CM_ "IMPORT _comma.dbc";
CM_ "IMPORT _toyota_2017.dbc";

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_ 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
 SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX
 SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
 SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX

BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
 SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
 SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX

BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
 SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
 SG_ LTA_STATE : 15|5@0+ (1,0) [0|31] "" XXX
 SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

BO_ 881 LTA_RELATED: 8 FCM
 SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX
 SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX
 SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX
 SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX
 SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX
 SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX
 SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX

BO_ 1014 BSM: 8 XXX
 SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
 SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
 SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" 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 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";
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)";
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far";
CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE";
CM_ SG_ 881 TURN_SIGNALS "flipped on some cars";
CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars";
CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST";
CM_ SG_ 881 UNKNOWN "related to steering wheel angle";
CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal";
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";

VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";