diff --git a/docs/CARS.md b/docs/CARS.md
index d6acb9b640..1322bf9499 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 341 Known Cars
+# Support Information for 343 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -72,6 +72,7 @@
 |Honda|Civic 2022-24|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2022-24|All|[Upstream](#upstream)|
+|Honda|Clarity 2018-21|All|[Community](#community)|
 |Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|CR-V 2024|All|[Community](#community)|
@@ -85,6 +86,7 @@
 |Honda|Insight 2019-22|All|[Upstream](#upstream)|
 |Honda|Inspire 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
+|Honda|Odyssey 2021-25|All|[Community](#community)|
 |Honda|Passport 2019-23|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-24|All|[Community](#community)|
@@ -383,17 +385,21 @@ Although they're not upstream, the community has openpilot running on other make
 Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
 
 Some notable works-in-progress:
-* Honda CAN-FD vehicles
+* Honda
   * 2024 Acura Integra, commaai/openpilot#32056
-  * 2023-24 Honda Accord, commaai/openpilot#32229
-  * 2024 Honda CR-V, commaai/openpilot#32806
-  * 2024 Honda CR-V Hybrid, commaai/openpilot#31527, which depends on:
-    * commaai/opendbc#1100
-  * 2023-24 Honda Pilot, commaai/openpilot#30324
-* Honda camera ACC stability improvements
-  * commaai/openpilot#31022, which depends on:
-    * commaai/panda#1814
-    * commaai/opendbc#998
+  * 2023-24 Honda Accord (CAN-FD), commaai/openpilot#32229
+  * 2024 Honda CR-V (CAN-FD), commaai/openpilot#32806
+  * 2024 Honda CR-V Hybrid (CAN-FD), commaai/openpilot#31527
+    * Depends on commaai/opendbc#1100
+  * 2021-25 Honda Odyssey, commaai/opendbc#1330
+  * 2023-24 Honda Pilot (CAN-FD), commaai/openpilot#30324
+  * Camera ACC stability improvements, commaai/openpilot#31022
+    * Depends on commaai/panda#1814
+    * Depends on commaai/opendbc#998
+    * These are being reworked for full-time proxy through openpilot
+  * Manual transmission support (Civic, Integra)
+    * Depends on commaai/opendbc#1034 (merged)
+    * Car port support PR not yet filed
 
 ## Incompatible
 
diff --git a/opendbc/car/CARS_template.md b/opendbc/car/CARS_template.md
index a02ffe15d1..d13f3a4b76 100644
--- a/opendbc/car/CARS_template.md
+++ b/opendbc/car/CARS_template.md
@@ -46,17 +46,21 @@ Although they're not upstream, the community has openpilot running on other make
 Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
 
 Some notable works-in-progress:
-* Honda CAN-FD vehicles
+* Honda
   * 2024 Acura Integra, commaai/openpilot#32056
-  * 2023-24 Honda Accord, commaai/openpilot#32229
-  * 2024 Honda CR-V, commaai/openpilot#32806
-  * 2024 Honda CR-V Hybrid, commaai/openpilot#31527, which depends on:
-    * commaai/opendbc#1100
-  * 2023-24 Honda Pilot, commaai/openpilot#30324
-* Honda camera ACC stability improvements
-  * commaai/openpilot#31022, which depends on:
-    * commaai/panda#1814
-    * commaai/opendbc#998
+  * 2023-24 Honda Accord (CAN-FD), commaai/openpilot#32229
+  * 2024 Honda CR-V (CAN-FD), commaai/openpilot#32806
+  * 2024 Honda CR-V Hybrid (CAN-FD), commaai/openpilot#31527
+    * Depends on commaai/opendbc#1100
+  * 2021-25 Honda Odyssey, commaai/opendbc#1330
+  * 2023-24 Honda Pilot (CAN-FD), commaai/openpilot#30324
+  * Camera ACC stability improvements, commaai/openpilot#31022
+    * Depends on commaai/panda#1814
+    * Depends on commaai/opendbc#998
+    * These are being reworked for full-time proxy through openpilot
+  * Manual transmission support (Civic, Integra)
+    * Depends on commaai/opendbc#1034 (merged)
+    * Car port support PR not yet filed
 
 ## Incompatible
 
diff --git a/opendbc/car/__init__.py b/opendbc/car/__init__.py
index 32f53fcdee..5b24daad3a 100644
--- a/opendbc/car/__init__.py
+++ b/opendbc/car/__init__.py
@@ -21,6 +21,8 @@
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
 
+ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
+
 ButtonType = structs.CarState.ButtonEvent.Type
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
 
diff --git a/opendbc/car/body/carcontroller.py b/opendbc/car/body/carcontroller.py
index 1d0bedb632..020db5d5cf 100644
--- a/opendbc/car/body/carcontroller.py
+++ b/opendbc/car/body/carcontroller.py
@@ -1,70 +1,12 @@
 import numpy as np
-from numbers import Number
 
 from opendbc.can.packer import CANPacker
 from opendbc.car import DT_CTRL
-from opendbc.car.common.numpy_fast import clip, interp
+from opendbc.car.common.pid import PIDController
 from opendbc.car.body import bodycan
 from opendbc.car.body.values import SPEED_FROM_RPM
 from opendbc.car.interfaces import CarControllerBase
 
-
-class PIController:
-  def __init__(self, k_p, k_i, pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
-
-    self.i_unwind_rate = 0.3 / rate
-    self.i_rate = 1.0 / rate
-    self.speed = 0.0
-
-    self.reset()
-
-  @property
-  def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
-
-  @property
-  def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
-
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
-  def reset(self):
-    self.p = 0.0
-    self.i = 0.0
-    self.control = 0
-
-  def update(self, error, speed=0.0, freeze_integrator=False):
-    self.speed = speed
-
-    self.p = float(error) * self.k_p
-
-    i = self.i + error * self.k_i * self.i_rate
-    control = self.p + i
-
-    # Update when changing i will move the control away from the limits
-    # or when i will move towards the sign of the error
-    if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-        (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
-       not freeze_integrator:
-      self.i = i
-
-    control = self.p + self.i
-
-    self.control = clip(control, self.neg_limit, self.pos_limit)
-    return self.control
-
-
 MAX_TORQUE = 500
 MAX_TORQUE_RATE = 50
 MAX_ANGLE_ERROR = np.radians(7)
@@ -78,8 +20,8 @@ def __init__(self, dbc_name, CP):
     self.packer = CANPacker(dbc_name)
 
     # PIDs
-    self.turn_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
-    self.wheeled_speed_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.
diff --git a/opendbc/car/car.capnp b/opendbc/car/car.capnp
index 49f82b6dd3..237ba2c26b 100644
--- a/opendbc/car/car.capnp
+++ b/opendbc/car/car.capnp
@@ -278,7 +278,7 @@ struct CarState {
       accelCruise @3;
       decelCruise @4;
       cancel @5;
-      altButton1 @6;
+      lkas @6;
       altButton2 @7;
       mainCruise @8;
       setCruise @9;
@@ -508,7 +508,6 @@ struct CarParams {
   transmissionType @43 :TransmissionType;
   carFw @44 :List(CarFw);
 
-  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   radarDelay @74 :Float32;
   fingerprintSource @49: FingerprintSource;
   networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
@@ -719,4 +718,5 @@ struct CarParams {
   maxSteeringAngleDegDEPRECATED @54 :Float32;
   longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
   stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
+  radarTimeStepDEPRECATED @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
 }
diff --git a/opendbc/car/chrysler/fingerprints.py b/opendbc/car/chrysler/fingerprints.py
index 072eafb1d0..ba597d70ec 100644
--- a/opendbc/car/chrysler/fingerprints.py
+++ b/opendbc/car/chrysler/fingerprints.py
@@ -325,6 +325,7 @@
       b'68402703AB',
       b'68402704AB',
       b'68402708AB',
+      b'68402714AB',
       b'68402971AD',
       b'68454144AD',
       b'68454145AB',
@@ -362,6 +363,7 @@
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035674AB ',
+      b'68412635AE ',
       b'68412635AG ',
       b'68412660AD ',
       b'68422860AB',
@@ -468,6 +470,7 @@
       b'68535470AC',
       b'68548900AB',
       b'68586307AB',
+      b'68586307AC',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672892AB',
@@ -545,6 +548,7 @@
       b'68378710AL ',
       b'68378742AI ',
       b'68378742AK ',
+      b'68378743AI ',
       b'68378743AM ',
       b'68378748AL ',
       b'68378758AM ',
@@ -559,6 +563,7 @@
       b'68455145AE ',
       b'68455146AC ',
       b'68460927AA ',
+      b'68467909AB ',
       b'68467915AC ',
       b'68467916AC ',
       b'68467936AC ',
@@ -598,6 +603,7 @@
       b'68360081AM',
       b'68360085AJ',
       b'68360085AL',
+      b'68360085AO',
       b'68360086AH',
       b'68360086AK',
       b'68360086AN',
@@ -608,6 +614,7 @@
       b'68445536AB',
       b'68445537AB',
       b'68466081AB',
+      b'68466086AB',
       b'68466087AB',
       b'68484466AC',
       b'68484467AC',
diff --git a/opendbc/car/common/pid.py b/opendbc/car/common/pid.py
new file mode 100644
index 0000000000..7a376c86c3
--- /dev/null
+++ b/opendbc/car/common/pid.py
@@ -0,0 +1,58 @@
+from numbers import Number
+from opendbc.car.common.numpy_fast import clip, interp
+
+
+class PIDController:
+  def __init__(self, k_p, k_i, pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = k_p
+    self._k_i = k_i
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
+
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
+    self.i_unwind_rate = 0.3 / rate
+    self.i_rate = 1.0 / rate
+    self.speed = 0.0
+
+    self.reset()
+
+  @property
+  def k_p(self):
+    return interp(self.speed, self._k_p[0], self._k_p[1])
+
+  @property
+  def k_i(self):
+    return interp(self.speed, self._k_i[0], self._k_i[1])
+
+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
+  def reset(self):
+    self.p = 0.0
+    self.i = 0.0
+    self.control = 0
+
+  def update(self, error, speed=0.0, freeze_integrator=False):
+    self.speed = speed
+
+    self.p = float(error) * self.k_p
+
+    i = self.i + error * self.k_i * self.i_rate
+    control = self.p + i
+
+    # Update when changing i will move the control away from the limits
+    # or when i will move towards the sign of the error
+    if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
+        (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
+       not freeze_integrator:
+      self.i = i
+
+    control = self.p + self.i
+
+    self.control = clip(control, self.neg_limit, self.pos_limit)
+    return self.control
diff --git a/opendbc/car/extra_cars.py b/opendbc/car/extra_cars.py
index 284c5f59cf..87e1f13819 100644
--- a/opendbc/car/extra_cars.py
+++ b/opendbc/car/extra_cars.py
@@ -28,24 +28,26 @@ def init_make(self, CP: structs.CarParams):
 class CAR(Platforms):
   config: ExtraPlatformConfig
 
-  HONDA_CANFD = ExtraPlatformConfig(
+  EXTRA_HONDA = ExtraPlatformConfig(
     [
       CommunityCarDocs("Acura Integra 2024", "All"),
       CommunityCarDocs("Honda Accord 2023-24", "All"),
+      CommunityCarDocs("Honda Clarity 2018-21", "All"),
       CommunityCarDocs("Honda CR-V 2024", "All"),
       CommunityCarDocs("Honda CR-V Hybrid 2024", "All"),
+      CommunityCarDocs("Honda Odyssey 2021-25", "All"),
       CommunityCarDocs("Honda Pilot 2023-24", "All"),
     ],
   )
 
-  HYUNDAI_PALISADE_FACELIFT = ExtraPlatformConfig(
+  EXTRA_HYUNDAI = ExtraPlatformConfig(
     [
       CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
       CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
     ],
   )
 
-  TOYOTA_SECURITY_CARS = ExtraPlatformConfig(
+  EXTRA_TOYOTA = ExtraPlatformConfig(
     [
       ToyotaSecurityCarDocs("Subaru Solterra 2023-25"),
       ToyotaSecurityCarDocs("Lexus NS 2022-25"),
@@ -63,7 +65,7 @@ class CAR(Platforms):
     ],
   )
 
-  AUDI_FLEXRAY = ExtraPlatformConfig(
+  EXTRA_VOLKSWAGEN = ExtraPlatformConfig(
     [
       FlexRayCarDocs("Audi A4 2016-24", package="All"),
       FlexRayCarDocs("Audi A5 2016-24", package="All"),
diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index 7834a10149..748027073f 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -1,8 +1,9 @@
+import math
 from opendbc.can.packer import CANPacker
-from opendbc.car import apply_std_steer_angle_limits, structs
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, DT_CTRL, apply_std_steer_angle_limits, structs
 from opendbc.car.ford import fordcan
 from opendbc.car.ford.values import CarControllerParams, FordFlags
-from opendbc.car.common.numpy_fast import clip
+from opendbc.car.common.numpy_fast import clip, interp
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = structs.CarControl.Actuators.LongControlState
@@ -21,6 +22,13 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
   return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
 
 
+def apply_creep_compensation(accel: float, v_ego: float) -> float:
+  creep_accel = interp(v_ego, [1., 3.], [0.6, 0.])
+  if accel < 0.:
+    accel -= creep_accel
+  return accel
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP):
     super().__init__(dbc_name, CP)
@@ -28,10 +36,14 @@ def __init__(self, dbc_name, CP):
     self.CAN = fordcan.CanBus(CP)
 
     self.apply_curvature_last = 0
+    self.accel = 0.0
+    self.gas = 0.0
+    self.brake_request = False
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
     self.lead_distance_bars_last = None
+    self.distance_bar_frame = 0
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
@@ -69,6 +81,11 @@ def update(self, CC, CS, now_nanos):
 
       if self.CP.flags & FordFlags.CANFD:
         # TODO: extended mode
+        # Ford uses four individual signals to dictate how to drive to the car. Curvature alone (limited to 0.02m/s^2)
+        # can actuate the steering for a large portion of any lateral movements. However, in order to get further control on
+        # steer actuation, the other three signals are necessary. Ford controls vehicles differently than most other makes.
+        # A detailed explanation on ford control can be found here:
+        # https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706
         mode = 1 if CC.latActive else 0
         counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
         can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
@@ -82,14 +99,42 @@ def update(self, CC, CS, now_nanos):
     ### longitudinal control ###
     # send acc msg at 50Hz
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
-      # Both gas and accel are in m/s^2, accel is used solely for braking
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+      accel = actuators.accel
       gas = accel
+
+      if CC.longActive:
+        # Compensate for engine creep at low speed.
+        # Either the ABS does not account for engine creep, or the correction is very slow
+        # TODO: verify this applies to EV/hybrid
+        accel = apply_creep_compensation(accel, CS.out.vEgo)
+
+        # The stock system has been seen rate limiting the brake accel to 5 m/s^3,
+        # however even 3.5 m/s^3 causes some overshoot with a step response.
+        accel = max(accel, self.accel - (3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL))
+
+      accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+
+      # Both gas and accel are in m/s^2, accel is used solely for braking
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
+
+      # PCM applies pitch compensation to gas/accel, but we need to compensate for the brake/pre-charge bits
+      accel_due_to_pitch = 0.0
+      if len(CC.orientationNED) == 3:
+        accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+
+      accel_pitch_compensated = accel + accel_due_to_pitch
+      if accel_pitch_compensated > 0.3 or not CC.longActive:
+        self.brake_request = False
+      elif accel_pitch_compensated < 0.0:
+        self.brake_request = True
+
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
       # TODO: look into using the actuators packet to send the desired speed
-      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
+      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
+
+      self.accel = accel
+      self.gas = gas
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
@@ -100,10 +145,13 @@ def update(self, CC, CS, now_nanos):
     # send acc ui msg at 5Hz or if ui state changes
     if hud_control.leadDistanceBars != self.lead_distance_bars_last:
       send_ui = True
+      self.distance_bar_frame = self.frame
+
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
+      show_distance_bars = self.frame - self.distance_bar_frame < 400
       can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
-                                                 fcw_alert, CS.out.cruiseState.standstill, hud_control,
-                                                 CS.acc_tja_status_stock_values))
+                                                 fcw_alert, CS.out.cruiseState.standstill, show_distance_bars,
+                                                 hud_control, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive
@@ -112,6 +160,8 @@ def update(self, CC, CS, now_nanos):
 
     new_actuators = actuators.as_builder()
     new_actuators.curvature = self.apply_curvature_last
+    new_actuators.accel = self.accel
+    new_actuators.gas = self.gas
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/opendbc/car/ford/carstate.py b/opendbc/car/ford/carstate.py
index 8b631e8dee..832d4b7321 100644
--- a/opendbc/car/ford/carstate.py
+++ b/opendbc/car/ford/carstate.py
@@ -76,6 +76,8 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
       else:
         ret.gearShifter = GearShifter.drive
 
+    ret.engineRpm = cp.vl["EngVehicleSpThrottle"]["EngAout_N_Actl"]
+
     # safety
     ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
     ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
diff --git a/opendbc/car/ford/fordcan.py b/opendbc/car/ford/fordcan.py
index 61263099c7..2ac68c4427 100644
--- a/opendbc/car/ford/fordcan.py
+++ b/opendbc/car/ford/fordcan.py
@@ -117,7 +117,7 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path
   return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
 
 
-def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, v_ego_kph: float):
+def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, brake_request, v_ego_kph: float):
   """
   Creates a CAN message for the Ford ACC Command.
 
