shift_amount = 64 - (b1 + signal_size)
+
+      if shift_amount < 0:
+        continue
+
+      tmp = (tmp >> shift_amount) & ((1 << signal_size) - 1)
+      if signed and (tmp >> (signal_size - 1)):
+        tmp -= (1 << signal_size)
+
+      tmp = tmp * factor + offset
+
+      # if debug:
+      #   print("%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1]))
+
+      if arr is None:
+        out[s[0]] = tmp
+      else:
+        out[arr.index(s[0])] = tmp
+    return name, out
+
+  def get_signals(self, msg):
+    msg = self.lookup_msg_id(msg)
+    return [sgs.name for sgs in self.msgs[msg][1]]
+
+
+if __name__ == "__main__":
+   from opendbc import DBC_PATH
+
+   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
+   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x25, 0, encoded))
+   assert decoded == msg
+
+   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
+   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
+   assert abs(decoded[1]['SAS_Angle'] - (-26.2)) < 0.001
+
+   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x2b0, 0, encoded))
+
+   assert decoded == msg

opendbc/can/dbc_out/.gitignore

@@ -0,0 +1,2 @@
+*.cc
+

opendbc/can/dbc_template.cc

@@ -0,0 +1,81 @@
+#include "common_dbc.h"
+
+namespace {
+
+{% for address, msg_name, msg_size, sigs in msgs %}
+const Signal sigs_{{address}}[] = {
+  {% for sig in sigs %}
+    {
+      {% if sig.is_little_endian %}
+        {% set b1 = sig.start_bit %}
+      {% else %}
+        {% set b1 = (sig.start_bit//8)*8  + (-sig.start_bit-1) % 8 %}
+      {% endif %}
+      .name = "{{sig.name}}",
+      .b1 = {{b1}},
+      .b2 = {{sig.size}},
+      .bo = {{64 - (b1 + sig.size)}},
+      .is_signed = {{"true" if sig.is_signed else "false"}},
+      .factor = {{sig.factor}},
+      .offset = {{sig.offset}},
+      .is_little_endian = {{"true" if sig.is_little_endian else "false"}},
+      {% if checksum_type == "honda" and sig.name == "CHECKSUM" %}
+      .type = SignalType::HONDA_CHECKSUM,
+      {% elif checksum_type == "honda" and sig.name == "COUNTER" %}
+      .type = SignalType::HONDA_COUNTER,
+      {% elif checksum_type == "toyota" and sig.name == "CHECKSUM" %}
+      .type = SignalType::TOYOTA_CHECKSUM,
+      {% elif checksum_type == "volkswagen" and sig.name == "CHECKSUM" %}
+      .type = SignalType::VOLKSWAGEN_CHECKSUM,
+      {% elif checksum_type == "volkswagen" and sig.name == "COUNTER" %}
+      .type = SignalType::VOLKSWAGEN_COUNTER,
+      {% elif address in [512, 513] and sig.name == "CHECKSUM_PEDAL" %}
+      .type = SignalType::PEDAL_CHECKSUM,
+      {% elif address in [512, 513] and sig.name == "COUNTER_PEDAL" %}
+      .type = SignalType::PEDAL_COUNTER,
+      {% else %}
+      .type = SignalType::DEFAULT,
+      {% endif %}
+    },
+  {% endfor %}
+};
+{% endfor %}
+
+const Msg msgs[] = {
+{% for address, msg_name, msg_size, sigs in msgs %}
+  {% set address_hex = "0x%X" % address %}
+  {
+    .name = "{{msg_name}}",
+    .address = {{address_hex}},
+    .size = {{msg_size}},
+    .num_sigs = ARRAYSIZE(sigs_{{address}}),
+    .sigs = sigs_{{address}},
+  },
+{% endfor %}
+};
+
+const Val vals[] = {
+{% for address, sig in def_vals %}
+  {% for sg_name, def_val in sig %}
+    {% set address_hex = "0x%X" % address %}
+    {
+      .name = "{{sg_name}}",
+      .address = {{address_hex}},
+      .def_val = {{def_val}},
+      .sigs = sigs_{{address}},
+    },
+  {% endfor %}
+{% endfor %}
+};
+
+}
+
+const DBC {{dbc.name}} = {
+  .name = "{{dbc.name}}",
+  .num_msgs = ARRAYSIZE(msgs),
+  .msgs = msgs,
+  .vals = vals,
+  .num_vals = ARRAYSIZE(vals),
+};
+
+dbc_init({{dbc.name}})

opendbc/can/packer.cc

@@ -0,0 +1,108 @@
+#include <cassert>
+#include <utility>
+#include <algorithm>
+#include <map>
+#include <cmath>
+
+#include "common.h"
+
+#define WARN printf
+
+// this is the same as read_u64_le, but uses uint64_t as in/out
+uint64_t ReverseBytes(uint64_t x) {
+  return ((x & 0xff00000000000000ull) >> 56) |
+          ((x & 0x00ff000000000000ull) >> 40) |
+          ((x & 0x0000ff0000000000ull) >> 24) |
+          ((x & 0x000000ff00000000ull) >> 8) |
+          ((x & 0x00000000ff000000ull) << 8) |
+          ((x & 0x0000000000ff0000ull) << 24) |
+          ((x & 0x000000000000ff00ull) << 40) |
+          ((x & 0x00000000000000ffull) << 56);
+}
+
+uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
+  int shift = sig.is_little_endian? sig.b1 : sig.bo;
+  uint64_t mask = ((1ULL << sig.b2)-1) << shift;
+  uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
+  if (sig.is_little_endian) {
+    dat = ReverseBytes(dat);
+    mask = ReverseBytes(mask);
+  }
+  ret &= ~mask;
+  ret |= dat;
+  return ret;
+}
+
+CANPacker::CANPacker(const std::string& dbc_name) {
+  dbc = dbc_lookup(dbc_name);
+  assert(dbc);
+
+  for (int i=0; i<dbc->num_msgs; i++) {
+    const Msg* msg = &dbc->msgs[i];
+    message_lookup[msg->address] = *msg;
+    for (int j=0; j<msg->num_sigs; j++) {
+      const Signal* sig = &msg->sigs[j];
+      signal_lookup[std::make_pair(msg->address, std::string(sig->name))] = *sig;
+    }
+  }
+  init_crc_lookup_tables();
+}
+
+uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter) {
+  uint64_t ret = 0;
+  for (const auto& sigval : signals) {
+    std::string name = std::string(sigval.name);
+    double value = sigval.value;
+
+    auto sig_it = signal_lookup.find(std::make_pair(address, name));
+    if (sig_it == signal_lookup.end()) {
+      WARN("undefined signal %s - %d\n", name.c_str(), address);
+      continue;
+    }
+    auto sig = sig_it->second;
+
+    int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
+    if (ival < 0) {
+      ival = (1ULL << sig.b2) + ival;
+    }
+
+    ret = set_value(ret, sig, ival);
+  }
+
+  if (counter >= 0){
+    auto sig_it = signal_lookup.find(std::make_pair(address, "COUNTER"));
+    if (sig_it == signal_lookup.end()) {
+      WARN("COUNTER not defined\n");
+      return ret;
+    }
+    auto sig = sig_it->second;
+
+    if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
+      WARN("COUNTER signal type not valid\n");
+    }
+
+    ret = set_value(ret, sig, counter);
+  }
+
+  auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
+  if (sig_it_checksum != signal_lookup.end()) {
+    auto sig = sig_it_checksum->second;
+    if (sig.type == SignalType::HONDA_CHECKSUM) {
+      unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
+      unsigned int chksm = toyota_checksum(address, ret, message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
+      // FIXME: Hackish fix for an endianness issue. The message is in reverse byte order
+      // until later in the pack process. Checksums can be run backwards, CRCs not so much.
+      // The correct fix is unclear but this works for the moment.
+      unsigned int chksm = volkswagen_crc(address, ReverseBytes(ret), message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
+    } else {
+      //WARN("CHECKSUM signal type not valid\n");
+    }
+  }
+
+  return ret;
+}

