diff --git a/opendbc/bmw_e9x_e8x.dbc b/opendbc/bmw_e9x_e8x.dbc
new file mode 100644
index 00000000..d8cfff3e
--- /dev/null
+++ b/opendbc/bmw_e9x_e8x.dbc
@@ -0,0 +1,291 @@
+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_: XXX EON Vector__XXX
+
+
+BO_ 170 AccPedal: 8 XXX
+ SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX
+ SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
+ SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
+ SG_ Counter1 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ EngineSpeed : 32|16@1- (1,0) [0|65535] "" XXX
+ SG_ uknown : 7|8@0- (1,0) [0|65535] "" XXX
+
+BO_ 404 CruiseControl: 4 XXX
+ SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ Counter1 : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ Counter2 : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ notCancel_0xF : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 512 CruiseControlStatus: 8 XXX
+ SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX
+
+BO_ 168 EngineAndBrake: 8 XXX
+ SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX
+ SG_ EngineTorque : 8|16@1- (1,0) [0|65535] "" XXX
+ SG_ EngineTorqueWoInterv : 24|16@1- (1,0) [0|65535] "" XXX
+
+BO_ 470 SteeringButtons: 2 XXX
+ SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 403 DynamicCruiseControlStatus: 8 XXX
+ SG_ Counter : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "mph" XXX
+
+BO_ 201 SteeringWheelAngle_DSC: 8 XXX
+ SG_ Counter1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ WeirdCounter : 44|4@1+ (1,0) [0|3] "" XXX
+ SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "deg" XXX
+
+BO_ 206 WheelSpeeds: 8 XXX
+ SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
+
+BO_ 884 WheelToleranceAdjustment: 8 XXX
+
+BO_ 678 WiperSwitch: 8 XXX
+ SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 304 TerminalStatus: 8 XXX
+ SG_ AccOn : 23|1@0+ (1,0) [0|255] "" XXX
+ SG_ IgnitionOff : 22|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 169 Torque2: 8 XXX
+
+BO_ 184 TorqueTransmisionRequest: 8 XXX
+
+BO_ 196 SteeringWheelAngle: 7 XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
+ SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [0|255] "degree/s" XXX
+
+BO_ 180 WheelTorqueDriveTrain1: 8 XXX
+
+BO_ 182 DynamicCruiseControlTorqueDemand: 8 XXX
+
+BO_ 186 TransmissionData: 8 XXX
+
+BO_ 191 RequestedWheelTorqueDriveTrainActiveCruiseControl: 8 XXX
+ SG_ Counter : 11|4@0- (1,0) [0|255] "" XXX
+ SG_ TorqueReq : 16|11@1+ (1,0) [0|65535] "" XXX
+
+BO_ 414 Status_DSC: 8 XXX
+
+BO_ 416 Speed: 8 XXX
+ SG_ VehicleSpeed : 0|12@1+ (0.103,0) [0|255] "kph" XXX
+
+BO_ 418 TransimissionData2: 8 XXX
+
+BO_ 690 WheelPressure: 8 XXX
+
+BO_ 691 AccelerationData: 8 XXX
+
+BO_ 408 GearSelectorSwitch: 8 XXX
+ SG_ Gear : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 422 Distance: 8 XXX
+
+BO_ 436 InstrumentClusterStatus_KOMBI: 8 XXX
+
+BO_ 464 EngineData: 8 XXX
+
+BO_ 945 TransmissionData3: 8 XXX
+
+BO_ 200 SteeringWheelAngle_slow: 8 XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
+ SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [-65535|65535] "degree/s" XXX
+
+BO_ 466 TransmissionDataDisplay: 8 XXX
+
+BO_ 437 HeatFlow_LoadMomentClimate: 8 XXX
+
+BO_ 1152 NetworkManagment1: 8 XXX
+
+BO_ 1170 NetworkManagment2: 8 XXX
+
+BO_ 1175 NetworkManagment3: 8 XXX
+
+BO_ 1176 NetworkManagment4: 8 XXX
+
+BO_ 1193 NetworkManagment5: 8 XXX
+
+BO_ 1246 NetworkManagment6: 8 XXX
+
+BO_ 438 HeatFlowEngine: 8 XXX
+
+BO_ 784 AmbientTemperature: 8 XXX
+
+BO_ 821 ElectricFuelPumpStatus: 8 XXX
+
+BO_ 1007 EngineOBD_data: 8 XXX
+
+BO_ 1432 ServicesDKG: 8 XXX
+
+BO_ 309 CrashDisconnectControl: 8 XXX
+
+BO_ 502 TurnSignals: 2 XXX
+ SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 514 Dimming: 8 XXX
+
+BO_ 538 LampsCondition: 8 XXX
+
+BO_ 550 RainSensorWiperSpeed: 8 XXX
+
+BO_ 578 ClimateFrontStatus: 8 XXX
+
+BO_ 704 LCD_lighting: 8 XXX
+
+BO_ 758 LightControl: 8 XXX
+
+BO_ 760 Time_Date: 8 XXX
+
+BO_ 762 SeatBeltContact: 8 XXX
+
+BO_ 764 TrunkStatus: 8 XXX
+
+BO_ 797 TirePressureStatus: 8 XXX
+
+BO_ 816 Range_Mileage: 8 XXX
+
+BO_ 823 StatusFuelControl: 8 XXX
+
+BO_ 897 EngineOilLevelStatus: 8 XXX
+
+BO_ 940 Terminal30Eerror: 8 XXX
+
+BO_ 947 PowerManagmentConsumptionControl: 8 XXX
+
+BO_ 948 PowerBatteryVoltage: 8 XXX
+ SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX
+
+BO_ 958 PowerRunningTime: 8 XXX
+
+BO_ 1408 ServicesKGM: 8 XXX
+
+BO_ 1426 ServicesDME: 8 XXX
+
+BO_ 1449 ServicesDSC: 8 XXX
+
+BO_ 1504 ServicesKOMBI: 8 XXX
+
+BO_ 1522 ServicesKBM: 8 XXX
+
+BO_ 209 Accelerometer: 8 XXX
+ SG_ LateralAcceleration : 0|16@1- (1,0) [0|7] "" XXX
+ SG_ LongitudalAcceleration : 32|16@1- (1,0) [0|65535] "" XXX
+
+BO_ 172 WheelTorqueDrivetrain2: 8 XXX
+
+BO_ 128 Unknown80: 5 XXX
+ SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ State1 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 31|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 320 Unknown140: 2 XXX
+ SG_ State : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 212 Unknown_d4: 8 XXX
+ SG_ State1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter2 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 205 Unknown_cd: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0- (1,0) [0|255] "" XXX
+
+BO_ 1577 NEW_MSG_1: 8 XXX
+
+
+
+
+CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control drives";
+CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
+CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
+CM_ SG_ 170 EngineSpeed "It's hard to say that is even a rate";
+CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
+CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
+CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
+CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed";
+CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed";
+CM_ SG_ 404 Counter1 "It accelerates when requests are being sent";
+CM_ SG_ 404 Counter2 "It accelerates when requests are being sent";
+CM_ SG_ 404 notCancel_0xF "0xF unless cancel is requested then 0x0";
+CM_ SG_ 168 Brake_active2 "";
+CM_ SG_ 168 BrakePressed "Brake when driver presses the brake";
+CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque";
+CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention";
+CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target";
+CM_ SG_ 408 Gear "This is just provision, needs to be reverse engineered";
+CM_ SG_ 502 TurnSignalIdle "Turn signal off";
+CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning";
+CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker";
+CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker";
+CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk";
+VAL_ 408 Gear 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ;
diff --git a/opendbc/can/common.cc b/opendbc/can/common.cc
index 5c7efe4e..b303391e 100644
--- a/opendbc/can/common.cc
+++ b/opendbc/can/common.cc
@@ -18,12 +18,55 @@ unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
   d >>= 8; // remove checksum
 