@@ -126,24 +126,27 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
 
   Frequency is 50Hz.
   """
-  decel = accel < 0 and long_active
   values = {
     "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
     "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
     "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
+    # No observed acceleration seen from this signal alone. During stock system operation, it appears to
+    # be the raw acceleration request (AccPrpl_A_Rq when positive, AccBrkTot_A_Rq when negative)
     "AccPrpl_A_Pred": -5.0,                           # Acceleration request: [-5|5.23] m/s^2
     "AccResumEnbl_B_Rq": 1 if long_active else 0,
+    # No observed acceleration seen from this signal alone
     "AccVeh_V_Trg": v_ego_kph,                        # Target speed: [0|255] km/h
     # TODO: we may be able to improve braking response by utilizing pre-charging better
-    "AccBrkPrchg_B_Rq": 1 if decel else 0,            # Pre-charge brake request: 0=No, 1=Yes
-    "AccBrkDecel_B_Rq": 1 if decel else 0,            # Deceleration request: 0=Inactive, 1=Active
+    # When setting these two bits without AccBrkTot_A_Rq, an initial jerk is observed and car may be able to brake temporarily with AccPrpl_A_Rq
+    "AccBrkPrchg_B_Rq": 1 if brake_request else 0,            # Pre-charge brake request: 0=No, 1=Yes
+    "AccBrkDecel_B_Rq": 1 if brake_request else 0,            # Deceleration request: 0=Inactive, 1=Active
     "AccStopStat_B_Rq": 1 if stopping else 0,
   }
   return packer.make_can_msg("ACCDATA", CAN.main, values)
 
 
 def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
-                      hud_control, stock_values: dict):
+                      show_distance_bars: bool, hud_control, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
   assist status.
@@ -207,7 +210,7 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
     values.update({
       "AccStopStat_D_Dsply": 2 if standstill else 0,              # Stopping status text
       "AccMsgTxt_D2_Rq": 0,                                       # ACC text
-      "AccTGap_B_Dsply": 0,                                       # Show time gap control UI
+      "AccTGap_B_Dsply": 1 if show_distance_bars else 0,          # Show time gap control UI
       "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
       "AccStopMde_B_Dsply": 1 if standstill else 0,
       "AccWarn_D_Dsply": 0,                                       # ACC warning
diff --git a/opendbc/car/ford/interface.py b/opendbc/car/ford/interface.py
index fbd027a2dc..53a5eb99c9 100644
--- a/opendbc/car/ford/interface.py
+++ b/opendbc/car/ford/interface.py
@@ -2,7 +2,7 @@
 from opendbc.car import get_safety_config, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.fordcan import CanBus
-from opendbc.car.ford.values import Ecu, FordFlags
+from opendbc.car.ford.values import DBC, Ecu, FordFlags, RADAR
 from opendbc.car.interfaces import CarInterfaceBase
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -19,6 +19,14 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
+    ret.longitudinalTuning.kiBP = [0.]
+    ret.longitudinalTuning.kiV = [0.5]
+
+    if DBC[candidate]['radar'] == RADAR.DELPHI_MRR:
+      # average of 33.3 Hz radar timestep / 4 scan modes = 60 ms
+      # MRR_Header_Timestamps->CAN_DET_TIME_SINCE_MEAS reports 61.3 ms
+      ret.radarDelay = 0.06
+
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
diff --git a/opendbc/car/ford/radar_interface.py b/opendbc/car/ford/radar_interface.py
index efe3bef7d5..b145207e94 100644
--- a/opendbc/car/ford/radar_interface.py
+++ b/opendbc/car/ford/radar_interface.py
@@ -9,8 +9,12 @@
 DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 
 DELPHI_MRR_RADAR_START_ADDR = 0x120
+DELPHI_MRR_RADAR_HEADER_ADDR = 0x174  # MRR_Header_SensorCoverage
 DELPHI_MRR_RADAR_MSG_COUNT = 64
 
+DELPHI_MRR_RADAR_RANGE_COVERAGE = {0: 42, 1: 164, 2: 45, 3: 175}  # scan index to detection range (m)
+MIN_LONG_RANGE_DIST = 30  # meters
+
 
 def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
   msg_n = len(DELPHI_ESR_RADAR_MSGS)
@@ -20,11 +24,14 @@ def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
 
 
 def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
-  messages = []
+  messages = [
+    ("MRR_Header_InformationDetections", 33),
+    ("MRR_Header_SensorCoverage", 33),
+  ]
 
   for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
     msg = f"MRR_Detection_{i:03d}"
-    messages += [(msg, 20)]
+    messages += [(msg, 33)]
 
   return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
 
@@ -36,7 +43,7 @@ def __init__(self, CP):
     self.updated_messages = set()
     self.track_id = 0
     self.radar = DBC[CP.carFingerprint]['radar']
-    if self.radar is None or CP.radarUnavailable:
+    if CP.radarUnavailable:
       self.rcp = None
     elif self.radar == RADAR.DELPHI_ESR:
       self.rcp = _create_delphi_esr_radar_can_parser(CP)
@@ -44,7 +51,7 @@ def __init__(self, CP):
       self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
     elif self.radar == RADAR.DELPHI_MRR:
       self.rcp = _create_delphi_mrr_radar_can_parser(CP)
-      self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
+      self.trigger_msg = DELPHI_MRR_RADAR_HEADER_ADDR
     else:
       raise ValueError(f"Unsupported radar: {self.radar}")
 
@@ -62,14 +69,14 @@ def update(self, can_strings):
     errors = []
     if not self.rcp.can_valid:
       errors.append("canError")
-    ret.errors = errors
 
     if self.radar == RADAR.DELPHI_ESR:
       self._update_delphi_esr()
     elif self.radar == RADAR.DELPHI_MRR:
-      self._update_delphi_mrr()
+      errors.extend(self._update_delphi_mrr())
 
     ret.points = list(self.pts.values())
+    ret.errors = errors
     self.updated_messages.clear()
     return ret
 
@@ -103,14 +110,26 @@ def _update_delphi_esr(self):
           del self.pts[ii]
 
   def _update_delphi_mrr(self):
+    headerScanIndex = int(self.rcp.vl["MRR_Header_InformationDetections"]['CAN_SCAN_INDEX']) & 0b11
+
+    errors = []
+    if DELPHI_MRR_RADAR_RANGE_COVERAGE[headerScanIndex] != int(self.rcp.vl["MRR_Header_SensorCoverage"]["CAN_RANGE_COVERAGE"]):
+      errors.append("wrongConfig")
+
     for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
       msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
 
-      # SCAN_INDEX rotates through 0..3 on each message
-      # treat these as separate points
+      # SCAN_INDEX rotates through 0..3 on each message for different measurement modes
+      # Indexes 0 and 2 have a max range of ~40m, 1 and 3 are ~170m (MRR_Header_SensorCoverage->CAN_RANGE_COVERAGE)
+      # Indexes 0 and 1 have a Doppler coverage of +-71 m/s, 2 and 3 have +-60 m/s
+      # TODO: can we group into 2 groups?
       scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
       i = (ii - 1) * 4 + scanIndex
 
+      # Throw out old measurements. Very unlikely to happen, but is proper behavior
+      if scanIndex != headerScanIndex:
+        continue
+
       if i not in self.pts:
         self.pts[i] = structs.RadarData.RadarPoint()
         self.pts[i].trackId = self.track_id
@@ -120,9 +139,13 @@ def _update_delphi_mrr(self):
 
       valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"])
 
+      # Long range measurement mode is more sensitive and can detect the road surface
+      dist = msg[f"CAN_DET_RANGE_{ii:02d}"]  # m [0|255.984]
+      if scanIndex in (1, 3) and dist < MIN_LONG_RANGE_DIST:
+        valid = False
+
       if valid:
         azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"]              # rad [-3.1416|3.13964]
-        dist = msg[f"CAN_DET_RANGE_{ii:02d}"]                   # m [0|255.984]
         distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"]          # m/s [-128|127.984]
         dRel = cos(azimuth) * dist                              # m from front of car
         yRel = -sin(azimuth) * dist                             # in car frame's y axis, left is positive
@@ -141,3 +164,5 @@ def _update_delphi_mrr(self):
 
       else:
         del self.pts[i]
+
+    return errors
diff --git a/opendbc/car/gm/interface.py b/opendbc/car/gm/interface.py
index 767909bd95..f3953c0eb9 100755
--- a/opendbc/car/gm/interface.py
+++ b/opendbc/car/gm/interface.py
@@ -138,7 +138,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
     ret.steerLimitTimer = 0.4
-    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
     ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
     if candidate == CAR.CHEVROLET_VOLT:
diff --git a/opendbc/car/gm/radar_interface.py b/opendbc/car/gm/radar_interface.py
index 78f6a89a94..e79d26533b 100755
--- a/opendbc/car/gm/radar_interface.py
+++ b/opendbc/car/gm/radar_interface.py
@@ -40,7 +40,6 @@ def __init__(self, CP):
 
     self.trigger_msg = LAST_RADAR_MSG
     self.updated_messages = set()
-    self.radar_ts = CP.radarTimeStep
 
   def update(self, can_strings):
     if self.rcp is None:
diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 1d9a0c1eb2..a20232734e 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -16,7 +16,7 @@
 
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
-SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
+SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.lkas}
 
 
 def get_can_messages(CP, gearbox_msg):
diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
index bed0915cd1..522f8dba81 100644
--- a/opendbc/car/honda/fingerprints.py
+++ b/opendbc/car/honda/fingerprints.py
@@ -41,6 +41,7 @@
       b'46114-TVA-A080\x00\x00',
       b'46114-TVA-A120\x00\x00',
       b'46114-TVA-A320\x00\x00',
+      b'46114-TVA-A410\x00\x00',
       b'46114-TVE-H550\x00\x00',
       b'46114-TVE-H560\x00\x00',
     ],
@@ -438,6 +439,7 @@
       b'36161-TPA-E050\x00\x00',
       b'36161-TPG-A030\x00\x00',
       b'36161-TPG-A040\x00\x00',
+      b'36161-TPG-A050\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TMB-H040\x00\x00',
diff --git a/opendbc/car/honda/radar_interface.py b/opendbc/car/honda/radar_interface.py
index 316838aa5d..97c6664d0e 100755
--- a/opendbc/car/honda/radar_interface.py
+++ b/opendbc/car/honda/radar_interface.py
@@ -18,7 +18,6 @@ def __init__(self, CP):
     self.radar_fault = False
     self.radar_wrong_config = False
     self.radar_off_can = CP.radarUnavailable
-    self.radar_ts = CP.radarTimeStep
 
     # Nidec
     if self.radar_off_can:
diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index c1c9a493f8..0188fb9ee8 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -163,7 +163,7 @@ class CAR(Platforms):
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
   HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
-    [HondaCarDocs("Honda CR-V Hybrid 2017-21", min_steer_speed=12. * CV.MPH_TO_MS)],
+    [HondaCarDocs("Honda CR-V Hybrid 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
     # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
     CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
     dbc_dict('honda_accord_2018_can_generated', None),
diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
index 5af9255c17..68b245300b 100644
--- a/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc/car/hyundai/fingerprints.py
@@ -213,9 +213,11 @@
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TL__ FCA F-CUP      1.00 1.01 99110-D3500         ',
       b'\xf1\x00TL__ FCA F-CUP      1.00 1.02 99110-D3510         ',
+      b'\xf1\x00TL__ FCA FHCUP      1.00 1.02 99110-D3500         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TL  MFC  AT KOR LHD 1.00 1.02 95895-D3800 180719',
+      b'\xf1\x00TL  MFC  AT KOR LHD 1.00 1.06 95895-D3800 190107',
       b'\xf1\x00TL  MFC  AT USA LHD 1.00 1.06 95895-D3800 190107',
     ],
   },
@@ -229,6 +231,7 @@
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600',
       b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600',
+      b'\xf1\x00TM ESC \x02 103\x18\x11\x05 58910-S2500',
       b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600',
       b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600',
       b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600',
@@ -263,6 +266,7 @@
       b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
       b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
       b'\xf1\x00TM ESC \x03 102!\x04\x03 58910-S2DA0',
+      b'\xf1\x00TM ESC \x03 103"\x07\x06 58910-S2DA0',
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 103"\x07\x08 58910-S2GA0',
@@ -404,6 +408,7 @@
       b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
       b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350',
       b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360',
+      b'\xf1\x00LX ESC \x0b 104 \x10\x13 58910-S8330',
       b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
       b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360',
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
@@ -514,6 +519,7 @@
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302',
       b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2030 170208',
+      b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.01 95895-D2030 170811',
       b'\xf1\x00HI  MFC  AT USA LHD 1.00 1.03 99211-D2000 190831',
     ],
   },
@@ -611,10 +617,12 @@
       b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
       b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000',
       b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
+      b'\xf1\x00OS IEB \x04 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200',
+      b'\xf1\x00OSE LKAS AT AUS RHD 1.00 1.00 95740-K4300 W50',
       b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40',
       b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40',
       b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40',
@@ -624,6 +632,7 @@
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00OS  MDPS C 1.00 1.03 56310/K4550 4OEDC103',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310-XX000 4OEDC104',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310/K4550 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
     ],
@@ -1070,10 +1079,10 @@
   },
   CAR.GENESIS_GV60_EV_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JW1 MFC  AT AUS RHD 1.00 1.03 99211-CU100 221118',
       b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU000 211215',
       b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU100 211215',
       b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.03 99211-CU000 221118',
-      b'\xf1\x00JW1 MFC  AT AUS RHD 1.00 1.03 99211-CU100 221118',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JW1_ RDR -----      1.00 1.00 99110-CU000         ',
@@ -1084,6 +1093,7 @@
       b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.00 99210-R5100 221019',
       b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.03 99210-R5000 200903',
       b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.05 99210-R5000 210623',
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.06 99210-R5000 211216',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00MQ4_ SCC F-CUP      1.00 1.06 99110-P2000         ',
diff --git a/opendbc/car/interfaces.py b/opendbc/car/interfaces.py
index c704f12f4a..f5644a5cff 100644
--- a/opendbc/car/interfaces.py
+++ b/opendbc/car/interfaces.py
@@ -259,12 +259,11 @@ def __init__(self, CP: structs.CarParams):
     self.CP = CP
     self.rcp = None
     self.pts: dict[int, structs.RadarData.RadarPoint] = {}
-    self.radar_ts = CP.radarTimeStep
     self.frame = 0
 
   def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.RadarDataT | None:
     self.frame += 1
-    if (self.frame % int(100 * self.radar_ts)) == 0:
+    if (self.frame % 5) == 0:  # 20 Hz is very standard
       return structs.RadarData()
     return None
 
diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index 3c0ba959b5..4bcc1a9915 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -20,7 +20,7 @@ def update(self, CC, CS, now_nanos):
     can_sends = []
 
     # Disengage and allow for user override
-    hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
+    hands_on_fault = CS.hands_on_level >= 3
     lkas_enabled = CC.latActive and not hands_on_fault
 
     if self.frame % 2 == 0:
@@ -36,14 +36,15 @@ def update(self, CC, CS, now_nanos):
       self.apply_angle_last = apply_angle
       can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
 
+    if self.frame % 10 == 0:
+      can_sends.append(self.tesla_can.create_steering_allowed((self.frame // 10) % 16))
+
     # Longitudinal control
     if self.CP.openpilotLongitudinalControl and self.frame % 4 == 0:
-      state = CS.das_control["DAS_accState"]
-      if hands_on_fault:
-        state = 13  # "ACC_CANCEL_GENERIC_SILENT"
+      state = 4 if not hands_on_fault else 13  # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
       cntr =  (self.frame // 4) % 8
-      can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr))
+      can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, CC.longActive))
 
     # Increment counter so cancel is prioritized even without openpilot longitudinal
     if hands_on_fault and not self.CP.openpilotLongitudinalControl:
diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
index 82d1c0d30c..4a4b32c034 100644
--- a/opendbc/car/tesla/carstate.py
+++ b/opendbc/car/tesla/carstate.py
@@ -14,7 +14,6 @@ def __init__(self, CP):
     self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
 
     self.hands_on_level = 0
-    self.steer_warning = None
     self.das_control = None
 
   def update(self, cp, cp_cam, *_) -> structs.CarState:
@@ -23,7 +22,7 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     # Vehicle speed
     ret.vEgoRaw = cp.vl["DI_speed"]["DI_vehicleSpeed"] * CV.KPH_TO_MS
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = cp.vl["ESP_B"]["ESP_vehicleStandstillSts"] == 1
+    ret.standstill = cp.vl["DI_state"]["DI_vehicleHoldState"] == 3
 
     # Gas pedal
     pedal_status = cp.vl["DI_systemStatus"]["DI_accelPedalPos"]
@@ -37,22 +36,20 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     # Steering wheel
     epas_status = cp.vl["EPAS3S_sysStatus"]
     self.hands_on_level = epas_status["EPAS3S_handsOnLevel"]
-    self.steer_warning = self.can_define.dv["EPAS3S_sysStatus"]["EPAS3S_eacErrorCode"].get(int(epas_status["EPAS3S_eacErrorCode"]), None)
     ret.steeringAngleDeg = -epas_status["EPAS3S_internalSAS"]
     ret.steeringRateDeg = -cp_cam.vl["SCCM_steeringAngleSensor"]["SCCM_steeringAngleSpeed"]
     ret.steeringTorque = -epas_status["EPAS3S_torsionBarTorque"]
 
     ret.steeringPressed = self.hands_on_level > 0
     eac_status = self.can_define.dv["EPAS3S_sysStatus"]["EPAS3S_eacStatus"].get(int(epas_status["EPAS3S_eacStatus"]), None)
-    ret.steerFaultPermanent = eac_status in ["EAC_FAULT"]
-    ret.steerFaultTemporary = self.steer_warning not in ["EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"] and eac_status not in ["EAC_ACTIVE", "EAC_AVAILABLE"]
+    ret.steerFaultPermanent = eac_status == "EAC_FAULT"
+    ret.steerFaultTemporary = eac_status == "EAC_INHIBITED"
 
     # Cruise state
     cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
     speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
 
-    self.acc_enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
-    ret.cruiseState.enabled = self.acc_enabled
+    ret.cruiseState.enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
     if speed_units == "KPH":
       ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS
     elif speed_units == "MPH":
@@ -92,7 +89,6 @@ def get_can_parser(CP):
     messages = [
       # sig_address, frequency
       ("DI_speed", 50),
-      ("ESP_B", 50),
       ("DI_systemStatus", 100),
       ("IBST_status", 25),
       ("DI_state", 10),
diff --git a/opendbc/car/tesla/fingerprints.py b/opendbc/car/tesla/fingerprints.py
index f87cddda9f..81cb49a2c8 100644
--- a/opendbc/car/tesla/fingerprints.py
+++ b/opendbc/car/tesla/fingerprints.py
@@ -12,7 +12,7 @@
       b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0',
       b'TeMYG4_Main_0.0.0 (59),E4H014.29.0',
       b'TeMYG4_SingleECU_0.0.0 (33),E4S014.27',
-    ]
+    ],
   },
   CAR.TESLA_MODEL_Y: {
     (Ecu.eps, 0x730, None): [
@@ -23,6 +23,6 @@
       b'TeMYG4_DCS_Update_0.0.0 (13),Y4P002.27.1',
       b'TeMYG4_DCS_Update_0.0.0 (9),Y4P002.25.0',
       b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
-    ]
+    ],
   },
 }
diff --git a/opendbc/car/tesla/teslacan.py b/opendbc/car/tesla/teslacan.py
index 22963861bc..f71043bde0 100644
--- a/opendbc/car/tesla/teslacan.py
+++ b/opendbc/car/tesla/teslacan.py
@@ -24,9 +24,9 @@ def create_steering_control(self, angle, enabled, counter):
     values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
     return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)
 
