From 0ebc4cb4cbae78b27642e56f2c6a0ca59aa13b86 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Mon, 7 Oct 2024 13:16:58 -0400
Subject: [PATCH 01/50] Toyota: Add 2021-23 Toyota Sienna with SecOC (#1344)

* from @pd0wm commaai/opendbc#1005

* from @pd0wm commaai/openpilot#31179

* we did need that flag rename

* those flags were numbered like that for a reason

* no more bustime

* add secOCKey to structs

* hack around new pitch value for now

* secOCKey placeholder

* help the test along for now

* codespell disapproves of my creative vision

* add crypto dependency

* the other one

* the other other one

* temp use SecOC branch of Panda

* i am the panda, for now

* propitiate static type checker

* on second thought, moving car.capnp is a good idea

* remove the SecOC key from CarParams

* remove SecOC key reading from Toyota port

* add secoc_key to CS/CC

* update SecOC key references

* default key in interfaces for tests

* more CarParams.SecurityConfig

* set secOcRequired at startup for SecOC car

* see if type checker likes this better

* santa please bring car.capnp back soon

* list -> flag

* diff reduction: won't need the flag rename

* add IDLE_COAST signal

* regen RAV4 DBC

* consolidate and remove ALT_GAS_MSG flag

* consolidate and remove GEAR_PACKET_HYBRID flag

* cleanup pitch signal

* cleanup can_gear

* cleanup SECOC_SYNCHRONIZATION

* more cleanup

* cleanup Mirai

* FLAG.value consistency, in case capnp move needs this

* not necessary, reduce diff with master

* prettier

* validation like this should be an offline test

* match non-SecOC LTA message

* follow secoc library move

* repack flag values

* whitespace fix

* cleanup stockAeb

* comment not necessary

* add explicit FIXME for pandacan ref

* how did that sneak back in

* mention why CarDocs are missing

* use carlog to note wrong key problems

* limit logging volume

* add SecOC Sienna, FW from 970f02decf19930c/00000007--744397430a

* add FW from 0bbe367c98fa1538/00000001--1c0d7ae2e4

* add CI test route for Sienna

* SR closer to online learned, tweak mass to Edmunds value

* add FW from 8bfb000e03b2a257/00000004--f9eee5f52e

* fix transposition
---
 opendbc/car/tests/routes.py             |  1 +
 opendbc/car/torque_data/substitute.toml |  1 +
 opendbc/car/toyota/fingerprints.py      | 22 ++++++++++++++++++++++
 opendbc/car/toyota/interface.py         |  2 +-
 opendbc/car/toyota/values.py            |  8 ++++++++
 5 files changed, 33 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index fd03a5145a..2e1eca29a0 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -207,6 +207,7 @@ 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 c5752b3956..456f823dfa 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/fingerprints.py b/opendbc/car/toyota/fingerprints.py
index 4467542c70..bd7eefbe7e 100644
--- a/opendbc/car/toyota/fingerprints.py
+++ b/opendbc/car/toyota/fingerprints.py
@@ -1248,6 +1248,28 @@
       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',
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/values.py b/opendbc/car/toyota/values.py
index 47661a92c4..5f96be99f4 100644
--- a/opendbc/car/toyota/values.py
+++ b/opendbc/car/toyota/values.py
@@ -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(

From ffb824942252b6dcb0ebbf92a029f1c6652a7b8d Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Mon, 7 Oct 2024 15:33:26 -0400
Subject: [PATCH 02/50] Toyota: Add FW for 2023 RAV4 Prime (#1355)

* Toyota: Add FW for 2023 RAV4 Prime

* I don't even
---
 opendbc/car/toyota/fingerprints.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/opendbc/car/toyota/fingerprints.py b/opendbc/car/toyota/fingerprints.py
index bd7eefbe7e..0c12428e4e 100644
--- a/opendbc/car/toyota/fingerprints.py
+++ b/opendbc/car/toyota/fingerprints.py
@@ -1010,21 +1010,26 @@
       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: {

From 53565b3f0ee1fcb1e7bdb37011c188ced4d1af05 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 7 Oct 2024 13:45:37 -0700
Subject: [PATCH 03/50] Toyota: more engine torque signals (#1356)

* add

* fix
---
 opendbc/dbc/generator/toyota/_toyota_2017.dbc | 6 +++++-
 opendbc/dbc/toyota_new_mc_pt_generated.dbc    | 6 +++++-
 opendbc/dbc/toyota_nodsu_pt_generated.dbc     | 6 +++++-
 opendbc/dbc/toyota_tnga_k_pt_generated.dbc    | 6 +++++-
 4 files changed, 20 insertions(+), 4 deletions(-)

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/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_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

From 176c0e55e2a7528f162eab5c9377815cc631d34d Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Mon, 7 Oct 2024 18:00:37 -0300
Subject: [PATCH 04/50] Fingerprint: Brazilian Toyota Corolla TSS2 2025 (#1312)

add Emerson FPv2
---
 opendbc/car/toyota/fingerprints.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/opendbc/car/toyota/fingerprints.py b/opendbc/car/toyota/fingerprints.py
index 0c12428e4e..ed344ec243 100644
--- a/opendbc/car/toyota/fingerprints.py
+++ b/opendbc/car/toyota/fingerprints.py
@@ -431,6 +431,7 @@
   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 +526,7 @@
       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 +541,7 @@
       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',
@@ -596,6 +599,7 @@
       b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1206000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1601500\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'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',

From 8869420bf383ed5be022b7e2fbe2e10613a4c406 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 7 Oct 2024 14:28:36 -0700
Subject: [PATCH 05/50] [bot] Fingerprints: add missing FW versions from new
 users (#1090)