opendbc/can/packer.py

@@ -0,0 +1,3 @@
+# pylint: skip-file
+from opendbc.can.packer_pyx import CANPacker
+assert CANPacker

opendbc/can/packer_pyx.pyx

@@ -0,0 +1,67 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libc.stdint cimport uint32_t, uint64_t
+from libcpp.vector cimport vector
+from libcpp.map cimport map
+from libcpp.string cimport string
+from libcpp cimport bool
+from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
+
+from common cimport CANPacker as cpp_CANPacker
+from common cimport dbc_lookup, SignalPackValue, DBC
+
+
+cdef class CANPacker:
+  cdef:
+    cpp_CANPacker *packer
+    const DBC *dbc
+    map[string, (int, int)] name_to_address_and_size
+    map[int, int] address_to_size
+
+  def __init__(self, dbc_name):
+    self.packer = new cpp_CANPacker(dbc_name)
+    self.dbc = dbc_lookup(dbc_name)
+
+    num_msgs = self.dbc[0].num_msgs
+    for i in range(num_msgs):
+      msg = self.dbc[0].msgs[i]
+      self.name_to_address_and_size[string(msg.name)] = (msg.address, msg.size)
+      self.address_to_size[msg.address] = msg.size
+
+  cdef uint64_t pack(self, addr, values, counter):
+    cdef vector[SignalPackValue] values_thing
+    cdef SignalPackValue spv
+
+    names = []
+
+    for name, value in values.iteritems():
+      n = name.encode('utf8')
+      names.append(n) # TODO: find better way to keep reference to temp string arround
+
+      spv.name = n
+      spv.value = value
+      values_thing.push_back(spv)
+
+    return self.packer.pack(addr, values_thing, counter)
+
+  cdef inline uint64_t ReverseBytes(self, uint64_t x):
+    return (((x & 0xff00000000000000ull) >> 56) |
+           ((x & 0x00ff000000000000ull) >> 40) |
+           ((x & 0x0000ff0000000000ull) >> 24) |
+           ((x & 0x000000ff00000000ull) >> 8) |
+           ((x & 0x00000000ff000000ull) << 8) |
+           ((x & 0x0000000000ff0000ull) << 24) |
+           ((x & 0x000000000000ff00ull) << 40) |
+           ((x & 0x00000000000000ffull) << 56))
+
+  cpdef make_can_msg(self, name_or_addr, bus, values, counter=-1):
+    cdef int addr, size
+    if type(name_or_addr) == int:
+      addr = name_or_addr
+      size = self.address_to_size[name_or_addr]
+    else:
+      addr, size = self.name_to_address_and_size[name_or_addr.encode('utf8')]
+    cdef uint64_t val = self.pack(addr, values, counter)
+    val = self.ReverseBytes(val)
+    return [addr, 0, (<char *>&val)[:size], bus]

opendbc/can/packer_pyx_setup.py

@@ -0,0 +1,60 @@
+import os
+import sysconfig
+import subprocess
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
+from Cython.Build import cythonize
+from Cython.Distutils import build_ext
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
+
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
+
+
+sourcefiles = ['packer_pyx.pyx']
+extra_compile_args = ["-std=c++11"]
+ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
+
+if ARCH == "aarch64":
+  extra_compile_args += ["-Wno-deprecated-register"]
+
+
+setup(name='CAN packer',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "packer_pyx",
+          language="c++",
+          sources=sourcefiles,
+          extra_compile_args=extra_compile_args,
+          include_dirs=[
+            BASEDIR,
+            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+          ],
+          extra_link_args=[
+            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
+          ],
+        )
+      ),
+      nthreads=4,
+)

