diff --git a/can/common.cc b/can/common.cc
index 5a131eb6c757af..de19514b6435ef 100644
--- a/can/common.cc
+++ b/can/common.cc
@@ -85,6 +85,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x117: // ACC_10 Automatic Cruise Control
       crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
       break;
+    case 0x121: // Motor_20 Driver Throttle Inputs
+      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
+      break;
     case 0x122: // ACC_06 Automatic Cruise Control
       crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
       break;
diff --git a/generator/honda/_bosch_2018.dbc b/generator/honda/_bosch_2018.dbc
index bfbfe9b8b61af3..18a1ff18207408 100644
--- a/generator/honda/_bosch_2018.dbc
+++ b/generator/honda/_bosch_2018.dbc
@@ -160,6 +160,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 582 ADJACENT_LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 585 ADJACENT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 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
@@ -284,5 +360,9 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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" ;
diff --git a/generator/honda/_dual_can_nidec_2018.dbc b/generator/honda/_dual_can_nidec_2018.dbc
index 67c019c92f5ec4..a5d72d67f38a22 100644
--- a/generator/honda/_dual_can_nidec_2018.dbc
+++ b/generator/honda/_dual_can_nidec_2018.dbc
@@ -56,6 +56,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 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
@@ -63,6 +64,13 @@ BO_ 420 VSA_STATUS: 8 VSA
  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
@@ -93,12 +101,15 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  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_0X80 : 31|8@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_ ZEROS_BOH6 : 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_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -138,7 +149,7 @@ BO_ 780 ACC_HUD: 8 ADAS
  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_ BOH_2 : 35|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
@@ -148,10 +159,12 @@ BO_ 780 ACC_HUD: 8 ADAS
  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_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" 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
 
@@ -201,6 +214,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  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";
@@ -210,6 +224,7 @@ 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" ;
diff --git a/generator/toyota/_toyota_nodsu_bsm.dbc b/generator/toyota/_toyota_nodsu_bsm.dbc
new file mode 100644
index 00000000000000..2f80e58e82dce1
--- /dev/null
+++ b/generator/toyota/_toyota_nodsu_bsm.dbc
@@ -0,0 +1,14 @@
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+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_ADJACENT "vehicle adjacent right 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 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
diff --git a/generator/toyota/lexus_ct200h_2018_pt.dbc b/generator/toyota/lexus_ct200h_2018_pt.dbc
index c6ec5e11d120e5..1024849bc5a216 100644
--- a/generator/toyota/lexus_ct200h_2018_pt.dbc
+++ b/generator/toyota/lexus_ct200h_2018_pt.dbc
@@ -2,9 +2,8 @@ CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
 
 BO_ 548 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 581 GAS_PEDAL: 5 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -14,6 +13,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/lexus_gs300h_2017_pt.dbc b/generator/toyota/lexus_gs300h_2017_pt.dbc
index 070b4e6e728a53..35ad1c8f7ad3f1 100644
--- a/generator/toyota/lexus_gs300h_2017_pt.dbc
+++ b/generator/toyota/lexus_gs300h_2017_pt.dbc
@@ -14,6 +14,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/lexus_nx300h_2018_pt.dbc b/generator/toyota/lexus_nx300h_2018_pt.dbc
index fb42de9f68d36f..96526849aa9858 100644
--- a/generator/toyota/lexus_nx300h_2018_pt.dbc
+++ b/generator/toyota/lexus_nx300h_2018_pt.dbc
@@ -14,6 +14,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/lexus_rx_350_2016_pt.dbc b/generator/toyota/lexus_rx_350_2016_pt.dbc
index 4a6fe48fd91bf5..03f314b1ac5a1a 100644
--- a/generator/toyota/lexus_rx_350_2016_pt.dbc
+++ b/generator/toyota/lexus_rx_350_2016_pt.dbc
@@ -11,6 +11,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/lexus_rx_hybrid_2017_pt.dbc b/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
index fb42de9f68d36f..96526849aa9858 100644
--- a/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
+++ b/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
@@ -14,6 +14,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/toyota_avalon_2017_pt.dbc b/generator/toyota/toyota_avalon_2017_pt.dbc
index b867e937065b5f..219cfa37c88ac0 100644
--- a/generator/toyota/toyota_avalon_2017_pt.dbc
+++ b/generator/toyota/toyota_avalon_2017_pt.dbc
@@ -15,6 +15,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/toyota_corolla_2017_pt.dbc b/generator/toyota/toyota_corolla_2017_pt.dbc
index 724b6e834bb0a4..627634f77abb26 100644
--- a/generator/toyota/toyota_corolla_2017_pt.dbc
+++ b/generator/toyota/toyota_corolla_2017_pt.dbc
@@ -14,6 +14,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/toyota_highlander_2017_pt.dbc b/generator/toyota/toyota_highlander_2017_pt.dbc
index b867e937065b5f..219cfa37c88ac0 100644
--- a/generator/toyota/toyota_highlander_2017_pt.dbc
+++ b/generator/toyota/toyota_highlander_2017_pt.dbc
@@ -15,6 +15,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc b/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc
index 8fe5ec1991f18a..9d6484d526a7b9 100644
--- a/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc
+++ b/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc
@@ -14,6 +14,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/toyota_nodsu_hybrid_pt.dbc b/generator/toyota/toyota_nodsu_hybrid_pt.dbc
index ac91c726f3970d..ef5f0f1e20c6e7 100644
--- a/generator/toyota/toyota_nodsu_hybrid_pt.dbc
+++ b/generator/toyota/toyota_nodsu_hybrid_pt.dbc
@@ -1,5 +1,6 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
+CM_ "IMPORT _toyota_nodsu_bsm.dbc"
 