   unsigned int s = l;
-  while (address) { s += address & 0xff; address >>= 8; }
-  while (d) { s += d & 0xff; d >>= 8; }
+  while (address) { s += address & 0xFF; address >>= 8; }
+  while (d) { s += d & 0xFF; d >>= 8; }
 
   return s & 0xFF;
 }
 
+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l) {
+  d >>= ((8-l)*8); // remove padding
+
+  unsigned int s = 0;
+  while (address) { s += address & 0xFF; address >>= 8; }
+  l -= 1; // checksum is first byte
+  while (l) { s += d & 0xFF; d >>= 8; l -= 1; }
+
+  return s & 0xFF;
+}
+
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l) {
+  /* This function does not want the checksum byte in the input data.
+  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  uint8_t checksum = 0xFF;
+  for (int j = 0; j < (l - 1); j++) {
+    uint8_t shift = 0x80;
+    uint8_t curr = (d >> 8*j) & 0xFF;
+    for (int i=0; i<8; i++) {
+      uint8_t bit_sum = curr & shift;
+      uint8_t temp_chk = checksum & 0x80U;
+      if (bit_sum != 0U) {
+        bit_sum = 0x1C;
+        if (temp_chk != 0U) {
+          bit_sum = 1;
+        }
+        checksum = checksum << 1;
+        temp_chk = checksum | 1U;
+        bit_sum ^= temp_chk;
+      } else {
+        if (temp_chk != 0U) {
+          bit_sum = 0x1D;
+        }
+        checksum = checksum << 1;
+        bit_sum ^= checksum;
+      }
+      checksum = bit_sum;
+      shift = shift >> 1;
+    }
+  }
+  return ~checksum & 0xFF;
+}
+
 // Static lookup table for fast computation of CRC8 poly 0x2F, aka 8H2F/AUTOSAR
 uint8_t crc8_lut_8h2f[256];
 
@@ -106,6 +149,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x30C: // ACC_02 Automatic Cruise Control
       crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
       break;
+    case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
+      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
+      break;
     case 0x3C0: // Klemmen_Status_01 ignition and starting status
       crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
       break;
diff --git a/opendbc/can/common.h b/opendbc/can/common.h
index 4d0e14cb..dd91a6ce 100644
--- a/opendbc/can/common.h
+++ b/opendbc/can/common.h
@@ -13,6 +13,8 @@
 // Helper functions
 unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
 unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l);
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l);
 void init_crc_lookup_tables();
 unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
 unsigned int pedal_checksum(uint64_t d, int l);
diff --git a/opendbc/can/common.pxd b/opendbc/can/common.pxd
index e07e0b35..5519140f 100644
--- a/opendbc/can/common.pxd
+++ b/opendbc/can/common.pxd
@@ -18,7 +18,9 @@ cdef extern from "common_dbc.h":
     PEDAL_CHECKSUM,
     PEDAL_COUNTER,
     VOLKSWAGEN_CHECKSUM,
-    VOLKSWAGEN_COUNTER
+    VOLKSWAGEN_COUNTER,
+    SUBARU_CHECKSUM,
+    CHRYSLER_CHECKSUM
 
   cdef struct Signal:
     const char* name
diff --git a/opendbc/can/common_dbc.h b/opendbc/can/common_dbc.h
index ae6f443e..e5c12ba6 100644
--- a/opendbc/can/common_dbc.h
+++ b/opendbc/can/common_dbc.h
@@ -38,6 +38,8 @@ enum SignalType {
   PEDAL_COUNTER,
   VOLKSWAGEN_CHECKSUM,
   VOLKSWAGEN_COUNTER,
+  SUBARU_CHECKSUM,
+  CHRYSLER_CHECKSUM,
 };
 