Export fingerprints
---
 opendbc/car/chrysler/fingerprints.py | 3 +++
 opendbc/car/honda/fingerprints.py    | 1 +
 opendbc/car/hyundai/fingerprints.py  | 5 ++++-
 opendbc/car/tesla/fingerprints.py    | 4 ++--
 opendbc/car/toyota/fingerprints.py   | 6 +++++-
 5 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/chrysler/fingerprints.py b/opendbc/car/chrysler/fingerprints.py
index 072eafb1d0..6f7fdfc708 100644
--- a/opendbc/car/chrysler/fingerprints.py
+++ b/opendbc/car/chrysler/fingerprints.py
@@ -468,6 +468,7 @@
       b'68535470AC',
       b'68548900AB',
       b'68586307AB',
+      b'68586307AC',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672892AB',
@@ -545,6 +546,7 @@
       b'68378710AL ',
       b'68378742AI ',
       b'68378742AK ',
+      b'68378743AI ',
       b'68378743AM ',
       b'68378748AL ',
       b'68378758AM ',
@@ -598,6 +600,7 @@
       b'68360081AM',
       b'68360085AJ',
       b'68360085AL',
+      b'68360085AO',
       b'68360086AH',
       b'68360086AK',
       b'68360086AN',
diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
index 11472d6373..edfd7d00c4 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',
     ],
diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
index 5af9255c17..1bde900549 100644
--- a/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc/car/hyundai/fingerprints.py
@@ -263,6 +263,7 @@
       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 +405,7 @@
       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',
@@ -1070,10 +1072,10 @@
   },
   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 +1086,7 @@
       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/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/toyota/fingerprints.py b/opendbc/car/toyota/fingerprints.py
index ed344ec243..27a6f11210 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    ',
@@ -599,9 +602,9 @@
       b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1206000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1601500\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',
@@ -1697,6 +1700,7 @@
       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): [

From 89b0f059d77d189ec771ee79fb4aa2a8d7771632 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 7 Oct 2024 14:48:27 -0700
Subject: [PATCH 06/50] [bot] Fingerprints: add missing FW versions from new
 users (#1357)

Export fingerprints
---
 opendbc/car/hyundai/fingerprints.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
index 1bde900549..a3e8bc5b69 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',
     ],
   },
@@ -516,6 +518,7 @@
     (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',
     ],
   },

From c78d9bbc91601abc72992faebae6e18afefbfc40 Mon Sep 17 00:00:00 2001
From: hdoublearp <45923716+hdoublearp@users.noreply.github.com>
Date: Mon, 7 Oct 2024 20:32:54 -0400
Subject: [PATCH 07/50] Toyota: Fix RAV4 Prime mass and wheelbase (#1354)

* Fix curb weight, steering ratio, wheelbase for RAV4 Prime

Weight and wheelbase specifications obtained from https://web.archive.org/web/20221005134205/https://www.toyota.com/rav4prime/2022/features/mpg_other_price/4544/4550. Steering ratio obtained from https://www.toyota.com/content/dam/toyota/brochures/pdf/2022/rav4_ebrochure.pdf.

* Align with currently available documentation

Rounding up wheelbase to two decimal
Updating mass to be more accurate with real world measurement
Reverting steering ratio, to account for the learner behavior in OpenPilot; as described in the PR comment history
---
 opendbc/car/toyota/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/toyota/values.py b/opendbc/car/toyota/values.py
index 5f96be99f4..13e6d205b4 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,
   )

From 1b5f1c37741329c707d46c3069bb919152111b8f Mon Sep 17 00:00:00 2001
From: Isaac <48419673+coffee-cake-isaac@users.noreply.github.com>
Date: Thu, 10 Oct 2024 14:14:27 -0400
Subject: [PATCH 08/50] Ford: Provide detail for zeroed out signals on
 LateralMotionControl and LateralMotionControl2 signals (#1362)

Update carcontroller.py
---
 opendbc/car/ford/carcontroller.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index 7834a10149..89728c09ba 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -69,6 +69,11 @@ 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))

From fa0429d339ce255b732a3f62355c29dbca24a2b6 Mon Sep 17 00:00:00 2001
From: Landon Haugh <landon.haugh1@gmail.com>
Date: Fri, 11 Oct 2024 22:01:41 -0500
Subject: [PATCH 09/50] Honda Civic 2022: Add traffic sign detections (#946)

* Honda Civic 2022: Add Speed Limit message

* Honda Bosch: Add speed limit sign and stop sign detection signals to CAMERA_MESSAGES

* re-run generator

---------

Co-authored-by: Jason Young <jyoung8607@gmail.com>
---
 opendbc/dbc/acura_rdx_2020_can_generated.dbc  | 13 ++++++++-----
 opendbc/dbc/generator/honda/_bosch_2018.dbc   | 12 ++++++++----
 .../honda/honda_civic_ex_2022_can.dbc         |  6 ++++++
 .../dbc/honda_accord_2018_can_generated.dbc   | 13 ++++++++-----
 .../dbc/honda_civic_ex_2022_can_generated.dbc | 19 ++++++++++++++-----
 ..._civic_hatchback_ex_2017_can_generated.dbc | 13 ++++++++-----
 .../dbc/honda_crv_ex_2017_can_generated.dbc   | 13 ++++++++-----
 .../honda_insight_ex_2019_can_generated.dbc   | 13 ++++++++-----
 .../dbc/honda_pilot_2023_can_generated.dbc    | 13 ++++++++-----
 9 files changed, 76 insertions(+), 39 deletions(-)

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..ba83a789bf 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 +49,11 @@ 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_ 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
@@ -89,6 +94,7 @@ 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";
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..a930bf54a2 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 +461,11 @@ 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_ 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
@@ -498,6 +506,7 @@ 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";
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

From 6375fd6644b8b7c2e990f8fd1970cf16fff4b512 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Fri, 11 Oct 2024 20:45:26 -0700
Subject: [PATCH 10/50] Honda: DBC signals for manual trans gear position
 (#1034)

* add integra MT gear message

* update gearn msg

* apply pr 998

* Revert "apply pr 998"

This reverts commit d3489b5ec8d4278debe67a85090bb03e50277023.