opendbc/can/parser.cc

@@ -0,0 +1,239 @@
+#include <cassert>
+#include <cstring>
+
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <sys/mman.h>
+#include <algorithm>
+
+#include "common.h"
+
+#define DEBUG(...)
+// #define DEBUG printf
+#define INFO printf
+
+
+bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
+  uint64_t dat_le = read_u64_le(dat);
+  uint64_t dat_be = read_u64_be(dat);
+
+  for (int i=0; i < parse_sigs.size(); i++) {
+    auto& sig = parse_sigs[i];
+    int64_t tmp;
+
+    if (sig.is_little_endian){
+      tmp = (dat_le >> sig.b1) & ((1ULL << sig.b2)-1);
+    } else {
+      tmp = (dat_be >> sig.bo) & ((1ULL << sig.b2)-1);
+    }
+
+    if (sig.is_signed) {
+      tmp -= (tmp >> (sig.b2-1)) ? (1ULL << sig.b2) : 0; //signed
+    }
+
+    DEBUG("parse 0x%X %s -> %lld\n", address, sig.name, tmp);
+
+    if (sig.type == SignalType::HONDA_CHECKSUM) {
+      if (honda_checksum(address, dat_be, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
+    } else if (sig.type == SignalType::HONDA_COUNTER) {
+      if (!update_counter_generic(tmp, sig.b2)) {
+        return false;
+      }
+    } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
+      if (toyota_checksum(address, dat_be, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
+    } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
+      if (volkswagen_crc(address, dat_le, size) != tmp) {
+        INFO("0x%X CRC FAIL\n", address);
+        return false;
+      }
+    } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+        if (!update_counter_generic(tmp, sig.b2)) {
+        return false;
+      }
+    } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
+      if (pedal_checksum(dat_be, size) != tmp) {
+        INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
+        return false;
+      }
+    } else if (sig.type == SignalType::PEDAL_COUNTER) {
+      if (!update_counter_generic(tmp, sig.b2)) {
+        return false;
+      }
+    }
+
+    vals[i] = tmp * sig.factor + sig.offset;
+  }
+  ts = ts_;
+  seen = sec;
+
+  return true;
+}
+
+
+bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
+  uint8_t old_counter = counter;
+  counter = v;
+  if (((old_counter+1) & ((1 << cnt_size) -1)) != v) {
+    counter_fail += 1;
+    if (counter_fail > 1) {
+      INFO("0x%X COUNTER FAIL %d -- %d vs %d\n", address, counter_fail, old_counter, (int)v);
+    }
+    if (counter_fail >= MAX_BAD_COUNTER) {
+      return false;
+    }
+  } else if (counter_fail > 0) {
+    counter_fail--;
+  }
+  return true;
+}
+
+
+CANParser::CANParser(int abus, const std::string& dbc_name,
+          const std::vector<MessageParseOptions> &options,
+          const std::vector<SignalParseOptions> &sigoptions)
+  : bus(abus) {
+
+  dbc = dbc_lookup(dbc_name);
+  assert(dbc);
+  init_crc_lookup_tables();
+
+  for (const auto& op : options) {
+    MessageState state = {
+      .address = op.address,
+      // .check_frequency = op.check_frequency,
+    };
+
+    // msg is not valid if a message isn't received for 10 consecutive steps
+    if (op.check_frequency > 0) {
+      state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
+    }
+
+
+    const Msg* msg = NULL;
+    for (int i=0; i<dbc->num_msgs; i++) {
+      if (dbc->msgs[i].address == op.address) {
+        msg = &dbc->msgs[i];
+        break;
+      }
+    }
+    if (!msg) {
+      fprintf(stderr, "CANParser: could not find message 0x%X in DBC %s\n", op.address, dbc_name.c_str());
+      assert(false);
+    }
+
+    state.size = msg->size;
+
+    // track checksums and counters for this message
+    for (int i=0; i<msg->num_sigs; i++) {
+      const Signal *sig = &msg->sigs[i];
+      if (sig->type != SignalType::DEFAULT) {
+        state.parse_sigs.push_back(*sig);
+        state.vals.push_back(0);
+      }
+    }
+
+    // track requested signals for this message
+    for (const auto& sigop : sigoptions) {
+      if (sigop.address != op.address) continue;
+
+      for (int i=0; i<msg->num_sigs; i++) {
+        const Signal *sig = &msg->sigs[i];
+        if (strcmp(sig->name, sigop.name) == 0
+            && sig->type == SignalType::DEFAULT) {
+          state.parse_sigs.push_back(*sig);
+          state.vals.push_back(sigop.default_value);
+          break;
+        }
+      }
+
+    }
+
+    message_states[state.address] = state;
+  }
+}
+
+void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
+    int msg_count = cans.size();
+    uint64_t p;
+
+    DEBUG("got %d messages\n", msg_count);
+
+    // parse the messages
+    for (int i = 0; i < msg_count; i++) {
+      auto cmsg = cans[i];
+      if (cmsg.getSrc() != bus) {
+        // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
+        continue;
+      }
+      auto state_it = message_states.find(cmsg.getAddress());
+      if (state_it == message_states.end()) {
+        // DEBUG("skip %d: not specified\n", cmsg.getAddress());
+        continue;
+      }
+
+      if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen
+      uint8_t dat[8] = {0};
+      memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
+
+      state_it->second.parse(sec, cmsg.getBusTime(), dat);
+    }
+}
+
+void CANParser::UpdateValid(uint64_t sec) {
+  can_valid = true;
+  for (const auto& kv : message_states) {
+    const auto& state = kv.second;
+    if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
+      if (state.seen > 0) {
+        DEBUG("0x%X TIMEOUT\n", state.address);
+      }
+      can_valid = false;
+    }
+  }
+}
+
+void CANParser::update_string(std::string data, bool sendcan) {
+  // format for board, make copy due to alignment issues, will be freed on out of scope
+  auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
+  memcpy(amsg.begin(), data.data(), data.length());
+
+  // extract the messages
+  capnp::FlatArrayMessageReader cmsg(amsg);
+  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+
+  last_sec = event.getLogMonoTime();
+
+  auto cans = sendcan? event.getSendcan() : event.getCan();
+  UpdateCans(last_sec, cans);
+
+  UpdateValid(last_sec);
+}
+
+
+std::vector<SignalValue> CANParser::query_latest() {
+  std::vector<SignalValue> ret;
+
+  for (const auto& kv : message_states) {
+    const auto& state = kv.second;
+    if (last_sec != 0 && state.seen != last_sec) continue;
+
+    for (int i=0; i<state.parse_sigs.size(); i++) {
+      const Signal &sig = state.parse_sigs[i];
+      ret.push_back((SignalValue){
+        .address = state.address,
+        .ts = state.ts,
+        .name = sig.name,
+        .value = state.vals[i],
+      });
+    }
+  }
+
+  return ret;
+}

opendbc/can/parser.py

@@ -0,0 +1,2 @@
+from opendbc.can.parser_pyx import CANParser # pylint: disable=no-name-in-module, import-error
+assert CANParser

