diff --git a/toyota_prius_2017_can1.dbc b/toyota_prius_2017_can1.dbc
index 75d9989..04bafff 100644
--- a/toyota_prius_2017_can1.dbc
+++ b/toyota_prius_2017_can1.dbc
@@ -33,7 +33,7 @@ NS_ :
 
 BS_:
 
-BU_: XXX DSU HCU
+BU_: XXX DSU HCU EPS IPAS
 
 BO_ 36 KINEMATICS: 8 XXX
  SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -84,9 +84,17 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 614 STEERING_IPAS: 8 XXX
- SG_ FLAG : 7|4@0+ (1,0) [0|15] "" XXX
+BO_ 610 EPS_STATUS: 8 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX
 
@@ -139,11 +147,15 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 608 STEER_TORQUE_EPS "0.5 factor to be comparable with STEER_TORQUE_CMD";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, nut it's always 1 in drive traces";
 VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";