-  def create_longitudinal_command(self, acc_state, accel, cntr):
+  def create_longitudinal_command(self, acc_state, accel, cntr, active):
     values = {
-      "DAS_setSpeed": 0 if accel < 0 else V_CRUISE_MAX,
+      "DAS_setSpeed": 0 if (accel < 0 or not active) else V_CRUISE_MAX,
       "DAS_accState": acc_state,
       "DAS_aebEvent": 0,
       "DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
@@ -39,3 +39,13 @@ def create_longitudinal_command(self, acc_state, accel, cntr):
     data = self.packer.make_can_msg("DAS_control", CANBUS.party, values)[1]
     values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
     return self.packer.make_can_msg("DAS_control", CANBUS.party, values)
+
+  def create_steering_allowed(self, counter):
+    values = {
+      "APS_eacAllow": 1,
+      "APS_eacMonitorCounter": counter,
+    }
+
+    data = self.packer.make_can_msg("APS_eacMonitor", CANBUS.party, values)[1]
+    values["APS_eacMonitorChecksum"] = self.checksum(0x27d, data[:2])
+    return self.packer.make_can_msg("APS_eacMonitor", CANBUS.party, values)
diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index a186782d3b..0b295b5424 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -209,6 +209,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2),  # hybrid
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022),  # hybrid
   CarTestRoute("20ba9ade056a8c7b|2021-02-08--21-57-35", TOYOTA.TOYOTA_RAV4_PRIME),  # SecOC
+  CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN),  # SecOC
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
diff --git a/opendbc/car/torque_data/substitute.toml b/opendbc/car/torque_data/substitute.toml
index 79497ca9c6..22256a38a2 100644
--- a/opendbc/car/torque_data/substitute.toml
+++ b/opendbc/car/torque_data/substitute.toml
@@ -10,6 +10,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
 "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
 "TOYOTA_RAV4_PRIME" = "TOYOTA_RAV4_TSS2"
+"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_TSS2"
 "LEXUS_IS" = "LEXUS_NX"
 "LEXUS_CTH" = "LEXUS_NX"
 "LEXUS_ES" = "TOYOTA_CAMRY"
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index ebbf701811..e1b4003b84 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -1,6 +1,6 @@
 import math
 from opendbc.car import carlog, apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
-                        make_tester_present_msg, rate_limit, structs
+                        make_tester_present_msg, rate_limit, structs, ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car.can_definitions import CanData
 from opendbc.car.common.numpy_fast import clip
 from opendbc.car.secoc import add_mac, build_sync_mac
@@ -15,8 +15,6 @@
 SteerControlType = structs.CarParams.SteerControlType
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
-ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
-
 ACCEL_WINDUP_LIMIT = 0.5  # m/s^2 / frame
 
 # LKA limits
@@ -46,7 +44,7 @@ def __init__(self, dbc_name, CP):
     self.distance_button = 0
 
     self.pcm_accel_compensation = 0.0
-    self.permit_braking = 0.0
+    self.permit_braking = True
 
     self.packer = CANPacker(dbc_name)
     self.accel = 0
@@ -146,10 +144,13 @@ def update(self, CC, CS, now_nanos):
 
     # *** gas and brake ***
     # For cars where we allow a higher max acceleration of 2.0 m/s^2, compensate for PCM request overshoot and imprecise braking
-    # TODO: sometimes when switching from brake to gas quickly, CLUTCH->ACCEL_NET shows a slow unwind. make it go to 0 immediately
     if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT and CC.longActive and not CS.out.cruiseState.standstill:
       # calculate amount of acceleration PCM should apply to reach target, given pitch
-      accel_due_to_pitch = math.sin(CS.slope_angle) * ACCELERATION_DUE_TO_GRAVITY
+      if len(CC.orientationNED) == 3:
+        accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+      else:
+        accel_due_to_pitch = 0.0
+
       net_acceleration_request = actuators.accel + accel_due_to_pitch
 
       # let PCM handle stopping for now
diff --git a/opendbc/car/toyota/carstate.py b/opendbc/car/toyota/carstate.py
index 438ee088b8..c81899d137 100644
--- a/opendbc/car/toyota/carstate.py
+++ b/opendbc/car/toyota/carstate.py
@@ -51,7 +51,6 @@ def __init__(self, CP):
     self.acc_type = 1
     self.lkas_hud = {}
     self.pcm_accel_net = 0.0
-    self.slope_angle = 0.0
     self.secoc_synchronization = None
 
   def update(self, cp, cp_cam, *_) -> structs.CarState:
@@ -88,7 +87,6 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
       can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"])
     else:
       ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0  # TODO: these also have GAS_PEDAL, come back and unify
-      self.slope_angle = cp.vl["VSC1S07"]["ASLP"] * CV.DEG_TO_RAD  # filtered pitch from the car, negative is downward
       can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
       if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
         ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
@@ -232,7 +230,6 @@ def get_can_parser(CP):
 
       messages += [
         ("GEAR_PACKET", 1),
-        ("VSC1S07", 20),
       ]
 
     if CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
diff --git a/opendbc/car/toyota/fingerprints.py b/opendbc/car/toyota/fingerprints.py
index 4467542c70..24d7ae3655 100644
--- a/opendbc/car/toyota/fingerprints.py
+++ b/opendbc/car/toyota/fingerprints.py
@@ -127,6 +127,7 @@
       b'\x018966333X0000\x00\x00\x00\x00',
       b'\x018966333X4000\x00\x00\x00\x00',
       b'\x01896633T16000\x00\x00\x00\x00',
+      b'\x01896633TA2000\x00\x00\x00\x00',
       b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
@@ -321,6 +322,7 @@
       b'F1526F4073\x00\x00\x00\x00\x00\x00',
       b'F1526F4121\x00\x00\x00\x00\x00\x00',
       b'F1526F4122\x00\x00\x00\x00\x00\x00',
+      b'F1526F4190\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B10011\x00\x00\x00\x00\x00\x00',
@@ -337,6 +339,7 @@
       b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
       b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
       b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x033F435000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F0W01000    ',
@@ -391,6 +394,7 @@
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00',
       b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
+      b'\x028646FF413000\x00\x00\x00\x008646GF411000\x00\x00\x00\x00',
       b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
     ],
   },
@@ -431,6 +435,7 @@
   CAR.TOYOTA_COROLLA_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630A22000\x00\x00\x00\x00',
+      b'\x01896630A42000\x00\x00\x00\x00',
       b'\x01896630ZG2000\x00\x00\x00\x00',
       b'\x01896630ZG5000\x00\x00\x00\x00',
       b'\x01896630ZG5100\x00\x00\x00\x00',
@@ -525,6 +530,7 @@
       b'8965B16011\x00\x00\x00\x00\x00\x00',
       b'8965B16101\x00\x00\x00\x00\x00\x00',
       b'8965B16170\x00\x00\x00\x00\x00\x00',
+      b'8965B16260\x00\x00\x00\x00\x00\x00',
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'8965B76050\x00\x00\x00\x00\x00\x00',
       b'8965B76091\x00\x00\x00\x00\x00\x00',
@@ -539,6 +545,7 @@
       b'\x01F15260A010\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A050\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260A33000\x00\x00\x00\x00',
       b'\x01F152612641\x00\x00\x00\x00\x00\x00',
       b'\x01F152612651\x00\x00\x00\x00\x00\x00',
       b'\x01F152612862\x00\x00\x00\x00\x00\x00',
@@ -598,6 +605,7 @@
       b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1601500\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
@@ -716,11 +724,13 @@
       b'\x01896630EE7000\x00\x00\x00\x00',
       b'\x01896630EF8000\x00\x00\x00\x00',
       b'\x01896630EG3000\x00\x00\x00\x00',
+      b'\x01896630EG3100\x00\x00\x00\x00',
       b'\x01896630EG5000\x00\x00\x00\x00',
       b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896630EB3200\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',
@@ -1010,21 +1020,26 @@
       b'\x018966342S7000\x00\x00\x00\x00',
       b'\x018966342Z1000\x00\x00\x00\x00',
       b'\x018966342Z1100\x00\x00\x00\x00',
+      b'\x01896634AJ7000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15264228300\x00\x00\x00\x00',
       b'\x01F15264228500\x00\x00\x00\x00',
       b'\x01F15264284100\x00\x00\x00\x00',
+      b'\x01F152642F3000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'\x018965B4209000\x00\x00\x00\x00',
+      b'\x018965B4233100\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F4205200\x00\x00\x00\x008646G4202000\x00\x00\x00\x00',
       b'\x028646F4205300\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+      b'\x028646F4210100\x00\x00\x00\x008646G3305000\x00\x00\x00\x00',
     ],
   },
   CAR.TOYOTA_RAV4_TSS2: {
@@ -1248,6 +1263,28 @@
       b'8646F0801100\x00\x00\x00\x00',
     ],
   },
+  CAR.TOYOTA_SIENNA_4TH_GEN: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630841000\x00\x00\x00\x00',
+      b'\x01896630857101\x00\x00\x00\x00',
+      b'\x01896630864000\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260815100\x00\x00\x00\x00',
+      b'\x01F15260815300\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965B4509100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301500\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0802200\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+      b'\x028646F0802300\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+      b'\x028646F0802400\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_CTH: {
     (Ecu.dsu, 0x791, None): [
       b'881517601100\x00\x00\x00\x00',
@@ -1666,6 +1703,7 @@
       b'8965B47070\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
diff --git a/opendbc/car/toyota/interface.py b/opendbc/car/toyota/interface.py
index bb9a1ba3ec..3691f9f78c 100644
--- a/opendbc/car/toyota/interface.py
+++ b/opendbc/car/toyota/interface.py
@@ -67,7 +67,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
       stop_and_go = candidate != CAR.TOYOTA_AVALON
 
-    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME):
+    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]
diff --git a/opendbc/car/toyota/radar_interface.py b/opendbc/car/toyota/radar_interface.py
index 922dbac278..bfb2df0494 100755
--- a/opendbc/car/toyota/radar_interface.py
+++ b/opendbc/car/toyota/radar_interface.py
@@ -23,7 +23,6 @@ class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
     self.track_id = 0
-    self.radar_ts = CP.radarTimeStep
 
     if CP.carFingerprint in TSS2_CAR:
       self.RADAR_A_MSGS = list(range(0x180, 0x190))
diff --git a/opendbc/car/toyota/values.py b/opendbc/car/toyota/values.py
index 47661a92c4..d61849f354 100644
--- a/opendbc/car/toyota/values.py
+++ b/opendbc/car/toyota/values.py
@@ -252,7 +252,7 @@ class CAR(Platforms):
     # TODO: Enable this docs entry when it can be suppressed from openpilot CARS.md
     # [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
     [],
-    CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
+    CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
     dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
     flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC,
   )
@@ -266,6 +266,14 @@ class CAR(Platforms):
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_STOP_TIMER,
   )
+  TOYOTA_SIENNA_4TH_GEN = PlatformConfig(
+    # TODO: Enable this docs entry when it can be suppressed from openpilot CARS.md
+    # [ToyotaCarDocs("Toyota Sienna 2021-23", min_enable_speed=MIN_ACC_SPEED)],
+    [],
+    CarSpecs(mass=4625. * CV.LB_TO_KG, wheelbase=3.06, steerRatio=17.8, tireStiffnessFactor=0.444),
+    dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
+    flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC,
+  )
 
   # Lexus
   LEXUS_CTH = PlatformConfig(
@@ -549,6 +557,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
 
     # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform
     (Ecu.hybrid, 0x7e2, None),  # Hybrid Control Assembly & Computer
+    (Ecu.hybrid, 0x7d2, None),  # Hybrid Control Assembly & Computer
     (Ecu.srs, 0x780, None),     # SRS Airbag
     # Transmission is combined with engine on some platforms, such as TSS-P RAV4
     (Ecu.transmission, 0x701, None),
diff --git a/opendbc/car/volkswagen/fingerprints.py b/opendbc/car/volkswagen/fingerprints.py
index 4711beaf3c..a3bae382ac 100644
--- a/opendbc/car/volkswagen/fingerprints.py
+++ b/opendbc/car/volkswagen/fingerprints.py
@@ -52,6 +52,7 @@
   CAR.VOLKSWAGEN_ATLAS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703H906026AA\xf1\x899970',
+      b'\xf1\x8703H906026AG\xf1\x899971',
       b'\xf1\x8703H906026AG\xf1\x899973',
       b'\xf1\x8703H906026AJ\xf1\x890638',
       b'\xf1\x8703H906026AJ\xf1\x891017',
@@ -355,11 +356,13 @@
       b'\xf1\x8704E906024L \xf1\x895595',
       b'\xf1\x8704E906024L \xf1\x899970',
       b'\xf1\x8704E906027MS\xf1\x896223',
+      b'\xf1\x8705E906013BN\xf1\x893711',
       b'\xf1\x8705E906013DB\xf1\x893361',
       b'\xf1\x875G0906259T \xf1\x890003',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158BQ\xf1\x893545',
+      b'\xf1\x8709H927158  \xf1\x890515',
       b'\xf1\x8709S927158BS\xf1\x893642',
       b'\xf1\x8709S927158BS\xf1\x893694',
       b'\xf1\x8709S927158CK\xf1\x893770',
@@ -387,8 +390,10 @@
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A00642A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A10A01A1',
       b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A10A11A1',
+      b'\xf1\x875QV907144F \xf1\x891122\xf1\x82\x0001A00701]V',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907567B \xf1\x890534',
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x875Q0907572N \xf1\x890681',
       b'\xf1\x875Q0907572P \xf1\x890682',
diff --git a/opendbc/dbc/acura_rdx_2020_can_generated.dbc b/opendbc/dbc/acura_rdx_2020_can_generated.dbc
index c6149921dc..7a225aa599 100644
--- a/opendbc/dbc/acura_rdx_2020_can_generated.dbc
+++ b/opendbc/dbc/acura_rdx_2020_can_generated.dbc
@@ -322,12 +322,14 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 7|16@0+ (1,0) [0|127] "" BDY
+ SG_ SPEED_LIMIT_SIGN : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROAD_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
@@ -396,7 +398,8 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
-
+VAL_ 862 SPEED_LIMIT_SIGN 97 "SPEED_LIMIT_5" 98 "SPEED_LIMIT_10" 99 "SPEED_LIMIT_15" 100 "SPEED_LIMIT_20" 101 "SPEED_LIMIT_25" 102 "SPEED_LIMIT_30" 103 "SPEED_LIMIT_35" 104 "SPEED_LIMIT_40" 105 "SPEED_LIMIT_45" 106 "SPEED_LIMIT_50" 107 "SPEED_LIMIT_55" 108 "SPEED_LIMIT_60" 109 "SPEED_LIMIT_65" 110 "SPEED_LIMIT_70" 111 "SPEED_LIMIT_75" 112 "SPEED_LIMIT_80" 113 "SPEED_LIMIT_85" 125 "SPEED_LIMIT_NA" 0 "STOP_SIGN";
+VAL_ 862 ROAD_SIGN 0 "NO_SIGN" 89 "STOP_SIGN";
 
 CM_ "Imported file _bosch_adas_2018.dbc starts here";
 BO_ 479 ACC_CONTROL: 8 EON
diff --git a/opendbc/dbc/generator/honda/_bosch_2018.dbc b/opendbc/dbc/generator/honda/_bosch_2018.dbc
index bf981781d0..b5e8c14d6c 100644
--- a/opendbc/dbc/generator/honda/_bosch_2018.dbc
+++ b/opendbc/dbc/generator/honda/_bosch_2018.dbc
@@ -152,12 +152,14 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 7|16@0+ (1,0) [0|127] "" BDY
+ SG_ SPEED_LIMIT_SIGN : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROAD_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
@@ -226,3 +228,5 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
+VAL_ 862 SPEED_LIMIT_SIGN 97 "SPEED_LIMIT_5" 98 "SPEED_LIMIT_10" 99 "SPEED_LIMIT_15" 100 "SPEED_LIMIT_20" 101 "SPEED_LIMIT_25" 102 "SPEED_LIMIT_30" 103 "SPEED_LIMIT_35" 104 "SPEED_LIMIT_40" 105 "SPEED_LIMIT_45" 106 "SPEED_LIMIT_50" 107 "SPEED_LIMIT_55" 108 "SPEED_LIMIT_60" 109 "SPEED_LIMIT_65" 110 "SPEED_LIMIT_70" 111 "SPEED_LIMIT_75" 112 "SPEED_LIMIT_80" 113 "SPEED_LIMIT_85" 125 "SPEED_LIMIT_NA" 0 "STOP_SIGN";
+VAL_ 862 ROAD_SIGN 0 "NO_SIGN" 89 "STOP_SIGN";
\ No newline at end of file
diff --git a/opendbc/dbc/generator/honda/honda_civic_ex_2022_can.dbc b/opendbc/dbc/generator/honda/honda_civic_ex_2022_can.dbc
index ad50302379..bbe3eadb31 100644
--- a/opendbc/dbc/generator/honda/honda_civic_ex_2022_can.dbc
+++ b/opendbc/dbc/generator/honda/honda_civic_ex_2022_can.dbc
@@ -49,6 +49,16 @@ BO_ 467 CRUISE_FAULT_STATUS: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
+BO_ 477 GEARBOX_ALT_2: 8 XXX
+ SG_ GEAR_MT : 39|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 495 SPEED_LIMIT_DASH_DISPLAY: 8 ADAS
+ SG_ SPEED_LIMIT : 47|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 829 LKAS_HUD: 8 ADAS
  SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
  SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
@@ -89,7 +99,9 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
 CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection.";
 CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
 CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
+CM_ SG_ 495 SPEED_LIMIT "Defaults to 0xFF if no speed limit found";
 
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
 VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ;
+VAL_ 477 GEAR_MT 14 "reverse" 6 "6th" 5 "5th" 4 "4th" 3 "3rd" 2 "2nd" 1 "1st" 0 "Clutch";
diff --git a/opendbc/dbc/generator/toyota/_toyota_2017.dbc b/opendbc/dbc/generator/toyota/_toyota_2017.dbc
index a8ff910771..52bf3eb575 100644
--- a/opendbc/dbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/dbc/generator/toyota/_toyota_2017.dbc
@@ -149,7 +149,11 @@ BO_ 643 PRE_COLLISION: 7 DSU
 