opendbc/can/parser_pyx.pyx

@@ -0,0 +1,188 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libcpp cimport bool
+from libcpp.unordered_set cimport unordered_set
+from libc.stdint cimport uint32_t, uint64_t, uint16_t
+from libcpp.map cimport map
+
+from collections import defaultdict
+
+from common cimport CANParser as cpp_CANParser
+from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
+
+
+from libcpp cimport bool
+import os
+import numbers
+
+cdef int CAN_INVALID_CNT = 5
+
+
+cdef class CANParser:
+  cdef:
+    cpp_CANParser *can
+    const DBC *dbc
+    map[string, uint32_t] msg_name_to_address
+    map[uint32_t, string] address_to_msg_name
+    vector[SignalValue] can_values
+    bool test_mode_enabled
+
+  cdef public:
+    string dbc_name
+    dict vl
+    dict ts
+    bool can_valid
+    int can_invalid_cnt
+
+  def __init__(self, dbc_name, signals, checks=None, bus=0):
+    if checks is None:
+      checks = []
+
+    self.can_valid = True
+    self.dbc_name = dbc_name
+    self.dbc = dbc_lookup(dbc_name)
+    self.vl = {}
+    self.ts = {}
+
+    self.can_invalid_cnt = CAN_INVALID_CNT
+
+    num_msgs = self.dbc[0].num_msgs
+    for i in range(num_msgs):
+      msg = self.dbc[0].msgs[i]
+      name = msg.name.decode('utf8')
+
+      self.msg_name_to_address[name] = msg.address
+      self.address_to_msg_name[msg.address] = name
+      self.vl[msg.address] = {}
+      self.vl[name] = {}
+      self.ts[msg.address] = {}
+      self.ts[name] = {}
+
+    # Convert message names into addresses
+    for i in range(len(signals)):
+      s = signals[i]
+      if not isinstance(s[1], numbers.Number):
+        name = s[1].encode('utf8')
+        s = (s[0], self.msg_name_to_address[name], s[2])
+        signals[i] = s
+
+    for i in range(len(checks)):
+      c = checks[i]
+      if not isinstance(c[0], numbers.Number):
+        name = c[0].encode('utf8')
+        c = (self.msg_name_to_address[name], c[1])
+        checks[i] = c
+
+    cdef vector[SignalParseOptions] signal_options_v
+    cdef SignalParseOptions spo
+    for sig_name, sig_address, sig_default in signals:
+      spo.address = sig_address
+      spo.name = sig_name
+      spo.default_value = sig_default
+      signal_options_v.push_back(spo)
+
+    message_options = dict((address, 0) for _, address, _ in signals)
+    message_options.update(dict(checks))
+
+    cdef vector[MessageParseOptions] message_options_v
+    cdef MessageParseOptions mpo
+    for msg_address, freq in message_options.items():
+      mpo.address = msg_address
+      mpo.check_frequency = freq
+      message_options_v.push_back(mpo)
+
+    self.can = new cpp_CANParser(bus, dbc_name, message_options_v, signal_options_v)
+    self.update_vl()
+
+  cdef unordered_set[uint32_t] update_vl(self):
+    cdef string sig_name
+    cdef unordered_set[uint32_t] updated_val
+
+    can_values = self.can.query_latest()
+    valid = self.can.can_valid
+
+    # Update invalid flag
+    self.can_invalid_cnt += 1
+    if valid:
+        self.can_invalid_cnt = 0
+    self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
+
+
+    for cv in can_values:
+      # Cast char * directly to unicde
+      name = <unicode>self.address_to_msg_name[cv.address].c_str()
+      cv_name = <unicode>cv.name
+
+      self.vl[cv.address][cv_name] = cv.value
+      self.ts[cv.address][cv_name] = cv.ts
+
+      self.vl[name][cv_name] = cv.value
+      self.ts[name][cv_name] = cv.ts
+
+      updated_val.insert(cv.address)
+
+    return updated_val
+
+  def update_string(self, dat, sendcan=False):
+    self.can.update_string(dat, sendcan)
+    return self.update_vl()
+
+  def update_strings(self, strings, sendcan=False):
+    updated_vals = set()
+
+    for s in strings:
+      updated_val = self.update_string(s, sendcan)
+      updated_vals.update(updated_val)
+
+    return updated_vals
+
+cdef class CANDefine():
+  cdef:
+    const DBC *dbc
+
+  cdef public:
+    dict dv
+    string dbc_name
+
+  def __init__(self, dbc_name):
+    self.dbc_name = dbc_name
+    self.dbc = dbc_lookup(dbc_name)
+
+    num_vals = self.dbc[0].num_vals
+
+    address_to_msg_name = {}
+
+    num_msgs = self.dbc[0].num_msgs
+    for i in range(num_msgs):
+      msg = self.dbc[0].msgs[i]
+      name = msg.name.decode('utf8')
+      address = msg.address
+      address_to_msg_name[address] = name
+
+    dv = defaultdict(dict)
+
+    for i in range(num_vals):
+      val = self.dbc[0].vals[i]
+
+      sgname = val.name.decode('utf8')
+      address = val.address
+      def_val = val.def_val.decode('utf8')
+
+      #separate definition/value pairs
+      def_val = def_val.split()
+      values = [int(v) for v in def_val[::2]]
+      defs = def_val[1::2]
+
+      if address not in dv:
+        dv[address] = {}
+        msgname = address_to_msg_name[address]
+        dv[msgname] = {}
+
+      # two ways to lookup: address or msg name
+      dv[address][sgname] = dict(zip(values, defs))
+      dv[msgname][sgname] = dv[address][sgname]
+
+      self.dv = dict(dv)

opendbc/can/parser_pyx_setup.py

@@ -0,0 +1,59 @@
+import os
+import subprocess
+import sysconfig
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
+from Cython.Build import cythonize
+from Cython.Distutils import build_ext
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
+
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
+
+
+sourcefiles = ['parser_pyx.pyx']
+extra_compile_args = ["-std=c++11"]
+ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
+
+if ARCH == "aarch64":
+  extra_compile_args += ["-Wno-deprecated-register"]
+
+setup(name='CAN parser',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "parser_pyx",
+          language="c++",
+          sources=sourcefiles,
+          extra_compile_args=extra_compile_args,
+          include_dirs=[
+            BASEDIR,
+            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+          ],
+          extra_link_args=[
+            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
+          ],
+        )
+      ),
+      nthreads=4,
+)

opendbc/can/process_dbc.py

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+from __future__ import print_function
+import os
+import sys
+
+import jinja2
+
+from collections import Counter
+from opendbc.can.dbc import dbc
+
+def process(in_fn, out_fn):
+  dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
+  #print("processing %s: %s -> %s" % (dbc_name, in_fn, out_fn))
+
+  template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")
+
+  with open(template_fn, "r") as template_f:
+    template = jinja2.Template(template_f.read(), trim_blocks=True, lstrip_blocks=True)
+
+  can_dbc = dbc(in_fn)
+
+  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
+          for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
+
+  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()} # remove duplicates
+  def_vals = sorted(def_vals.items())
+
+  if can_dbc.name.startswith(("honda_", "acura_")):
+    checksum_type = "honda"
+    checksum_size = 4
+    counter_size = 2
+    checksum_start_bit = 3
+    counter_start_bit = 5
+    little_endian = False
+  elif can_dbc.name.startswith(("toyota_", "lexus_")):
+    checksum_type = "toyota"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 7
+    counter_start_bit = None
+    little_endian = False
+  elif can_dbc.name.startswith(("vw_", "volkswagen_", "audi_", "seat_", "skoda_")):
+    checksum_type = "volkswagen"
+    checksum_size = 8
+    counter_size = 4
+    checksum_start_bit = 0
+    counter_start_bit = 0
+    little_endian = True
+  else:
+    checksum_type = None
+    checksum_size = None
+    counter_size = None
+    checksum_start_bit = None
+    counter_start_bit = None
+    little_endian = None
+
+  # sanity checks on expected COUNTER and CHECKSUM rules, as packer and parser auto-compute those signals
+  for address, msg_name, msg_size, sigs in msgs:
+    dbc_msg_name = dbc_name + " " + msg_name
+    for sig in sigs:
+      if checksum_type is not None:
+        # checksum rules
+        if sig.name == "CHECKSUM":
+          if sig.size != checksum_size:
+            sys.exit("%s: CHECKSUM is not %d bits long" % (dbc_msg_name, checksum_size))
+          if sig.start_bit % 8 != checksum_start_bit:
+            sys.exit("%s: CHECKSUM starts at wrong bit" % dbc_msg_name)
+          if little_endian != sig.is_little_endian:
+            sys.exit("%s: CHECKSUM has wrong endianess" % dbc_msg_name)
+        # counter rules
+        if sig.name == "COUNTER":
+          if counter_size is not None and sig.size != counter_size:
+            sys.exit("%s: COUNTER is not %d bits long" % (dbc_msg_name, counter_size))
+          if counter_start_bit is not None and sig.start_bit % 8 != counter_start_bit:
+            print(counter_start_bit, sig.start_bit)
+            sys.exit("%s: COUNTER starts at wrong bit" % dbc_msg_name)
+          if little_endian != sig.is_little_endian:
+            sys.exit("%s: COUNTER has wrong endianess" % dbc_msg_name)
+      # pedal rules
+      if address in [0x200, 0x201]:
+        if sig.name == "COUNTER_PEDAL" and sig.size != 4:
+          sys.exit("%s: PEDAL COUNTER is not 4 bits long" % dbc_msg_name)
+        if sig.name == "CHECKSUM_PEDAL" and sig.size != 8:
+          sys.exit("%s: PEDAL CHECKSUM is not 8 bits long" % dbc_msg_name)
+
+  # Fail on duplicate message names
+  c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
+  for name, count in c.items():
+    if count > 1:
+      sys.exit("%s: Duplicate message name in DBC file %s" % (dbc_name, name))
+
+  parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
+
+  with open(out_fn, "w") as out_f:
+    out_f.write(parser_code)
+
+def main():
+  if len(sys.argv) != 3:
+    print("usage: %s dbc_directory output_filename" % (sys.argv[0],))
+    sys.exit(0)
+
+  dbc_dir = sys.argv[1]
+  out_fn = sys.argv[2]
+
+  dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
+  in_fn = os.path.join(dbc_dir, dbc_name + '.dbc')
+
+  process(in_fn, out_fn)
+
+if __name__ == '__main__':
+  main()
+