* update gearbox name

---------

Co-authored-by: Jason Young <jyoung8607@gmail.com>
---
 opendbc/dbc/generator/honda/honda_civic_ex_2022_can.dbc | 6 ++++++
 opendbc/dbc/honda_civic_ex_2022_can_generated.dbc       | 6 ++++++
 2 files changed, 12 insertions(+)

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 ba83a789bf..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 +49,11 @@ 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
@@ -99,3 +104,4 @@ 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_ex_2022_can_generated.dbc b/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc
index a930bf54a2..7ec5b13278 100644
--- a/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc
+++ b/opendbc/dbc/honda_civic_ex_2022_can_generated.dbc
@@ -461,6 +461,11 @@ 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
@@ -511,3 +516,4 @@ 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";

From 3e3f027a0dc551fc5e26e87c329a8572901382b1 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Sat, 12 Oct 2024 11:29:22 -0400
Subject: [PATCH 11/50] docs: Honda updates to CARS.md (#1364)

* slight Honda reorg, fix Integra category, add manual trans

* make platform groups general per manufacturer

* add Honda Clarity

* regen CARS.md
---
 docs/CARS.md                 | 26 +++++++++++++++-----------
 opendbc/car/CARS_template.md | 23 +++++++++++++----------
 opendbc/car/extra_cars.py    |  9 +++++----
 3 files changed, 33 insertions(+), 25 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index d6acb9b640..b7b9fb2c0d 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 342 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)|
@@ -383,17 +384,20 @@ 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
+  * 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..fb1c18204d 100644
--- a/opendbc/car/CARS_template.md
+++ b/opendbc/car/CARS_template.md
@@ -46,17 +46,20 @@ 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
+  * 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/extra_cars.py b/opendbc/car/extra_cars.py
index 284c5f59cf..a1da76ca83 100644
--- a/opendbc/car/extra_cars.py
+++ b/opendbc/car/extra_cars.py
@@ -28,24 +28,25 @@ 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 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 +64,7 @@ class CAR(Platforms):
     ],
   )
 
-  AUDI_FLEXRAY = ExtraPlatformConfig(
+  EXTRA_VOLKSWAGEN = ExtraPlatformConfig(
     [
       FlexRayCarDocs("Audi A4 2016-24", package="All"),
       FlexRayCarDocs("Audi A5 2016-24", package="All"),

From 3fc9bdb8c939260134367ea9a077cdb90c338710 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Sat, 12 Oct 2024 11:47:48 -0400
Subject: [PATCH 12/50] docs: add Honda Odyssey WIP to CARS.md (#1365)

docs: add Honda Odyssey to CARS.md
---
 docs/CARS.md                 | 4 +++-
 opendbc/car/CARS_template.md | 1 +
 opendbc/car/extra_cars.py    | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index b7b9fb2c0d..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 342 Known Cars
+# Support Information for 343 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -86,6 +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)|
@@ -390,6 +391,7 @@ Some notable works-in-progress:
   * 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
diff --git a/opendbc/car/CARS_template.md b/opendbc/car/CARS_template.md
index fb1c18204d..d13f3a4b76 100644
--- a/opendbc/car/CARS_template.md
+++ b/opendbc/car/CARS_template.md
@@ -52,6 +52,7 @@ Some notable works-in-progress:
   * 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
diff --git a/opendbc/car/extra_cars.py b/opendbc/car/extra_cars.py
index a1da76ca83..87e1f13819 100644
--- a/opendbc/car/extra_cars.py
+++ b/opendbc/car/extra_cars.py
@@ -35,6 +35,7 @@ class CAR(Platforms):
       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"),
     ],
   )

From 096457ce66141b1446fdce72caaee48318a50041 Mon Sep 17 00:00:00 2001
From: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Date: Mon, 14 Oct 2024 09:12:46 -0700
Subject: [PATCH 13/50] Tesla: don't copy DAS_accState (#1369)

dont copy acc state from autopilot computer
---
 opendbc/car/tesla/carcontroller.py | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index 3c0ba959b5..62e25c1aaf 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -38,9 +38,7 @@ def update(self, CC, CS, now_nanos):
 
     # 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))

From 1c2d8fa6f35dea5963bb3a200144a93c645ddb9d Mon Sep 17 00:00:00 2001
From: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Date: Mon, 14 Oct 2024 09:13:00 -0700
Subject: [PATCH 14/50] Tesla: better standstill message (#1370)

better standstill message
---
 opendbc/car/tesla/carstate.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
index 82d1c0d30c..80b245978e 100644
--- a/opendbc/car/tesla/carstate.py
+++ b/opendbc/car/tesla/carstate.py
@@ -23,7 +23,7 @@ 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"]
@@ -92,7 +92,6 @@ def get_can_parser(CP):
     messages = [
       # sig_address, frequency
       ("DI_speed", 50),
-      ("ESP_B", 50),
       ("DI_systemStatus", 100),
       ("IBST_status", 25),
       ("DI_state", 10),

From ac01a9cfe46673534dd02030d234e24dd3ecb013 Mon Sep 17 00:00:00 2001
From: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Date: Mon, 14 Oct 2024 09:13:20 -0700
Subject: [PATCH 15/50] Tesla: setSpeed to 0 if not active (#1366)

* setSpeed to 0 if accel is 0

* setSpeed = 0 if not active
---
 opendbc/car/tesla/carcontroller.py | 2 +-
 opendbc/car/tesla/teslacan.py      | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index 62e25c1aaf..3f87d0faea 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -41,7 +41,7 @@ def update(self, CC, CS, now_nanos):
       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/teslacan.py b/opendbc/car/tesla/teslacan.py
index 22963861bc..ef3bcec35c 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,

From 550a220c8105b321466f7014f10f0de9ac8f88b7 Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Mon, 14 Oct 2024 10:07:27 -0700
Subject: [PATCH 16/50] Tesla: fix DAS_accSpeedLimit scale (#1371)

---
 opendbc/dbc/tesla_model3_party.dbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/dbc/tesla_model3_party.dbc b/opendbc/dbc/tesla_model3_party.dbc
index c754c5114b..8b0c6824ad 100644
--- a/opendbc/dbc/tesla_model3_party.dbc
+++ b/opendbc/dbc/tesla_model3_party.dbc
@@ -53,7 +53,7 @@ BO_ 905 DAS_status2: 8 PARTY
  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
+ 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