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
diff --git a/opendbc/dbc/generator/toyota/toyota_rav4_prime.dbc b/opendbc/dbc/generator/toyota/toyota_rav4_prime.dbc
index c60da2c289..3ad3da4373 100644
--- a/opendbc/dbc/generator/toyota/toyota_rav4_prime.dbc
+++ b/opendbc/dbc/generator/toyota/toyota_rav4_prime.dbc
@@ -97,7 +97,7 @@ BO_ 375 PCM_CRUISE_3: 8 XXX
  SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 387 ACC_CONTROL_2: 8 XXX
- SG_ ACCEL_CMD : 7|16@0- (1,0) [0|65535] "" XXX
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU
  SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
  SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
  SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
diff --git a/opendbc/dbc/honda_accord_2018_can_generated.dbc b/opendbc/dbc/honda_accord_2018_can_generated.dbc
index 85947333d5..ea9d30f3c8 100644
--- a/opendbc/dbc/honda_accord_2018_can_generated.dbc
+++ b/opendbc/dbc/honda_accord_2018_can_generated.dbc
@@ -322,12 +322,14 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 7|16@0+ (1,0) [0|127] "" BDY
+ SG_ SPEED_LIMIT_SIGN : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROAD_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
@@ -396,7 +398,8 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
-
+VAL_ 862 SPEED_LIMIT_SIGN 97 "SPEED_LIMIT_5" 98 "SPEED_LIMIT_10" 99 "SPEED_LIMIT_15" 100 "SPEED_LIMIT_20" 101 "SPEED_LIMIT_25" 102 "SPEED_LIMIT_30" 103 "SPEED_LIMIT_35" 104 "SPEED_LIMIT_40" 105 "SPEED_LIMIT_45" 106 "SPEED_LIMIT_50" 107 "SPEED_LIMIT_55" 108 "SPEED_LIMIT_60" 109 "SPEED_LIMIT_65" 110 "SPEED_LIMIT_70" 111 "SPEED_LIMIT_75" 112 "SPEED_LIMIT_80" 113 "SPEED_LIMIT_85" 125 "SPEED_LIMIT_NA" 0 "STOP_SIGN";
+VAL_ 862 ROAD_SIGN 0 "NO_SIGN" 89 "STOP_SIGN";
 
 CM_ "Imported file _bosch_adas_2018.dbc starts here";
 BO_ 479 ACC_CONTROL: 8 EON
diff --git a/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc b/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc
index 2e474f6fc0..7ec5b13278 100644
--- a/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc
+++ b/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc
@@ -322,12 +322,14 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 7|16@0+ (1,0) [0|127] "" BDY
+ SG_ SPEED_LIMIT_SIGN : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROAD_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
@@ -396,7 +398,8 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
-
+VAL_ 862 SPEED_LIMIT_SIGN 97 "SPEED_LIMIT_5" 98 "SPEED_LIMIT_10" 99 "SPEED_LIMIT_15" 100 "SPEED_LIMIT_20" 101 "SPEED_LIMIT_25" 102 "SPEED_LIMIT_30" 103 "SPEED_LIMIT_35" 104 "SPEED_LIMIT_40" 105 "SPEED_LIMIT_45" 106 "SPEED_LIMIT_50" 107 "SPEED_LIMIT_55" 108 "SPEED_LIMIT_60" 109 "SPEED_LIMIT_65" 110 "SPEED_LIMIT_70" 111 "SPEED_LIMIT_75" 112 "SPEED_LIMIT_80" 113 "SPEED_LIMIT_85" 125 "SPEED_LIMIT_NA" 0 "STOP_SIGN";
+VAL_ 862 ROAD_SIGN 0 "NO_SIGN" 89 "STOP_SIGN";
 
 CM_ "Imported file _steering_sensors_a.dbc starts here";
 BO_ 330 STEERING_SENSORS: 8 EPS
@@ -458,6 +461,16 @@ BO_ 467 CRUISE_FAULT_STATUS: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
+BO_ 477 GEARBOX_ALT_2: 8 XXX
+ SG_ GEAR_MT : 39|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 495 SPEED_LIMIT_DASH_DISPLAY: 8 ADAS
+ SG_ SPEED_LIMIT : 47|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 829 LKAS_HUD: 8 ADAS
  SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
  SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
@@ -498,7 +511,9 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
 CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection.";
 CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
 CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
+CM_ SG_ 495 SPEED_LIMIT "Defaults to 0xFF if no speed limit found";
 
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
 VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ;
+VAL_ 477 GEAR_MT 14 "reverse" 6 "6th" 5 "5th" 4 "4th" 3 "3rd" 2 "2nd" 1 "1st" 0 "Clutch";
diff --git a/opendbc/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc b/opendbc/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc
index 75ba176a8f..60000d88f6 100644
--- a/opendbc/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -322,12 +322,14 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 7|16@0+ (1,0) [0|127] "" BDY
+ SG_ SPEED_LIMIT_SIGN : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROAD_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
@@ -396,7 +398,8 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
-
+VAL_ 862 SPEED_LIMIT_SIGN 97 "SPEED_LIMIT_5" 98 "SPEED_LIMIT_10" 99 "SPEED_LIMIT_15" 100 "SPEED_LIMIT_20" 101 "SPEED_LIMIT_25" 102 "SPEED_LIMIT_30" 103 "SPEED_LIMIT_35" 104 "SPEED_LIMIT_40" 105 "SPEED_LIMIT_45" 106 "SPEED_LIMIT_50" 107 "SPEED_LIMIT_55" 108 "SPEED_LIMIT_60" 109 "SPEED_LIMIT_65" 110 "SPEED_LIMIT_70" 111 "SPEED_LIMIT_75" 112 "SPEED_LIMIT_80" 113 "SPEED_LIMIT_85" 125 "SPEED_LIMIT_NA" 0 "STOP_SIGN";
+VAL_ 862 ROAD_SIGN 0 "NO_SIGN" 89 "STOP_SIGN";
 
 CM_ "Imported file _bosch_adas_2018.dbc starts here";
 BO_ 479 ACC_CONTROL: 8 EON
diff --git a/opendbc/dbc/honda_crv_ex_2017_can_generated.dbc b/opendbc/dbc/honda_crv_ex_2017_can_generated.dbc
index 9f3dc0fba9..06ec21b248 100644
--- a/opendbc/dbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/dbc/honda_crv_ex_2017_can_generated.dbc
@@ -322,12 +322,14 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 7|16@0+ (1,0) [0|127] "" BDY
+ SG_ SPEED_LIMIT_SIGN : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROAD_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
@@ -396,7 +398,8 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
-
+VAL_ 862 SPEED_LIMIT_SIGN 97 "SPEED_LIMIT_5" 98 "SPEED_LIMIT_10" 99 "SPEED_LIMIT_15" 100 "SPEED_LIMIT_20" 101 "SPEED_LIMIT_25" 102 "SPEED_LIMIT_30" 103 "SPEED_LIMIT_35" 104 "SPEED_LIMIT_40" 105 "SPEED_LIMIT_45" 106 "SPEED_LIMIT_50" 107 "SPEED_LIMIT_55" 108 "SPEED_LIMIT_60" 109 "SPEED_LIMIT_65" 110 "SPEED_LIMIT_70" 111 "SPEED_LIMIT_75" 112 "SPEED_LIMIT_80" 113 "SPEED_LIMIT_85" 125 "SPEED_LIMIT_NA" 0 "STOP_SIGN";
+VAL_ 862 ROAD_SIGN 0 "NO_SIGN" 89 "STOP_SIGN";
 
 CM_ "Imported file _bosch_adas_2018.dbc starts here";
 BO_ 479 ACC_CONTROL: 8 EON
diff --git a/opendbc/dbc/honda_insight_ex_2019_can_generated.dbc b/opendbc/dbc/honda_insight_ex_2019_can_generated.dbc
index ccbf25bfc7..cbb3d568d4 100644
--- a/opendbc/dbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/dbc/honda_insight_ex_2019_can_generated.dbc
@@ -322,12 +322,14 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 7|16@0+ (1,0) [0|127] "" BDY
+ SG_ SPEED_LIMIT_SIGN : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROAD_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
@@ -396,7 +398,8 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
-
+VAL_ 862 SPEED_LIMIT_SIGN 97 "SPEED_LIMIT_5" 98 "SPEED_LIMIT_10" 99 "SPEED_LIMIT_15" 100 "SPEED_LIMIT_20" 101 "SPEED_LIMIT_25" 102 "SPEED_LIMIT_30" 103 "SPEED_LIMIT_35" 104 "SPEED_LIMIT_40" 105 "SPEED_LIMIT_45" 106 "SPEED_LIMIT_50" 107 "SPEED_LIMIT_55" 108 "SPEED_LIMIT_60" 109 "SPEED_LIMIT_65" 110 "SPEED_LIMIT_70" 111 "SPEED_LIMIT_75" 112 "SPEED_LIMIT_80" 113 "SPEED_LIMIT_85" 125 "SPEED_LIMIT_NA" 0 "STOP_SIGN";
+VAL_ 862 ROAD_SIGN 0 "NO_SIGN" 89 "STOP_SIGN";
 
 CM_ "Imported file _bosch_adas_2018.dbc starts here";
 BO_ 479 ACC_CONTROL: 8 EON
diff --git a/opendbc/dbc/honda_pilot_2023_can_generated.dbc b/opendbc/dbc/honda_pilot_2023_can_generated.dbc
index 91686e80b0..84cc64f01a 100644
--- a/opendbc/dbc/honda_pilot_2023_can_generated.dbc
+++ b/opendbc/dbc/honda_pilot_2023_can_generated.dbc
@@ -322,12 +322,14 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 7|16@0+ (1,0) [0|127] "" BDY
+ SG_ SPEED_LIMIT_SIGN : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROAD_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
@@ -396,7 +398,8 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
-
+VAL_ 862 SPEED_LIMIT_SIGN 97 "SPEED_LIMIT_5" 98 "SPEED_LIMIT_10" 99 "SPEED_LIMIT_15" 100 "SPEED_LIMIT_20" 101 "SPEED_LIMIT_25" 102 "SPEED_LIMIT_30" 103 "SPEED_LIMIT_35" 104 "SPEED_LIMIT_40" 105 "SPEED_LIMIT_45" 106 "SPEED_LIMIT_50" 107 "SPEED_LIMIT_55" 108 "SPEED_LIMIT_60" 109 "SPEED_LIMIT_65" 110 "SPEED_LIMIT_70" 111 "SPEED_LIMIT_75" 112 "SPEED_LIMIT_80" 113 "SPEED_LIMIT_85" 125 "SPEED_LIMIT_NA" 0 "STOP_SIGN";
+VAL_ 862 ROAD_SIGN 0 "NO_SIGN" 89 "STOP_SIGN";
 