opendbc/can/tests/.gitignore

@@ -0,0 +1 @@
+*.bz2

opendbc/can/tests/linter_python/.pylintrc

@@ -0,0 +1,585 @@
+[MASTER]
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code
+extension-pkg-whitelist=scipy
+
+# Add files or directories to the blacklist. They should be base names, not
+# paths.
+ignore=CVS
+
+# Add files or directories matching the regex patterns to the blacklist. The
+# regex matches against base names, not paths.
+ignore-patterns=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint.
+jobs=4
+
+# List of plugins (as comma separated values of python modules names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Specify a configuration file.
+#rcfile=
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=print-statement,
+        parameter-unpacking,
+        unpacking-in-except,
+        old-raise-syntax,
+        backtick,
+        long-suffix,
+        old-ne-operator,
+        old-octal-literal,
+        import-star-module-level,
+        non-ascii-bytes-literal,
+        raw-checker-failed,
+        bad-inline-option,
+        locally-disabled,
+        locally-enabled,
+        file-ignored,
+        suppressed-message,
+        useless-suppression,
+        deprecated-pragma,
+        apply-builtin,
+        basestring-builtin,
+        buffer-builtin,
+        cmp-builtin,
+        coerce-builtin,
+        execfile-builtin,
+        file-builtin,
+        long-builtin,
+        raw_input-builtin,
+        reduce-builtin,
+        standarderror-builtin,
+        unicode-builtin,
+        xrange-builtin,
+        coerce-method,
+        delslice-method,
+        getslice-method,
+        setslice-method,
+        no-absolute-import,
+        old-division,
+        dict-iter-method,
+        dict-view-method,
+        next-method-called,
+        metaclass-assignment,
+        indexing-exception,
+        raising-string,
+        reload-builtin,
+        oct-method,
+        hex-method,
+        nonzero-method,
+        cmp-method,
+        input-builtin,
+        round-builtin,
+        intern-builtin,
+        unichr-builtin,
+        map-builtin-not-iterating,
+        zip-builtin-not-iterating,
+        range-builtin-not-iterating,
+        filter-builtin-not-iterating,
+        using-cmp-argument,
+        eq-without-hash,
+        div-method,
+        idiv-method,
+        rdiv-method,
+        exception-message-attribute,
+        invalid-str-codec,
+        sys-max-int,
+        bad-python3-import,
+        deprecated-string-function,
+        deprecated-str-translate-call,
+        deprecated-itertools-function,
+        deprecated-types-field,
+        next-method-defined,
+        dict-items-not-iterating,
+        dict-keys-not-iterating,
+        dict-values-not-iterating,
+        bad-indentation,
+        line-too-long,
+        missing-docstring,
+        multiple-statements,
+        bad-continuation,
+        invalid-name,
+        too-many-arguments,
+        too-many-locals,
+        superfluous-parens,
+        bad-whitespace,
+        too-many-instance-attributes,
+        wrong-import-position,
+        ungrouped-imports,
+        wrong-import-order,
+        protected-access,
+        trailing-whitespace,
+        too-many-branches,
+        too-few-public-methods,
+        too-many-statements,
+        trailing-newlines,
+        attribute-defined-outside-init,
+        too-many-return-statements,
+        too-many-public-methods,
+        unused-argument,
+        old-style-class,
+        no-init,
+        len-as-condition,
+        unneeded-not,
+        no-self-use,
+        multiple-imports,
+        no-else-return,
+        logging-not-lazy,
+        fixme,
+        redefined-outer-name,
+        unused-variable,
+        unsubscriptable-object,
+        expression-not-assigned,
+        too-many-boolean-expressions,
+        consider-using-ternary,
+        invalid-unary-operand-type,
+        relative-import,
+        deprecated-lambda
+
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[REPORTS]
+
+# Python expression which should return a note less than 10 (10 is the highest
+# note). You have access to the variables errors warning, statement which
+# respectively contain the number of errors / warnings messages and the total
+# number of statements analyzed. This is used by the global evaluation report
+# (RP0004).
+evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details
+#msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio).You can also give a reporter class, eg
+# mypackage.mymodule.MyReporterClass.
+output-format=text
+
+# Tells whether to display a full report or only the messages
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=optparse.Values,sys.exit
+
+
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it working
+# install python-enchant package.
+spelling-dict=
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to indicated private dictionary in
+# --spelling-private-dict-file option instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+
+[SIMILARITIES]
+
+# Ignore comments when computing similarities.
+ignore-comments=yes
+
+# Ignore docstrings when computing similarities.
+ignore-docstrings=yes
+
+# Ignore imports when computing similarities.
+ignore-imports=no
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis. It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+# showing a hint for a missing member.
+missing-member-max-choices=1
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored. Default to name
+# with leading underscore
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging  or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='  '
+
+# Maximum number of characters on a single line.
+max-line-length=100
+
+# Maximum number of lines in a module
+max-module-lines=1000
+
+# List of optional constructs for which whitespace checking is disabled. `dict-
+# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
+# `trailing-comma` allows a space between comma and closing bracket: (a, ).
+# `empty-line` allows space-only lines.
+no-space-check=trailing-comma,
+               dict-separator
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style
+#argument-rgx=
+
+# Naming style matching correct attribute names
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Naming style matching correct class attribute names
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style
+#class-attribute-rgx=
+
+# Naming style matching correct class names
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-style
+#class-rgx=
+
+# Naming style matching correct constant names
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Include a hint for the correct naming format with invalid-name
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style
+#inlinevar-rgx=
+
+# Naming style matching correct method names
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style
+#method-rgx=
+
+# Naming style matching correct module names
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+property-classes=abc.abstractproperty
+
+# Naming style matching correct variable names
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style
+#variable-rgx=
+
+
+[DESIGN]
+
+# Maximum number of arguments for function / method
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in a if statement
+max-bool-expr=5
+
+# Maximum number of branch for function / method body
+max-branches=12
+
+# Maximum number of locals for function / method body
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body
+max-returns=6
+
+# Maximum number of statements in function / method body
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[CLASSES]
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=mcs
+
+
+[IMPORTS]
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,
+                   TERMIOS,
+                   Bastion,
+                   rexec
+
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
+
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
+
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when being caught. Defaults to
+# "Exception"
+overgeneral-exceptions=Exception