From 7c0a3d0c9c0cce1aa9b37a16ab6895c199fe70dc Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Mon, 14 Oct 2024 10:17:35 -0700
Subject: [PATCH 17/50] Tesla: model 3 party can fix newline character (#1372)

---
 opendbc/dbc/tesla_model3_party.dbc | 666 ++++++++++++++---------------
 1 file changed, 333 insertions(+), 333 deletions(-)

diff --git a/opendbc/dbc/tesla_model3_party.dbc b/opendbc/dbc/tesla_model3_party.dbc
index 8b0c6824ad..4b16febf1b 100644
--- a/opendbc/dbc/tesla_model3_party.dbc
+++ b/opendbc/dbc/tesla_model3_party.dbc
@@ -1,333 +1,333 @@
-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_ 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_ 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" ;
+
+
+

From e6638ddf068dde7332b423e20b3ccd5b1d9c0a23 Mon Sep 17 00:00:00 2001
From: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Date: Mon, 14 Oct 2024 13:46:27 -0700
Subject: [PATCH 18/50] Tesla: simplify the logic for handling steering-related
 status codes (#1367)

simplify and cleanup fault logic
---
 opendbc/car/tesla/carcontroller.py | 2 +-
 opendbc/car/tesla/carstate.py      | 9 +++------
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index 3f87d0faea..fa1c7a049d 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:
diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
index 80b245978e..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:
@@ -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":

From f4536ef95aab4f4c5435016a8cb274ca6c0aa77d Mon Sep 17 00:00:00 2001
From: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Date: Mon, 14 Oct 2024 13:46:56 -0700
Subject: [PATCH 19/50] Tesla: allow Steering below 18mph (#1368)

send APS_eacAllow message
---
 opendbc/car/tesla/carcontroller.py |  3 +++
 opendbc/car/tesla/teslacan.py      | 10 ++++++++++
 2 files changed, 13 insertions(+)

diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index fa1c7a049d..4bcc1a9915 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -36,6 +36,9 @@ 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 = 4 if not hands_on_fault else 13  # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
diff --git a/opendbc/car/tesla/teslacan.py b/opendbc/car/tesla/teslacan.py
index ef3bcec35c..f71043bde0 100644
--- a/opendbc/car/tesla/teslacan.py
+++ b/opendbc/car/tesla/teslacan.py
@@ -39,3 +39,13 @@ def create_longitudinal_command(self, acc_state, accel, cntr, active):
     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)

From 21df53244b51235b4a9c4c7e8907415242259bc8 Mon Sep 17 00:00:00 2001
From: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Date: Mon, 14 Oct 2024 15:15:25 -0700
Subject: [PATCH 20/50] add APS_eacMonitor to dbc (#1373)

---
 opendbc/dbc/tesla_model3_party.dbc | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/opendbc/dbc/tesla_model3_party.dbc b/opendbc/dbc/tesla_model3_party.dbc
index 4b16febf1b..8fa1658691 100644
--- a/opendbc/dbc/tesla_model3_party.dbc
+++ b/opendbc/dbc/tesla_model3_party.dbc
@@ -144,6 +144,11 @@ BO_ 880 EPAS3S_sysStatus: 8 PARTY
  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
@@ -296,6 +301,7 @@ VAL_ 880 EPAS3S_currentTuneMode 3 "STEERING_TUNE_RWD_COMFORT" 1 "STEERING_TUNE_D
 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" ;

From e6425221124c5a9c5b2865be3a3bae3d0a44045c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 14 Oct 2024 20:56:54 -0700
Subject: [PATCH 21/50] Toyota: fix hybrid query for some cars (#1375)

fix hybrid query
---
 opendbc/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/car/toyota/values.py b/opendbc/car/toyota/values.py
index 13e6d205b4..d61849f354 100644
--- a/opendbc/car/toyota/values.py
+++ b/opendbc/car/toyota/values.py
@@ -557,6 +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),

From 14b199810dc4f88b16273d6e4475fb763f313ace Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 15 Oct 2024 13:57:28 -0700
Subject: [PATCH 22/50] Toyota: fix initial permit braking value

---
 opendbc/car/toyota/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index ebbf701811..d6bdd9782e 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -46,7 +46,7 @@ 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

From dac2f76d08e1de1ee1ea5c5d1b919f2979a82824 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 16 Oct 2024 02:21:58 -0500
Subject: [PATCH 23/50] PIDController: move to common (#1380)

move to common
---
 opendbc/car/body/carcontroller.py | 64 ++-----------------------------
 opendbc/car/common/pid.py         | 58 ++++++++++++++++++++++++++++
 2 files changed, 61 insertions(+), 61 deletions(-)
 create mode 100644 opendbc/car/common/pid.py

diff --git a/opendbc/car/body/carcontroller.py b/opendbc/car/body/carcontroller.py
index 1d0bedb632..5c534c943f 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.body import bodycan
+from opendbc.car.common.pid import PIDController
 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/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

From 2f0385dcf61a8cc85c34f476656aa052e6c0343d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 16 Oct 2024 00:23:28 -0700
Subject: [PATCH 24/50] sort imports

---
 opendbc/car/body/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/body/carcontroller.py b/opendbc/car/body/carcontroller.py
index 5c534c943f..020db5d5cf 100644
--- a/opendbc/car/body/carcontroller.py
+++ b/opendbc/car/body/carcontroller.py
@@ -2,8 +2,8 @@
 
 from opendbc.can.packer import CANPacker
 from opendbc.car import DT_CTRL
-from opendbc.car.body import bodycan
 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
 

From 872413e6d8fdea7bc4cde001be7cbf737c1372e6 Mon Sep 17 00:00:00 2001
From: Chris Patterson <christriplenickel@yahoo.com>
Date: Thu, 17 Oct 2024 19:33:42 -0500
Subject: [PATCH 25/50] Toyota: Fix ACC_CONTROL_2 ACCEL_CMD scaling (#1384)