 struct Signal {
diff --git a/opendbc/can/dbc_template.cc b/opendbc/can/dbc_template.cc
index f9540fce..f6d49887 100644
--- a/opendbc/can/dbc_template.cc
+++ b/opendbc/can/dbc_template.cc
@@ -29,6 +29,10 @@ const Signal sigs_{{address}}[] = {
       .type = SignalType::VOLKSWAGEN_CHECKSUM,
       {% elif checksum_type == "volkswagen" and sig.name == "COUNTER" %}
       .type = SignalType::VOLKSWAGEN_COUNTER,
+      {% elif checksum_type == "subaru" and sig.name == "CHECKSUM" %}
+      .type = SignalType::SUBARU_CHECKSUM,
+      {% elif checksum_type == "chrysler" and sig.name == "CHECKSUM" %}
+      .type = SignalType::CHRYSLER_CHECKSUM,
       {% elif address in [512, 513] and sig.name == "CHECKSUM_PEDAL" %}
       .type = SignalType::PEDAL_CHECKSUM,
       {% elif address in [512, 513] and sig.name == "COUNTER_PEDAL" %}
diff --git a/opendbc/can/packer.cc b/opendbc/can/packer.cc
index fb819527..ba675a5b 100644
--- a/opendbc/can/packer.cc
+++ b/opendbc/can/packer.cc
@@ -99,6 +99,12 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
       // The correct fix is unclear but this works for the moment.
       unsigned int chksm = volkswagen_crc(address, ReverseBytes(ret), message_lookup[address].size);
       ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+      unsigned int chksm = subaru_checksum(address, ret, message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+      unsigned int chksm = chrysler_checksum(address, ReverseBytes(ret), message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
     } else {
       //WARN("CHECKSUM signal type not valid\n");
     }
diff --git a/opendbc/can/parser.cc b/opendbc/can/parser.cc
index 69fe3747..54e4ebe6 100644
--- a/opendbc/can/parser.cc
+++ b/opendbc/can/parser.cc
@@ -57,6 +57,16 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
         if (!update_counter_generic(tmp, sig.b2)) {
         return false;
       }
+    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+      if (subaru_checksum(address, dat_be, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
+    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+      if (chrysler_checksum(address, dat_le, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
     } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
       if (pedal_checksum(dat_be, size) != tmp) {
         INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
diff --git a/opendbc/can/process_dbc.py b/opendbc/can/process_dbc.py
index a1c91a89..1ca0db28 100755
--- a/opendbc/can/process_dbc.py
+++ b/opendbc/can/process_dbc.py
@@ -46,6 +46,20 @@ def process(in_fn, out_fn):
     checksum_start_bit = 0
     counter_start_bit = 0
     little_endian = True
+  elif can_dbc.name.startswith(("subaru_")):
+    checksum_type = "subaru"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 0
+    counter_start_bit = None
+    little_endian = True
+  elif can_dbc.name.startswith(("chrysler_")):
+    checksum_type = "chrysler"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 7
+    counter_start_bit = None
+    little_endian = False
   else:
     checksum_type = None
     checksum_size = None
diff --git a/opendbc/chrysler_pacifica_2017_hybrid.dbc b/opendbc/chrysler_pacifica_2017_hybrid.dbc
index 80ec2a90..4bd91965 100644
--- a/opendbc/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc
@@ -43,7 +43,7 @@ BO_ 258 STEERING: 8 XXX
  SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
  SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
 
-BO_ 514 SPEED_1: 4 XXX
+BO_ 514 SPEED_1: 8 XXX
  SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
  SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX
 
diff --git a/opendbc/generator/honda/_bosch_2018.dbc b/opendbc/generator/honda/_bosch_2018.dbc
index 18a1ff18..ae7fda92 100644
--- a/opendbc/generator/honda/_bosch_2018.dbc
+++ b/opendbc/generator/honda/_bosch_2018.dbc
@@ -47,6 +47,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -178,7 +186,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
  SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
- 
+
 BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
  SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
  SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
diff --git a/opendbc/generator/honda/honda_hrv_touring_2019_can.dbc b/opendbc/generator/honda/honda_hrv_touring_2019_can.dbc
new file mode 100644
index 00000000..0ba515bc
--- /dev/null
+++ b/opendbc/generator/honda/honda_hrv_touring_2019_can.dbc
@@ -0,0 +1,91 @@
+CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+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_ 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_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc
index 3ad15b80..54f4491e 100644
--- a/opendbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -62,7 +62,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/gm_global_a_powertrain.dbc b/opendbc/gm_global_a_powertrain.dbc
index 48611cfc..948a519b 100644
--- a/opendbc/gm_global_a_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
@@ -116,7 +116,7 @@ BO_ 388 PSCMStatus: 8 K43_PSCM
  SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
  SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
 
-BO_ 417 AcceleratorPedal: 8 XXX
+BO_ 417 AcceleratorPedal: 7 XXX
  SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
 
 BO_ 451 GasAndAcc: 8 XXX
@@ -170,7 +170,7 @@ BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
  SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
  SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 
-BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
+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
 
diff --git a/opendbc/honda_accord_lx15t_2018_can_generated.dbc b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
index aff99739..0ce46d5a 100644
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
  SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
- 
+
 BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
  SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
  SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
diff --git a/opendbc/honda_accord_s2t_2018_can_generated.dbc b/opendbc/honda_accord_s2t_2018_can_generated.dbc
index 4ee645eb..8204b3d9 100644
--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
  SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
- 
+
 BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
  SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
  SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
diff --git a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
index da4d0013..dcdaec6c 100644
--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
  SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
- 
+
 BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
  SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
  SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
diff --git a/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc b/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
index f0bcc5ed..a96ad676 100644
--- a/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
+++ b/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
  SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
- 
+
 BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
  SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
  SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
diff --git a/opendbc/honda_crv_ex_2017_can_generated.dbc b/opendbc/honda_crv_ex_2017_can_generated.dbc
index 3af7967f..f9696552 100644
--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
  SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
- 
+
 BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
  SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
  SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
diff --git a/opendbc/honda_crv_hybrid_2019_can_generated.dbc b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
index ca737299..3902cf24 100644
--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
  SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
- 
+
 BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
  SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
  SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
diff --git a/opendbc/honda_hrv_touring_2019_can_generated.dbc b/opendbc/honda_hrv_touring_2019_can_generated.dbc
new file mode 100644
index 00000000..8d7009a4
--- /dev/null
+++ b/opendbc/honda_hrv_touring_2019_can_generated.dbc
@@ -0,0 +1,345 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _honda_2017.dbc starts here"
+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_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 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
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_hrv_touring_2019_can.dbc starts here"
+
+
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+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_ 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_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/honda_insight_ex_2019_can_generated.dbc b/opendbc/honda_insight_ex_2019_can_generated.dbc
index 123a45fa..8d8d034f 100644
--- a/opendbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
  SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
- 
+
 BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
  SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
  SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
diff --git a/opendbc/hyundai_kia_generic.dbc b/opendbc/hyundai_kia_generic.dbc
index 67fb0914..46b69c18 100644
--- a/opendbc/hyundai_kia_generic.dbc
+++ b/opendbc/hyundai_kia_generic.dbc
@@ -1446,3 +1446,10 @@ BO_ 905 SCC14: 8 SCC
 
 BO_ 882 ELECT_GEAR: 8 XXX
  SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] ""  CLU
+
+BO_ 1157 LFAHDA_MFC: 4 XXX
+ SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
+ SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
diff --git a/opendbc/lexus_ct200h_2018_pt_generated.dbc b/opendbc/lexus_ct200h_2018_pt_generated.dbc
index 8c90eecb..c16f02ea 100644
--- a/opendbc/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/lexus_gs300h_2017_pt_generated.dbc b/opendbc/lexus_gs300h_2017_pt_generated.dbc
index ddb29c42..07c93fb1 100644
--- a/opendbc/lexus_gs300h_2017_pt_generated.dbc
+++ b/opendbc/lexus_gs300h_2017_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/lexus_is_2018_pt_generated.dbc b/opendbc/lexus_is_2018_pt_generated.dbc
index 0b1f5315..a8131a76 100644
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/lexus_nx300h_2018_pt_generated.dbc b/opendbc/lexus_nx300h_2018_pt_generated.dbc
index d9826a8f..ddb3b081 100644
--- a/opendbc/lexus_nx300h_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300h_2018_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/lexus_rx_350_2016_pt_generated.dbc b/opendbc/lexus_rx_350_2016_pt_generated.dbc
index 455cb41f..8085713a 100644
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
index 76c43fed..d7b51c93 100644
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/mazda_3_2019.dbc b/opendbc/mazda_3_2019.dbc
new file mode 100644
index 00000000..2026e715
--- /dev/null
+++ b/opendbc/mazda_3_2019.dbc
@@ -0,0 +1,308 @@
+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_: XXX
+
+
+BO_ 256 CAM_Start: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 20|12@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|13@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 61|2@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 43|12@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|3@0+ (1,0) [0|15] "" XXX
+
+BO_ 358 CAM_End: 8 XXX
+ SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|32@0+ (1,0) [0|255] "" XXX
+
+BO_ 1216 CAM_69: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|12@0+ (1,0) [0|7] "" XXX
+
+BO_ 1120 CAM_KEEP_ALIVE_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1436 CAM_71: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 18 STEER: 8 XXX
+ SG_ NEW_SIGNAL_5 : 42|1@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_6 : 63|4@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CTR : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_ANGLE : 26|16@0+ (0.05,-1600) [-500|500] "" XXX
+
+BO_ 257 LKAS: 8 XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_ACT : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEAD_DIST : 0|12@0+ (1,0) [0|255] "" XXX
+ SG_ SET_19 : 7|7@0+ (1,0) [0|255] "" XXX
+ SG_ SET_0 : 48|3@1+ (1,0) [0|3] "" XXX
+ SG_ SET_0_1 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ UNKNOWN : 24|11@0+ (1,0) [0|4095] "" XXX
+ SG_ MAX_TORQUE__ : 45|11@0+ (-1,1000) [0|4095] "" XXX
+ SG_ ANGLE_TARGET : 20|12@0+ (0.1,-200) [0|4095] "" XXX
+
+BO_ 258 NEW_MSG_3: 8 XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 28 WHEEL_SPEEDS: 8 XXX
+ SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ RL : 39|16@0+ (0.01,-102) [0|65535] "" XXX
+ SG_ FL : 7|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
+
+BO_ 259 NEW_MSG_5: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 260 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 261 NEW_MSG_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 262 NEW_MSG_8: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 263 NEW_MSG_9: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 310 NEW_MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 308 NEW_MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 48|8@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 19|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 NEW_MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 23|12@0+ (1,0) [0|2047] "" XXX
+ SG_ NEW_SIGNAL_6 : 27|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_7 : 27|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 35|6@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 0|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 305 NEW_MSG_13: 8 XXX
+ SG_ NEW_SIGNAL_1 : 3|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_3 : 27|14@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 352 NEW_MSG_14: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 355 NEW_MSG_15: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 356 NEW_MSG_16: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 357 NEW_MSG_17: 8 XXX
+ SG_ NEW_SIGNAL_1 : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 59 STEER_RATE: 8 XXX
+ SG_ NEW_SIGNAL_2 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_ANGLE_RATE : 55|16@0+ (0.05,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [-500|500] "" XXX
+ SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 24 NEW_MSG_1: 8 XXX
+ SG_ NEW_SIGNAL_3 : 15|1@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 0|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 26 ENGINE_DATA: 8 XXX
+ SG_ NEW_SIGNAL_3 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX
+ SG_ RPM : 7|13@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 10|19@0+ (1,0) [0|524287] "" XXX
+ SG_ NEW_SIGNAL_4 : 43|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 145 BLINK_INFO: 8 XXX
+ SG_ RIGHT_BLINK : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLINK : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ Speed : 27|12@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 16 STEER_TORQUE: 8 XXX
+ SG_ NEW_SIGNAL_12 : 7|2@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_7 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 8|13@0+ (0.05,-205) [0|15] "" XXX
+ SG_ STEER_TORQUE_SENSOR : 5|13@0+ (1,-4000) [0|15] "" XXX
+
+BO_ 17 STEER_TORQUE_2: 8 XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 43|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 29 WHEEL: 8 XXX
+ SG_ STANDSTILL : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ SPEED : 39|16@0+ (1,0) [0|127] "" XXX
+ SG_ ENCODER_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ENCODER_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 31 NEW_MSG_4: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 96 STEER2: 8 XXX
+ SG_ NEW_SIGNAL_3 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ SPEED : 19|20@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER__ : 7|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1209 KEEP_ALIVE_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 4|5@0+ (1,0) [0|127] "" XXX
+
+BO_ 37 BLANK_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 44 BLANK_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|16777215] "" XXX
+
+BO_ 128 NEW_MSG_18: 8 XXX
+ SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 129 NEW_MSG_19: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|12@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 1034 KEEP_ALIVE_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1200 KEEP_ALIVE_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 354 CAM_KEEP_ALIVE_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|30@0+ (1,0) [0|65535] "" XXX
+
+BO_ 336 NEW_MSG_20: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_1 : 11|12@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 342 NEW_MSG_21: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|16@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_7 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_6 : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 264 NEW_MSG_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|8@1+ (1,0) [0|15] "" XXX
diff --git a/opendbc/mazda_cx5_gt_2017.dbc b/opendbc/mazda_cx5_gt_2017.dbc
index 971b1361..6d968a6c 100644
--- a/opendbc/mazda_cx5_gt_2017.dbc
+++ b/opendbc/mazda_cx5_gt_2017.dbc
@@ -51,10 +51,10 @@ BO_ 118 RPM_RELATED: 8 XXX
  SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX
 