 BO_ 295 GEAR_PACKET: 8 XXX
  SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
diff --git a/generator/toyota/toyota_nodsu_pt.dbc b/generator/toyota/toyota_nodsu_pt.dbc
index 9bc1b1e6739079..5290b9404d6131 100644
--- a/generator/toyota/toyota_nodsu_pt.dbc
+++ b/generator/toyota/toyota_nodsu_pt.dbc
@@ -1,5 +1,6 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
+CM_ "IMPORT _toyota_nodsu_bsm.dbc"
 
 BO_ 401 STEERING_LTA: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
diff --git a/generator/toyota/toyota_rav4_2017_pt.dbc b/generator/toyota/toyota_rav4_2017_pt.dbc
index e9d748b6c258d6..79f99be285aa68 100644
--- a/generator/toyota/toyota_rav4_2017_pt.dbc
+++ b/generator/toyota/toyota_rav4_2017_pt.dbc
@@ -14,6 +14,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc b/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
index d5a265fbb8386d..bf7146a0979391 100644
--- a/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
+++ b/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
@@ -14,6 +14,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/generator/toyota/toyota_sienna_xle_2018_pt.dbc b/generator/toyota/toyota_sienna_xle_2018_pt.dbc
index 0c6ba26bc1ed7d..394cc04fb8a025 100644
--- a/generator/toyota/toyota_sienna_xle_2018_pt.dbc
+++ b/generator/toyota/toyota_sienna_xle_2018_pt.dbc
@@ -15,6 +15,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/honda_accord_lx15t_2018_can_generated.dbc b/honda_accord_lx15t_2018_can_generated.dbc
index 00a01f6ed96837..aff99739467bb9 100644
--- a/honda_accord_lx15t_2018_can_generated.dbc
+++ b/honda_accord_lx15t_2018_can_generated.dbc
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 582 ADJACENT_LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 585 ADJACENT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 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
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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" ;
 
 CM_ "honda_accord_lx15t_2018_can.dbc starts here"
diff --git a/honda_accord_s2t_2018_can_generated.dbc b/honda_accord_s2t_2018_can_generated.dbc
index a89d4504f7667d..4ee645eb3f09f2 100644
--- a/honda_accord_s2t_2018_can_generated.dbc
+++ b/honda_accord_s2t_2018_can_generated.dbc
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 582 ADJACENT_LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 585 ADJACENT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 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
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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" ;
 
 CM_ "honda_accord_s2t_2018_can.dbc starts here"
diff --git a/honda_civic_hatchback_ex_2017_can_generated.dbc b/honda_civic_hatchback_ex_2017_can_generated.dbc
index 9b5091c2f67b85..da4d0013c29658 100644
--- a/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 582 ADJACENT_LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 585 ADJACENT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 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
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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" ;
 