Co-authored-by: Comma Device <device@comma.ai>
---
 opendbc/dbc/generator/toyota/toyota_rav4_prime.dbc | 2 +-
 opendbc/dbc/toyota_rav4_prime_generated.dbc        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

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/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

From 2f4fe0ca7c754be90dc5c12976b277cd2c7ff6c2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 17 Oct 2024 21:10:26 -0500
Subject: [PATCH 26/50] Hyundai Kona: missing FW versions from CAN FP removal
 (#1387)

missing fp
---
 opendbc/car/hyundai/fingerprints.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
index a3e8bc5b69..7496e2bff0 100644
--- a/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc/car/hyundai/fingerprints.py
@@ -617,6 +617,7 @@
       b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000',
       b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
+      b'\xf1\x00OS IEB \x04 212 \x11\x13 58520-K4000',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200',
@@ -625,12 +626,14 @@
       b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40',
       b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
       b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50',
+      b'\xf1\x00OSE LKAS AT AUS RHD 1.00 1.00 95740-K4300 W50',
     ],
     (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 56310K4000\x00 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310/K4550 4OEDC104',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4000         ',

From 76afb6f5f51b21a01639f76ea970ecd9bf685645 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 18 Oct 2024 16:11:46 -0700
Subject: [PATCH 27/50] toyota/carcontroller.py: remove a TODO

---
 opendbc/car/toyota/carcontroller.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index d6bdd9782e..b17075be8a 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -146,7 +146,6 @@ 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

From 5d258ce7c482f1c73560f4ae762badb4eba44ca5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 18 Oct 2024 19:51:45 -0700
Subject: [PATCH 28/50] rename altButton1 to lkas

---
 opendbc/car/car.capnp         | 2 +-
 opendbc/car/honda/carstate.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/car.capnp b/opendbc/car/car.capnp
index 49f82b6dd3..f2a8974d15 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;
diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 76e653314d..91409d7f45 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):

From 9f9a5fe56ff04d0b207c3ac01afe454021ca385b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 21 Oct 2024 16:34:40 -0500
Subject: [PATCH 29/50] Toyota: use livePose pitch (#1386)

* use livePose

* rm VSC1S07
---
 opendbc/car/toyota/carcontroller.py | 6 +++++-
 opendbc/car/toyota/carstate.py      | 3 ---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index b17075be8a..e8a988ac29 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -148,7 +148,11 @@ def update(self, CC, CS, now_nanos):
     # For cars where we allow a higher max acceleration of 2.0 m/s^2, compensate for PCM request overshoot and imprecise braking
     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:

From 3789bff3b02ce529c64f56f2f2dc21a0419676f3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 22 Oct 2024 17:40:49 -0500
Subject: [PATCH 30/50] Ford: show bars on change for 4s (#1402)

* show bars for 4s like stock

* consistent
---
 opendbc/car/ford/carcontroller.py | 8 ++++++--
 opendbc/car/ford/fordcan.py       | 4 ++--
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index 89728c09ba..c27e4d2711 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -32,6 +32,7 @@ def __init__(self, dbc_name, CP):
     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 = []
@@ -105,10 +106,13 @@ 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
diff --git a/opendbc/car/ford/fordcan.py b/opendbc/car/ford/fordcan.py
index 61263099c7..0ff44879e7 100644
--- a/opendbc/car/ford/fordcan.py
+++ b/opendbc/car/ford/fordcan.py
@@ -143,7 +143,7 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
 
 
 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 +207,7 @@ 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

From 117f4153182ecb1a4903c17c334e6f42358c0bca Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 22 Oct 2024 15:47:17 -0700
Subject: [PATCH 31/50] Ford: some ACC signal notes

---
 opendbc/car/ford/fordcan.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/opendbc/car/ford/fordcan.py b/opendbc/car/ford/fordcan.py
index 0ff44879e7..e0c0d472c5 100644
--- a/opendbc/car/ford/fordcan.py
+++ b/opendbc/car/ford/fordcan.py
@@ -131,10 +131,13 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
     "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
     "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
+    # 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 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
     "AccStopStat_B_Rq": 1 if stopping else 0,

From 25ac16587c3d50abc2df1e4f24151d81ac6e9306 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 22 Oct 2024 18:43:34 -0500
Subject: [PATCH 32/50] Ford: log RPM (#1403)

log RPM
---
 opendbc/car/ford/carstate.py | 2 ++
 1 file changed, 2 insertions(+)

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"])

From 9a594b05d043622c6e8eb6708d79f438caaf506d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 22 Oct 2024 21:07:44 -0500
Subject: [PATCH 33/50] Ford long: add more notes (#1404)

---
 opendbc/car/ford/fordcan.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/ford/fordcan.py b/opendbc/car/ford/fordcan.py
index e0c0d472c5..5f599d5fb2 100644
--- a/opendbc/car/ford/fordcan.py
+++ b/opendbc/car/ford/fordcan.py
@@ -131,7 +131,8 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
     "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
+    # 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

From 42848c7c73112752aa16350546bf3fa1a53fb1a1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 01:44:44 -0500
Subject: [PATCH 34/50] [bot] Fingerprints: add missing FW versions from new
 users (#1401)

