CM_ "IMPORT _toyota_2017.dbc";

BO_ 15 SECOC_SYNCHRONIZATION: 8 XXX
 SG_ TRIP_CNT : 7|16@0+ (1,0) [0|65535] "" XXX
 SG_ RESET_CNT : 23|20@0+ (1,0) [0|65535] "" XXX
 SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX

BO_ 257 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_PRESSURE_1 : 31|8@0+ (1,0) [0|15] "" XXX
 SG_ BRAKE_PRESSURE_2 : 61|6@0+ (1,0) [0|63] "" XXX

BO_ 278 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL_ACC : 7|8@0+ (0.005,0) [0|255] "" XXX
 SG_ GAS_PEDAL_USER : 15|8@0+ (0.005,0) [0|255] "" XXX
 SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
 SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
 SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX

BO_ 305 STEERING_LTA_2: 8 XXX
 SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ STEER_REQUEST : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 13|6@0+ (1,0) [0|63] "" XXX
 SG_ STEER_ANGLE_CMD : 23|16@0- (0.0573,0) [0|65535] "" XXX
 SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
 SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
 SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX

BO_ 374 PCM_CRUISE: 8 XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_STATE : 31|4@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

BO_ 375 PCM_CRUISE_3: 8 XXX
 SG_ NEW_SIGNAL_1 : 7|16@0- (1,0) [0|65535] "" XXX
 SG_ NEW_SIGNAL_4 : 16|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_6 : 19|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_7 : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_5 : 22|1@0+ (1,0) [0|1] "" XXX
 SG_ GAS_RELEASED : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_2 : 31|1@0+ (1,0) [0|1] "" XXX
 SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
 SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
 SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX

BO_ 387 ACC_CONTROL_2: 8 XXX
 SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU
 SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
 SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
 SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX

BO_ 401 STEERING_LTA: 8 XXX
 SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
 SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX
 SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
 SG_ TORQUE_WIND_DOWN : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

BO_ 418 CRUISE_RELATED: 8 XXX
 SG_ CRUISE_ACTIVE : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

BO_ 589 PCM_CRUISE_4: 8 PCM
 SG_ DISTANCE : 2|1@0+ (1,0) [0|1] "" XXX
 SG_ CANCEL : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ DECREASE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ ENABLE : 6|1@0+ (1,0) [0|1] "" XXX
 SG_ INCREASE : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 27|4@0+ (1,0) [0|15] "" XXX
 SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
 SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
 SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX

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

BO_ 643 PRE_COLLISION: 8 DSU
 SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
 SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
 SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX

BO_ 740 STEERING_LKA: 8 XXX
 SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
 SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
 SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
 SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX

BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
 SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
 SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX

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

BO_ 1014 BSM: 8 XXX
 SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
 SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
 SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX

CM_ SG_ 305 STEER_ANGLE_CMD "Used in place of STEERING_LTA.STEER_ANGLE_CMD on SecOC cars";
CM_ SG_ 387 ACCEL_CMD "Used in place of ACC_CONTROL.ACCEL_CMD on SecOC cars";
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist";
CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)";
CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel";
CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP";
CM_ SG_ 401 TORQUE_WIND_DOWN "used to wind down torque on user override";
CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far";
CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE";
CM_ SG_ 881 TURN_SIGNALS "flipped on some cars";
CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars";
CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST";
CM_ SG_ 881 UNKNOWN "related to steering wheel angle";
CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal";
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";

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