diff --git a/generator/subaru/_subaru_preglobal_2015.dbc b/generator/subaru/_subaru_preglobal_2015.dbc
new file mode 100644
index 00000000..24fb223e
--- /dev/null
+++ b/generator/subaru/_subaru_preglobal_2015.dbc
@@ -0,0 +1,237 @@
+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 X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
+ SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
+ SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 321 Engine: 8 XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 880 Steering_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel: 8 XXX
+
+BO_ 1745 Dash_State: 8 XXX
+ SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+VAL_ 1745 Units 0 "Metric" 1 "Imperial";
diff --git a/generator/subaru/subaru_forester_2017.dbc b/generator/subaru/subaru_forester_2017.dbc
new file mode 100644
index 00000000..780089c0
--- /dev/null
+++ b/generator/subaru/subaru_forester_2017.dbc
@@ -0,0 +1,15 @@
+CM_ "IMPORT _subaru_preglobal_2015.dbc"
+
+BO_ 355 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 40|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 54|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
diff --git a/generator/subaru/subaru_outback_2015.dbc b/generator/subaru/subaru_outback_2015.dbc
new file mode 100644
index 00000000..e1d66231
--- /dev/null
+++ b/generator/subaru/subaru_outback_2015.dbc
@@ -0,0 +1,30 @@
+CM_ "IMPORT _subaru_preglobal_2015.dbc"
+
+BO_ 358 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
+ SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
+ SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
+
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 ES_Error "No engagement until restart";
+CM_ SG_ 358 Lead_Car "front car detected";
diff --git a/subaru_forester_2017.dbc b/subaru_forester_2017_generated.dbc
similarity index 51%
rename from subaru_forester_2017.dbc
rename to subaru_forester_2017_generated.dbc
index d163222d..96bc0064 100644
--- a/subaru_forester_2017.dbc
+++ b/subaru_forester_2017_generated.dbc
@@ -1,3 +1,7 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
 VERSION ""
 
 
@@ -33,124 +37,124 @@ NS_ :
 
 BS_:
 
-BU_: XXX 0
+BU_: XXX X
 
 
 BO_ 2 Steering: 8 XXX
  SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
- SG_ Counter : 27|3@0+ (1,0) [0|15] "" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
  SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 208 G_Sensor: 8 XXX
- SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
- SG_ Lateral : 16|16@1- (0.0035,1) [0|65535] "" XXX
- SG_ Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
+ SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
+ SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
 
 BO_ 209 Brake_Pedal: 8 XXX
  SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
  SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 210 Brake_2: 8 XXX
- SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
  SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 211 Brake_Type: 8 XXX
- SG_ Brake_Light : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ Speed_Counter : 32|8@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 212 Wheel_Speeds: 8 XXX
- SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
  SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
- SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
- SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
 
 BO_ 320 Throttle: 8 XXX
  SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|15] "" XXX
- SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
- SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
  SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 321 Engine: 8 XXX
  SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
- SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
- SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
  SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
 
 BO_ 324 CruiseControl: 8 XXX
- SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_BUTTON : 3|1@1+ (1,0) [0|3] "" XXX
- SG_ RES_BUTTON : 4|1@1+ (1,0) [0|3] "" XXX
- SG_ Button : 13|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_On : 48|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 49|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 328 Transmission: 8 XXX
- SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
  SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
  SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
- SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 329 CVT_Ratio: 8 XXX
 
 BO_ 336 Brake_Pressure: 8 XXX
- SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 338 Stalk: 8 XXX
  SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Light : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
- SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
- SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
- SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 352 ES_Brake: 8 XXX
  SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 353 ES_CruiseThrottle: 8 XXX
- SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
  SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Cruise_Activated : 16|1@1+ (1,0) [0|7] "" XXX
- SG_ Signal2 : 17|3@1+ (1,0) [0|3] "" XXX
- SG_ Brake_On : 20|1@1+ (1,0) [0|7] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal3 : 23|1@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
  SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
- SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal5 : 43|1@1+ (1,0) [0|3] "" XXX
- SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
- SG_ Signal6 : 47|1@1+ (1,0) [0|3] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 354 ES_RPM: 8 XXX
- SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
- SG_ Cruise_Activated : 9|1@1+ (1,0) [0|3] "" XXX
- SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|65535] "" XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
 