opendbc/can/tests/linter_python/flake8_opendbc.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+
+RESULT=$(python3 -m flake8 --select=F $(find ../../../ -type f | grep "\.py$"))
+if [[ $RESULT  ]]; then
+	echo "Pyflakes found errors in the code. Please fix and try again"
+	echo "$RESULT"
+	exit 1
+fi

opendbc/can/tests/linter_python/pylint_opendbc.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+python3 -m pylint --disable=R,C,W $(find ../../../ -type f | grep "\.py$")
+
+exit_status=$?
+(( res = exit_status & 3 ))
+
+if [[ $res != 0  ]]; then
+	echo "Pylint found errors in the code. Please fix and try again"
+	exit 1
+fi

opendbc/can/tests/test_define.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+import unittest
+
+from opendbc.can.can_define import CANDefine
+
+
+class TestCADNDefine(unittest.TestCase):
+  def test_civic(self):
+
+    dbc_file = "honda_civic_touring_2016_can_generated"
+    defs = CANDefine(dbc_file)
+
+    self.assertDictEqual(defs.dv[399], defs.dv['STEER_STATUS'])
+    self.assertDictEqual(defs.dv[399],
+                         {'STEER_STATUS':
+                          {6: 'TMP_FAULT',
+                           5: 'FAULT_1',
+                           4: 'NO_TORQUE_ALERT_2',
+                           3: 'LOW_SPEED_LOCKOUT',
+                           2: 'NO_TORQUE_ALERT_1',
+                           0: 'NORMAL'}
+                          }
+                         )
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc/can/tests/test_packer_parser.py

@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+
+import unittest
+
+from opendbc.can.parser import CANParser
+from opendbc.can.packer import CANPacker
+import cereal.messaging as messaging
+
+
+# Python implementation so we don't have to depend on boardd
+def can_list_to_can_capnp(can_msgs, msgtype='can'):
+  dat = messaging.new_message()
+  dat.init(msgtype, len(can_msgs))
+
+  for i, can_msg in enumerate(can_msgs):
+    if msgtype == 'sendcan':
+      cc = dat.sendcan[i]
+    else:
+      cc = dat.can[i]
+
+    cc.address = can_msg[0]
+    cc.busTime = can_msg[1]
+    cc.dat = bytes(can_msg[2])
+    cc.src = can_msg[3]
+
+  return dat.to_bytes()
+
+
+class TestCanParserPacker(unittest.TestCase):
+  def test_civic(self):
+
+    dbc_file = "honda_civic_touring_2016_can_generated"
+
+    signals = [
+      ("STEER_TORQUE", "STEERING_CONTROL", 0),
+      ("STEER_TORQUE_REQUEST", "STEERING_CONTROL", 0),
+    ]
+    checks = []
+
+    parser = CANParser(dbc_file, signals, checks, 0)
+    packer = CANPacker(dbc_file)
+
+    idx = 0
+
+    for steer in range(-256, 255):
+      for active in [1, 0]:
+        values = {
+          "STEER_TORQUE": steer,
+          "STEER_TORQUE_REQUEST": active,
+        }
+
+        msgs = packer.make_can_msg("STEERING_CONTROL", 0, values, idx)
+        bts = can_list_to_can_capnp([msgs])
+
+        parser.update_string(bts)
+
+        self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], steer)
+        self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE_REQUEST"], active)
+        self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["COUNTER"], idx % 4)
+
+        idx += 1
+
+  def test_subaru(self):
+    # Subuaru is little endian
+
+    dbc_file = "subaru_global_2017"
+
+    signals = [
+      ("Counter", "ES_LKAS", 0),
+      ("LKAS_Output", "ES_LKAS", 0),
+      ("LKAS_Request", "ES_LKAS", 0),
+      ("SET_1", "ES_LKAS", 0),
+
+    ]
+
+    checks = []
+
+    parser = CANParser(dbc_file, signals, checks, 0)
+    packer = CANPacker(dbc_file)
+
+    idx = 0
+
+    for steer in range(-256, 255):
+      for active in [1, 0]:
+        values = {
+          "Counter": idx,
+          "LKAS_Output": steer,
+          "LKAS_Request": active,
+          "SET_1": 1
+        }
+
+        msgs = packer.make_can_msg("ES_LKAS", 0, values)
+        bts = can_list_to_can_capnp([msgs])
+        parser.update_string(bts)
+
+        self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Output"], steer)
+        self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Request"], active)
+        self.assertAlmostEqual(parser.vl["ES_LKAS"]["SET_1"], 1)
+        self.assertAlmostEqual(parser.vl["ES_LKAS"]["Counter"], idx % 16)
+
+        idx += 1
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc/generator/honda/_bosch_2018.dbc

@@ -91,8 +91,8 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_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

opendbc/generator/honda/acura_ilx_2016_can.dbc

@@ -26,8 +26,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/generator/honda/acura_rdx_2018_can.dbc

@@ -14,8 +14,8 @@ BO_ 392 GEARBOX: 6 XXX
  SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON
 
 BO_ 399 STEER_STATUS: 6 EPS
- SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_civic_touring_2016_can.dbc

@@ -31,8 +31,8 @@ BO_ 330 STEERING_SENSORS: 8 EPS
  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_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

opendbc/generator/honda/honda_crv_touring_2016_can.dbc

@@ -8,8 +8,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
 
 BO_ 399 STEER_STATUS: 6 EPS
- SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON

opendbc/generator/honda/honda_fit_ex_2018_can.dbc

@@ -26,8 +26,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc

@@ -26,8 +26,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/generator/honda/honda_odyssey_exl_2018.dbc

@@ -18,8 +18,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc

@@ -11,8 +11,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-2985|2985] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON

opendbc/generator/honda/honda_pilot_touring_2017_can.dbc

@@ -26,8 +26,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc

@@ -21,8 +21,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/honda_accord_lx15t_2018_can_generated.dbc

@@ -95,8 +95,8 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_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

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -95,8 +95,8 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_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

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -95,8 +95,8 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_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

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -164,7 +164,7 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
@@ -174,10 +174,12 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
@@ -276,8 +278,8 @@ BO_ 330 STEERING_SENSORS: 8 EPS
  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_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

opendbc/honda_clarity_hybrid_2018_can.dbc

@@ -91,8 +91,8 @@ BO_ 380 POWERTRAIN_DATA2: 8 PCM
  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_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

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -95,8 +95,8 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_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

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -95,8 +95,8 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_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

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -253,8 +253,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
 
 BO_ 399 STEER_STATUS: 6 EPS
- SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -271,8 +271,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/honda_fit_hybrid_2018_can_generated.dbc

@@ -265,8 +265,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -95,8 +95,8 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_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

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -263,8 +263,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc

@@ -256,8 +256,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-2985|2985] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON

opendbc/honda_pilot_touring_2017_can_generated.dbc

@@ -271,8 +271,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc

@@ -266,8 +266,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ 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

opendbc/requirements.txt

@@ -0,0 +1,7 @@
+Cython==0.29.14
+flake8==3.7.9
+Jinja2==2.10.3
+pycapnp==0.6.4
+pylint==2.4.3
+pyyaml==5.1.2
+scons==3.1.1

opendbc/subaru_outback_2015_eyesight.dbc

@@ -33,47 +33,47 @@ NS_ :
 
 BS_:
 
-BU_: XXX
+BU_: XXX 0
 
 
 BO_ 2 Steering: 8 XXX
- SG_ NEW_SIGNAL_1 : 31|4@0- (1,0) [0|65535] "" XXX
- SG_ Counter : 25|3@1+ (1,0) [0|15] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 22|3@0+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_6 : 24|1@1+ (1,0) [0|3] "" XXX
  SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ NEW_SIGNAL_6 : 24|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 22|3@0+ (1,0) [0|7] "" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|4@0- (1,0) [0|65535] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 208 G_Sensor: 8 XXX
  SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ _Latitudinal : 16|16@1- (0.0035,1) [0|65535] "" XXX
  SG_ _Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
+ SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 40|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 209 Brake_Pedal: 8 XXX
  SG_ NEW_SIGNAL_1 : 26|1@1+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal : 23|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_2 : 31|1@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
  SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
 
 BO_ 210 Brake_2: 8 XXX
- SG_ NEW_SIGNAL_1 : 46|1@0+ (1,0) [0|4294967295] "" XXX
- SG_ NEW_SIGNAL_2 : 39|3@0+ (1,0) [0|7] "" XXX
  SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Left_Brake : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
  SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 46|1@1+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_2 : 37|3@1+ (1,0) [0|7] "" XXX
 
 BO_ 211 Brake_Type: 8 XXX
- SG_ NEW_SIGNAL_4 : 28|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 7|1@0+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_3 : 7|1@1+ (1,0) [0|4294967295] "" XXX
  SG_ NEW_SIGNAL_2 : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ Speed_Counter : 39|8@0+ (1,0) [0|15] "" XXX
- SG_ Counter : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ Brake_Light : 21|1@0+ (1,0) [0|3] "" XXX
- SG_ Brake_Cruise_On : 42|1@0+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal_On : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 212 Wheel_Speeds: 8 XXX
  SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
@@ -85,72 +85,71 @@ BO_ 320 Throttle: 8 XXX
  SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
  SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
- SG_ Off_Throttle : 30|1@0+ (1,0) [0|3] "" XXX
- SG_ Throttle_Cruise : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ Throttle_Body_ : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|15] "" XXX
- SG_ Not_Full_Throttle : 14|1@0+ (1,0) [0|15] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 63|1@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 61|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
  SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|15] "" XXX
 
-BO_ 321 undefined: 8 XXX
+BO_ 321 Engine: 8 XXX
  SG_ NEW_SIGNAL_7 : 59|2@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_6 : 46|1@0+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_2 : 47|1@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 54|2@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
  SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+ SG_ NEW_SIGNAL_3 : 53|2@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 46|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_8 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
  SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
- SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ Engine_Stop : 15|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 324 CruiseControl: 8 XXX
- SG_ Cruise_On : 48|1@0+ (1,0) [0|3] "" XXX
  SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_BUTTON : 3|1@0+ (1,0) [0|3] "" XXX
- SG_ RES_BUTTON : 4|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_6 : 50|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 28|5@0+ (1,0) [0|16777215] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|1@1+ (1,0) [0|255] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_9 : 15|1@1+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 49|1@0+ (1,0) [0|7] "" XXX
- SG_ Brake_Pedal_On : 51|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 23|8@0+ (1,-124) [0|255] "" XXX
- SG_ Button : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|8@1+ (1,-124) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|5@1+ (1,0) [0|16777215] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_6 : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 328 Transmission: 8 XXX
- SG_ Counter : 11|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 63|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
  SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 31|1@0+ (1,0) [0|3] "" XXX
- SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_5 : 43|1@0+ (1,0) [0|65535] "" XXX
  SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
  SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
  SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 43|1@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
 
 BO_ 329 CVT_Ratio: 8 XXX
- SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 11|4@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 8|4@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 336 Brake_Pressure: 8 XXX
  SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Pressure_Left : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 338 Stalk: 8 XXX
- SG_ Wiper : 62|1@0+ (1,0) [0|3] "" XXX
- SG_ brake_light : 52|1@0+ (1,0) [0|3] "" XXX
- SG_ Headlights : 59|1@0+ (1,0) [0|3] "" XXX
  SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
- SG_ Highbeam : 60|1@0+ (1,0) [0|3] "" XXX
- SG_ Counter : 15|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 342 NEW_MSG_2: 8 XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
+ SG_ brake_light : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 346 Counter_3: 8 XXX
  SG_ Counter : 0|4@1+ (1,0) [0|15] "" XXX
@@ -160,36 +159,40 @@ BO_ 346 Counter_3: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
- SG_ Brake_On : 22|1@0+ (1,0) [0|3] "" XXX
- SG_ Brake_Light : 20|1@0+ (1,0) [0|2047] "" XXX
- SG_ Cruise_Activated : 23|1@0+ (1,0) [0|3] "" XXX
  SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 21|1@0+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX
 
 BO_ 353 ES_CruiseThrottle: 8 XXX
- SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
- SG_ Counter_1 : 46|3@0+ (1,0) [0|15] "" XXX
- SG_ Wheel_stop : 22|1@0+ (1,0) [0|3] "" XXX
- SG_ CloseDistance : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ Unknown : 18|1@1+ (1,0) [0|7] "" XXX
- SG_ Button_Speed_Down : 49|1@1+ (1,0) [0|3] "" XXX
- SG_ Button_Resume : 50|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3_Blank : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2_Blank : 48|1@1+ (1,0) [0|3] "" XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_9 : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activatedish : 16|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_6_Blank : 23|1@0+ (1,0) [0|7] "" XXX
- SG_ DistanceSwap : 21|1@0+ (1,0) [0|3] "" XXX
- SG_ Brake_On : 20|1@0+ (1,0) [0|7] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
  SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Unknown : 18|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|7] "" XXX
+ SG_ DistanceSwap : 21|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
+ SG_ SET_0_1 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ SET_0_2 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ SET_0_3 : 47|1@1+ (1,0) [0|3] "" XXX
+ SG_ SET_0_4 : 43|1@1+ (1,0) [0|3] "" XXX
+ SG_ SET_1 : 23|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ SET_2 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activatedish : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_9 : 17|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 354 ES_RPM: 8 XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
- SG_ Cruise_Activated : 9|1@0+ (1,0) [0|3] "" XXX
- SG_ Checksum : 39|8@0+ (1,0) [0|65535] "" XXX
  SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
  SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|3] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|65535] "" XXX
 