 CM_ "Imported file _steering_sensors_a.dbc starts here";
 BO_ 330 STEERING_SENSORS: 8 EPS
diff --git a/opendbc/dbc/tesla_model3_party.dbc b/opendbc/dbc/tesla_model3_party.dbc
index c754c5114b..8fa1658691 100644
--- a/opendbc/dbc/tesla_model3_party.dbc
+++ b/opendbc/dbc/tesla_model3_party.dbc
@@ -1,333 +1,339 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: CH DIPF DIPR ETH FC HVI HVS PARTY SDCV VEH VIRT
-
-
-BO_ 905 DAS_status2: 8 PARTY
- SG_ DAS_status2Checksum : 56|8@1+ (1,0) [0|255] ""  aps
- SG_ DAS_status2Counter : 52|4@1+ (1,0) [0|15] ""  aps
- SG_ DAS_longCollisionWarning : 48|4@1+ (1,0) [0|15] ""  aps
- SG_ DAS_ppOffsetDesiredRamp : 40|8@1+ (0.01,-1.28) [-1.28|1.27] "m"  aps
- SG_ DAS_driverInteractionLevel : 38|2@1+ (1,0) [0|2] ""  aps
- SG_ DAS_robState : 36|2@1+ (1,0) [0|3] ""  aps
- SG_ DAS_radarTelemetry : 34|2@1+ (1,0) [0|2] ""  aps
- SG_ DAS_lssState : 31|3@1+ (1,0) [0|7] ""  aps
- SG_ DAS_ACC_report : 26|5@1+ (1,0) [0|24] ""  aps
- SG_ DAS_pmmCameraFaultReason : 24|2@1+ (1,0) [0|2] ""  aps
- SG_ DAS_pmmSysFaultReason : 21|3@1+ (1,0) [0|7] ""  aps
- SG_ DAS_pmmRadarFaultReason : 19|2@1+ (1,0) [0|2] ""  aps
- SG_ DAS_pmmUltrasonicsFaultReason : 16|3@1+ (1,0) [0|4] ""  aps
- SG_ DAS_activationFailureStatus : 14|2@1+ (1,0) [0|2] ""  aps
- SG_ DAS_pmmLoggingRequest : 13|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_pmmObstacleSeverity : 10|3@1+ (1,0) [0|7] ""  aps
- SG_ DAS_accSpeedLimit : 0|10@1+ (0.2,0) [0|204.6] "mph"  aps
-
-BO_ 264 DI_torque: 8 PARTY
- SG_ DI_axleSpeed : 40|16@1- (0.1,0.0) [-2750|2750] "RPM"  epas3s
- SG_ DI_torqueActual : 27|13@1- (2,0) [-7500|7500] "Nm"  X
- SG_ DI_torqueCommand : 12|13@1- (2,0) [-7500|7500] "Nm"  X
- SG_ DI_torqueCounter : 8|4@1+ (1,0) [0|15] ""  epas3s
- SG_ DI_torqueChecksum : 0|8@1+ (1,0) [0|255] ""  epas3s
-
-BO_ 585 SCCM_leftStalk: 3 PARTY
- SG_ SCCM_leftStalkReserved1 : 19|5@1+ (1,0) [0|31] ""  X
- SG_ SCCM_turnIndicatorStalkStatus : 16|3@1+ (1,0) [0|5] ""  park
- SG_ SCCM_washWipeButtonStatus : 14|2@1+ (1,0) [0|3] ""  X
- SG_ SCCM_highBeamStalkStatus : 12|2@1+ (1,0) [0|3] ""  X
- SG_ SCCM_leftStalkCounter : 8|4@1+ (1,0) [0|15] ""  X
- SG_ SCCM_leftStalkCrc : 0|8@1+ (1,0) [0|255] ""  X
-
-BO_ 280 DI_systemStatus: 8 PARTY
- SG_ DI_trackModeState : 48|2@1+ (1,0) [0|2] ""  X
- SG_ DI_keepAliveRequest : 47|1@1+ (1,0) [0|1] ""  X
- SG_ DI_proximity : 46|1@1+ (1,0) [0|1] ""  X
- SG_ DI_epbRequest : 44|2@1+ (1,0) [0|2] ""  X
- SG_ DI_tractionControlMode : 40|3@1+ (1,0) [0|5] ""  X
- SG_ DI_accelPedalPos : 32|8@1+ (0.4,0) [0|100] "%"  X
- SG_ DI_immobilizerState : 27|3@1+ (1,0) [0|6] ""  X
- SG_ DI_regenLight : 26|1@1+ (1,0) [0|1] ""  X
- SG_ DI_gear : 21|3@1+ (1,0) [0|7] ""  park
- SG_ DI_brakePedalState : 19|2@1+ (1,0) [0|2] ""  X
- SG_ DI_systemState : 16|3@1+ (1,0) [0|5] ""  X
- SG_ DI_systemStatusCounter : 8|4@1+ (1,0) [0|15] ""  X
- SG_ DI_systemStatusChecksum : 0|8@1+ (1,0) [0|255] ""  X
-
-BO_ 697 DAS_control: 8 PARTY
- SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|255] ""  aps
- SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|7] ""  aps
- SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2"  aps
- SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2"  aps
- SG_ DAS_jerkMax : 27|8@1+ (0.034,0) [0|8.67] "m/s^3"  aps
- SG_ DAS_jerkMin : 18|9@1+ (0.018,-9.1) [-9.1|0.097999999999999] "m/s^3"  aps
- SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] ""  aps
- SG_ DAS_accState : 12|4@1+ (1,0) [0|15] ""  aps
- SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph"  aps
-
-BO_ 341 ESP_B: 8 PARTY
- SG_ ESP_wheelRotationChecksum : 56|8@1+ (1,0) [0|255] ""  app
- SG_ ESP_wheelRotationCounter : 52|4@1+ (1,0) [0|15] ""  app
- SG_ ESP_vehicleSpeed : 42|10@1+ (0.5,0) [0|511] "kph"  app
- SG_ ESP_vehicleStandstillSts : 41|1@1+ (1,0) [0|1] ""  park
- SG_ ESP_wheelSpeedsQF : 40|1@1+ (1,0) [0|1] ""  epas3s
- SG_ ESP_WheelRotationFrL : 38|2@1+ (1,0) [0|3] ""  aps
- SG_ ESP_WheelRotationFrR : 36|2@1+ (1,0) [0|3] ""  aps
- SG_ ESP_WheelRotationReL : 34|2@1+ (1,0) [0|3] ""  aps
- SG_ ESP_WheelRotationReR : 32|2@1+ (1,0) [0|3] ""  aps
- SG_ ESP_wheelPulseCountReR : 24|8@1+ (1,0) [0|254] "1"  das
- SG_ ESP_wheelPulseCountReL : 16|8@1+ (1,0) [0|254] "1"  das
- SG_ ESP_wheelPulseCountFrR : 8|8@1+ (1,0) [0|254] "1"  app
- SG_ ESP_wheelPulseCountFrL : 0|8@1+ (1,0) [0|254] "1"  app
-
-BO_ 969 APS_status: 4 PARTY
- SG_ APS_statusCounter : 22|4@1+ (1,0) [0|15] ""  X
- SG_ APS_apbGpioState : 20|2@1+ (1,0) [0|3] ""  gtw
- SG_ APS_apbStatusMonitorState : 16|3@1+ (1,0) [0|7] ""  gtw
- SG_ APS_switchState : 15|1@1+ (1,0) [0|1] ""  X
- SG_ APS_eacInternalState : 12|3@1+ (1,0) [0|7] ""  gtw
- SG_ APS_appGpioState : 10|2@1+ (1,0) [0|3] ""  gtw
- SG_ APS_canMaster : 8|2@1+ (1,0) [0|3] ""  gtw
- SG_ APS_vehBehaviorState : 4|3@1+ (1,0) [0|7] ""  gtw
- SG_ APS_appStatusMonitorState : 0|3@1+ (1,0) [0|7] ""  gtw
-
-BO_ 925 IBST_status: 5 PARTY
- SG_ IBST_sInputRodDriver : 21|12@1+ (0.015625,-5) [-5|47] "mm"  gtw
- SG_ IBST_internalState : 18|3@1+ (1,0) [0|6] ""  gtw
- SG_ IBST_driverBrakeApply : 16|2@1+ (1,0) [0|3] ""  gtw
- SG_ IBST_iBoosterStatus : 12|3@1+ (1,0) [0|6] ""  gtw
- SG_ IBST_statusCounter : 8|4@1+ (1,0) [0|15] ""  X
- SG_ IBST_statusChecksum : 0|8@1+ (1,0) [0|255] ""  X
-
-BO_ 880 EPAS3S_sysStatus: 8 PARTY
- SG_ EPAS3S_sysStatusChecksum : 63|8@0+ (1,0) [0|255] ""  park
- SG_ EPAS3S_sysStatusCounter : 51|4@0+ (1,0) [0|15] ""  gtw
- SG_ EPAS3S_eacStatus : 55|3@0+ (1,0) [0|7] ""  das
- SG_ EPAS3S_internalSAS : 37|14@0+ (0.1,-819.2) [-819.2|819] "deg"  das
- SG_ EPAS3S_handsOnLevel : 39|2@0+ (1,0) [0|3] ""  das
- SG_ EPAS3S_torsionBarTorque : 19|12@0+ (0.01,-20.5) [-20.5|20.45] "Nm"  das
- SG_ EPAS3S_eacErrorCode : 23|4@0+ (1,0) [0|15] ""  das
- SG_ EPAS3S_steeringRackForce : 1|10@0+ (50,-25575) [-25575|25575] "N"  gtw
- SG_ EPAS3S_steeringFault : 2|1@0+ (1,0) [0|1] ""  das
- SG_ EPAS3S_steeringReduced : 3|1@0+ (1,0) [0|1] ""  das
- SG_ EPAS3S_internalSASQF : 4|1@0+ (1,0) [0|1] ""  gtw
- SG_ EPAS3S_currentTuneMode : 7|3@0+ (1,0) [0|5] ""  gtw
-
-BO_ 599 DI_speed: 8 PARTY
- SG_ DI_uiSpeedUnits : 32|1@1+ (1,0) [0|1] ""  das
- SG_ DI_uiSpeed : 24|8@1+ (1,0) [0|254] ""  das
- SG_ DI_vehicleSpeed : 12|12@1+ (0.08,-40) [-40|285] "kph"  park
- SG_ DI_speedCounter : 8|4@1+ (1,0) [0|15] ""  park
- SG_ DI_speedChecksum : 0|8@1+ (1,0) [0|255] ""  park
-
-BO_ 1160 DAS_steeringControl: 4 PARTY
- SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|255] ""  aps
- SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|15] ""  aps
- SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|3] ""  aps
- SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg"  aps
- SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|1] ""  aps
-
-BO_ 297 SCCM_steeringAngleSensor: 8 PARTY
- SG_ SCCM_steeringAngleSensorReservd3 : 56|8@1+ (1,0) [0|255] ""  X
- SG_ SCCM_steeringAngleSensorReservd2 : 48|8@1+ (1,0) [0|255] ""  X
- SG_ SCCM_steeringAngleSensorReservd1 : 46|2@1+ (1,0) [0|3] ""  X
- SG_ SCCM_steeringAngleSpeed : 32|14@1+ (0.5,-4096) [-4096|4095.5] "deg/s"  park
- SG_ SCCM_steeringAngleValidity : 30|2@1+ (1,0) [0|3] ""  park
- SG_ SCCM_steeringAngle : 16|14@1+ (0.1,-819.2) [-819.2|819] "deg"  epas3s
- SG_ SCCM_steeringAngleSensorStatus : 14|2@1+ (1,0) [0|3] ""  epas3s
- SG_ SCCM_supplierID : 12|2@1+ (1,0) [0|3] ""  park
- SG_ SCCM_steeringAngleCounter : 8|4@1+ (1,0) [0|15] ""  epas3s
- SG_ SCCM_steeringAngleCrc : 0|8@1+ (1,0) [0|255] ""  epas3s
-
-BO_ 646 DI_state: 7 ETH
- SG_ DI_summonInPanic : 48|1@1+ (1,0) [0|0] ""  X
- SG_ DI_rollPreventionState : 45|3@1+ (1,0) [0|0] ""  X
- SG_ DI_vehicleHoldState : 42|3@1+ (1,0) [0|0] ""  X
- SG_ DI_pmmStatus : 40|2@1+ (1,0) [0|0] ""  X
- SG_ DI_aebState : 37|3@1+ (1,0) [0|0] ""  X
- SG_ DI_autopilotRequest : 36|1@1+ (1,0) [0|0] ""  X
- SG_ DI_parkBrakeState : 32|4@1+ (1,0) [0|0] ""  X
- SG_ DI_autoparkState : 25|4@1+ (1,0) [0|0] ""  X
- SG_ DI_speedUnits : 24|1@1+ (1,0) [0|0] ""  X
- SG_ DI_digitalSpeed : 15|9@1+ (0.5,0) [0|0] "speed"  X
- SG_ DI_cruiseState : 12|3@1+ (1,0) [0|0] ""  X
- SG_ DI_locStatusCounter : 8|4@1+ (1,0) [0|0] ""  X
- SG_ DI_locStatusChecksum : 0|8@1+ (1,0) [0|0] ""  X
-
-BO_ 785 UI_warning: 7 XXX
- SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ leftBlinkerOn : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ rightBlinkerOn : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ anyDoorOpen : 28|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 923 DAS_status: 8 PARTY
- SG_ DAS_statusChecksum : 56|8@1+ (1,0) [0|255] ""  aps
- SG_ DAS_statusCounter : 52|4@1+ (1,0) [0|15] ""  aps
- SG_ DAS_summonAvailable : 51|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_autoLaneChangeState : 46|5@1+ (1,0) [0|31] ""  aps
- SG_ DAS_autopilotHandsOnState : 42|4@1+ (1,0) [0|15] ""  aps
- SG_ DAS_fleetSpeedState : 40|2@1+ (1,0) [0|3] ""  aps
- SG_ DAS_laneDepartureWarning : 37|3@1+ (1,0) [0|5] ""  aps
- SG_ DAS_csaState : 35|2@1+ (1,0) [0|3] ""  aps
- SG_ DAS_sideCollisionInhibit : 34|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_sideCollisionWarning : 32|2@1+ (1,0) [0|3] ""  aps
- SG_ DAS_sideCollisionAvoid : 30|2@1+ (1,0) [0|3] ""  aps
- SG_ DAS_summonRvsLeashReached : 29|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_summonFwdLeashReached : 28|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_autoparkWaitingForBrake : 26|1@1+ (1,0) [0|1] ""  gtw
- SG_ DAS_autoParked : 25|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_autoparkReady : 24|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_forwardCollisionWarning : 22|2@1+ (1,0) [0|3] ""  aps
- SG_ DAS_heaterState : 21|1@1+ (1,0) [0|1] ""  gtw
- SG_ DAS_visionOnlySpeedLimit : 16|5@1+ (5,0) [0|150] "kph/mph"  aps
- SG_ DAS_summonClearedGate : 15|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_summonObstacle : 14|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_suppressSpeedWarning : 13|1@1+ (1,0) [0|1] ""  aps
- SG_ DAS_fusedSpeedLimit : 8|5@1+ (5,0) [0|150] "kph/mph"  aps
- SG_ DAS_blindSpotRearRight : 6|2@1+ (1,0) [0|3] ""  aps
- SG_ DAS_blindSpotRearLeft : 4|2@1+ (1,0) [0|3] ""  aps
- SG_ DAS_autopilotState : 0|4@1+ (1,0) [0|15] ""  aps
-
-
-
-
-
-
-
-
-VAL_ 905 DAS_longCollisionWarning 7 "FCM_LONG_COLLISION_WARNING_VEHICLE_CUTIN" 0 "FCM_LONG_COLLISION_WARNING_NONE" 4 "FCM_LONG_COLLISION_WARNING_STOPSIGN_STOPLINE" 9 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL2" 15 "FCM_LONG_COLLISION_WARNING_SNA" 8 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL" 5 "FCM_LONG_COLLISION_WARNING_TFL_STOPLINE" 2 "FCM_LONG_COLLISION_WARNING_PEDESTRIAN" 12 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV2" 6 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV" 10 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR" 3 "FCM_LONG_COLLISION_WARNING_IPSO" 1 "FCM_LONG_COLLISION_WARNING_VEHICLE_UNKNOWN" 11 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR2" ;
-VAL_ 905 DAS_ppOffsetDesiredRamp 128 "PP_NO_OFFSET" ;
-VAL_ 905 DAS_driverInteractionLevel 0 "DRIVER_INTERACTING" 1 "DRIVER_NOT_INTERACTING" 2 "CONTINUED_DRIVER_NOT_INTERACTING" ;
-VAL_ 905 DAS_robState 0 "ROB_STATE_INHIBITED" 2 "ROB_STATE_ACTIVE" 3 "ROB_STATE_MAPLESS" 1 "ROB_STATE_MEASURE" ;
-VAL_ 905 DAS_radarTelemetry 0 "RADAR_TELEMETRY_IDLE" 1 "RADAR_TELEMETRY_NORMAL" 2 "RADAR_TELEMETRY_URGENT" ;
-VAL_ 905 DAS_lssState 7 "LSS_STATE_OFF" 1 "LSS_STATE_LDW" 4 "LSS_STATE_MONITOR" 2 "LSS_STATE_LKA" 3 "LSS_STATE_ELK" 0 "LSS_STATE_FAULT" 5 "LSS_STATE_BLINDSPOT" 6 "LSS_STATE_ABORT" ;
-VAL_ 905 DAS_ACC_report 12 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTING" 17 "ACC_REPORT_TARGET_MCP" 11 "ACC_REPORT_LC_HANDS_ON_REQD_STRUCK_OUT" 19 "ACC_REPORT_MCVLR_DPP" 1 "ACC_REPORT_TARGET_CIPV" 15 "ACC_REPORT_RADAR_OBJ_ONE" 16 "ACC_REPORT_RADAR_OBJ_TWO" 14 "ACC_REPORT_LC_EXTERNAL_STATE_ACTIVE_RESTRICTED" 4 "ACC_REPORT_TARGET_MCVR" 20 "ACC_REPORT_MCVLR_IN_PATH" 10 "ACC_REPORT_CSA" 5 "ACC_REPORT_TARGET_CUTIN" 9 "ACC_REPORT_TARGET_TYPE_FAULT" 7 "ACC_REPORT_TARGET_TYPE_TRAFFIC_LIGHT" 6 "ACC_REPORT_TARGET_TYPE_STOP_SIGN" 24 "ACC_REPORT_BEHAVIOR_REPORT" 18 "ACC_REPORT_FLEET_SPEEDS" 2 "ACC_REPORT_TARGET_IN_FRONT_OF_CIPV" 23 "ACC_REPORT_CAMERA_ONLY" 3 "ACC_REPORT_TARGET_MCVL" 22 "ACC_REPORT_RADAR_OBJ_FIVE" 0 "ACC_REPORT_TARGET_NONE" 8 "ACC_REPORT_TARGET_TYPE_IPSO" 21 "ACC_REPORT_CIPV_CUTTING_OUT" 13 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTED" ;
-VAL_ 905 DAS_pmmCameraFaultReason 1 "PMM_CAMERA_BLOCKED_FRONT" 2 "PMM_CAMERA_INVALID_MIA" 0 "PMM_CAMERA_NO_FAULT" ;
-VAL_ 905 DAS_pmmSysFaultReason 4 "PMM_FAULT_STEERING_ANGLE_RATE" 6 "PMM_FAULT_ROAD_TYPE" 5 "PMM_FAULT_DISABLED_BY_USER" 0 "PMM_FAULT_NONE" 1 "PMM_FAULT_DAS_DISABLED" 3 "PMM_FAULT_DI_FAULT" 2 "PMM_FAULT_SPEED" 7 "PMM_FAULT_BRAKE_PEDAL_INHIBIT" ;
-VAL_ 905 DAS_pmmRadarFaultReason 2 "PMM_RADAR_INVALID_MIA" 1 "PMM_RADAR_BLOCKED_FRONT" 0 "PMM_RADAR_NO_FAULT" ;
-VAL_ 905 DAS_pmmUltrasonicsFaultReason 2 "PMM_ULTRASONICS_BLOCKED_REAR" 0 "PMM_ULTRASONICS_NO_FAULT" 1 "PMM_ULTRASONICS_BLOCKED_FRONT" 3 "PMM_ULTRASONICS_BLOCKED_BOTH" 4 "PMM_ULTRASONICS_INVALID_MIA" ;
-VAL_ 905 DAS_activationFailureStatus 0 "LC_ACTIVATION_IDLE" 2 "LC_ACTIVATION_FAILED_2" 1 "LC_ACTIVATION_FAILED_1" ;
-VAL_ 905 DAS_pmmLoggingRequest 0 "FALSE" 1 "TRUE" ;
-VAL_ 905 DAS_pmmObstacleSeverity 5 "PMM_CRASH_FRONT" 0 "PMM_NONE" 2 "PMM_IMMINENT_FRONT" 4 "PMM_CRASH_REAR" 1 "PMM_IMMINENT_REAR" 6 "PMM_ACCEL_LIMIT" 7 "PMM_SNA" 3 "PMM_BRAKE_REQUEST" ;
-VAL_ 905 DAS_accSpeedLimit 1023 "SNA" 0 "NONE" ;
-VAL_ 264 DI_axleSpeed -32768 "SNA" ;
-VAL_ 264 DI_torqueActual -4096 "SNA" ;
-VAL_ 264 DI_torqueCommand -4096 "SNA" ;
-VAL_ 585 SCCM_turnIndicatorStalkStatus 3 "DOWN_1" 5 "SNA" 0 "IDLE" 1 "UP_1" 4 "DOWN_2" 2 "UP_2" ;
-VAL_ 585 SCCM_washWipeButtonStatus 3 "SNA" 0 "NOT_PRESSED" 2 "2ND_DETENT" 1 "1ST_DETENT" ;
-VAL_ 585 SCCM_highBeamStalkStatus 3 "SNA" 0 "IDLE" 1 "PULL" 2 "PUSH" ;
-VAL_ 280 DI_trackModeState 0 "TRACK_MODE_UNAVAILABLE" 1 "TRACK_MODE_AVAILABLE" 2 "TRACK_MODE_ON" ;
-VAL_ 280 DI_keepAliveRequest 1 "KEEP_ALIVE" 0 "NO_REQUEST" ;
-VAL_ 280 DI_epbRequest 0 "DI_EPBREQUEST_NO_REQUEST" 1 "DI_EPBREQUEST_PARK" 2 "DI_EPBREQUEST_UNPARK" ;
-VAL_ 280 DI_tractionControlMode 0 "TC_NORMAL" 1 "TC_SLIP_START" 4 "TC_ROLLS_MODE" 2 "TC_DEV_MODE_1" 5 "TC_DYNO_MODE" 3 "TC_DEV_MODE_2" ;
-VAL_ 280 DI_accelPedalPos 255 "SNA" ;
-VAL_ 280 DI_immobilizerState 2 "DI_IMM_STATE_AUTHENTICATING" 0 "DI_IMM_STATE_INIT_SNA" 3 "DI_IMM_STATE_DISARMED" 4 "DI_IMM_STATE_IDLE" 6 "DI_IMM_STATE_FAULT" 1 "DI_IMM_STATE_REQUEST" 5 "DI_IMM_STATE_RESET" ;
-VAL_ 280 DI_gear 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" 7 "DI_GEAR_SNA" 2 "DI_GEAR_R" 3 "DI_GEAR_N" 4 "DI_GEAR_D" ;
-VAL_ 280 DI_brakePedalState 2 "INVALID" 0 "OFF" 1 "ON" ;
-VAL_ 280 DI_systemState 5 "DI_SYS_ENABLE" 1 "DI_SYS_IDLE" 2 "DI_SYS_STANDBY" 0 "DI_SYS_UNAVAILABLE" 3 "DI_SYS_FAULT" 4 "DI_SYS_ABORT" ;
-VAL_ 697 DAS_accelMax 511 "SNA" ;
-VAL_ 697 DAS_accelMin 511 "SNA" ;
-VAL_ 697 DAS_jerkMax 255 "SNA" ;
-VAL_ 697 DAS_jerkMin 511 "SNA" ;
-VAL_ 697 DAS_aebEvent 2 "AEB_FAULT" 0 "AEB_NOT_ACTIVE" 3 "AEB_SNA" 1 "AEB_ACTIVE" ;
-VAL_ 697 DAS_accState 4 "ACC_ON" 9 "APC_PAUSE" 14 "ACC_CANCEL_OUT_OF_CALIBRATION" 10 "APC_UNPARK_COMPLETE" 6 "APC_FORWARD" 3 "ACC_HOLD" 2 "ACC_CANCEL_RADAR_BLIND" 7 "APC_COMPLETE" 1 "ACC_CANCEL_CAMERA_BLIND" 8 "APC_ABORT" 13 "ACC_CANCEL_GENERIC_SILENT" 5 "APC_BACKWARD" 11 "APC_SELFPARK_START" 0 "ACC_CANCEL_GENERIC" 12 "ACC_CANCEL_PATH_NOT_CLEAR" 15 "FAULT_SNA" ;
-VAL_ 697 DAS_setSpeed 4095 "SNA" ;
-VAL_ 341 ESP_vehicleSpeed 1023 "ESP_VEHICLE_SPEED_SNA" ;
-VAL_ 341 ESP_vehicleStandstillSts 1 "STANDSTILL" 0 "NOT_STANDSTILL" ;
-VAL_ 341 ESP_wheelSpeedsQF 0 "ONE_OR_MORE_WSS_INVALID" 1 "ALL_WSS_VALID" ;
-VAL_ 341 ESP_WheelRotationFrL 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ;
-VAL_ 341 ESP_WheelRotationFrR 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ;
-VAL_ 341 ESP_WheelRotationReL 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ;
-VAL_ 341 ESP_WheelRotationReR 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ;
