Toyota: fixed LKA_STATE to be compatible with Corolla and properly ge…

…nerated CH-R dbc
commaai · Mar 27, 2018 · a73f4e8 · a73f4e8
1 parent 91e882d
commit a73f4e8
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Showing 17 changed files with 67 additions and 30 deletions.
diff --git a/generator/toyota/lexus_rx_hybrid_2017_pt.dbc b/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
@@ -16,7 +16,8 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" 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
@@ -25,6 +26,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
diff --git a/generator/toyota/toyota_camry_hybrid_2018_pt.dbc b/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
@@ -22,12 +22,14 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/generator/toyota/toyota_chr_2018_pt.dbc b/generator/toyota/toyota_chr_2018_pt.dbc
@@ -17,14 +17,16 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|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 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/generator/toyota/toyota_corolla_2017_pt.dbc b/generator/toyota/toyota_corolla_2017_pt.dbc
@@ -16,14 +16,16 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" 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 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/generator/toyota/toyota_prius_2017_pt.dbc b/generator/toyota/toyota_prius_2017_pt.dbc
@@ -22,12 +22,14 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/generator/toyota/toyota_rav4_2017_pt.dbc b/generator/toyota/toyota_rav4_2017_pt.dbc
@@ -16,14 +16,16 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" 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 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc b/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
@@ -16,7 +16,8 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" 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
@@ -25,6 +26,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
diff --git a/honda_accord_s2t_2018_can_generated.dbc b/honda_accord_s2t_2018_can_generated.dbc
@@ -1,4 +1,6 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
 CM_ "Imported file _bosch_2018.dbc starts here"
 VERSION ""
 
@@ -268,6 +270,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 
 CM_ "honda_accord_s2t_2018_can.dbc starts here"
 
+
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

diff --git a/honda_civic_hatchback_ex_2017_can_generated.dbc b/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -1,4 +1,6 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
 CM_ "Imported file _bosch_2018.dbc starts here"
 VERSION ""
 
@@ -268,6 +270,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 
 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
 
+
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

diff --git a/honda_crv_ex_2017_can_generated.dbc b/honda_crv_ex_2017_can_generated.dbc
@@ -1,4 +1,6 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
 CM_ "Imported file _bosch_2018.dbc starts here"
 VERSION ""
 
@@ -268,6 +270,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 
 CM_ "honda_crv_ex_2017_can.dbc starts here"
 
+
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

diff --git a/lexus_rx_hybrid_2017_pt_generated.dbc b/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -213,7 +213,8 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" 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
@@ -222,6 +223,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
diff --git a/toyota_camry_hybrid_2018_pt_generated.dbc b/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -219,12 +219,14 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/toyota_chr_2018_pt_generated.dbc b/toyota_chr_2018_pt_generated.dbc
@@ -212,16 +212,18 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
+BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|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 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/toyota_corolla_2017_pt_generated.dbc b/toyota_corolla_2017_pt_generated.dbc
@@ -213,14 +213,16 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" 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 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/toyota_prius_2017_pt_generated.dbc b/toyota_prius_2017_pt_generated.dbc
@@ -219,12 +219,14 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/toyota_rav4_2017_pt_generated.dbc b/toyota_rav4_2017_pt_generated.dbc
@@ -213,14 +213,16 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" 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 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/toyota_rav4_hybrid_2017_pt_generated.dbc b/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -213,7 +213,8 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" 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
@@ -222,6 +223,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 50 "temporary_fault" 10 "active" 2 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";