 BO_ 356 ES_LKAS: 8 XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@@ -198,39 +201,39 @@ BO_ 356 ES_LKAS: 8 XXX
  SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
 
 BO_ 358 ES_DashStatus: 8 XXX
- SG_ Counter : 39|3@0+ (1,0) [0|7] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ Cruise_Off : 22|1@0+ (1,0) [0|3] "" XXX
- SG_ Car_Follow : 46|1@1+ (1,0) [0|255] "" XXX
- SG_ Driver_Input : 20|1@0+ (1,0) [0|15] "" XXX
+ SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ 3SecondDisengage : 12|2@1+ (1,0) [0|3] "" XXX
+ SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX
  SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|3] "" XXX
- SG_ Untitled_Blank : 18|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_6_Blank : 21|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4_Blank : 34|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 35|1@0+ (1,0) [0|31] "" XXX
- SG_ Steep_Hill_Disengage : 44|1@0+ (1,0) [0|3] "" XXX
+ SG_ Driver_Input : 20|1@1+ (1,0) [0|15] "" XXX
  SG_ ES_Error : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX
- SG_ Disengage_Alert : 15|2@0+ (1,0) [0|3] "" XXX
- SG_ 3SecondDisengage : 13|2@0+ (1,0) [0|3] "" XXX
- SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 35|1@1+ (1,0) [0|31] "" XXX
+ SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
+ SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ Lead_Car : 46|1@1+ (1,0) [0|255] "" XXX
  SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Distance_Bars : 21|3@1+ (1,0) [0|3] "" XXX
+ SG_ Untitled_Blank_2 : 18|1@1+ (1,0) [0|3] "" XXX
+ SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
 
 BO_ 359 ES_LDW: 8 XXX
- SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
- SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ LKAS_Steer_Active_2017 : 37|1@0+ (1,0) [0|3] "" XXX
- SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
  SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig2All_Depart : 28|1@0+ (1,0) [0|3] "" XXX
- SG_ Sig1All_Depart : 31|1@0+ (1,0) [0|15] "" XXX
  SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
  SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
- SG_ Left_Depart_Front : 51|1@0+ (1,0) [0|3] "" XXX
- SG_ Sig3All_Depart : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
+ SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
 
 BO_ 392 Counter_0: 8 XXX
  SG_ Counter : 16|4@1+ (1,0) [0|15] "" XXX
@@ -238,62 +241,56 @@ BO_ 392 Counter_0: 8 XXX
 BO_ 554 NEW_MSG_3: 8 XXX
  SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
 
-BO_ 604 undefined: 8 XXX
-
 BO_ 640 NEW_MSG_10: 8 XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 54|2@0+ (1,0) [0|15] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 34|2@0+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_6 : 0|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_7 : 38|1@0+ (1,0) [0|3] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 33|2@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 38|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 53|2@1+ (1,0) [0|15] "" XXX
 
 BO_ 642 Dashlights: 8 XXX
  SG_ NEW_SIGNAL_2 : 32|1@1+ (1,0) [0|15] "" XXX
- SG_ Counter : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 34|2@1+ (1,0) [0|3] "" XXX
- SG_ LEFT_BLINKER : 44|1@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_BLINKER : 45|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
  SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 644 NEW_MSG_8: 8 XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
-BO_ 805 undefined: 8 XXX
-
 BO_ 880 Steer_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 8|1@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
  SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 48|4@1- (1,0) [0|15] "" XXX
- SG_ Steering_Voltage_Flat : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 30|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4_2017 : 52|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5_2017 : 54|1@0+ (1,0) [0|3] "" XXX
- SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4_2017 : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5_2017 : 54|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 881 Steering_Torque: 8 XXX
  SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX
  SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX
- SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|-8500] "" XXX
- SG_ Steering_Angle : 40|16@1- (-0.026,0) [-600|600] "" XXX
  SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|-8500] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
 
 BO_ 882 Counter: 8 XXX
- SG_ Counter : 15|4@0+ (1,0) [0|31] "" XXX
  SG_ Something : 16|2@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|31] "" XXX
 
 BO_ 884 BodyInfo: 8 XXX
- SG_ DOOR_OPEN_FR : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 26|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 27|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_Hatch : 28|1@0+ (1,0) [0|1] "" XXX
- SG_ _UNKNOWN : 2|3@0+ (1,0) [0|1] "" XXX
-
-BO_ 886 undefined: 8 XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ _UNKNOWN : 0|3@1+ (1,0) [0|1] "" XXX
 
 BO_ 864 Engine_Temp: 8 XXX
  SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
@@ -309,22 +306,22 @@ BO_ 865 NEW_MSG_16: 8 XXX
  SG_ NEW_SIGNAL_2 : 12|1@1+ (1,0) [0|255] "" XXX
 
 BO_ 866 Fuel__: 8 XXX
- SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|16777215] "" XXX
- SG_ NEW_SIGNAL_3 : 35|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_1 : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|1@1+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|16777215] "" XXX
 
 BO_ 872 NEW_MSG_15: 8 XXX
- SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|65535] "" XXX
 
 BO_ 977 NEW_MSG_12: 8 XXX
  SG_ NEW_SIGNAL_1 : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_2 : 16|12@1+ (1,0) [0|255] "" XXX
 
 BO_ 1632 Huge_Counter: 8 XXX
- SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ Counter : 55|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 1745 NEW_MSG_11: 8 XXX
  SG_ NEW_SIGNAL_1 : 24|6@1+ (1,0) [0|255] "" XXX
@@ -332,8 +329,8 @@ BO_ 1745 NEW_MSG_11: 8 XXX
  SG_ NEW_SIGNAL_3 : 0|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 1786 NEW_MSG_9: 8 XXX
- SG_ Counter : 3|4@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_2 : 8|16@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
 
 
 
@@ -346,26 +343,28 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body_ "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 NEW_SIGNAL_3_Blank "always 2";
-CM_ SG_ 353 NEW_SIGNAL_2_Blank "0";
-CM_ SG_ 353 NEW_SIGNAL_9 "flipped around quick engagement";
-CM_ SG_ 353 NEW_SIGNAL_6_Blank "always 1";
+CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 353 Brake_On "long activatedish";
+CM_ SG_ 353 SET_1 "always 1";
+CM_ SG_ 353 SET_2 "";
+CM_ SG_ 353 NEW_SIGNAL_9 "flipped around quick engagement";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
-CM_ SG_ 358 Car_Follow "front car detected";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
-CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
 CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
-CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
-CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
-CM_ SG_ 359 Sig2All_Depart "Left and right depart";
-CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
+CM_ SG_ 358 ES_Error "No engagement until restart";
+CM_ SG_ 358 Lead_Car "front car detected";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
 CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
 CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Alerts "2 = lead beep";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
 CM_ SG_ 642 Counter "Affected by signals";
 CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
+CM_ SG_ 642 SEATBELT_FL "";
 CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
 CM_ SG_ 880 NEW_SIGNAL_1 "0 in 2017";
 CM_ SG_ 880 NEW_SIGNAL_4_2017 "1 in 2017";