-VAL_ 341 ESP_wheelPulseCountReR 255 "SNA" ;
-VAL_ 341 ESP_wheelPulseCountReL 255 "SNA" ;
-VAL_ 341 ESP_wheelPulseCountFrR 255 "SNA" ;
-VAL_ 341 ESP_wheelPulseCountFrL 255 "SNA" ;
-VAL_ 969 APS_apbGpioState 0 "AP_GPIO_STATE_PWR_DOWN_REBOOT" 3 "AP_GPIO_STATE_HEALTHY" 1 "AP_GPIO_STATE_DISABLED" 2 "AP_GPIO_STATE_CRITICAL" ;
-VAL_ 969 APS_apbStatusMonitorState 1 "STATUS_MONITOR_STATE_PWR_OFF" 2 "STATUS_MONITOR_STATE_INIT" 7 "STATUS_MONITOR_NUM_STATES" 0 "STATUS_MONITOR_STATE_UNKNOWN" 4 "STATUS_MONITOR_STATE_CRITICAL" 6 "STATUS_MONITOR_STATE_RECOVERY" 5 "STATUS_MONITOR_STATE_SHUTTING_DOWN" 3 "STATUS_MONITOR_STATE_NOMINAL" ;
-VAL_ 969 APS_eacInternalState 1 "APS_EAC_STATE_MOMENTARY" 3 "APS_EAC_STATE_AUTOPARK" 5 "APS_EAC_STATE_OVERRIDE" 4 "APS_EAC_STATE_INHIBIT" 0 "APS_EAC_STATE_INIT" 2 "APS_EAC_STATE_CONTINUOUS" 7 "APS_EAC_NUM_STATES" 6 "APS_EAC_STATE_LSS" ;
-VAL_ 969 APS_appGpioState 0 "AP_GPIO_STATE_PWR_DOWN_REBOOT" 3 "AP_GPIO_STATE_HEALTHY" 1 "AP_GPIO_STATE_DISABLED" 2 "AP_GPIO_STATE_CRITICAL" ;
-VAL_ 969 APS_canMaster 0 "CAN_MASTER_APS" 2 "CAN_MASTER_APB" 3 "CAN_MASTER_SNA" 1 "CAN_MASTER_APP" ;
-VAL_ 969 APS_vehBehaviorState 0 "VEH_BEHAVIOR_STATE_UNKNOWN" 3 "VEH_BEHAVIOR_STATE_APS_BRIDGE_APP" 1 "VEH_BEHAVIOR_STATE_APS_AVAILABLE" 5 "VEH_BEHAVIOR_STATE_APS_FAIL_SAFE" 7 "VEH_BEHAVIOR_NUM_STATES" 2 "VEH_BEHAVIOR_STATE_APS_CONTROL" 6 "VEH_BEHAVIOR_STATE_APS_OVERRIDE" 4 "VEH_BEHAVIOR_STATE_APS_BRIDGE_APB" ;
-VAL_ 969 APS_appStatusMonitorState 1 "STATUS_MONITOR_STATE_PWR_OFF" 2 "STATUS_MONITOR_STATE_INIT" 7 "STATUS_MONITOR_NUM_STATES" 0 "STATUS_MONITOR_STATE_UNKNOWN" 4 "STATUS_MONITOR_STATE_CRITICAL" 6 "STATUS_MONITOR_STATE_RECOVERY" 5 "STATUS_MONITOR_STATE_SHUTTING_DOWN" 3 "STATUS_MONITOR_STATE_NOMINAL" ;
-VAL_ 925 IBST_internalState 5 "TRANSITION_TO_IDLE" 0 "NO_MODE_ACTIVE" 4 "DIAGNOSTIC" 6 "POST_DRIVE_CHECK" 1 "PRE_DRIVE_CHECK" 3 "EXTERNAL_BRAKE_REQUEST" 2 "LOCAL_BRAKE_REQUEST" ;
-VAL_ 925 IBST_driverBrakeApply 1 "BRAKES_NOT_APPLIED" 2 "DRIVER_APPLYING_BRAKES" 3 "FAULT" 0 "NOT_INIT_OR_OFF" ;
-VAL_ 925 IBST_iBoosterStatus 6 "IBOOSTER_ACTUATION" 4 "IBOOSTER_ACTIVE_GOOD_CHECK" 2 "IBOOSTER_FAILURE" 5 "IBOOSTER_READY" 3 "IBOOSTER_DIAGNOSTIC" 0 "IBOOSTER_OFF" 1 "IBOOSTER_INIT" ;
-VAL_ 880 EPAS3S_eacStatus 7 "SNA" 2 "EAC_ACTIVE" 4 "LANE_KEEP_ASSIST" 3 "EAC_FAULT" 1 "EAC_AVAILABLE" 5 "EMERGENCY_LANE_KEEP" 0 "EAC_INHIBITED" ;
-VAL_ 880 EPAS3S_handsOnLevel 1 "LEVEL_1" 0 "LEVEL_0" 3 "LEVEL_3" 2 "LEVEL_2" ;
-VAL_ 880 EPAS3S_torsionBarTorque 4095 "SNA" 4094 "UNDEFINABLE_DATA" ;
-VAL_ 880 EPAS3S_eacErrorCode 15 "SNA" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 4 "EAC_ERROR_TMP_FAULT" 2 "EAC_ERROR_MAX_SPEED" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 0 "EAC_ERROR_IDLE" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 5 "EAR_ERROR_MAX_STEER_DELTA" 13 "EAC_ERROR_PINION_VEL_DIFF" 1 "EAC_ERROR_MIN_SPEED" 14 "EAC_EXTERNAL_MONITOR_INHIBIT" 12 "EAC_ERROR_LOW_ASSIST" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 3 "EAC_ERROR_HANDS_ON" ;
-VAL_ 880 EPAS3S_steeringRackForce 1023 "SNA" 1022 "NOT_IN_SPEC" ;
-VAL_ 880 EPAS3S_steeringFault 0 "NO_FAULT" 1 "FAULT" ;
-VAL_ 880 EPAS3S_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ;
-VAL_ 880 EPAS3S_internalSASQF 1 "IN_SPEC" 0 "UNDEFINABLE_ACCURACY" ;
-VAL_ 880 EPAS3S_currentTuneMode 3 "STEERING_TUNE_RWD_COMFORT" 1 "STEERING_TUNE_DM_STANDARD" 5 "STEERING_TUNE_RWD_SPORT" 0 "STEERING_TUNE_DM_COMFORT" 4 "STEERING_TUNE_RWD_STANDARD" 2 "STEERING_TUNE_DM_SPORT" ;
-VAL_ 599 DI_uiSpeedUnits 0 "DI_SPEED_MPH" 1 "DI_SPEED_KPH" ;
-VAL_ 599 DI_uiSpeed 255 "DI_UI_SPEED_SNA" ;
-VAL_ 599 DI_vehicleSpeed 4095 "SNA" ;
-VAL_ 1160 DAS_steeringControlType 2 "LANE_KEEP_ASSIST" 0 "NONE" 1 "ANGLE_CONTROL" 3 "EMERGENCY_LANE_KEEP" ;
-VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
-VAL_ 297 SCCM_steeringAngleValidity 3 "SNA" 2 "INIT" 0 "INVALID" 1 "VALID" ;
-VAL_ 297 SCCM_steeringAngleSensorStatus 0 "OK" 1 "INIT" 2 "ERROR" 3 "ERROR_INIT" ;
-VAL_ 646 DI_rollPreventionState 0 "UNAVAILABLE" 1 "STANDBY" 2 "READY" 3 "BUILD" 4 "HOLD" 5 "PARK" 6 "FAULT" 7 "INIT" ;
-VAL_ 646 DI_vehicleHoldState 0 "UNAVAILABLE" 1 "STANDBY" 2 "BLEND_IN" 3 "STANDSTILL" 4 "BLEND_OUT" 5 "PARK" 6 "FAULT" 7 "INIT" ;
-VAL_ 646 DI_pmmStatus 0 "INACTIVE" 1 "ACTIVE" 2 "LOGGING_ACTIVE" 3 "SNA" ;
-VAL_ 646 DI_aebState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "FAULT" 7 "SNA" ;
-VAL_ 646 DI_autopilotRequest 0 "IDLE" 1 "ACTIVATE" ;
-VAL_ 646 DI_parkBrakeState 0 "UNAVAILABLE" 1 "RELEASED" 2 "REQUESTED" 3 "APPLIED" 4 "FAULTED" 5 "PANIC_EPB" 6 "PANIC_SKID" 7 "RELEASING" 15 "SNA" ;
-VAL_ 646 DI_autoparkState 0 "UNAVAILABLE" 1 "STANDBY" 2 "STARTED" 3 "ACTIVE" 4 "COMPLETE" 5 "PAUSED" 6 "ABORTED" 7 "RESUMED" 8 "UNPARK_COMPLETE" 9 "SELFPARK_STARTED" 15 "SNA" ;
-VAL_ 646 DI_speedUnits 0 "MPH" 1 "KPH" ;
-VAL_ 646 DI_cruiseState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "OVERRIDE" 5 "FAULT" 6 "PRE_FAULT" 7 "PRE_CANCEL" ;
-VAL_ 785 buckleStatus 1 "LATCHED" 0 "UNLATCHED" ;
-VAL_ 785 anyDoorOpen 1 "OPEN" 0 "CLOSED" ;
-VAL_ 923 DAS_autoLaneChangeState 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 17 "ALC_ABORT_POOR_VIEW_RANGE" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 0 "ALC_UNAVAILABLE_DISABLED" 26 "ALC_BLOCKED_LANE_TYPE_L" 29 "ALC_ABORT_TIMEOUT" 9 "ALC_IN_PROGRESS_L" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 22 "ALC_BLOCKED_VEH_TTC_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 18 "ALC_ABORT_LC_HEALTH_BAD" 28 "ALC_WAITING_HANDS_ON" 8 "ALC_AVAILABLE_BOTH" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 24 "ALC_BLOCKED_VEH_TTC_R" 1 "ALC_UNAVAILABLE_NO_LANES" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 27 "ALC_BLOCKED_LANE_TYPE_R" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 31 "ALC_SNA" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 6 "ALC_AVAILABLE_ONLY_L" 20 "ALC_ABORT_OTHER_REASON" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 7 "ALC_AVAILABLE_ONLY_R" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 10 "ALC_IN_PROGRESS_R" ;
-VAL_ 923 DAS_autopilotHandsOnState 8 "LC_HANDS_ON_SUSPENDED" 15 "LC_HANDS_ON_SNA" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 3 "LC_HANDS_ON_REQD_VISUAL" 4 "LC_HANDS_ON_REQD_CHIME_1" 6 "LC_HANDS_ON_REQD_SLOWING" 1 "LC_HANDS_ON_REQD_DETECTED" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 5 "LC_HANDS_ON_REQD_CHIME_2" 0 "LC_HANDS_ON_NOT_REQD" ;
-VAL_ 923 DAS_fleetSpeedState 0 "FLEETSPEED_UNAVAILABLE" 1 "FLEETSPEED_AVAILABLE" 2 "FLEETSPEED_ACTIVE" 3 "FLEETSPEED_HOLD" ;
-VAL_ 923 DAS_laneDepartureWarning 5 "SNA" 0 "NONE" 2 "RIGHT_WARNING" 4 "RIGHT_WARNING_SEVERE" 3 "LEFT_WARNING_SEVERE" 1 "LEFT_WARNING" ;
-VAL_ 923 DAS_csaState 1 "CSA_EXTERNAL_STATE_AVAILABLE" 3 "CSA_EXTERNAL_STATE_HOLD" 2 "CSA_EXTERNAL_STATE_ENABLE" 0 "CSA_EXTERNAL_STATE_UNAVAILABLE" ;
-VAL_ 923 DAS_sideCollisionInhibit 0 "NO_INHIBIT" 1 "INHIBIT" ;
-VAL_ 923 DAS_sideCollisionWarning 0 "NONE" 2 "WARN_RIGHT" 1 "WARN_LEFT" 3 "WARN_LEFT_RIGHT" ;
-VAL_ 923 DAS_sideCollisionAvoid 3 "SNA" 0 "NONE" 1 "AVOID_LEFT" 2 "AVOID_RIGHT" ;
-VAL_ 923 DAS_autoparkReady 0 "AUTOPARK_UNAVAILABLE" 1 "AUTOPARK_READY" ;
-VAL_ 923 DAS_forwardCollisionWarning 3 "SNA" 0 "NONE" 1 "FORWARD_COLLISION_WARNING" ;
-VAL_ 923 DAS_heaterState 0 "HEATER_OFF_SNA" 1 "HEATER_ON" ;
-VAL_ 923 DAS_visionOnlySpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ;
-VAL_ 923 DAS_suppressSpeedWarning 1 "Suppress_Speed_Warning" 0 "Do_Not_Suppress" ;
-VAL_ 923 DAS_fusedSpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ;
-VAL_ 923 DAS_blindSpotRearRight 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ;
-VAL_ 923 DAS_blindSpotRearLeft 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ;
-VAL_ 923 DAS_autopilotState 15 "SNA" 8 "ABORTING" 3 "ACTIVE_NOMINAL" 0 "DISABLED" 4 "ACTIVE_RESTRICTED" 5 "ACTIVE_NAV" 14 "FAULT" 1 "UNAVAILABLE" 9 "ABORTED" 2 "AVAILABLE" ;
-
-
-
+VERSION ""
+
+
+NS_ : 
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: CH DIPF DIPR ETH FC HVI HVS PARTY SDCV VEH VIRT
+
+
+BO_ 905 DAS_status2: 8 PARTY
+ SG_ DAS_status2Checksum : 56|8@1+ (1,0) [0|255] ""  aps
+ SG_ DAS_status2Counter : 52|4@1+ (1,0) [0|15] ""  aps
+ SG_ DAS_longCollisionWarning : 48|4@1+ (1,0) [0|15] ""  aps
+ SG_ DAS_ppOffsetDesiredRamp : 40|8@1+ (0.01,-1.28) [-1.28|1.27] "m"  aps
+ SG_ DAS_driverInteractionLevel : 38|2@1+ (1,0) [0|2] ""  aps
+ SG_ DAS_robState : 36|2@1+ (1,0) [0|3] ""  aps
+ SG_ DAS_radarTelemetry : 34|2@1+ (1,0) [0|2] ""  aps
+ SG_ DAS_lssState : 31|3@1+ (1,0) [0|7] ""  aps
+ SG_ DAS_ACC_report : 26|5@1+ (1,0) [0|24] ""  aps
+ SG_ DAS_pmmCameraFaultReason : 24|2@1+ (1,0) [0|2] ""  aps
+ SG_ DAS_pmmSysFaultReason : 21|3@1+ (1,0) [0|7] ""  aps
+ SG_ DAS_pmmRadarFaultReason : 19|2@1+ (1,0) [0|2] ""  aps
+ SG_ DAS_pmmUltrasonicsFaultReason : 16|3@1+ (1,0) [0|4] ""  aps
+ SG_ DAS_activationFailureStatus : 14|2@1+ (1,0) [0|2] ""  aps
+ SG_ DAS_pmmLoggingRequest : 13|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_pmmObstacleSeverity : 10|3@1+ (1,0) [0|7] ""  aps
+ SG_ DAS_accSpeedLimit : 0|10@1+ (0.4,0) [0|204.6] "mph"  aps
+
+BO_ 264 DI_torque: 8 PARTY
+ SG_ DI_axleSpeed : 40|16@1- (0.1,0.0) [-2750|2750] "RPM"  epas3s
+ SG_ DI_torqueActual : 27|13@1- (2,0) [-7500|7500] "Nm"  X
+ SG_ DI_torqueCommand : 12|13@1- (2,0) [-7500|7500] "Nm"  X
+ SG_ DI_torqueCounter : 8|4@1+ (1,0) [0|15] ""  epas3s
+ SG_ DI_torqueChecksum : 0|8@1+ (1,0) [0|255] ""  epas3s
+
+BO_ 585 SCCM_leftStalk: 3 PARTY
+ SG_ SCCM_leftStalkReserved1 : 19|5@1+ (1,0) [0|31] ""  X
+ SG_ SCCM_turnIndicatorStalkStatus : 16|3@1+ (1,0) [0|5] ""  park
+ SG_ SCCM_washWipeButtonStatus : 14|2@1+ (1,0) [0|3] ""  X
+ SG_ SCCM_highBeamStalkStatus : 12|2@1+ (1,0) [0|3] ""  X
+ SG_ SCCM_leftStalkCounter : 8|4@1+ (1,0) [0|15] ""  X
+ SG_ SCCM_leftStalkCrc : 0|8@1+ (1,0) [0|255] ""  X
+
+BO_ 280 DI_systemStatus: 8 PARTY
+ SG_ DI_trackModeState : 48|2@1+ (1,0) [0|2] ""  X
+ SG_ DI_keepAliveRequest : 47|1@1+ (1,0) [0|1] ""  X
+ SG_ DI_proximity : 46|1@1+ (1,0) [0|1] ""  X
+ SG_ DI_epbRequest : 44|2@1+ (1,0) [0|2] ""  X
+ SG_ DI_tractionControlMode : 40|3@1+ (1,0) [0|5] ""  X
+ SG_ DI_accelPedalPos : 32|8@1+ (0.4,0) [0|100] "%"  X
+ SG_ DI_immobilizerState : 27|3@1+ (1,0) [0|6] ""  X
+ SG_ DI_regenLight : 26|1@1+ (1,0) [0|1] ""  X
+ SG_ DI_gear : 21|3@1+ (1,0) [0|7] ""  park
+ SG_ DI_brakePedalState : 19|2@1+ (1,0) [0|2] ""  X
+ SG_ DI_systemState : 16|3@1+ (1,0) [0|5] ""  X
+ SG_ DI_systemStatusCounter : 8|4@1+ (1,0) [0|15] ""  X
+ SG_ DI_systemStatusChecksum : 0|8@1+ (1,0) [0|255] ""  X
+
+BO_ 697 DAS_control: 8 PARTY
+ SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|255] ""  aps
+ SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|7] ""  aps
+ SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2"  aps
+ SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2"  aps
+ SG_ DAS_jerkMax : 27|8@1+ (0.034,0) [0|8.67] "m/s^3"  aps
+ SG_ DAS_jerkMin : 18|9@1+ (0.018,-9.1) [-9.1|0.097999999999999] "m/s^3"  aps
+ SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] ""  aps
+ SG_ DAS_accState : 12|4@1+ (1,0) [0|15] ""  aps
+ SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph"  aps
+
+BO_ 341 ESP_B: 8 PARTY
+ SG_ ESP_wheelRotationChecksum : 56|8@1+ (1,0) [0|255] ""  app
+ SG_ ESP_wheelRotationCounter : 52|4@1+ (1,0) [0|15] ""  app
+ SG_ ESP_vehicleSpeed : 42|10@1+ (0.5,0) [0|511] "kph"  app
+ SG_ ESP_vehicleStandstillSts : 41|1@1+ (1,0) [0|1] ""  park
+ SG_ ESP_wheelSpeedsQF : 40|1@1+ (1,0) [0|1] ""  epas3s
+ SG_ ESP_WheelRotationFrL : 38|2@1+ (1,0) [0|3] ""  aps
+ SG_ ESP_WheelRotationFrR : 36|2@1+ (1,0) [0|3] ""  aps
+ SG_ ESP_WheelRotationReL : 34|2@1+ (1,0) [0|3] ""  aps
+ SG_ ESP_WheelRotationReR : 32|2@1+ (1,0) [0|3] ""  aps
+ SG_ ESP_wheelPulseCountReR : 24|8@1+ (1,0) [0|254] "1"  das
+ SG_ ESP_wheelPulseCountReL : 16|8@1+ (1,0) [0|254] "1"  das
+ SG_ ESP_wheelPulseCountFrR : 8|8@1+ (1,0) [0|254] "1"  app
+ SG_ ESP_wheelPulseCountFrL : 0|8@1+ (1,0) [0|254] "1"  app
+
+BO_ 969 APS_status: 4 PARTY
+ SG_ APS_statusCounter : 22|4@1+ (1,0) [0|15] ""  X
+ SG_ APS_apbGpioState : 20|2@1+ (1,0) [0|3] ""  gtw
+ SG_ APS_apbStatusMonitorState : 16|3@1+ (1,0) [0|7] ""  gtw
+ SG_ APS_switchState : 15|1@1+ (1,0) [0|1] ""  X
+ SG_ APS_eacInternalState : 12|3@1+ (1,0) [0|7] ""  gtw
+ SG_ APS_appGpioState : 10|2@1+ (1,0) [0|3] ""  gtw
+ SG_ APS_canMaster : 8|2@1+ (1,0) [0|3] ""  gtw
+ SG_ APS_vehBehaviorState : 4|3@1+ (1,0) [0|7] ""  gtw
+ SG_ APS_appStatusMonitorState : 0|3@1+ (1,0) [0|7] ""  gtw
+
+BO_ 925 IBST_status: 5 PARTY
+ SG_ IBST_sInputRodDriver : 21|12@1+ (0.015625,-5) [-5|47] "mm"  gtw
+ SG_ IBST_internalState : 18|3@1+ (1,0) [0|6] ""  gtw
+ SG_ IBST_driverBrakeApply : 16|2@1+ (1,0) [0|3] ""  gtw
+ SG_ IBST_iBoosterStatus : 12|3@1+ (1,0) [0|6] ""  gtw
+ SG_ IBST_statusCounter : 8|4@1+ (1,0) [0|15] ""  X
+ SG_ IBST_statusChecksum : 0|8@1+ (1,0) [0|255] ""  X
+
+BO_ 880 EPAS3S_sysStatus: 8 PARTY
+ SG_ EPAS3S_sysStatusChecksum : 63|8@0+ (1,0) [0|255] ""  park
+ SG_ EPAS3S_sysStatusCounter : 51|4@0+ (1,0) [0|15] ""  gtw
+ SG_ EPAS3S_eacStatus : 55|3@0+ (1,0) [0|7] ""  das
+ SG_ EPAS3S_internalSAS : 37|14@0+ (0.1,-819.2) [-819.2|819] "deg"  das
+ SG_ EPAS3S_handsOnLevel : 39|2@0+ (1,0) [0|3] ""  das
+ SG_ EPAS3S_torsionBarTorque : 19|12@0+ (0.01,-20.5) [-20.5|20.45] "Nm"  das
+ SG_ EPAS3S_eacErrorCode : 23|4@0+ (1,0) [0|15] ""  das
+ SG_ EPAS3S_steeringRackForce : 1|10@0+ (50,-25575) [-25575|25575] "N"  gtw
+ SG_ EPAS3S_steeringFault : 2|1@0+ (1,0) [0|1] ""  das
+ SG_ EPAS3S_steeringReduced : 3|1@0+ (1,0) [0|1] ""  das
+ SG_ EPAS3S_internalSASQF : 4|1@0+ (1,0) [0|1] ""  gtw
+ SG_ EPAS3S_currentTuneMode : 7|3@0+ (1,0) [0|5] ""  gtw
+
+BO_ 637 APS_eacMonitor: 3 PARTY
+ SG_ APS_eacAllow : 0|2@1+ (1,0) [0|0] "" X
+ SG_ APS_eacMonitorChecksum : 16|8@1+ (1,0) [0|0] "" X
+ SG_ APS_eacMonitorCounter : 8|4@1+ (1,0) [0|0] "" X
+
+BO_ 599 DI_speed: 8 PARTY
+ SG_ DI_uiSpeedUnits : 32|1@1+ (1,0) [0|1] ""  das
+ SG_ DI_uiSpeed : 24|8@1+ (1,0) [0|254] ""  das
+ SG_ DI_vehicleSpeed : 12|12@1+ (0.08,-40) [-40|285] "kph"  park
+ SG_ DI_speedCounter : 8|4@1+ (1,0) [0|15] ""  park
+ SG_ DI_speedChecksum : 0|8@1+ (1,0) [0|255] ""  park
+
+BO_ 1160 DAS_steeringControl: 4 PARTY
+ SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|255] ""  aps
+ SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|15] ""  aps
+ SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|3] ""  aps
+ SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg"  aps
+ SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|1] ""  aps
+
+BO_ 297 SCCM_steeringAngleSensor: 8 PARTY
+ SG_ SCCM_steeringAngleSensorReservd3 : 56|8@1+ (1,0) [0|255] ""  X
+ SG_ SCCM_steeringAngleSensorReservd2 : 48|8@1+ (1,0) [0|255] ""  X
+ SG_ SCCM_steeringAngleSensorReservd1 : 46|2@1+ (1,0) [0|3] ""  X
+ SG_ SCCM_steeringAngleSpeed : 32|14@1+ (0.5,-4096) [-4096|4095.5] "deg/s"  park
+ SG_ SCCM_steeringAngleValidity : 30|2@1+ (1,0) [0|3] ""  park
+ SG_ SCCM_steeringAngle : 16|14@1+ (0.1,-819.2) [-819.2|819] "deg"  epas3s
+ SG_ SCCM_steeringAngleSensorStatus : 14|2@1+ (1,0) [0|3] ""  epas3s
+ SG_ SCCM_supplierID : 12|2@1+ (1,0) [0|3] ""  park
+ SG_ SCCM_steeringAngleCounter : 8|4@1+ (1,0) [0|15] ""  epas3s
+ SG_ SCCM_steeringAngleCrc : 0|8@1+ (1,0) [0|255] ""  epas3s
+
+BO_ 646 DI_state: 7 ETH
+ SG_ DI_summonInPanic : 48|1@1+ (1,0) [0|0] ""  X
+ SG_ DI_rollPreventionState : 45|3@1+ (1,0) [0|0] ""  X
+ SG_ DI_vehicleHoldState : 42|3@1+ (1,0) [0|0] ""  X
+ SG_ DI_pmmStatus : 40|2@1+ (1,0) [0|0] ""  X
+ SG_ DI_aebState : 37|3@1+ (1,0) [0|0] ""  X
+ SG_ DI_autopilotRequest : 36|1@1+ (1,0) [0|0] ""  X
+ SG_ DI_parkBrakeState : 32|4@1+ (1,0) [0|0] ""  X
+ SG_ DI_autoparkState : 25|4@1+ (1,0) [0|0] ""  X
+ SG_ DI_speedUnits : 24|1@1+ (1,0) [0|0] ""  X
+ SG_ DI_digitalSpeed : 15|9@1+ (0.5,0) [0|0] "speed"  X
+ SG_ DI_cruiseState : 12|3@1+ (1,0) [0|0] ""  X
+ SG_ DI_locStatusCounter : 8|4@1+ (1,0) [0|0] ""  X
+ SG_ DI_locStatusChecksum : 0|8@1+ (1,0) [0|0] ""  X
+
+BO_ 785 UI_warning: 7 XXX
+ SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ leftBlinkerOn : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ rightBlinkerOn : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ anyDoorOpen : 28|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 923 DAS_status: 8 PARTY
+ SG_ DAS_statusChecksum : 56|8@1+ (1,0) [0|255] ""  aps
+ SG_ DAS_statusCounter : 52|4@1+ (1,0) [0|15] ""  aps
+ SG_ DAS_summonAvailable : 51|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_autoLaneChangeState : 46|5@1+ (1,0) [0|31] ""  aps
+ SG_ DAS_autopilotHandsOnState : 42|4@1+ (1,0) [0|15] ""  aps
+ SG_ DAS_fleetSpeedState : 40|2@1+ (1,0) [0|3] ""  aps
+ SG_ DAS_laneDepartureWarning : 37|3@1+ (1,0) [0|5] ""  aps
+ SG_ DAS_csaState : 35|2@1+ (1,0) [0|3] ""  aps
+ SG_ DAS_sideCollisionInhibit : 34|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_sideCollisionWarning : 32|2@1+ (1,0) [0|3] ""  aps
+ SG_ DAS_sideCollisionAvoid : 30|2@1+ (1,0) [0|3] ""  aps
+ SG_ DAS_summonRvsLeashReached : 29|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_summonFwdLeashReached : 28|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_autoparkWaitingForBrake : 26|1@1+ (1,0) [0|1] ""  gtw
+ SG_ DAS_autoParked : 25|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_autoparkReady : 24|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_forwardCollisionWarning : 22|2@1+ (1,0) [0|3] ""  aps
+ SG_ DAS_heaterState : 21|1@1+ (1,0) [0|1] ""  gtw
+ SG_ DAS_visionOnlySpeedLimit : 16|5@1+ (5,0) [0|150] "kph/mph"  aps
+ SG_ DAS_summonClearedGate : 15|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_summonObstacle : 14|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_suppressSpeedWarning : 13|1@1+ (1,0) [0|1] ""  aps
+ SG_ DAS_fusedSpeedLimit : 8|5@1+ (5,0) [0|150] "kph/mph"  aps
+ SG_ DAS_blindSpotRearRight : 6|2@1+ (1,0) [0|3] ""  aps
+ SG_ DAS_blindSpotRearLeft : 4|2@1+ (1,0) [0|3] ""  aps
+ SG_ DAS_autopilotState : 0|4@1+ (1,0) [0|15] ""  aps
+
+
+
+
+
+
+
+
+VAL_ 905 DAS_longCollisionWarning 7 "FCM_LONG_COLLISION_WARNING_VEHICLE_CUTIN" 0 "FCM_LONG_COLLISION_WARNING_NONE" 4 "FCM_LONG_COLLISION_WARNING_STOPSIGN_STOPLINE" 9 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL2" 15 "FCM_LONG_COLLISION_WARNING_SNA" 8 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL" 5 "FCM_LONG_COLLISION_WARNING_TFL_STOPLINE" 2 "FCM_LONG_COLLISION_WARNING_PEDESTRIAN" 12 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV2" 6 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV" 10 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR" 3 "FCM_LONG_COLLISION_WARNING_IPSO" 1 "FCM_LONG_COLLISION_WARNING_VEHICLE_UNKNOWN" 11 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR2" ;
+VAL_ 905 DAS_ppOffsetDesiredRamp 128 "PP_NO_OFFSET" ;
+VAL_ 905 DAS_driverInteractionLevel 0 "DRIVER_INTERACTING" 1 "DRIVER_NOT_INTERACTING" 2 "CONTINUED_DRIVER_NOT_INTERACTING" ;
+VAL_ 905 DAS_robState 0 "ROB_STATE_INHIBITED" 2 "ROB_STATE_ACTIVE" 3 "ROB_STATE_MAPLESS" 1 "ROB_STATE_MEASURE" ;
+VAL_ 905 DAS_radarTelemetry 0 "RADAR_TELEMETRY_IDLE" 1 "RADAR_TELEMETRY_NORMAL" 2 "RADAR_TELEMETRY_URGENT" ;
+VAL_ 905 DAS_lssState 7 "LSS_STATE_OFF" 1 "LSS_STATE_LDW" 4 "LSS_STATE_MONITOR" 2 "LSS_STATE_LKA" 3 "LSS_STATE_ELK" 0 "LSS_STATE_FAULT" 5 "LSS_STATE_BLINDSPOT" 6 "LSS_STATE_ABORT" ;
+VAL_ 905 DAS_ACC_report 12 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTING" 17 "ACC_REPORT_TARGET_MCP" 11 "ACC_REPORT_LC_HANDS_ON_REQD_STRUCK_OUT" 19 "ACC_REPORT_MCVLR_DPP" 1 "ACC_REPORT_TARGET_CIPV" 15 "ACC_REPORT_RADAR_OBJ_ONE" 16 "ACC_REPORT_RADAR_OBJ_TWO" 14 "ACC_REPORT_LC_EXTERNAL_STATE_ACTIVE_RESTRICTED" 4 "ACC_REPORT_TARGET_MCVR" 20 "ACC_REPORT_MCVLR_IN_PATH" 10 "ACC_REPORT_CSA" 5 "ACC_REPORT_TARGET_CUTIN" 9 "ACC_REPORT_TARGET_TYPE_FAULT" 7 "ACC_REPORT_TARGET_TYPE_TRAFFIC_LIGHT" 6 "ACC_REPORT_TARGET_TYPE_STOP_SIGN" 24 "ACC_REPORT_BEHAVIOR_REPORT" 18 "ACC_REPORT_FLEET_SPEEDS" 2 "ACC_REPORT_TARGET_IN_FRONT_OF_CIPV" 23 "ACC_REPORT_CAMERA_ONLY" 3 "ACC_REPORT_TARGET_MCVL" 22 "ACC_REPORT_RADAR_OBJ_FIVE" 0 "ACC_REPORT_TARGET_NONE" 8 "ACC_REPORT_TARGET_TYPE_IPSO" 21 "ACC_REPORT_CIPV_CUTTING_OUT" 13 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTED" ;
+VAL_ 905 DAS_pmmCameraFaultReason 1 "PMM_CAMERA_BLOCKED_FRONT" 2 "PMM_CAMERA_INVALID_MIA" 0 "PMM_CAMERA_NO_FAULT" ;
+VAL_ 905 DAS_pmmSysFaultReason 4 "PMM_FAULT_STEERING_ANGLE_RATE" 6 "PMM_FAULT_ROAD_TYPE" 5 "PMM_FAULT_DISABLED_BY_USER" 0 "PMM_FAULT_NONE" 1 "PMM_FAULT_DAS_DISABLED" 3 "PMM_FAULT_DI_FAULT" 2 "PMM_FAULT_SPEED" 7 "PMM_FAULT_BRAKE_PEDAL_INHIBIT" ;
+VAL_ 905 DAS_pmmRadarFaultReason 2 "PMM_RADAR_INVALID_MIA" 1 "PMM_RADAR_BLOCKED_FRONT" 0 "PMM_RADAR_NO_FAULT" ;
+VAL_ 905 DAS_pmmUltrasonicsFaultReason 2 "PMM_ULTRASONICS_BLOCKED_REAR" 0 "PMM_ULTRASONICS_NO_FAULT" 1 "PMM_ULTRASONICS_BLOCKED_FRONT" 3 "PMM_ULTRASONICS_BLOCKED_BOTH" 4 "PMM_ULTRASONICS_INVALID_MIA" ;
+VAL_ 905 DAS_activationFailureStatus 0 "LC_ACTIVATION_IDLE" 2 "LC_ACTIVATION_FAILED_2" 1 "LC_ACTIVATION_FAILED_1" ;
+VAL_ 905 DAS_pmmLoggingRequest 0 "FALSE" 1 "TRUE" ;
+VAL_ 905 DAS_pmmObstacleSeverity 5 "PMM_CRASH_FRONT" 0 "PMM_NONE" 2 "PMM_IMMINENT_FRONT" 4 "PMM_CRASH_REAR" 1 "PMM_IMMINENT_REAR" 6 "PMM_ACCEL_LIMIT" 7 "PMM_SNA" 3 "PMM_BRAKE_REQUEST" ;
+VAL_ 905 DAS_accSpeedLimit 1023 "SNA" 0 "NONE" ;
+VAL_ 264 DI_axleSpeed -32768 "SNA" ;
+VAL_ 264 DI_torqueActual -4096 "SNA" ;
+VAL_ 264 DI_torqueCommand -4096 "SNA" ;
+VAL_ 585 SCCM_turnIndicatorStalkStatus 3 "DOWN_1" 5 "SNA" 0 "IDLE" 1 "UP_1" 4 "DOWN_2" 2 "UP_2" ;
+VAL_ 585 SCCM_washWipeButtonStatus 3 "SNA" 0 "NOT_PRESSED" 2 "2ND_DETENT" 1 "1ST_DETENT" ;
+VAL_ 585 SCCM_highBeamStalkStatus 3 "SNA" 0 "IDLE" 1 "PULL" 2 "PUSH" ;
+VAL_ 280 DI_trackModeState 0 "TRACK_MODE_UNAVAILABLE" 1 "TRACK_MODE_AVAILABLE" 2 "TRACK_MODE_ON" ;
+VAL_ 280 DI_keepAliveRequest 1 "KEEP_ALIVE" 0 "NO_REQUEST" ;
+VAL_ 280 DI_epbRequest 0 "DI_EPBREQUEST_NO_REQUEST" 1 "DI_EPBREQUEST_PARK" 2 "DI_EPBREQUEST_UNPARK" ;
+VAL_ 280 DI_tractionControlMode 0 "TC_NORMAL" 1 "TC_SLIP_START" 4 "TC_ROLLS_MODE" 2 "TC_DEV_MODE_1" 5 "TC_DYNO_MODE" 3 "TC_DEV_MODE_2" ;
+VAL_ 280 DI_accelPedalPos 255 "SNA" ;
+VAL_ 280 DI_immobilizerState 2 "DI_IMM_STATE_AUTHENTICATING" 0 "DI_IMM_STATE_INIT_SNA" 3 "DI_IMM_STATE_DISARMED" 4 "DI_IMM_STATE_IDLE" 6 "DI_IMM_STATE_FAULT" 1 "DI_IMM_STATE_REQUEST" 5 "DI_IMM_STATE_RESET" ;
+VAL_ 280 DI_gear 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" 7 "DI_GEAR_SNA" 2 "DI_GEAR_R" 3 "DI_GEAR_N" 4 "DI_GEAR_D" ;
+VAL_ 280 DI_brakePedalState 2 "INVALID" 0 "OFF" 1 "ON" ;
+VAL_ 280 DI_systemState 5 "DI_SYS_ENABLE" 1 "DI_SYS_IDLE" 2 "DI_SYS_STANDBY" 0 "DI_SYS_UNAVAILABLE" 3 "DI_SYS_FAULT" 4 "DI_SYS_ABORT" ;
+VAL_ 697 DAS_accelMax 511 "SNA" ;
+VAL_ 697 DAS_accelMin 511 "SNA" ;
+VAL_ 697 DAS_jerkMax 255 "SNA" ;
+VAL_ 697 DAS_jerkMin 511 "SNA" ;
+VAL_ 697 DAS_aebEvent 2 "AEB_FAULT" 0 "AEB_NOT_ACTIVE" 3 "AEB_SNA" 1 "AEB_ACTIVE" ;
+VAL_ 697 DAS_accState 4 "ACC_ON" 9 "APC_PAUSE" 14 "ACC_CANCEL_OUT_OF_CALIBRATION" 10 "APC_UNPARK_COMPLETE" 6 "APC_FORWARD" 3 "ACC_HOLD" 2 "ACC_CANCEL_RADAR_BLIND" 7 "APC_COMPLETE" 1 "ACC_CANCEL_CAMERA_BLIND" 8 "APC_ABORT" 13 "ACC_CANCEL_GENERIC_SILENT" 5 "APC_BACKWARD" 11 "APC_SELFPARK_START" 0 "ACC_CANCEL_GENERIC" 12 "ACC_CANCEL_PATH_NOT_CLEAR" 15 "FAULT_SNA" ;
+VAL_ 697 DAS_setSpeed 4095 "SNA" ;
+VAL_ 341 ESP_vehicleSpeed 1023 "ESP_VEHICLE_SPEED_SNA" ;
+VAL_ 341 ESP_vehicleStandstillSts 1 "STANDSTILL" 0 "NOT_STANDSTILL" ;
+VAL_ 341 ESP_wheelSpeedsQF 0 "ONE_OR_MORE_WSS_INVALID" 1 "ALL_WSS_VALID" ;
+VAL_ 341 ESP_WheelRotationFrL 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ;
+VAL_ 341 ESP_WheelRotationFrR 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ;
+VAL_ 341 ESP_WheelRotationReL 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ;
+VAL_ 341 ESP_WheelRotationReR 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ;
+VAL_ 341 ESP_wheelPulseCountReR 255 "SNA" ;
+VAL_ 341 ESP_wheelPulseCountReL 255 "SNA" ;
+VAL_ 341 ESP_wheelPulseCountFrR 255 "SNA" ;
+VAL_ 341 ESP_wheelPulseCountFrL 255 "SNA" ;
+VAL_ 969 APS_apbGpioState 0 "AP_GPIO_STATE_PWR_DOWN_REBOOT" 3 "AP_GPIO_STATE_HEALTHY" 1 "AP_GPIO_STATE_DISABLED" 2 "AP_GPIO_STATE_CRITICAL" ;
+VAL_ 969 APS_apbStatusMonitorState 1 "STATUS_MONITOR_STATE_PWR_OFF" 2 "STATUS_MONITOR_STATE_INIT" 7 "STATUS_MONITOR_NUM_STATES" 0 "STATUS_MONITOR_STATE_UNKNOWN" 4 "STATUS_MONITOR_STATE_CRITICAL" 6 "STATUS_MONITOR_STATE_RECOVERY" 5 "STATUS_MONITOR_STATE_SHUTTING_DOWN" 3 "STATUS_MONITOR_STATE_NOMINAL" ;
+VAL_ 969 APS_eacInternalState 1 "APS_EAC_STATE_MOMENTARY" 3 "APS_EAC_STATE_AUTOPARK" 5 "APS_EAC_STATE_OVERRIDE" 4 "APS_EAC_STATE_INHIBIT" 0 "APS_EAC_STATE_INIT" 2 "APS_EAC_STATE_CONTINUOUS" 7 "APS_EAC_NUM_STATES" 6 "APS_EAC_STATE_LSS" ;
+VAL_ 969 APS_appGpioState 0 "AP_GPIO_STATE_PWR_DOWN_REBOOT" 3 "AP_GPIO_STATE_HEALTHY" 1 "AP_GPIO_STATE_DISABLED" 2 "AP_GPIO_STATE_CRITICAL" ;
+VAL_ 969 APS_canMaster 0 "CAN_MASTER_APS" 2 "CAN_MASTER_APB" 3 "CAN_MASTER_SNA" 1 "CAN_MASTER_APP" ;
+VAL_ 969 APS_vehBehaviorState 0 "VEH_BEHAVIOR_STATE_UNKNOWN" 3 "VEH_BEHAVIOR_STATE_APS_BRIDGE_APP" 1 "VEH_BEHAVIOR_STATE_APS_AVAILABLE" 5 "VEH_BEHAVIOR_STATE_APS_FAIL_SAFE" 7 "VEH_BEHAVIOR_NUM_STATES" 2 "VEH_BEHAVIOR_STATE_APS_CONTROL" 6 "VEH_BEHAVIOR_STATE_APS_OVERRIDE" 4 "VEH_BEHAVIOR_STATE_APS_BRIDGE_APB" ;
+VAL_ 969 APS_appStatusMonitorState 1 "STATUS_MONITOR_STATE_PWR_OFF" 2 "STATUS_MONITOR_STATE_INIT" 7 "STATUS_MONITOR_NUM_STATES" 0 "STATUS_MONITOR_STATE_UNKNOWN" 4 "STATUS_MONITOR_STATE_CRITICAL" 6 "STATUS_MONITOR_STATE_RECOVERY" 5 "STATUS_MONITOR_STATE_SHUTTING_DOWN" 3 "STATUS_MONITOR_STATE_NOMINAL" ;
+VAL_ 925 IBST_internalState 5 "TRANSITION_TO_IDLE" 0 "NO_MODE_ACTIVE" 4 "DIAGNOSTIC" 6 "POST_DRIVE_CHECK" 1 "PRE_DRIVE_CHECK" 3 "EXTERNAL_BRAKE_REQUEST" 2 "LOCAL_BRAKE_REQUEST" ;
+VAL_ 925 IBST_driverBrakeApply 1 "BRAKES_NOT_APPLIED" 2 "DRIVER_APPLYING_BRAKES" 3 "FAULT" 0 "NOT_INIT_OR_OFF" ;
+VAL_ 925 IBST_iBoosterStatus 6 "IBOOSTER_ACTUATION" 4 "IBOOSTER_ACTIVE_GOOD_CHECK" 2 "IBOOSTER_FAILURE" 5 "IBOOSTER_READY" 3 "IBOOSTER_DIAGNOSTIC" 0 "IBOOSTER_OFF" 1 "IBOOSTER_INIT" ;
+VAL_ 880 EPAS3S_eacStatus 7 "SNA" 2 "EAC_ACTIVE" 4 "LANE_KEEP_ASSIST" 3 "EAC_FAULT" 1 "EAC_AVAILABLE" 5 "EMERGENCY_LANE_KEEP" 0 "EAC_INHIBITED" ;
+VAL_ 880 EPAS3S_handsOnLevel 1 "LEVEL_1" 0 "LEVEL_0" 3 "LEVEL_3" 2 "LEVEL_2" ;
+VAL_ 880 EPAS3S_torsionBarTorque 4095 "SNA" 4094 "UNDEFINABLE_DATA" ;
+VAL_ 880 EPAS3S_eacErrorCode 15 "SNA" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 4 "EAC_ERROR_TMP_FAULT" 2 "EAC_ERROR_MAX_SPEED" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 0 "EAC_ERROR_IDLE" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 5 "EAR_ERROR_MAX_STEER_DELTA" 13 "EAC_ERROR_PINION_VEL_DIFF" 1 "EAC_ERROR_MIN_SPEED" 14 "EAC_EXTERNAL_MONITOR_INHIBIT" 12 "EAC_ERROR_LOW_ASSIST" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 3 "EAC_ERROR_HANDS_ON" ;
+VAL_ 880 EPAS3S_steeringRackForce 1023 "SNA" 1022 "NOT_IN_SPEC" ;
+VAL_ 880 EPAS3S_steeringFault 0 "NO_FAULT" 1 "FAULT" ;
+VAL_ 880 EPAS3S_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ;
+VAL_ 880 EPAS3S_internalSASQF 1 "IN_SPEC" 0 "UNDEFINABLE_ACCURACY" ;
+VAL_ 880 EPAS3S_currentTuneMode 3 "STEERING_TUNE_RWD_COMFORT" 1 "STEERING_TUNE_DM_STANDARD" 5 "STEERING_TUNE_RWD_SPORT" 0 "STEERING_TUNE_DM_COMFORT" 4 "STEERING_TUNE_RWD_STANDARD" 2 "STEERING_TUNE_DM_SPORT" ;
+VAL_ 599 DI_uiSpeedUnits 0 "DI_SPEED_MPH" 1 "DI_SPEED_KPH" ;
+VAL_ 599 DI_uiSpeed 255 "DI_UI_SPEED_SNA" ;
+VAL_ 599 DI_vehicleSpeed 4095 "SNA" ;
+VAL_ 637 APS_eacAllow 0 "INHIBIT" 1 "ALLOW" 2 "RESERVED" 3 "SNA";
+VAL_ 1160 DAS_steeringControlType 2 "LANE_KEEP_ASSIST" 0 "NONE" 1 "ANGLE_CONTROL" 3 "EMERGENCY_LANE_KEEP" ;
+VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
+VAL_ 297 SCCM_steeringAngleValidity 3 "SNA" 2 "INIT" 0 "INVALID" 1 "VALID" ;
+VAL_ 297 SCCM_steeringAngleSensorStatus 0 "OK" 1 "INIT" 2 "ERROR" 3 "ERROR_INIT" ;
+VAL_ 646 DI_rollPreventionState 0 "UNAVAILABLE" 1 "STANDBY" 2 "READY" 3 "BUILD" 4 "HOLD" 5 "PARK" 6 "FAULT" 7 "INIT" ;
+VAL_ 646 DI_vehicleHoldState 0 "UNAVAILABLE" 1 "STANDBY" 2 "BLEND_IN" 3 "STANDSTILL" 4 "BLEND_OUT" 5 "PARK" 6 "FAULT" 7 "INIT" ;
+VAL_ 646 DI_pmmStatus 0 "INACTIVE" 1 "ACTIVE" 2 "LOGGING_ACTIVE" 3 "SNA" ;
+VAL_ 646 DI_aebState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "FAULT" 7 "SNA" ;
+VAL_ 646 DI_autopilotRequest 0 "IDLE" 1 "ACTIVATE" ;
+VAL_ 646 DI_parkBrakeState 0 "UNAVAILABLE" 1 "RELEASED" 2 "REQUESTED" 3 "APPLIED" 4 "FAULTED" 5 "PANIC_EPB" 6 "PANIC_SKID" 7 "RELEASING" 15 "SNA" ;
+VAL_ 646 DI_autoparkState 0 "UNAVAILABLE" 1 "STANDBY" 2 "STARTED" 3 "ACTIVE" 4 "COMPLETE" 5 "PAUSED" 6 "ABORTED" 7 "RESUMED" 8 "UNPARK_COMPLETE" 9 "SELFPARK_STARTED" 15 "SNA" ;
+VAL_ 646 DI_speedUnits 0 "MPH" 1 "KPH" ;
+VAL_ 646 DI_cruiseState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "OVERRIDE" 5 "FAULT" 6 "PRE_FAULT" 7 "PRE_CANCEL" ;
+VAL_ 785 buckleStatus 1 "LATCHED" 0 "UNLATCHED" ;
+VAL_ 785 anyDoorOpen 1 "OPEN" 0 "CLOSED" ;
+VAL_ 923 DAS_autoLaneChangeState 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 17 "ALC_ABORT_POOR_VIEW_RANGE" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 0 "ALC_UNAVAILABLE_DISABLED" 26 "ALC_BLOCKED_LANE_TYPE_L" 29 "ALC_ABORT_TIMEOUT" 9 "ALC_IN_PROGRESS_L" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 22 "ALC_BLOCKED_VEH_TTC_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 18 "ALC_ABORT_LC_HEALTH_BAD" 28 "ALC_WAITING_HANDS_ON" 8 "ALC_AVAILABLE_BOTH" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 24 "ALC_BLOCKED_VEH_TTC_R" 1 "ALC_UNAVAILABLE_NO_LANES" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 27 "ALC_BLOCKED_LANE_TYPE_R" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 31 "ALC_SNA" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 6 "ALC_AVAILABLE_ONLY_L" 20 "ALC_ABORT_OTHER_REASON" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 7 "ALC_AVAILABLE_ONLY_R" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 10 "ALC_IN_PROGRESS_R" ;
+VAL_ 923 DAS_autopilotHandsOnState 8 "LC_HANDS_ON_SUSPENDED" 15 "LC_HANDS_ON_SNA" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 3 "LC_HANDS_ON_REQD_VISUAL" 4 "LC_HANDS_ON_REQD_CHIME_1" 6 "LC_HANDS_ON_REQD_SLOWING" 1 "LC_HANDS_ON_REQD_DETECTED" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 5 "LC_HANDS_ON_REQD_CHIME_2" 0 "LC_HANDS_ON_NOT_REQD" ;
+VAL_ 923 DAS_fleetSpeedState 0 "FLEETSPEED_UNAVAILABLE" 1 "FLEETSPEED_AVAILABLE" 2 "FLEETSPEED_ACTIVE" 3 "FLEETSPEED_HOLD" ;
+VAL_ 923 DAS_laneDepartureWarning 5 "SNA" 0 "NONE" 2 "RIGHT_WARNING" 4 "RIGHT_WARNING_SEVERE" 3 "LEFT_WARNING_SEVERE" 1 "LEFT_WARNING" ;
+VAL_ 923 DAS_csaState 1 "CSA_EXTERNAL_STATE_AVAILABLE" 3 "CSA_EXTERNAL_STATE_HOLD" 2 "CSA_EXTERNAL_STATE_ENABLE" 0 "CSA_EXTERNAL_STATE_UNAVAILABLE" ;
+VAL_ 923 DAS_sideCollisionInhibit 0 "NO_INHIBIT" 1 "INHIBIT" ;
+VAL_ 923 DAS_sideCollisionWarning 0 "NONE" 2 "WARN_RIGHT" 1 "WARN_LEFT" 3 "WARN_LEFT_RIGHT" ;
+VAL_ 923 DAS_sideCollisionAvoid 3 "SNA" 0 "NONE" 1 "AVOID_LEFT" 2 "AVOID_RIGHT" ;
+VAL_ 923 DAS_autoparkReady 0 "AUTOPARK_UNAVAILABLE" 1 "AUTOPARK_READY" ;
+VAL_ 923 DAS_forwardCollisionWarning 3 "SNA" 0 "NONE" 1 "FORWARD_COLLISION_WARNING" ;
+VAL_ 923 DAS_heaterState 0 "HEATER_OFF_SNA" 1 "HEATER_ON" ;
+VAL_ 923 DAS_visionOnlySpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ;
+VAL_ 923 DAS_suppressSpeedWarning 1 "Suppress_Speed_Warning" 0 "Do_Not_Suppress" ;
+VAL_ 923 DAS_fusedSpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ;
+VAL_ 923 DAS_blindSpotRearRight 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ;
+VAL_ 923 DAS_blindSpotRearLeft 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ;
+VAL_ 923 DAS_autopilotState 15 "SNA" 8 "ABORTING" 3 "ACTIVE_NOMINAL" 0 "DISABLED" 4 "ACTIVE_RESTRICTED" 5 "ACTIVE_NAV" 14 "FAULT" 1 "UNAVAILABLE" 9 "ABORTED" 2 "AVAILABLE" ;
+
+
+
diff --git a/opendbc/dbc/toyota_new_mc_pt_generated.dbc b/opendbc/dbc/toyota_new_mc_pt_generated.dbc
index 1e1ce00a2e..c7de833c36 100644
--- a/opendbc/dbc/toyota_new_mc_pt_generated.dbc
+++ b/opendbc/dbc/toyota_new_mc_pt_generated.dbc
@@ -153,7 +153,11 @@ BO_ 643 PRE_COLLISION: 7 DSU
 