Export fingerprints
---
 opendbc/car/chrysler/fingerprints.py   | 4 ++++
 opendbc/car/honda/fingerprints.py      | 1 +
 opendbc/car/honda/values.py            | 2 +-
 opendbc/car/hyundai/fingerprints.py    | 7 ++++---
 opendbc/car/toyota/fingerprints.py     | 3 +++
 opendbc/car/volkswagen/fingerprints.py | 1 +
 6 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/chrysler/fingerprints.py b/opendbc/car/chrysler/fingerprints.py
index 6f7fdfc708..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',
@@ -561,6 +563,7 @@
       b'68455145AE ',
       b'68455146AC ',
       b'68460927AA ',
+      b'68467909AB ',
       b'68467915AC ',
       b'68467916AC ',
       b'68467936AC ',
@@ -611,6 +614,7 @@
       b'68445536AB',
       b'68445537AB',
       b'68466081AB',
+      b'68466086AB',
       b'68466087AB',
       b'68484466AC',
       b'68484467AC',
diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
index edfd7d00c4..663bf65107 100644
--- a/opendbc/car/honda/fingerprints.py
+++ b/opendbc/car/honda/fingerprints.py
@@ -439,6 +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/values.py b/opendbc/car/honda/values.py
index 1200f69cca..30f84361c2 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -159,7 +159,7 @@ 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 7496e2bff0..68b245300b 100644
--- a/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc/car/hyundai/fingerprints.py
@@ -231,6 +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',
@@ -616,24 +617,24 @@
       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 \r 105\x18\t\x18 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',
       b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
       b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50',
-      b'\xf1\x00OSE LKAS AT AUS RHD 1.00 1.00 95740-K4300 W50',
     ],
     (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',
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310/K4550 4OEDC104',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4000         ',
diff --git a/opendbc/car/toyota/fingerprints.py b/opendbc/car/toyota/fingerprints.py
index 27a6f11210..24d7ae3655 100644
--- a/opendbc/car/toyota/fingerprints.py
+++ b/opendbc/car/toyota/fingerprints.py
@@ -394,6 +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',
     ],
   },
@@ -723,11 +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',
diff --git a/opendbc/car/volkswagen/fingerprints.py b/opendbc/car/volkswagen/fingerprints.py
index 4711beaf3c..50ee1b6370 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',

From 84970d2c7478b51c9589e75597b7e3ca64aa0aba Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 15:37:11 -0500
Subject: [PATCH 35/50] Set Ford CAN radar timestep (#1406)

fix ford CAN radar rate
---
 opendbc/car/ford/interface.py       | 5 ++++-
 opendbc/car/ford/radar_interface.py | 4 ++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/ford/interface.py b/opendbc/car/ford/interface.py
index fbd027a2dc..59c6186baf 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
@@ -15,6 +15,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
+    if DBC[candidate]['radar'] == RADAR.DELPHI_MRR:
+      ret.radarTimeStep = 0.03  # 33.3 Hz
+
     ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
diff --git a/opendbc/car/ford/radar_interface.py b/opendbc/car/ford/radar_interface.py
index efe3bef7d5..4dcd9e40f6 100644
--- a/opendbc/car/ford/radar_interface.py
+++ b/opendbc/car/ford/radar_interface.py
@@ -24,7 +24,7 @@ def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
 
   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 +36,7 @@ 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)

From 52d0b51563aa45f54929cf4782d2c152cae7f7f8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 16:14:24 -0500
Subject: [PATCH 36/50] Deprecate radarTimeStep (#1407)

* not used

* more
---
 opendbc/car/car.capnp                 | 2 +-
 opendbc/car/ford/interface.py         | 5 +----
 opendbc/car/gm/interface.py           | 1 -
 opendbc/car/gm/radar_interface.py     | 1 -
 opendbc/car/honda/radar_interface.py  | 1 -
 opendbc/car/interfaces.py             | 3 +--
 opendbc/car/toyota/radar_interface.py | 1 -
 7 files changed, 3 insertions(+), 11 deletions(-)

diff --git a/opendbc/car/car.capnp b/opendbc/car/car.capnp
index f2a8974d15..237ba2c26b 100644
--- a/opendbc/car/car.capnp
+++ b/opendbc/car/car.capnp
@@ -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/ford/interface.py b/opendbc/car/ford/interface.py
index 59c6186baf..fbd027a2dc 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 DBC, Ecu, FordFlags, RADAR
+from opendbc.car.ford.values import Ecu, FordFlags
 from opendbc.car.interfaces import CarInterfaceBase
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -15,9 +15,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
-    if DBC[candidate]['radar'] == RADAR.DELPHI_MRR:
-      ret.radarTimeStep = 0.03  # 33.3 Hz
-
     ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
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/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/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/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))

From 8738eb512d70cf3d4ccb530848ff4f2a4d52353b Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 23 Oct 2024 19:50:01 -0400
Subject: [PATCH 37/50] VW MQB: Add FW for 2024 Volkswagen Jetta (#1409)

---
 opendbc/car/volkswagen/fingerprints.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/opendbc/car/volkswagen/fingerprints.py b/opendbc/car/volkswagen/fingerprints.py
index 50ee1b6370..a3bae382ac 100644
--- a/opendbc/car/volkswagen/fingerprints.py
+++ b/opendbc/car/volkswagen/fingerprints.py
@@ -356,11 +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',
@@ -388,8 +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',

From ad9afe659e21bcb30dbb2a068c573c4531a3d3dc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 19:35:04 -0500
Subject: [PATCH 38/50] Ford: trigger radar update on header message (#1410)

* check header message

* ""
---
 opendbc/car/ford/radar_interface.py | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/ford/radar_interface.py b/opendbc/car/ford/radar_interface.py
index 4dcd9e40f6..867c06b96a 100644
--- a/opendbc/car/ford/radar_interface.py
+++ b/opendbc/car/ford/radar_interface.py
@@ -9,6 +9,7 @@
 DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 
 DELPHI_MRR_RADAR_START_ADDR = 0x120
+DELPHI_MRR_RADAR_HEADER_ADDR = 0x170  # MRR_Header_InformationDetections
 DELPHI_MRR_RADAR_MSG_COUNT = 64
 
 
@@ -20,7 +21,7 @@ def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
 
 
 def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
-  messages = []
+  messages = [("MRR_Header_InformationDetections", 33)]
 
   for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
     msg = f"MRR_Detection_{i:03d}"
@@ -44,7 +45,7 @@ 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}")
 
@@ -103,6 +104,8 @@ 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
+
     for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
       msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
 
@@ -111,6 +114,10 @@ def _update_delphi_mrr(self):
       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

From 2e1023528211d3eed65080e494b40437afa8087d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 21:03:46 -0500
Subject: [PATCH 39/50] Ford Bronco: compensate for creeping when stopping
 (#1411)