 BO_ 514 ENGINE_DATA: 8 XXX
- SG_ PEDAL_GAS : 39|12@0+ (0.002778,0) [0|255] "%" XXX
  SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX
  SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX
  SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "%" XXX
 
 BO_ 357 PEDALS: 8 XXX
  SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
@@ -64,11 +64,11 @@ BO_ 357 PEDALS: 8 XXX
  SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
  SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX
  SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX
- SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
  SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX
  SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX
  SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
 
 BO_ 533 WHEEL_SPEEDS: 8 XXX
  SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX
@@ -111,6 +111,7 @@ BO_ 582 CAM_LANEMAYBE: 8 XXX
  SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX
  SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX
  SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 541 CAM_EMPTY: 8 XXX
 
@@ -139,11 +140,12 @@ BO_ 579 CAM_LKAS: 8 XXX
  SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
  SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
  SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
  SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
+ SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ ANGLE_ENABLED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEERING_ANGLE : 33|12@0+ (1,-2048) [-2048|2047] "" XXX
 
 BO_ 580 CAM_DISTANCE: 8 XXX
  SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
@@ -165,14 +167,15 @@ BO_ 581 CAM_IDK3: 8 XXX
  SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 863 CAM_STATUS: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_5 : 4|2@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
+BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
  SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
  SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
+ SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX
 
 BO_ 1157 CAM_SETTINGS: 8 XXX
  SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
@@ -193,7 +196,7 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
  SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX
  SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX
  SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX
- SG_ S1_NOT : 54|1@0+ (1,0) [0|31] "" XXX
+ SG_ S1_HBEAM : 54|1@0+ (1,0) [0|31] "" XXX
  SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX
  SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX
@@ -482,14 +485,13 @@ BO_ 606 SPEED_TBD: 8 XXX
  SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX
 
 BO_ 552 GEAR: 8 XXX
- SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 18|3@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX
  SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX
- SG_ GEAR : 35|4@0+ (1,0) [0|15] "" XXX
- SG_ MORE_GEAR : 7|4@0+ (1,0) [0|255] "" XXX
+ SG_ MORE_GEAR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ GEAR : 2|3@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR_BOX : 36|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 543 CRZ_EVENTS: 8 XXX
  SG_ NEW_SIGNAL_3 : 34|1@0+ (1,0) [0|1] "" XXX
@@ -545,7 +547,7 @@ BO_ 535 CURVE_CTRS: 8 XXX
  SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX
  SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
  SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX
- SG_ CURVE : 39|16@0+ (1,0) [0|7] "" XXX
+ SG_ SPEED : 39|16@0+ (0.01,0) [0|7] "kph" XXX
  SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
@@ -570,6 +572,9 @@ BO_ 540 CRZ_CTRL: 8 XXX
  SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
  SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
  SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 45|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 539 CRZ_INFO: 8 XXX
  SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
@@ -614,14 +619,14 @@ BO_ 1179 2017_7: 8 XXX
 
 BO_ 1435 2017_8: 8 XXX
 
-BO_ 253 NEW_MSG_7: 8 XXX
+BO_ 253 GAS: 8 XXX
  SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
  SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_CMD : 55|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 359 NEW_MSG_11: 8 XXX
+BO_ 359 MORE_GAS: 8 XXX
  SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX
@@ -700,6 +705,7 @@ BO_ 1143 BSM: 8 XXX
  SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
  SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX
 
 BO_ 1361 KEY_POSITION: 8 XXX
 
@@ -744,8 +750,12 @@ BO_ 1248 MOB4: 8 XXX
 
 
 