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
diff --git a/opendbc/dbc/toyota_nodsu_pt_generated.dbc b/opendbc/dbc/toyota_nodsu_pt_generated.dbc
index 582768073c..f392713b6a 100644
--- a/opendbc/dbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/dbc/toyota_nodsu_pt_generated.dbc
@@ -153,7 +153,11 @@ BO_ 643 PRE_COLLISION: 7 DSU
 
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
diff --git a/opendbc/dbc/toyota_rav4_prime_generated.dbc b/opendbc/dbc/toyota_rav4_prime_generated.dbc
index 4d05d9f450..fb269f2430 100644
--- a/opendbc/dbc/toyota_rav4_prime_generated.dbc
+++ b/opendbc/dbc/toyota_rav4_prime_generated.dbc
@@ -100,7 +100,7 @@ BO_ 375 PCM_CRUISE_3: 8 XXX
  SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 387 ACC_CONTROL_2: 8 XXX
- SG_ ACCEL_CMD : 7|16@0- (1,0) [0|65535] "" XXX
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU
  SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
  SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
  SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
diff --git a/opendbc/dbc/toyota_tnga_k_pt_generated.dbc b/opendbc/dbc/toyota_tnga_k_pt_generated.dbc
index bb50dd0bc7..7b348acff5 100644
--- a/opendbc/dbc/toyota_tnga_k_pt_generated.dbc
+++ b/opendbc/dbc/toyota_tnga_k_pt_generated.dbc
@@ -153,7 +153,11 @@ BO_ 643 PRE_COLLISION: 7 DSU
 
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX