VAG focusing on TCU (#947 )

Co-authored-by: rusefillc <sdfsdfqsf2334234234>
CAN packer/parser: clean up after alloc (#1007 )
2024-02-09 16:08:34 -08:00 · 2024-02-06 19:02:08 -08:00 · 2024-01-31 18:36:15 -08:00 · 2024-01-23 02:24:19 -08:00 · 2024-01-20 21:54:48 -08:00 · 2024-01-19 17:10:41 -08:00
27 changed files with 414 additions and 129 deletions
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -1,6 +1,6 @@
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
    hooks:
    -   id: check-ast
    -   id: check-yaml
@ -17,15 +17,15 @@ repos:
        - --check-hidden
        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.5.1
+    rev: v1.8.0
    hooks:
    -   id: mypy
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.292
+    rev: v0.1.9
    hooks:
    - id: ruff
 -   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.15.0
+    rev: v0.16.0
    hooks:
    -   id: cython-lint
    -   id: double-quote-cython-strings
--- a/can/common.h
+++ b/can/common.h
@ -54,7 +54,7 @@ public:
  bool ignore_checksum = false;
  bool ignore_counter = false;

-  bool parse(uint64_t sec, const std::vector<uint8_t> &dat);
+  bool parse(uint64_t nanos, const std::vector<uint8_t> &dat);
  bool update_counter_generic(int64_t v, int cnt_size);
 };

@ -69,9 +69,9 @@ private:
 public:
  bool can_valid = false;
  bool bus_timeout = false;
-  uint64_t first_sec = 0;
-  uint64_t last_sec = 0;
-  uint64_t last_nonempty_sec = 0;
+  uint64_t first_nanos = 0;
+  uint64_t last_nanos = 0;
+  uint64_t last_nonempty_nanos = 0;
  uint64_t bus_timeout_threshold = 0;
  uint64_t can_invalid_cnt = CAN_INVALID_CNT;

@ -81,10 +81,10 @@ public:
  #ifndef DYNAMIC_CAPNP
  void update_string(const std::string &data, bool sendcan);
  void update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan);
-  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
+  void UpdateCans(uint64_t nanos, const capnp::List<cereal::CanData>::Reader& cans);
  #endif
-  void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
-  void UpdateValid(uint64_t sec);
+  void UpdateCans(uint64_t nanos, const capnp::DynamicStruct::Reader& cans);
+  void UpdateValid(uint64_t nanos);
  void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
 };

--- a/can/common.pxd
+++ b/can/common.pxd
@ -62,7 +62,7 @@ cdef extern from "common_dbc.h":


 cdef extern from "common.h":
-  cdef const DBC* dbc_lookup(const string)
+  cdef const DBC* dbc_lookup(const string) except +

  cdef cppclass CANParser:
    bool can_valid
--- a/can/packer_pyx.pyx
+++ b/can/packer_pyx.pyx
@ -26,6 +26,10 @@ cdef class CANPacker:
      msg = self.dbc[0].msgs[i]
      self.name_to_address[string(msg.name)] = msg.address

+  def __dealloc__(self):
+    if self.packer:
+      del self.packer
+
  cdef vector[uint8_t] pack(self, addr, values):
    cdef vector[SignalPackValue] values_thing
    values_thing.reserve(len(values))
--- a/can/parser.cc
+++ b/can/parser.cc
@ -33,7 +33,11 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
 }


-bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
+bool MessageState::parse(uint64_t nanos, const std::vector<uint8_t> &dat) {
+  std::vector<double> tmp_vals(parse_sigs.size());
+  bool checksum_failed = false;
+  bool counter_failed = false;
+
  for (int i = 0; i < parse_sigs.size(); i++) {
    const auto &sig = parse_sigs[i];

@ -44,50 +48,48 @@ bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {

    //DEBUG("parse 0x%X %s -> %ld\n", address, sig.name, tmp);

-    bool checksum_failed = false;
    if (!ignore_checksum) {
      if (sig.calc_checksum != nullptr && sig.calc_checksum(address, sig, dat) != tmp) {
        checksum_failed = true;
      }
    }

-    bool counter_failed = false;
    if (!ignore_counter) {
-      if (sig.type == SignalType::COUNTER) {
-        counter_failed = !update_counter_generic(tmp, sig.size);
+      if (sig.type == SignalType::COUNTER && !update_counter_generic(tmp, sig.size)) {
+        counter_failed = true;
      }
    }

-    if (checksum_failed || counter_failed) {
-      LOGE("0x%X message checks failed, checksum failed %d, counter failed %d", address, checksum_failed, counter_failed);
-      return false;
-    }
+    tmp_vals[i] = tmp * sig.factor + sig.offset;
+  }

-    // TODO: these may get updated if the invalid or checksum gets checked later
-    vals[i] = tmp * sig.factor + sig.offset;
+  // only update values if both checksum and counter are valid
+  if (checksum_failed || counter_failed) {
+    LOGE("0x%X message checks failed, checksum failed %d, counter failed %d", address, checksum_failed, counter_failed);
+    return false;
+  }
+
+  for (int i = 0; i < parse_sigs.size(); i++) {
+    vals[i] = tmp_vals[i];
    all_vals[i].push_back(vals[i]);
  }
-  last_seen_nanos = sec;
+  last_seen_nanos = nanos;

  return true;
 }


 bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
-  uint8_t old_counter = counter;
-  counter = v;
-  if (((old_counter+1) & ((1 << cnt_size) -1)) != v) {
-    counter_fail += 1;
+  if (((counter + 1) & ((1 << cnt_size) -1)) != v) {
+    counter_fail = std::min(counter_fail + 1, MAX_BAD_COUNTER);
    if (counter_fail > 1) {
-      INFO("0x%X COUNTER FAIL #%d -- %d -> %d\n", address, counter_fail, old_counter, (int)v);
-    }
-    if (counter_fail >= MAX_BAD_COUNTER) {
-      return false;
+      INFO("0x%X COUNTER FAIL #%d -- %d -> %d\n", address, counter_fail, counter, (int)v);
    }
  } else if (counter_fail > 0) {
    counter_fail--;
  }
-  return true;
+  counter = v;
+  return counter_fail < MAX_BAD_COUNTER;
 }


@ -101,7 +103,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name, const std::vector<st

  for (const auto& [address, frequency] : messages) {
    // disallow duplicate message checks
-    if (message_states.find(address) != message_states.end()) { 
+    if (message_states.find(address) != message_states.end()) {
      std::stringstream is;
      is << "Duplicate Message Check: " << address;
      throw std::runtime_error(is.str());
@ -182,29 +184,29 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
  capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();

-  if (first_sec == 0) {
-    first_sec = event.getLogMonoTime();
+  if (first_nanos == 0) {
+    first_nanos = event.getLogMonoTime();
  }
-  last_sec = event.getLogMonoTime();
+  last_nanos = event.getLogMonoTime();

  auto cans = sendcan ? event.getSendcan() : event.getCan();
-  UpdateCans(last_sec, cans);
+  UpdateCans(last_nanos, cans);

-  UpdateValid(last_sec);
+  UpdateValid(last_nanos);
 }

 void CANParser::update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan) {
-  uint64_t current_sec = 0;
+  uint64_t current_nanos = 0;
  for (const auto &d : data) {
    update_string(d, sendcan);
-    if (current_sec == 0) {
-      current_sec = last_sec;
+    if (current_nanos == 0) {
+      current_nanos = last_nanos;
    }
  }
-  query_latest(vals, current_sec);
+  query_latest(vals, current_nanos);
 }

-void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
+void CANParser::UpdateCans(uint64_t nanos, const capnp::List<cereal::CanData>::Reader& cans) {
  //DEBUG("got %d messages\n", cans.size());

  bool bus_empty = true;
@ -238,18 +240,18 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Rea

    std::vector<uint8_t> data(dat.size(), 0);
    memcpy(data.data(), dat.begin(), dat.size());
-    state_it->second.parse(sec, data);
+    state_it->second.parse(nanos, data);
  }

  // update bus timeout
  if (!bus_empty) {
-    last_nonempty_sec = sec;
+    last_nonempty_nanos = nanos;
  }
-  bus_timeout = (sec - last_nonempty_sec) > bus_timeout_threshold;
+  bus_timeout = (nanos - last_nonempty_nanos) > bus_timeout_threshold;
 }
 #endif

-void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
+void CANParser::UpdateCans(uint64_t nanos, const capnp::DynamicStruct::Reader& cmsg) {
  // assume message struct is `cereal::CanData` and parse
  assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));

@ -268,11 +270,11 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cms
  if (dat.size() > 64) return; // shouldn't ever happen
  std::vector<uint8_t> data(dat.size(), 0);
  memcpy(data.data(), dat.begin(), dat.size());
-  state_it->second.parse(sec, data);
+  state_it->second.parse(nanos, data);
 }