+CM_ SG_ 357 GEAR "13P, 26R, 13N, 24D";
 CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
 CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision";
+CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
+CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
+CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
 CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
 CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
 CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
@@ -755,6 +765,9 @@ CM_ SG_ 1157 WARNING "1 Rare, 0 often";
 CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
 CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
 CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled  TURN it OFF ";
-CM_ SG_ 552 GEAR "0 P/N, 12 R, 2 D M1, 4 M2, 14 Shift";
 CM_ SG_ 552 MORE_GEAR "";
+CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
+CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
 CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
+CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
+VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
diff --git a/opendbc/nissan_leaf_2018.dbc b/opendbc/nissan_leaf_2018.dbc
new file mode 100644
index 00000000..5172e01c
--- /dev/null
+++ b/opendbc/nissan_leaf_2018.dbc
@@ -0,0 +1,211 @@
+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_: XXX
+
+
+BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
+ SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 42 SEATBELT: 8 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
+ SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 361 LKAS: 8 XXX
+ SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
+ SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 460 BRAKE_PEDAL: 8 XXX
+ SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
+
+BO_ 569 CRUISE_THROTTLE: 8 XXX
+ SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
+ SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure4 : 39|6@0+ (1,0) [0|63] "" XXX
+ SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 640 CANCEL_MSG: 8 XXX
+  SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
+  SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
+
+BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
+ SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 689 PROPILOT_HUD: 8 XXX
+ SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
+ SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
+ SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 783 CRUISE_STATE: 3 XXX
+ SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 852 ESP: 8 XXX
+ SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 853 HUD_SETTINGS: 8 XXX
+ SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 856 LIGHTS: 8 XXX
+ SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1057 GEARBOX: 3 XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
+ SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX
+ SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX
+ SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1549 DOORS_LIGHTS: 8 XXX
+ SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1227 LKAS_SETTINGS: 8 XXX
+ SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
+VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
+VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
+VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
diff --git a/opendbc/nissan_2017.dbc b/opendbc/nissan_x_trail_2017.dbc
similarity index 71%
rename from opendbc/nissan_2017.dbc
rename to opendbc/nissan_x_trail_2017.dbc
index 2fd0f0a0..80805941 100644
--- a/opendbc/nissan_2017.dbc
+++ b/opendbc/nissan_x_trail_2017.dbc
@@ -36,70 +36,41 @@ BS_:
 BU_: XXX
 
 
-BO_ 644 Speed_1: 8 XXX
- SG_ Speed_FR : 7|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_FL : 23|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_Vehicle : 39|16@0+ (0.0245,0) [0|65535] "" XXX
+BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
+ SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
 
-BO_ 645 WheelspeedRear: 8 XXX
- SG_ RR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
- SG_ RL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
+BO_ 348 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
+ SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX
 
-BO_ 768 STEER_TORQUE: 2 XXX
- SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
- SG_ DriverTouchingWheel : 15|1@0+ (-1,1) [0|7] "" XXX
-
-BO_ 459 Maybe_RegenBraking: 8 XXX
-
-BO_ 372 Maybe_Gear_Selector: 8 XXX
- SG_ Counter : 35|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
- SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 460 Maybe_Brake_Related: 8 XXX
-
-BO_ 2 SteeringWheel: 8 XXX
- SG_ Steering_RateChange : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ Always_07 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 384 Maybe_PowerInfo: 8 XXX
- SG_ Unknown_Timer_PowerInfo : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ EnginePower : 27|12@0- (1,0) [0|1] "" XXX
- SG_ RequestedAccel : 23|12@0- (1,0) [0|4294967295] "" XXX
-
-BO_ 1107 Lights: 8 XXX
- SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ _HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 666 WheelspeedFront: 8 XXX
- SG_ _FL_WHEELSPEED : 39|16@0+ (0.01014,0) [0|65535] "" XXX
- SG_ FR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
- SG_ FL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
-
-BO_ 389 Steering: 8 XXX
+BO_ 361 LKAS: 8 XXX
+ SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
+ SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
  SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
- SG_ LKAS_Torque : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ CRC : 63|8@0+ (1,0) [0|127] "" XXX
- SG_ Angle : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
- SG_ DriverTorque : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
+ SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
 
-BO_ 851 SPEED_RELATED: 8 XXX
- SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
+BO_ 438 PRO_PILOT: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
+ SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
 
-BO_ 386 Accelerator: 8 XXX
- SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
-
-BO_ 348 Throttle: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ Throttle : 26|11@0+ (1,0) [0|2047] "" XXX
- SG_ ThrottlePedal : 47|10@0+ (1,0) [0|1023] "" XXX
-
-BO_ 523 CruiseThrottle: 6 XXX
+BO_ 523 CRUISE_THROTTLE: 6 XXX
  SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
  SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
@@ -111,13 +82,73 @@ BO_ 523 CruiseThrottle: 6 XXX
  SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
- SG_ unsure1 : 7|16@0+ (1,0) [0|15] "" XXX
  SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
+ SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
+ SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
  SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
 
-BO_ 1108 DoorsLights: 8 XXX
+BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
+ SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 665 ESP: 8 XXX
+ SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 689 PROPILOT_HUD: 8 XXX
+ SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
+ SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
+ SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
+ SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
+
+BO_ 783 CRUISE_STATE: 3 XXX
+ SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1055 GEARBOX: 2 XXX
+ SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1107 LIGHTS: 8 XXX
+ SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1108 DOORS_LIGHTS: 8 XXX
  SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -130,49 +161,6 @@ BO_ 1108 DoorsLights: 8 XXX
  SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
  SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 403 LKAS_OLD: 8 XXX
- SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ Angle_2 : 32|13@0+ (1,-4000) [0|63] "" XXX
- SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ Angle_1 : 10|13@0+ (0.12,-480) [0|65535] "" XXX
- SG_ Steering_Torque : 7|13@0+ (-1,4000) [0|65535] "" XXX
- SG_ Torque_Command : 29|13@0+ (1,-4000) [0|255] "" XXX
-
-BO_ 361 LKAS: 8 XXX
- SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
- SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
- SG_ CRC : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
-
-BO_ 438 ProPilot: 8 XXX
- SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 27|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|7] "" XXX
- SG_ Counter : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_3 : 33|2@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 7|12@0- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|12@0- (-1,0) [0|255] "" XXX
- SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
- SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 397 _GEAR: 8 XXX
- SG_ GEAR : 27|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1273 _SEATBELT: 7 XXX
- SG_ DRIVERS_SEATBELT : 25|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 665 _ESP: 8 XXX
- SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1055 GEARBOX: 2 XXX
- SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
-
 BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
  SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
@@ -210,46 +198,15 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
  SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
  SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
- SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
- SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
  SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
 