 BO_ 356 ES_LKAS: 8 XXX
@@ -160,38 +164,40 @@ BO_ 356 ES_LKAS: 8 XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 359 ES_LDW: 8 XXX
- SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
- SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
- SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
- SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
- SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
- SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 642 Dashlights: 8 XXX
  SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX
- SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
 
-BO_ 880 Steer_Torque_2: 8 XXX
+BO_ 880 Steering_Torque_2: 8 XXX
  SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
  SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
 
-BO_ 881 Steering_Torque: 8 XXX
- SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX
- SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|8500] "" XXX
- SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
-
 BO_ 884 BodyInfo: 8 XXX
  SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
@@ -202,54 +208,24 @@ BO_ 884 BodyInfo: 8 XXX
 BO_ 864 Engine_Temp: 8 XXX
  SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
  SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
- SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
  SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 866 Fuel__: 8 XXX
-
-BO_ 604 BSD_RCTA: 8 XXX
- SG_ Counter : 0|3@1+ (1,0) [0|1] "" XXX
- SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
- SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
- SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
- SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+BO_ 866 Fuel: 8 XXX
 
 BO_ 1745 Dash_State: 8 XXX
-  SG_ Units : 13|1@1+ (1,0) [0|1] "" XXX
-  SG_ Units2 : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
 
-BO_ 355 ES_DashStatus: 8 XXX
- SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 40|3@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Activated : 54|1@1+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 211 Brake_Pedal_On "high tolerance";
-CM_ SG_ 212 FL "KPH";
-CM_ SG_ 212 RL "KPH";
 CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
-CM_ SG_ 320 Throttle_Body_ "Throttle related";
+CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
-CM_ SG_ 353 Brake_On "long activatedish";
-CM_ SG_ 353 SET_1 "always 1";
-CM_ SG_ 353 SET_2 "";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
-CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
-CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
 CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
 CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
-CM_ SG_ 359 Alerts "2 = lead beep";
 CM_ SG_ 359 Sig1All_Depart "Left and right depart";
 CM_ SG_ 359 Sig2All_Depart "Left and right depart";
 CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
@@ -258,9 +234,25 @@ CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
 CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
 CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
 CM_ SG_ 642 Counter "Affected by signals";
-CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
 CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
 CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+
 VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
 VAL_ 1745 Units 0 "Metric" 1 "Imperial";
-VAL_ 1745 Units2 0 "Metric 1 "Imperial";
+
+CM_ "subaru_forester_2017.dbc starts here"
+
+
+BO_ 355 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 40|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 54|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
diff --git a/subaru_outback_2015_eyesight.dbc b/subaru_outback_2015_generated.dbc
similarity index 52%
rename from subaru_outback_2015_eyesight.dbc
rename to subaru_outback_2015_generated.dbc
index 1facde34..62e3e848 100644
--- a/subaru_outback_2015_eyesight.dbc
+++ b/subaru_outback_2015_generated.dbc
@@ -1,3 +1,7 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
 VERSION ""
 
 
@@ -33,124 +37,124 @@ NS_ :
 
 BS_:
 
-BU_: XXX 0
+BU_: XXX X
 
 
 BO_ 2 Steering: 8 XXX
  SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
- SG_ Counter : 27|3@0+ (1,0) [0|15] "" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
  SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 208 G_Sensor: 8 XXX
- SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
- SG_ Lateral : 16|16@1- (0.0035,1) [0|65535] "" XXX
- SG_ Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
+ SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
+ SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
 
 BO_ 209 Brake_Pedal: 8 XXX
  SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
  SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 210 Brake_2: 8 XXX
- SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
  SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 211 Brake_Type: 8 XXX
- SG_ Brake_Light : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ Speed_Counter : 32|8@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 212 Wheel_Speeds: 8 XXX
  SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
  SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
- SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
- SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
 
 BO_ 320 Throttle: 8 XXX
  SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
  SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|15] "" XXX
- SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
- SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
  SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 321 Engine: 8 XXX
  SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
- SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
- SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
  SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
 