-void CANParser::UpdateValid(uint64_t sec) {
-  const bool show_missing = (last_sec - first_sec) > 8e9;
+void CANParser::UpdateValid(uint64_t nanos) {
+  const bool show_missing = (last_nanos - first_nanos) > 8e9;

  bool _valid = true;
  bool _counters_valid = true;
@ -284,7 +286,7 @@ void CANParser::UpdateValid(uint64_t sec) {
    }

    const bool missing = state.last_seen_nanos == 0;
-    const bool timed_out = (sec - state.last_seen_nanos) > state.check_threshold;
+    const bool timed_out = (nanos - state.last_seen_nanos) > state.check_threshold;
    if (state.check_threshold > 0 && (missing || timed_out)) {
      if (show_missing && !bus_timeout) {
        if (missing) {
@ -302,7 +304,7 @@ void CANParser::UpdateValid(uint64_t sec) {

 void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t last_ts) {
  if (last_ts == 0) {
-    last_ts = last_sec;
+    last_ts = last_nanos;
  }
  for (auto& kv : message_states) {
    auto& state = kv.second;
--- a/can/parser_pyx.pyx
+++ b/can/parser_pyx.pyx
@ -66,6 +66,10 @@ cdef class CANParser:
    self.can = new cpp_CANParser(bus, dbc_name, message_v)
    self.update_strings([])

+  def __dealloc__(self):
+    if self.can:
+      del self.can
+
  def update_strings(self, strings, sendcan=False):
    for v in self.vl_all.values():
      for l in v.values():  # no-cython-lint
--- a/can/tests/test_packer_parser.py
+++ b/can/tests/test_packer_parser.py
@ -7,6 +7,8 @@ from opendbc.can.parser import CANParser
 from opendbc.can.packer import CANPacker
 from opendbc.can.tests import TEST_DBC

+MAX_BAD_COUNTER = 5
+

 # Python implementation so we don't have to depend on boardd
 def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None):
@ -94,6 +96,67 @@ class TestCanParserPacker(unittest.TestCase):
      parser.update_strings([dat])
      self.assertTrue(parser.can_valid)

+  def test_parser_counter_can_valid(self):
+    """
+    Tests number of allowed bad counters + ensures CAN stays invalid
+    while receiving invalid messages + that we can recover
+    """
+    msgs = [
+      ("STEERING_CONTROL", 0),
+    ]
+    packer = CANPacker("honda_civic_touring_2016_can_generated")
+    parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
+
+    msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 0})
+    bts = can_list_to_can_capnp([msg])
+
+    # bad static counter, invalid once it's seen MAX_BAD_COUNTER messages
+    for idx in range(0x1000):
+      parser.update_strings([bts])
+      self.assertEqual((idx + 1) < MAX_BAD_COUNTER, parser.can_valid)
+
+    # one to recover
+    msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 1})
+    bts = can_list_to_can_capnp([msg])
+    parser.update_strings([bts])
+    self.assertTrue(parser.can_valid)
+
+  def test_parser_no_partial_update(self):
+    """
+    Ensure that the CANParser doesn't partially update messages with invalid signals (COUNTER/CHECKSUM).
+    Previously, the signal update loop would only break once it got to one of these invalid signals,
+    after already updating most/all of the signals.
+    """
+    msgs = [
+      ("STEERING_CONTROL", 0),
+    ]
+    packer = CANPacker("honda_civic_touring_2016_can_generated")
+    parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
+
+    def rx_steering_msg(values, bad_checksum=False):
+      msg = packer.make_can_msg("STEERING_CONTROL", 0, values)
+      if bad_checksum:
+        # add 1 to checksum
+        msg[2] = bytearray(msg[2])
+        msg[2][4] = (msg[2][4] & 0xF0) | ((msg[2][4] & 0x0F) + 1)
+
+      bts = can_list_to_can_capnp([msg])
+      parser.update_strings([bts])
+
+    rx_steering_msg({"STEER_TORQUE": 100}, bad_checksum=False)
+    self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100)
+    self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [100])
+
+    for _ in range(5):
+      rx_steering_msg({"STEER_TORQUE": 200}, bad_checksum=True)
+      self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100)
+      self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [])
+
+    # Even if CANParser doesn't update instantaneous vl, make sure it didn't add invalid values to vl_all
+    rx_steering_msg({"STEER_TORQUE": 300}, bad_checksum=False)
+    self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 300)
+    self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [300])
+
  def test_packer_parser(self):
    msgs = [
      ("Brake_Status", 0),
--- a/chrysler_pacifica_2017_hybrid_generated.dbc
+++ b/chrysler_pacifica_2017_hybrid_generated.dbc
@ -22,18 +22,47 @@ BO_ 280 ECM_TRQ: 8 XXX