-BO_ 689 PROPILOT_HUD: 8 XXX
- SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
- SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
- SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
- SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
- SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
- SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
- SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
- SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
- SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
- SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
- SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
- SG_ unknown39 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ unknown8 : 8|7@0+ (1,0) [0|63] "" XXX
- SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
-
-
-
+BO_ 1227 LKAS_SETTINGS: 8 XXX
+ SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1273 SEATBELT: 7 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX
 
 VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
diff --git a/opendbc/subaru_crosstrek_2018.dbc b/opendbc/subaru_crosstrek_2018.dbc
index b766cdca..47d8b77d 100644
--- a/opendbc/subaru_crosstrek_2018.dbc
+++ b/opendbc/subaru_crosstrek_2018.dbc
@@ -38,24 +38,24 @@ BU_: XXX X
 
 BO_ 2 Steering: 8 XXX
  SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
 
 BO_ 64 Throttle: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 55|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
 
 BO_ 65 NEW_MSG_1: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
@@ -63,17 +63,18 @@ BO_ 65 NEW_MSG_1: 8 XXX
  SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
  SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
 
-BO_ 72 NEW_MSG_2: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 72 Transmission: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
 
 BO_ 316 NEW_MSG_3: 8 XXX
 
 BO_ 326 Cruise_Buttons: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
  SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
@@ -86,7 +87,7 @@ BO_ 315 G_Sensor: 8 XXX
  SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
 
 BO_ 314 Wheel_Speeds: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
  SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
@@ -94,131 +95,156 @@ BO_ 314 Wheel_Speeds: 8 XXX
  SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
 
 BO_ 73 NEW_MSG_5: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
  SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
 
-BO_ 280 NEW_MSG_6: 8 XXX
+BO_ 280 STOP_START: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
+ SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 281 Steering_Torque: 8 XXX
- SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
  SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
  SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
+ SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
  SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
  SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
 
 BO_ 312 Brake_Pressure_L_R: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
- SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
  SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 313 Brake_Pedal: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 12|22@1+ (1,0) [0|1] "" XXX
  SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ Signal2 : 35|1@1+ (1,0) [0|1] "" XXX
  SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
+ SG_ Signal3 : 48|16@1+ (1,0) [0|1] "" XXX
 
 BO_ 290 ES_LKAS: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
  SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
  SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 722 NEW_MSG_10: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 544 ES_Brake: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|1] "" XXX
  SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
- SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
+ SG_ Signal2 : 32|4@1+ (1,0) [0|1] "" XXX
+ SG_ State : 36|4@1+ (1,0) [0|63] "" XXX
+ SG_ Signal3 : 40|24@1+ (1,0) [0|1] "" XXX
 
 BO_ 545 ES_Distance: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
- SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
- SG_ ACC_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_Set : 57|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_Resume : 58|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 59|5@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Cruise_Throttle : 12|20@1+ (1,0) [0|15] "" XXX
+ SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 33|4@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 37|1@1+ (1,0) [0|15] "" XXX
+ SG_ Signal2 : 38|2@1+ (1,0) [0|1] "" XXX
+ SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 48|8@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 59|5@1+ (1,0) [0|1] "" XXX
 
 BO_ 546 ES_Status: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
  SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
  SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 554 ES_Blank: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
  SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
 
 BO_ 557 NEW_MSG_14: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 576 CruiseControl: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
  SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
  SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 577 NEW_MSG_16: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
 
 BO_ 552 NEW_MSG_17: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 912 Dashlights: 8 XXX
  SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
  SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
  SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 940 BodyInfo: 8 XXX
- SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
  SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
  SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
- SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 801 ES_DashStatus: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
+ SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
  SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
  SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Hold : 60|4@1+ (1,0) [0|15] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 802 ES_LKAS_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
  SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
@@ -237,62 +263,62 @@ BO_ 802 ES_LKAS_State: 8 XXX
  SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
  SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
  SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Lead_Vehicle_Start_Alert : 35|1@1+ (1,0) [0|1] "" XXX
  SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
  SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
- SG_ Vehicle_In_Front_Has_Moved : 35|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 808 NEW_MSG_23: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 837 NEW_MSG_24: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 838 NEW_MSG_25: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 842 NEW_MSG_26: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 915 NEW_MSG_27: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
 
 BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 816 NEW_MSG_29: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 826 NEW_MSG_30: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 839 NEW_MSG_31: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 2015 NEW_MSG_32: 8 XXX
@@ -305,38 +331,39 @@ BO_ 2024 NEW_MSG_33: 8 XXX
  SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1632 NEW_MSG_36: 8 XXX
  SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
 
 BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 1677 Dash_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
  SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
+ SG_ Icy_Road_Warning : 20|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1785 NEW_MSG_42: 8 XXX
@@ -360,10 +387,15 @@ BO_ 1787 NEW_MSG_45: 8 XXX
 
 
 
-CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
+CM_ SG_ 544 State "0 = ES disabled, 8 = ES enabled, 12, 13 = ES_Brake active";
+CM_ SG_ 545 ES_Cruise_Throttle "signal might be smaller, values do not correlate with Throttle:CruiseThrottle";
+CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
-CM_ SG_ 801 ACC_Hold "0 = No Hold, 3 = Hold";
-CM_ SG_ 802 Vehicle_In_Front_Has_Moved "Crosstrek 2018 = car in front has moved";
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 801 PCB_Off "Pre-Collision Braking";
+CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
 CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
 CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
 CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6" ;
diff --git a/opendbc/subaru_global_2017.dbc b/opendbc/subaru_global_2017.dbc
index 6da81f28..f1a38d8a 100644
--- a/opendbc/subaru_global_2017.dbc
+++ b/opendbc/subaru_global_2017.dbc
@@ -38,11 +38,11 @@ BU_: XXX X
 
 BO_ 2 Steering: 8 XXX
  SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
 
 BO_ 64 Throttle: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
  SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
@@ -55,7 +55,7 @@ BO_ 64 Throttle: 8 XXX
  SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
 
 BO_ 65 NEW_MSG_1: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
@@ -63,17 +63,18 @@ BO_ 65 NEW_MSG_1: 8 XXX
  SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
  SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
 
-BO_ 72 NEW_MSG_2: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 72 Transmission: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
 
 BO_ 316 NEW_MSG_3: 8 XXX
 
 BO_ 326 Cruise_Buttons: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
  SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
@@ -86,7 +87,7 @@ BO_ 315 G_Sensor: 8 XXX
  SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
 
 BO_ 314 Wheel_Speeds: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
  SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
@@ -94,7 +95,7 @@ BO_ 314 Wheel_Speeds: 8 XXX
  SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
 
 BO_ 73 NEW_MSG_5: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
  SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
 
@@ -105,7 +106,7 @@ BO_ 280 NEW_MSG_6: 8 XXX
  SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
 
 BO_ 281 Steering_Torque: 8 XXX
- SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
  SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
  SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
@@ -114,39 +115,39 @@ BO_ 281 Steering_Torque: 8 XXX
  SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 312 Brake_Pressure_L_R: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
  SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
  SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 313 Brake_Pedal: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
  SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
 
 BO_ 290 ES_LKAS: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
  SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
  SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 722 NEW_MSG_10: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 544 ES_Brake: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
  SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
 
 BO_ 545 ES_Distance: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
  SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
@@ -154,73 +155,75 @@ BO_ 545 ES_Distance: 8 XXX
  SG_ Signal3 : 57|7@1+ (1,0) [0|1] "" XXX
 
 BO_ 546 ES_Status: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
  SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
  SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 554 ES_Blank: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
  SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
 
 BO_ 557 NEW_MSG_14: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 576 CruiseControl: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
  SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
  SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 577 NEW_MSG_16: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
 
 BO_ 552 NEW_MSG_17: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 912 Dashlights: 8 XXX
  SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
  SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
  SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 940 BodyInfo: 8 XXX
- SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
  SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
  SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
- SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 801 ES_DashStatus: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_9 : 60|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
  SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
  SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 802 ES_LKAS_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
  SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
@@ -244,57 +247,57 @@ BO_ 802 ES_LKAS_State: 8 XXX
  SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
 
 BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 808 NEW_MSG_23: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 837 NEW_MSG_24: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 838 NEW_MSG_25: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 842 NEW_MSG_26: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 915 NEW_MSG_27: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
 
 BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 816 NEW_MSG_29: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 826 NEW_MSG_30: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 839 NEW_MSG_31: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 2015 NEW_MSG_32: 8 XXX
@@ -307,38 +310,38 @@ BO_ 2024 NEW_MSG_33: 8 XXX
  SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1632 NEW_MSG_36: 8 XXX
  SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
 
 BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
  SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 1677 Dash_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
  SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
 
 BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1785 NEW_MSG_42: 8 XXX
@@ -364,7 +367,9 @@ BO_ 1787 NEW_MSG_45: 8 XXX
 
 CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 801 Cruise_State "0 = Normal, 3 = Hold";
 CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
 CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
 CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
 CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
diff --git a/opendbc/toyota_avalon_2017_pt_generated.dbc b/opendbc/toyota_avalon_2017_pt_generated.dbc
index 4adc9487..9d39b290 100644
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
index f60681a1..0061feab 100644
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_corolla_2017_pt_generated.dbc b/opendbc/toyota_corolla_2017_pt_generated.dbc
index 3ea7fe4d..f683e044 100644
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_highlander_2017_pt_generated.dbc b/opendbc/toyota_highlander_2017_pt_generated.dbc
index e7aa6b66..ec67f272 100644
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
index 0920a2bf..27290d17 100644
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
index 3b767974..9c9b548e 100644
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -113,7 +113,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc
index 75e4115e..76661d3a 100644
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -113,7 +113,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_prius_2017_pt_generated.dbc b/opendbc/toyota_prius_2017_pt_generated.dbc
index 2bd788e2..db481d56 100644
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_rav4_2017_pt_generated.dbc b/opendbc/toyota_rav4_2017_pt_generated.dbc
index 89cf5b69..82a0ff54 100644
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
index 9a50d42c..84e130c8 100644
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
index 8cd73742..48446ecb 100644
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/vw_mqb_2010.dbc b/opendbc/vw_mqb_2010.dbc
index 6db2a4fc..c542b31f 100644
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
@@ -1254,9 +1254,26 @@ BO_ 695 RCTA_01: 8 XXX
  SG_ RCTA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ RCTA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 783 SWA_01: 8 XXX
- SG_ SWA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SWA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 783 SWA_01: 8 Gateway_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  Vector__XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  Vector__XXX
+ SG_ SWA_Anzeigen : 12|4@1+ (1,0) [0|15] ""  Kombi_D4
+ SG_ SWA_Blindheit_erkannt : 16|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_rel_Nichtverf : 17|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_rel_Fehler : 18|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Sta_aktiv : 19|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Sta_passiv : 20|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Standziele_li : 24|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_li : 25|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Infostufe_SWA_li : 26|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Warnung_SWA_li : 27|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_mi : 33|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Standziele_re : 40|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_re : 41|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Infostufe_SWA_re : 42|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Warnung_SWA_re : 43|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Gischtzaehler : 48|7@1+ (1,0) [0|100] "Unit_PerCent"  Vector__XXX
+ SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] ""  Vector__XXX
 
 BO_ 804 ACC_04: 8 XXX
  SG_ ACC_04_CRC : 0|8@1+ (1,0) [0|255] "" XXX