 BO_ 324 CruiseControl: 8 XXX
- SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_BUTTON : 3|1@1+ (1,0) [0|3] "" XXX
- SG_ RES_BUTTON : 4|1@1+ (1,0) [0|3] "" XXX
- SG_ Button : 13|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_On : 48|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 49|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 328 Transmission: 8 XXX
- SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
  SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
  SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
- SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 329 CVT_Ratio: 8 XXX
 
 BO_ 336 Brake_Pressure: 8 XXX
- SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 338 Stalk: 8 XXX
  SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Light : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
- SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
- SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
- SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 352 ES_Brake: 8 XXX
  SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 353 ES_CruiseThrottle: 8 XXX
- SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
  SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Cruise_Activated : 16|1@1+ (1,0) [0|7] "" XXX
- SG_ Signal2 : 17|3@1+ (1,0) [0|3] "" XXX
- SG_ Brake_On : 20|1@1+ (1,0) [0|7] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal3 : 23|1@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
  SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
- SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal5 : 43|1@1+ (1,0) [0|3] "" XXX
- SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
- SG_ Signal6 : 47|1@1+ (1,0) [0|3] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 354 ES_RPM: 8 XXX
- SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
- SG_ Cruise_Activated : 9|1@1+ (1,0) [0|3] "" XXX
- SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|65535] "" XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
 
 BO_ 356 ES_LKAS: 8 XXX
@@ -159,57 +163,41 @@ BO_ 356 ES_LKAS: 8 XXX
  SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 358 ES_DashStatus: 8 XXX
- SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
- SG_ 3SecondDisengage : 12|2@1+ (1,0) [0|3] "" XXX
- SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX
- SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ Untitled_Blank_2 : 18|1@1+ (1,0) [0|3] "" XXX
- SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|3] "" XXX
- SG_ Driver_Input : 20|1@1+ (1,0) [0|15] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|7] "" XXX
- SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
- SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Lead_Car : 46|1@1+ (1,0) [0|255] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
-
 BO_ 359 ES_LDW: 8 XXX
- SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
- SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
- SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
- SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
- SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
- SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 642 Dashlights: 8 XXX
  SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX
- SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
 
-BO_ 880 Steer_Torque_2: 8 XXX
+BO_ 880 Steering_Torque_2: 8 XXX
  SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
  SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
 
-BO_ 881 Steering_Torque: 8 XXX
- SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX
- SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|8500] "" XXX
- SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
-
 BO_ 884 BodyInfo: 8 XXX
  SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
@@ -220,47 +208,24 @@ BO_ 884 BodyInfo: 8 XXX
 BO_ 864 Engine_Temp: 8 XXX
  SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
  SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
- SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
  SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 866 Fuel__: 8 XXX
-
-BO_ 604 BSD_RCTA: 8 XXX
- SG_ Counter : 0|3@1+ (1,0) [0|1] "" XXX
- SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
- SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
- SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
- SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+BO_ 866 Fuel: 8 XXX
 
 BO_ 1745 Dash_State: 8 XXX
-  SG_ Units : 13|1@1+ (1,0) [0|1] "" XXX
-  SG_ Units2 : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
 
-CM_ SG_ 211 Brake_Pedal_On "high tolerance";
-CM_ SG_ 212 FL "KPH";
-CM_ SG_ 212 RL "KPH";
 CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
-CM_ SG_ 320 Throttle_Body_ "Throttle related";
+CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
-CM_ SG_ 353 Brake_On "long activatedish";
-CM_ SG_ 353 SET_1 "always 1";
-CM_ SG_ 353 SET_2 "";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
-CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
-CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
 CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
 CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
-CM_ SG_ 359 Alerts "2 = lead beep";
 CM_ SG_ 359 Sig1All_Depart "Left and right depart";
 CM_ SG_ 359 Sig2All_Depart "Left and right depart";
 CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
@@ -269,9 +234,40 @@ CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
 CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
 CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
 CM_ SG_ 642 Counter "Affected by signals";
-CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
 CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
 CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+
 VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
 VAL_ 1745 Units 0 "Metric" 1 "Imperial";
-VAL_ 1745 Units2 0 "Metric 1 "Imperial";
+
+CM_ "subaru_outback_2015.dbc starts here"
+
+
+BO_ 358 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
+ SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
+ SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
+
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 ES_Error "No engagement until restart";
+CM_ SG_ 358 Lead_Car "front car detected";