 BO_ 284 ESP_8: 8 XXX
 SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
 SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 288 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
 SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX

+BO_ 268 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 344 ESP_6: 8 XXX
 SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
 SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
@ -59,11 +88,9 @@ BO_ 500 DAS_3: 8 XXX
 SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
 SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
 SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
 SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
 SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@ -74,6 +101,11 @@ BO_ 501 DAS_4: 8 XXX
 SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX

 BO_ 544 EPS_2: 8 XXX
 SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@ -103,12 +135,28 @@ BO_ 571 CRUISE_BUTTONS: 3 XXX
 SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX

+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 669 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 678 DAS_6: 8 XXX
 SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
 SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
 SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
 SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX

 BO_ 720 BSM_1: 6 XXX
 SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
@ -124,11 +172,14 @@ BO_ 820 BCM_1: 8 XXX
 SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
 SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX

+VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
 VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;

 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
 CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
@ -209,12 +260,6 @@ BO_ 608 PARKSENSE_SIGNAL: 8 XXX
 BO_ 729 LKAS_HEARTBIT: 5 XXX
 SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX

-BO_ 288 ACCEL_RELATED_120: 7 XXX
- SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
-
 BO_ 257 ACCEL_RELATED_101: 5 XXX
 SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX

@ -278,17 +323,6 @@ BO_ 324 SPEED_2: 8 XXX
 BO_ 832 UNKNOWN_340: 8 XXX
 SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX

-BO_ 625 ACC_1: 8 XXX
- SG_ SPEED : 31|8@0+ (1,0) [0|255] "km/h" XXX
- SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 268 ACC_10c: 8 XXX
- SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
 CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P";
 CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake";
--- a/chrysler_ram_dt_generated.dbc
+++ b/chrysler_ram_dt_generated.dbc
@ -24,18 +24,47 @@ BO_ 181 ECM_TRQ: 8 XXX

 BO_ 121 ESP_8: 8 XXX
 SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
 SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 123 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 131 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
 SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX

+BO_ 113 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 139 ESP_6: 8 XXX
 SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
 SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
@ -61,11 +90,9 @@ BO_ 153 DAS_3: 8 XXX
 SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
 SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
 SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
 SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
 SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@ -76,6 +103,11 @@ BO_ 232 DAS_4: 8 XXX
 SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX

 BO_ 49 EPS_2: 8 XXX
 SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@ -105,12 +137,28 @@ BO_ 177 CRUISE_BUTTONS: 3 XXX
 SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX

+BO_ 163 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 213 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 250 DAS_6: 8 XXX
 SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
 SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
 SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
 SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX

 BO_ 720 BSM_1: 6 XXX
 SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
@ -126,11 +174,14 @@ BO_ 657 BCM_1: 8 XXX
 SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
 SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX

+VAL_ 131 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
 VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 213 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;

 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
 CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
@ -148,10 +199,14 @@ BO_ 53 PCM_2: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX

 BO_ 133 TCM_1: 8 XXX
- SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX
 SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ SPEED_TURBINE : 27|12@0+ (0.04,0) [0|1] "km/h" XXX
 SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX
+ SG_ TC_LOCKED : 17|1@1+ (1,0) [0|0] ""  XXX
+ SG_ OUTPUT_SPEED : 31|16@0+ (1,0) [0|65534] "rpm" XXX
+ SG_ INPUT_SPEED : 47|16@0+ (1,0) [0|65534] "rpm"  XXX
+ SG_ OUTPUT_SPEED_SIGN : 57|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|4@0+ (1,0) [0|15] "" XXX

 BO_ 135 ABS_2: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX
--- a/chrysler_ram_hd_generated.dbc
+++ b/chrysler_ram_hd_generated.dbc
@ -24,18 +24,47 @@ BO_ 280 ECM_TRQ: 8 XXX

 BO_ 284 ESP_8: 8 XXX
 SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
 SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 288 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
 SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX

+BO_ 268 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 344 ESP_6: 8 XXX
 SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
 SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
@ -61,11 +90,9 @@ BO_ 500 DAS_3: 8 XXX
 SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
 SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
 SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
 SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
 SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@ -76,6 +103,11 @@ BO_ 501 DAS_4: 8 XXX
 SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX

 BO_ 544 EPS_2: 8 XXX
 SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@ -105,12 +137,28 @@ BO_ 570 CRUISE_BUTTONS: 3 XXX
 SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX

+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 669 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 629 DAS_6: 8 XXX
 SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
 SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
 SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
 SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX

 BO_ 720 BSM_1: 6 XXX
 SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
@ -126,11 +174,14 @@ BO_ 820 BCM_1: 8 XXX
 SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
 SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX

+VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
 VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;

 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
 CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
--- a/generator/chrysler/_stellantis_common.dbc
+++ b/generator/chrysler/_stellantis_common.dbc
@ -18,18 +18,47 @@ BO_ 280 ECM_TRQ: 8 XXX

 BO_ 284 ESP_8: 8 XXX
 SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
 SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 288 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
 SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX

+BO_ 268 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 344 ESP_6: 8 XXX
 SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
 SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
@ -55,11 +84,9 @@ BO_ 500 DAS_3: 8 XXX
 SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
 SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
 SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
 SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
 SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@ -70,6 +97,11 @@ BO_ 501 DAS_4: 8 XXX
 SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX

 BO_ 544 EPS_2: 8 XXX
 SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@ -99,12 +131,28 @@ BO_ 571 CRUISE_BUTTONS: 3 XXX
 SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX

+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 669 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 678 DAS_6: 8 XXX
 SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
 SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
 SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
 SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX

 BO_ 720 BSM_1: 6 XXX
 SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
@ -120,11 +168,14 @@ BO_ 820 BCM_1: 8 XXX
 SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
 SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX

+VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
 VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;

 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
 CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
--- a/generator/chrysler/_stellantis_common_ram.py
+++ b/generator/chrysler/_stellantis_common_ram.py
@ -5,8 +5,10 @@ chrysler_to_ram = {
  "_stellantis_common_ram_dt_generated.dbc": {
    258: 35,
    264: 37,
+    268: 113,
    280: 181,
    284: 121,
+    288: 123,
    320: 131,
    344: 139,
    368: 147,
@ -16,6 +18,8 @@ chrysler_to_ram = {
    544: 49,
    571: 177,
    559: 157,
+    625: 163,
+    669: 213,
    678: 250,
    720: 720,
    792: 792,
--- a/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc
+++ b/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc
@ -70,12 +70,6 @@ BO_ 608 PARKSENSE_SIGNAL: 8 XXX
 BO_ 729 LKAS_HEARTBIT: 5 XXX
 SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX

-BO_ 288 ACCEL_RELATED_120: 7 XXX
- SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
-
 BO_ 257 ACCEL_RELATED_101: 5 XXX
 SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX

@ -139,17 +133,6 @@ BO_ 324 SPEED_2: 8 XXX
 BO_ 832 UNKNOWN_340: 8 XXX
 SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX

-BO_ 625 ACC_1: 8 XXX
- SG_ SPEED : 31|8@0+ (1,0) [0|255] "km/h" XXX
- SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 268 ACC_10c: 8 XXX
- SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
 CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P";
 CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake";
--- a/generator/chrysler/chrysler_ram_dt.dbc
+++ b/generator/chrysler/chrysler_ram_dt.dbc
@ -7,10 +7,14 @@ BO_ 53 PCM_2: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX

 BO_ 133 TCM_1: 8 XXX
- SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX
 SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ SPEED_TURBINE : 27|12@0+ (0.04,0) [0|1] "km/h" XXX
 SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX
+ SG_ TC_LOCKED : 17|1@1+ (1,0) [0|0] ""  XXX
+ SG_ OUTPUT_SPEED : 31|16@0+ (1,0) [0|65534] "rpm" XXX
+ SG_ INPUT_SPEED : 47|16@0+ (1,0) [0|65534] "rpm"  XXX
+ SG_ OUTPUT_SPEED_SIGN : 57|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|4@0+ (1,0) [0|15] "" XXX

 BO_ 135 ABS_2: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX
--- a/generator/gm/gm_global_a_powertrain.dbc
+++ b/generator/gm/gm_global_a_powertrain.dbc
@ -105,6 +105,10 @@ BO_ 320 BCMTurnSignals: 3 K9_BCM
 SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX

+BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM
+ SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 328 PSCM_148: 1 K43_PSCM

 BO_ 381 ESPStatus: 6 K20_ECM
@ -224,12 +228,10 @@ BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
 SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO

 BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
- SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ MovingForward : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingBackward : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingForward2 : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ MovingBackward2 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO
+ SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO

 BO_ 869 ASCM_365: 4 K124_ASCM

@ -297,6 +299,8 @@ CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
 CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
 CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
+CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active";
+CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active";
 CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
 CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
@ -327,6 +331,8 @@ VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
+VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
 VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
--- a/generator/honda/honda_civic_touring_2016_can.dbc
+++ b/generator/honda/honda_civic_touring_2016_can.dbc
@ -83,7 +83,6 @@ BO_ 1302 ODOMETER: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

 VAL_ 399 STEER_STATUS 7 "permanent_fault" 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
--- a/generator/subaru/_subaru_global.dbc
+++ b/generator/subaru/_subaru_global.dbc
@ -275,6 +275,7 @@ BO_ 289 ES_STATIC_2: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
 CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
--- a/generator/subaru/subaru_global_2017.dbc
+++ b/generator/subaru/subaru_global_2017.dbc
@ -16,8 +16,8 @@ BO_ 545 ES_Distance: 8 XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
- SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Throttle : 16|13@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 29|3@1+ (1,0) [0|15] "" XXX
 SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ Low_Speed_Follow : 33|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX
@ -38,8 +38,7 @@ BO_ 546 ES_Status: 8 XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
- SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_RPM : 16|13@1+ (1,0) [0|4095] "" XXX
 SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX
 SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
--- a/generator/toyota/toyota_nodsu_pt.dbc
+++ b/generator/toyota/toyota_nodsu_pt.dbc
@ -5,7 +5,7 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ TORQUE_WIND_DOWN : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
 SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
@ -46,7 +46,7 @@ BO_ 1014 BSM: 8 XXX
 SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP";
-CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
+CM_ SG_ 401 TORQUE_WIND_DOWN "used to wind down torque on user override";
 CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
 CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
 CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel";
--- a/gm_global_a_lowspeed.dbc
+++ b/gm_global_a_lowspeed.dbc
@ -89,6 +89,12 @@ BO_ 276135936 CruiseButtons: 3 GMLAN
 BO_ 276127744 CruiseButtons2: 1 GMLAN
 SG_ LKAGapButton : 1|2@0+ (1,0) [0|2] ""  NEO

+BO_ 275955897 LeftRadar: 2 GMLAN
+ SG_ BSM_Indicator_Light : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 275980379 RightRadar: 2 GMLAN
+ SG_ BSM_Indicator_Light : 0|1@0+ (1,0) [0|1] "" XXX
+


 BA_DEF_  "UseGMParameterIDs" INT 0 0;
@ -107,4 +113,6 @@ VAL_ 271368192 GearShifter 3 "Park" 0 "Drive/Low" ;
 VAL_ 271360000 CruiseControlActive 1 "Active" 0 "Inactive" ;
 VAL_ 276135936 CruiseButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
 VAL_ 276127744 LKAGapButton 2 "???" 1 "??" 0 "None" ;
+VAL_ 275955897 BSM_Indicator_Light 0 "Disabled" 1 "Enabled";
+VAL_ 275980379 BSM_Indicator_Right 0 "Disabled" 1 "Enabled";

--- a/gm_global_a_powertrain_generated.dbc
+++ b/gm_global_a_powertrain_generated.dbc
@ -125,6 +125,10 @@ BO_ 320 BCMTurnSignals: 3 K9_BCM
 SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX

+BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM
+ SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 328 PSCM_148: 1 K43_PSCM

 BO_ 381 ESPStatus: 6 K20_ECM
@ -244,12 +248,10 @@ BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
 SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO

 BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
- SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ MovingForward : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingBackward : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingForward2 : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ MovingBackward2 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO
+ SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO

 BO_ 869 ASCM_365: 4 K124_ASCM

@ -317,6 +319,8 @@ CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
 CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
 CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
+CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active";
+CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active";
 CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
 CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
@ -347,6 +351,8 @@ VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
+VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
 VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
--- a/honda_civic_touring_2016_can_generated.dbc
+++ b/honda_civic_touring_2016_can_generated.dbc
@ -374,7 +374,6 @@ BO_ 1302 ODOMETER: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

 VAL_ 399 STEER_STATUS 7 "permanent_fault" 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
--- a/hyundai_kia_generic.dbc
+++ b/hyundai_kia_generic.dbc
@ -109,6 +109,10 @@ BO_ 1265 CLU11: 4 CLU
 SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
 SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] ""  AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC

+BO_ 1260 Sign_Detection: 8 XXX
+ SG_ SpeedLim_Nav_Cam : 40|8@1+ (1,0) [0|255] "km/h / mph" XXX
+ SG_ SpeedLim_Nav_Cam2 : 48|8@1+ (1,0) [0|255] "km/h / mph" XXX
+ 
 BO_ 1492 TMU_GW_PE_01: 8 CLU
 SG_ TMU_IVRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
 SG_ TMU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
--- a/subaru_global_2017_generated.dbc
+++ b/subaru_global_2017_generated.dbc
@ -279,6 +279,7 @@ BO_ 289 ES_STATIC_2: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
 CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
@ -322,8 +323,8 @@ BO_ 545 ES_Distance: 8 XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
- SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Throttle : 16|13@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 29|3@1+ (1,0) [0|15] "" XXX
 SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ Low_Speed_Follow : 33|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX
@ -344,8 +345,7 @@ BO_ 546 ES_Status: 8 XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
- SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_RPM : 16|13@1+ (1,0) [0|4095] "" XXX
 SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX
 SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
--- a/subaru_global_2020_hybrid_generated.dbc
+++ b/subaru_global_2020_hybrid_generated.dbc
@ -279,6 +279,7 @@ BO_ 289 ES_STATIC_2: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
 CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
--- a/toyota_nodsu_pt_generated.dbc
+++ b/toyota_nodsu_pt_generated.dbc
@ -562,7 +562,7 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ TORQUE_WIND_DOWN : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
 SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
@ -603,7 +603,7 @@ BO_ 1014 BSM: 8 XXX
 SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP";
-CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
+CM_ SG_ 401 TORQUE_WIND_DOWN "used to wind down torque on user override";
 CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
 CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
 CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel";
--- a/vw_golf_mk4.dbc
+++ b/vw_golf_mk4.dbc
@ -1518,8 +1518,15 @@ CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent";
 CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1";
 CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position";
 CM_ SG_ 1088 inneres_Soll_Motormoment "Desired Inner Torque";
+CM_ SG_ 1088 Gang_eingelegt "Gear Engaged";
 CM_ SG_ 1088 Schaltabsicht "Shift Intent";
+CM_ SG_ 1088 Kuehlleistung "Cooling Power";
 CM_ SG_ 1088 Wandlerverlustmoment "Converter Torque Loss";
+CM_ SG_ 1088 Getriebe_Notlauf "Transmission_Notlauf";
+CM_ SG_ 1088 Zielgang_oder_eingelegter_Gang "target_gear_or_gear_in_engagement";
+CM_ SG_ 1088 Uebertragungsfunktion "transfer function";
+CM_ SG_ 1088 EGS_Anforderung "EGS Requirement";
+CM_ SG_ 1088 Schaltung_aktiv__Getriebe_1_ "Shift Activity";

