CM_ "AUTOGENERATED FILE, DO NOT EDIT" CM_ "Imported file _comma.dbc starts here" BO_ 359 STEERING_IPAS_COMMA: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; BO_ 512 GAS_COMMAND: 6 EON SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR BO_ 513 GAS_SENSOR: 6 INTERCEPTOR SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" 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 _toyota_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_ BS_: BU_: XXX DSU HCU EPS IPAS BO_ 36 KINEMATICS: 8 XXX SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX BO_ 37 STEER_ANGLE_SENSOR: 8 XXX SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX BO_ 166 BRAKE: 8 XXX SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX BO_ 170 WHEEL_SPEEDS: 8 XXX SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX BO_ 180 SPEED: 8 XXX SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX 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 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 467 PCM_CRUISE_2: 8 XXX SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 552 ACCELEROMETER: 8 XXX SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX BO_ 560 BRAKE_MODULE2: 7 XXX SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX BO_ 614 STEERING_IPAS: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 643 PRE_COLLISION: 8 XXX BO_ 740 STEERING_LKA: 5 XXX SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" 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_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX BO_ 742 LEAD_INFO: 8 DSU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU BO_ 835 ACC_CONTROL: 8 DSU SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 921 PCM_CRUISE_SM: 8 XXX SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX BO_ 951 ESP_CONTROL: 8 ESP SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX BO_ 1041 ACC_HUD: 8 DSU SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX BO_ 1042 LKAS_HUD: 8 XXX SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX BO_ 1553 UI_SEETING: 8 XXX SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX BO_ 1556 STEERING_LEVERS: 8 XXX SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX BO_ 1568 SEATS_DOORS: 8 XXX SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX BO_ 1570 LIGHT_STALK: 8 SCM SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX BO_ 1161 RSA1: 8 FCM SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX BO_ 1162 RSA2: 8 FCM SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX BO_ 1163 RSA3: 8 FCM SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX CM_ SG_ 36 ACCEL_Y "unit is tbd"; CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect"; CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit"; CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces"; CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts"; CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; CM_ SG_ 1161 SPDVAL2 "conditional speed value 70" CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; CM_ SG_ 1163 TSREQPD "always 1"; CM_ SG_ 1163 TSRMSW "always 1"; CM_ SG_ 1163 OTSGNNTM "always 3"; CM_ SG_ 1163 NTLVLSPD "always 3"; CM_ SG_ 1163 OVSPNTM "always 3"; CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; CM_ SG_ 1163 TSRSPU "always 1"; VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off"; VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; VAL_ 614 STATE 3 "enabled" 1 "disabled"; VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none"; VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none"; VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none"; VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; VAL_ 1161 SPLSGN2 15 "conditional" 0 "none"; VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry"; VAL_ 1162 SPLSGN3 15 "conditional" 0 "none"; CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180"; CM_ "toyota_highlander_2017_pt.dbc starts here" BO_ 550 BRAKE_MODULE: 8 XXX SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|255] "" XXX SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|65535] "" XXX SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|3] "" XXX BO_ 705 GAS_PEDAL: 8 XXX SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX BO_ 608 STEER_TORQUE_SENSOR: 8 XXX SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 610 EPS_STATUS: 5 EPS SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX BO_ 956 GEAR_PACKET: 8 XXX SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force"; CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";