* compensate for creeping when stopping

* log new accel
---
 opendbc/car/ford/carcontroller.py | 26 +++++++++++++++++++++-----
 1 file changed, 21 insertions(+), 5 deletions(-)

diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index c27e4d2711..d7444160b3 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -1,8 +1,8 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import 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.ford.values import CAR, CarControllerParams, FordFlags
+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 +21,13 @@ 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)
@@ -28,6 +35,7 @@ def __init__(self, dbc_name, CP):
     self.CAN = fordcan.CanBus(CP)
 
     self.apply_curvature_last = 0
+    self.accel = 0.0
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
@@ -88,14 +96,21 @@ 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:
+      # Compensate for engine creep at low speed.
+      # Either the ABS does not account for engine creep, or the correction is very slow
+      # TODO: whitelist more cars
+      self.accel = actuators.accel
+      if CC.longActive and self.CP.carFingerprint == CAR.FORD_BRONCO_SPORT_MK1:
+        self.accel = apply_creep_compensation(self.accel, CS.out.vEgo)
+      self.accel = clip(self.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+
       # 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)
-      gas = accel
+      gas = self.accel
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
       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, self.accel, stopping, v_ego_kph=V_CRUISE_MAX))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
@@ -121,6 +136,7 @@ def update(self, CC, CS, now_nanos):
 
     new_actuators = actuators.as_builder()
     new_actuators.curvature = self.apply_curvature_last
+    new_actuators.accel = self.accel
 
     self.frame += 1
     return new_actuators, can_sends

From 31758a40c938bf20f5ae5d468b24d94f2b7b651c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 19:11:07 -0700
Subject: [PATCH 40/50] Ford: apply creep compensation for all cars

---
 opendbc/car/ford/carcontroller.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index d7444160b3..aa96d9484c 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -1,7 +1,7 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import apply_std_steer_angle_limits, structs
 from opendbc.car.ford import fordcan
-from opendbc.car.ford.values import CAR, CarControllerParams, FordFlags
+from opendbc.car.ford.values import CarControllerParams, FordFlags
 from opendbc.car.common.numpy_fast import clip, interp
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
@@ -98,9 +98,9 @@ def update(self, CC, CS, now_nanos):
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       # Compensate for engine creep at low speed.
       # Either the ABS does not account for engine creep, or the correction is very slow
-      # TODO: whitelist more cars
+      # TODO: verify this applies to EV/hybrid
       self.accel = actuators.accel
-      if CC.longActive and self.CP.carFingerprint == CAR.FORD_BRONCO_SPORT_MK1:
+      if CC.longActive:
         self.accel = apply_creep_compensation(self.accel, CS.out.vEgo)
       self.accel = clip(self.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 

From 606c035419e23598e1e96a85f293cdb90a3512f4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 22:54:15 -0500
Subject: [PATCH 41/50] Ford: check expected radar configuration (#1414)

* no functional change, but later

* check correct radar configuration

* add comments

* temp

* Revert "temp"

This reverts commit 1a618297d4e7aa4cd70a370af7bc988d16c2edaa.

* better cmt

* betteR?
---
 opendbc/car/ford/radar_interface.py | 25 +++++++++++++++++++------
 1 file changed, 19 insertions(+), 6 deletions(-)

diff --git a/opendbc/car/ford/radar_interface.py b/opendbc/car/ford/radar_interface.py
index 867c06b96a..b99afd301a 100644
--- a/opendbc/car/ford/radar_interface.py
+++ b/opendbc/car/ford/radar_interface.py
@@ -9,9 +9,11 @@
 DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 
 DELPHI_MRR_RADAR_START_ADDR = 0x120
-DELPHI_MRR_RADAR_HEADER_ADDR = 0x170  # MRR_Header_InformationDetections
+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)
+
 
 def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
   msg_n = len(DELPHI_ESR_RADAR_MSGS)
@@ -21,7 +23,10 @@ def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
 
 
 def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
-  messages = [("MRR_Header_InformationDetections", 33)]
+  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}"
@@ -63,14 +68,14 @@ 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
 
@@ -106,11 +111,17 @@ def _update_delphi_esr(self):
   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)
+      # TODO: filter out close range index 1 and 3 points, contain false positives
+      # TODO: can we group into 2 groups?
       scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
       i = (ii - 1) * 4 + scanIndex
 
@@ -148,3 +159,5 @@ def _update_delphi_mrr(self):
 
       else:
         del self.pts[i]
+
+    return errors

From 5aaad511073986e62f15335a64a7918d9c4180ff Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 23:22:50 -0500
Subject: [PATCH 42/50] Ford: set radar delay (#1416)

* set delay

* some tolerance

* better wording

* back
---
 opendbc/car/ford/interface.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/ford/interface.py b/opendbc/car/ford/interface.py
index fbd027a2dc..dfc64747cb 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 +19,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
+    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:

From f1dbcc8c4cece99d5b81e60fcd05b05f9f10b6c5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 23:30:44 -0500
Subject: [PATCH 43/50] Ford: filter out close high coverage range radar points
 (#1415)

* no functional change, but later

* check correct radar configuration

* add comments

* temp

* clean up
---
 opendbc/car/ford/radar_interface.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/ford/radar_interface.py b/opendbc/car/ford/radar_interface.py
index b99afd301a..daa13d0b5a 100644
--- a/opendbc/car/ford/radar_interface.py
+++ b/opendbc/car/ford/radar_interface.py
@@ -13,6 +13,7 @@
 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:
@@ -138,9 +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

From b2339c542cbc8b4e8cad86b8f0d757e710bfe37b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 21:34:43 -0700
Subject: [PATCH 44/50] Ford: remove TODO

---
 opendbc/car/ford/radar_interface.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/opendbc/car/ford/radar_interface.py b/opendbc/car/ford/radar_interface.py
index daa13d0b5a..256c30f946 100644
--- a/opendbc/car/ford/radar_interface.py
+++ b/opendbc/car/ford/radar_interface.py
@@ -121,7 +121,6 @@ def _update_delphi_mrr(self):
 
       # 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)
-      # TODO: filter out close range index 1 and 3 points, contain false positives
       # TODO: can we group into 2 groups?
       scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
       i = (ii - 1) * 4 + scanIndex

From f0f28a43dfd91474c6e9f0cd1730f3c51e450c56 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 22:18:41 -0700
Subject: [PATCH 45/50] Ford radar: add information about the Doppler coverage

---
 opendbc/car/ford/radar_interface.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/car/ford/radar_interface.py b/opendbc/car/ford/radar_interface.py
index 256c30f946..b145207e94 100644
--- a/opendbc/car/ford/radar_interface.py
+++ b/opendbc/car/ford/radar_interface.py
@@ -121,6 +121,7 @@ def _update_delphi_mrr(self):
 
       # 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

From af19a14bed1b2903a5f9254a93c2b99dc811f7ba Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 24 Oct 2024 19:27:36 -0500
Subject: [PATCH 46/50] Ford: compensate pitch for brake actuation bit (#1418)

* compensate for pitch

* one variable
---
 opendbc/car/__init__.py             |  2 ++
 opendbc/car/ford/carcontroller.py   | 19 +++++++++++++++++--
 opendbc/car/ford/fordcan.py         |  7 +++----
 opendbc/car/toyota/carcontroller.py |  4 +---
 4 files changed, 23 insertions(+), 9 deletions(-)

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/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index aa96d9484c..4314bf51d5 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -1,5 +1,6 @@
+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, 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, interp
@@ -36,6 +37,7 @@ def __init__(self, dbc_name, CP):
 
     self.apply_curvature_last = 0
     self.accel = 0.0
+    self.brake_request = False
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
@@ -108,9 +110,22 @@ def update(self, CC, CS, now_nanos):
       gas = self.accel
       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
+      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
+
+      accel_pitch_compensated = self.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, self.accel, stopping, v_ego_kph=V_CRUISE_MAX))
+      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, self.accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
diff --git a/opendbc/car/ford/fordcan.py b/opendbc/car/ford/fordcan.py
index 5f599d5fb2..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.
 
@@ -126,7 +126,6 @@ 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
@@ -139,8 +138,8 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
     "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
     # 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 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
+    "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)
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index e8a988ac29..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

From 04b17b934655fb11a34727854b0b9a6b8f6ac82a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 24 Oct 2024 17:28:47 -0700
Subject: [PATCH 47/50] Ford: log sent gas

---
 opendbc/car/ford/carcontroller.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index 4314bf51d5..85f42b1cfd 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -37,6 +37,7 @@ def __init__(self, dbc_name, 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
@@ -107,9 +108,9 @@ def update(self, CC, CS, now_nanos):
       self.accel = clip(self.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
       # Both gas and accel are in m/s^2, accel is used solely for braking
-      gas = self.accel
-      if not CC.longActive or gas < CarControllerParams.MIN_GAS:
-        gas = CarControllerParams.INACTIVE_GAS
+      self.gas = self.accel
+      if not CC.longActive or self.gas < CarControllerParams.MIN_GAS:
+        self.gas = CarControllerParams.INACTIVE_GAS
 
       # PCM applies pitch compensation to gas/accel, but we need to compensate for the brake/pre-charge bits
       if len(CC.orientationNED) == 3:
@@ -125,7 +126,7 @@ def update(self, CC, CS, now_nanos):
 
       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, self.accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
+      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, self.gas, self.accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
@@ -152,6 +153,7 @@ 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

From c883a633a8490814bf9c165ddb39b212d927e8c1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 25 Oct 2024 01:20:15 -0700
Subject: [PATCH 48/50] Ford: small cc clean up

---
 opendbc/car/ford/carcontroller.py | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index 85f42b1cfd..9c573ad420 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -102,23 +102,22 @@ def update(self, CC, CS, now_nanos):
       # 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
-      self.accel = actuators.accel
+      accel = actuators.accel
       if CC.longActive:
-        self.accel = apply_creep_compensation(self.accel, CS.out.vEgo)
-      self.accel = clip(self.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+        accel = apply_creep_compensation(accel, CS.out.vEgo)
+      accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
       # Both gas and accel are in m/s^2, accel is used solely for braking
-      self.gas = self.accel
-      if not CC.longActive or self.gas < CarControllerParams.MIN_GAS:
-        self.gas = CarControllerParams.INACTIVE_GAS
+      gas = accel
+      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
-      else:
-        accel_due_to_pitch = 0.0
 
-      accel_pitch_compensated = self.accel + accel_due_to_pitch
+      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:
@@ -126,7 +125,10 @@ def update(self, CC, CS, now_nanos):
 
       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, self.gas, self.accel, stopping, self.brake_request, 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)

From 04bdb33df888f22f28b7c55ecb0e1caa92047e30 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 25 Oct 2024 03:39:56 -0500
Subject: [PATCH 49/50] Ford: reduce brake step response overshooting (#1419)

clean up
---
 opendbc/car/ford/carcontroller.py | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index 9c573ad420..748027073f 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -1,6 +1,6 @@
 import math
 from opendbc.can.packer import CANPacker
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, 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, interp
@@ -99,16 +99,22 @@ 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:
-      # 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 = 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
-      gas = accel
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
 

From 92da02f476d0b17ade35fcb33b5b483c8f8bfac2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 25 Oct 2024 04:16:30 -0500
Subject: [PATCH 50/50] Ford: add long tuning back (#1413)

* add long tuning back

* try with radar

* Revert "try with radar"

This reverts commit 64c3e789e188e4f64aa8ef233c4ebfd03fe66075.
---
 opendbc/car/ford/interface.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/opendbc/car/ford/interface.py b/opendbc/car/ford/interface.py
index dfc64747cb..53a5eb99c9 100644
--- a/opendbc/car/ford/interface.py
+++ b/opendbc/car/ford/interface.py
@@ -19,6 +19,9 @@ 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