 CM_ SG_ 1056 Fehlerstatus_Aussentemp__4_1 "ambient temp error";
 CM_ SG_ 1056 Fehlerstatus_Oeltemperatur_4_1 "oil temp error";
Author	SHA1	Message	Date
rusefillc	951ab07fdc	VAG focusing on TCU (#947 ) Co-authored-by: rusefillc <sdfsdfqsf2334234234>	2024-02-09 16:08:34 -08:00
Shane Smiskol	3d1be8427a	CAN packer/parser: clean up after alloc (#1007 ) * Update packer_pyx.pyx * this new also needs to be cleaned up	2024-02-06 19:02:08 -08:00
Eric Brown	7397e466d9	GM: Fix wheel direction signal (#1006 ) * Update wheel directions in DBC * Fix table * Update name * Update generator/gm/gm_global_a_powertrain.dbc * generate --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2024-01-31 18:36:15 -08:00
garrettpall	3cfd0bf4eb	GM: Add BSM signal on powertrain bus (#993 ) * Add GM BSM * Apply suggestions from code review Co-authored-by: Shane Smiskol <shane@smiskol.com> * Update Generated * Add note * gen --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2024-01-23 02:24:19 -08:00
Greg Hogan	f4b1061ae0	chrysler: more signals (#1001 ) * chrysler: more signals * make checksums and counters big endian * remove duplicate message * remove duplicate message	2024-01-20 21:54:48 -08:00
Greg Hogan	26551d2de2	stellantis: new signals (#986 )	2024-01-19 17:10:41 -08:00
Justin Newberry	40d9c723d4	Subaru: cruise_rpm and cruise_throttle are 13 bits (#995 ) * fix cruise throttle * and es_status * generator	2023-12-29 19:14:18 -05:00
Adeeb Shihadeh	89042da0ee	pre-commit: autoupdate hooks (#991 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-12-26 18:30:40 -08:00
Adeeb Shihadeh	0cff7a8aa2	pre-commit: autoupdate hooks (#989 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-12-21 21:46:48 -08:00
Adeeb Shihadeh	93b983d49a	pre-commit: autoupdate hooks (#984 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-12-09 14:39:42 -08:00
Shane Smiskol	5b0c73977f	Toyota: rename LTA torque wind down signal (#983 ) generate cmt test_angle_cmd_when_enabled	2023-12-04 20:37:56 -08:00
DevTekVE	ed3af3da1b	hyundai_kia_generic: sign detection (#963 ) * Update hyundai_kia_generic.dbc Adding speed limit detection data from ioniq phev eur * Apply suggestions from code review --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2023-12-03 19:37:52 -08:00
Dean Lee	17e5c58450	honda_civic_touring_2016_can_generated.dbc: remove `CM_ SG_ 450` (#982 )	2023-12-03 19:35:03 -08:00
Adeeb Shihadeh	fc4ede7550	pre-commit: autoupdate hooks (#980 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-11-28 14:21:51 -08:00
Shane Smiskol	2b96bcc456	CANParser: process all signals before updating values (#977 ) * process all signals before ending early * this is more clear * this is more clear * Revert "this is more clear" This reverts commit 75511ec262c7a2c1b84a1e8cefe0d9f323a6834f. * test! * comment * it would return false if any checksum or counter was invalid, not updating last_seen_nanos, so don't change behavior * we can do this, but I don't like how it's reliant on last_seen_nanos (not explicit) to not break * back to sanity * cmt * rename	2023-11-21 19:23:30 -08:00
Adeeb Shihadeh	77b6685310	pre-commit: autoupdate hooks (#978 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-11-21 15:10:14 -08:00
Shane Smiskol	098fbe1b0e	CANParser: clip `counter_fail` to the max (#976 ) * test * fix * clean up * test * fix * clean up * debug * Revert "debug" This reverts commit 3fc8cf5a2073d65cf1efa81515b420a29e8298a4. * recover * also can update at bottom since we don't break early * changes * Revert "changes" This reverts commit a3b6fb5f6b38bb2f7ebd46c730487552bde8c6cb. * don't need \n * cmt * no need to change print behavior here * fix fix revert * info needs \n	2023-11-17 23:53:13 -08:00
Greg Hogan	ffa2ffdefe	stellantis: fix overlapping signal (#975 )	2023-11-15 15:18:36 -08:00
Adeeb Shihadeh	ac1e60f649	pre-commit: autoupdate hooks (#974 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-11-14 15:03:11 -08:00
Greg Hogan	a552a7c62c	chrysler: update DAS messages (#973 ) * chrysler: update DAS messages * eliminate duplicate message * cleanup	2023-11-13 21:25:55 -08:00
Shane Smiskol	a7b8bcfebb	CANParser: rename timestamp variables (#972 ) replace sec with nanos	2023-11-10 01:24:44 -08:00
Adeeb Shihadeh	b8789b3e16	pre-commit: autoupdate hooks (#970 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-11-07 10:58:50 -08:00
ServerDummy	5626280929	Update gm_global_a_lowspeed.dbc to include BOLT EUV Blindspot indicator (#962 ) * Update gm_global_a_lowspeed.dbc to include BOLT EUV Blindspot indicator Add BSM radars from 2023 bolt EUV * Update gm_global_a_lowspeed.dbc rename a right to light * Update gm_global_a_lowspeed.dbc --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2023-11-02 14:11:35 -07:00
Adeeb Shihadeh	3ff48ff4c0	pre-commit: autoupdate hooks (#967 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-10-31 11:34:18 -07:00
Shane Smiskol	1b38ec5cfb	CANParser: capture C++ DBC parser exceptions (#965 ) Update common.pxd	2023-10-25 13:51:15 -07:00
Adeeb Shihadeh	48a9ca4679	pre-commit: autoupdate hooks (#964 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-10-24 14:38:07 -07:00
Adeeb Shihadeh	e10a685115	pre-commit: autoupdate hooks (#960 ) Update pre-commit hook versions Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>	2023-10-19 11:23:01 -07:00