 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
diff --git a/honda_civic_sedan_16_diesel_2019_can_generated.dbc b/honda_civic_sedan_16_diesel_2019_can_generated.dbc
index c9042135da6255..f0bcc5ed8b3281 100644
--- a/honda_civic_sedan_16_diesel_2019_can_generated.dbc
+++ b/honda_civic_sedan_16_diesel_2019_can_generated.dbc
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 582 ADJACENT_LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 585 ADJACENT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 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
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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" ;
 
 CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here"
diff --git a/honda_crv_ex_2017_can_generated.dbc b/honda_crv_ex_2017_can_generated.dbc
index 6cdb0c02d72ead..3af7967fc3be2b 100644
--- a/honda_crv_ex_2017_can_generated.dbc
+++ b/honda_crv_ex_2017_can_generated.dbc
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 582 ADJACENT_LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 585 ADJACENT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 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
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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" ;
 
 CM_ "honda_crv_ex_2017_can.dbc starts here"
diff --git a/honda_crv_hybrid_2019_can_generated.dbc b/honda_crv_hybrid_2019_can_generated.dbc
index f744c490bca0a6..ca73729921f7d8 100644
--- a/honda_crv_hybrid_2019_can_generated.dbc
+++ b/honda_crv_hybrid_2019_can_generated.dbc
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 582 ADJACENT_LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 585 ADJACENT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 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
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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" ;
 
 CM_ "honda_crv_hybrid_2019_can.dbc starts here"
diff --git a/honda_fit_hybrid_2018_can_generated.dbc b/honda_fit_hybrid_2018_can_generated.dbc
index fe76cbf57aa8c1..af7e137b83a72e 100644
--- a/honda_fit_hybrid_2018_can_generated.dbc
+++ b/honda_fit_hybrid_2018_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 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
@@ -85,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
  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
@@ -115,12 +123,15 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  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_0X80 : 31|8@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_ ZEROS_BOH6 : 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_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -160,7 +171,7 @@ BO_ 780 ACC_HUD: 8 ADAS
  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_ BOH_2 : 35|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
@@ -170,10 +181,12 @@ BO_ 780 ACC_HUD: 8 ADAS
  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_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" 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
 
@@ -223,6 +236,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  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";
@@ -232,6 +246,7 @@ 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" ;
diff --git a/honda_insight_ex_2019_can_generated.dbc b/honda_insight_ex_2019_can_generated.dbc
index f5cc66dccc862b..123a45fab4ee53 100644
--- a/honda_insight_ex_2019_can_generated.dbc
+++ b/honda_insight_ex_2019_can_generated.dbc
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 582 ADJACENT_LEFT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 585 ADJACENT_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
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (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_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ 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_ 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
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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" ;
 
 CM_ "honda_insight_ex_2019_can.dbc starts here"
diff --git a/lexus_ct200h_2018_pt_generated.dbc b/lexus_ct200h_2018_pt_generated.dbc
index 0f322dd16e49f1..8c90eecb10ddcd 100644
--- a/lexus_ct200h_2018_pt_generated.dbc
+++ b/lexus_ct200h_2018_pt_generated.dbc
@@ -361,9 +361,8 @@ CM_ "lexus_ct200h_2018_pt.dbc starts here"
 
 
 BO_ 548 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 581 GAS_PEDAL: 5 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -373,6 +372,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/lexus_gs300h_2017_pt_generated.dbc b/lexus_gs300h_2017_pt_generated.dbc
index 5bd0bbf5d9d577..ddb29c425696fa 100644
--- a/lexus_gs300h_2017_pt_generated.dbc
+++ b/lexus_gs300h_2017_pt_generated.dbc
@@ -373,6 +373,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/lexus_nx300h_2018_pt_generated.dbc b/lexus_nx300h_2018_pt_generated.dbc
index c5f0e7ab46f00c..d9826a8f925c0c 100644
--- a/lexus_nx300h_2018_pt_generated.dbc
+++ b/lexus_nx300h_2018_pt_generated.dbc
@@ -373,6 +373,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/lexus_rx_350_2016_pt_generated.dbc b/lexus_rx_350_2016_pt_generated.dbc
index 2370835ae36b0c..455cb41f344b01 100644
--- a/lexus_rx_350_2016_pt_generated.dbc
+++ b/lexus_rx_350_2016_pt_generated.dbc
@@ -370,6 +370,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/lexus_rx_hybrid_2017_pt_generated.dbc b/lexus_rx_hybrid_2017_pt_generated.dbc
index ef9052b28133ee..76c43fed924309 100644
--- a/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -373,6 +373,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/nissan_2017.dbc b/nissan_2017.dbc
index 1d03b7ab5f72d9..2fd0f0a0fed9c0 100644
--- a/nissan_2017.dbc
+++ b/nissan_2017.dbc
@@ -45,26 +45,28 @@ 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_ 768 STEER_TORQUE: 8 XXX
- SG_ STEERING_TOURQUE : 0|7@1+ (1,0) [0|127] "" 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 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 35|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" 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 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ Always_07 : 31|8@0+ (1,0) [0|255] "" 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 : 48|4@1+ (1,0) [0|15] "" 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
 
@@ -78,32 +80,13 @@ BO_ 666 WheelspeedFront: 8 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_ 398 NEW_MSG_2: 8 XXX
-
-BO_ 389 NEW_MSG_3: 8 XXX
- SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 22|6@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|127] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 30|8@0- (1,0) [0|255] "" XXX
-
-BO_ 397 NEW_MSG_4: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|31] "" XXX
-
-BO_ 658 NEW_MSG_5: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 855 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 773 NEW_MSG_7: 8 XXX
- SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+BO_ 389 Steering: 8 XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" 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
 
 BO_ 851 SPEED_RELATED: 8 XXX
  SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
@@ -111,31 +94,30 @@ BO_ 851 SPEED_RELATED: 8 XXX
 BO_ 386 Accelerator: 8 XXX
  SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
 
-BO_ 347 ACCELSOMETHING: 8 XXX
- SG_ PowerMaybe : 9|10@0+ (1,0) [0|1023] "" XXX
- SG_ ACCELERATOR2 : 6|11@0+ (1,-800) [0|65535] "" XXX
-
-BO_ 346 ANOTHER_ACCEL: 8 XXX
- SG_ ANOTHERACCEL : 23|10@0+ (1,0) [0|1023] "" XXX
- SG_ Reverse_ACCEL : 25|10@0+ (1,0) [0|1023] "" XXX
-
-BO_ 348 FULLRANGEACCEL: 8 XXX
- SG_ AccelFullRange : 47|10@0+ (1,0) [0|1023] "" XXX
- SG_ Accel : 26|11@0+ (1,0) [0|2047] "" XXX
+BO_ 348 Throttle: 8 XXX
  SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 566 ANOTHERFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERFULLRANGEACCEL : 43|8@0+ (1,0) [0|1023] "" XXX
- SG_ RPMORTORQUE : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 523 Yetyetanotheraccel: 8 XXX
- SG_ ANOTHERREVERSEACCEL : 37|10@0+ (1,0) [0|1023] "" XXX
- SG_ yetyetanotheraccel : 31|10@0+ (1,0) [0|255] "" XXX
-
-BO_ 779 ANOTHERRRFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERRRFULLRANGEACCEL : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1108 Doors: 8 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
+ 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
+ SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" 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_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1108 DoorsLights: 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
@@ -145,29 +127,25 @@ BO_ 1108 Doors: 8 XXX
  SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
  SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
  SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" 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 : 48|4@1+ (1,0) [0|15] "" 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_ 412 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 361 LKAS: 8 XXX
- SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_X80 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ LKA_Active : 52|1@0+ (1,0) [0|15] "" 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_ Des_Angle : 7|18@0+ (-0.01,1310) [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
@@ -175,10 +153,108 @@ BO_ 438 ProPilot: 8 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 : 32|2@1+ (1,0) [0|15] "" 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_ON : 36|1@0+ (1,0) [0|255] "" XXX
  SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ STEER_STATUS : 51|1@1+ (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
+ 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_ 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
+
+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
+
+
+
+
+
+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" ;
+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/subaru_global_2017.dbc b/subaru_global_2017.dbc
index 38b2774aba1b1f..6da81f281c4556 100644
--- a/subaru_global_2017.dbc
+++ b/subaru_global_2017.dbc
@@ -120,6 +120,8 @@ BO_ 312 Brake_Pressure_L_R: 8 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_ 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
 
diff --git a/toyota_avalon_2017_pt_generated.dbc b/toyota_avalon_2017_pt_generated.dbc
index 026191e9bacc77..4adc94870da568 100644
--- a/toyota_avalon_2017_pt_generated.dbc
+++ b/toyota_avalon_2017_pt_generated.dbc
@@ -374,6 +374,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/toyota_corolla_2017_pt_generated.dbc b/toyota_corolla_2017_pt_generated.dbc
index f02e50195caf59..3ea7fe4dece593 100644
--- a/toyota_corolla_2017_pt_generated.dbc
+++ b/toyota_corolla_2017_pt_generated.dbc
@@ -373,6 +373,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/toyota_highlander_2017_pt_generated.dbc b/toyota_highlander_2017_pt_generated.dbc
index a5306ac8f64d05..e7aa6b66801533 100644
--- a/toyota_highlander_2017_pt_generated.dbc
+++ b/toyota_highlander_2017_pt_generated.dbc
@@ -374,6 +374,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/toyota_highlander_hybrid_2018_pt_generated.dbc b/toyota_highlander_hybrid_2018_pt_generated.dbc
index d19ac45fff0727..0920a2bf0436cb 100644
--- a/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -373,6 +373,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/toyota_nodsu_hybrid_pt_generated.dbc b/toyota_nodsu_hybrid_pt_generated.dbc
index 28ad1d61aca454..3b76797437c53f 100644
--- a/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/toyota_nodsu_hybrid_pt_generated.dbc
@@ -1,6 +1,23 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
 
 
+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+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_ADJACENT "vehicle adjacent right 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 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+
 CM_ "Imported file _comma.dbc starts here"
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
  SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
@@ -360,6 +377,7 @@ CM_ "toyota_nodsu_hybrid_pt.dbc starts here"
 
 
 
+
 BO_ 295 GEAR_PACKET: 8 XXX
  SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
  SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
diff --git a/toyota_nodsu_pt_generated.dbc b/toyota_nodsu_pt_generated.dbc
index ab54939b50a4df..75e4115e8c46b5 100644
--- a/toyota_nodsu_pt_generated.dbc
+++ b/toyota_nodsu_pt_generated.dbc
@@ -1,6 +1,23 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
 
 
+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+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_ADJACENT "vehicle adjacent right 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 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+
 CM_ "Imported file _comma.dbc starts here"
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
  SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
@@ -360,6 +377,7 @@ CM_ "toyota_nodsu_pt.dbc starts here"
 
 
 
+
 BO_ 401 STEERING_LTA: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
diff --git a/toyota_rav4_2017_pt_generated.dbc b/toyota_rav4_2017_pt_generated.dbc
index a9e8a03e517da6..89cf5b6987c518 100644
--- a/toyota_rav4_2017_pt_generated.dbc
+++ b/toyota_rav4_2017_pt_generated.dbc
@@ -373,6 +373,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/toyota_rav4_hybrid_2017_pt_generated.dbc b/toyota_rav4_hybrid_2017_pt_generated.dbc
index 27ced0f9cdb393..9a50d42c2baa27 100644
--- a/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -373,6 +373,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/toyota_sienna_xle_2018_pt_generated.dbc b/toyota_sienna_xle_2018_pt_generated.dbc
index 2cbd918ce3e08a..8cd7374268a32b 100644
--- a/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/toyota_sienna_xle_2018_pt_generated.dbc
@@ -374,6 +374,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/vw_mqb_2010.dbc b/vw_mqb_2010.dbc
index 063cd1b795b614..21f974cce3606a 100644
--- a/vw_mqb_2010.dbc
+++ b/vw_mqb_2010.dbc
@@ -825,6 +825,8 @@ BO_ 1648 Motor_18: 8 Motor_Diesel_MQB
  SG_ MO_obere_Drehzahlgrenze : 56|8@1+ (50,0) [50|12750] "Unit_MinutInver" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 
 BO_ 289 Motor_20: 8 Motor_Diesel_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX
  SG_ MO_Fahrpedalrohwert_01 : 12|8@1+ (0.4,0) [0|101.6] "Unit_PerCent" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ MO_QBit_Fahrpedalwerte_01 : 20|1@1+ (1,0) [0|1] "" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ MO_Fahrpedalgradient : 21|8@1+ (25,0) [0|6350] "Unit_PerCentPerSecon" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB