diff --git a/.gitignore b/.gitignore
index 5eb52dcca33ae9..9e48c6745a59f0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,7 @@
 *.pyc
 *.os
 *.tmp
+*.dylib
 .*.swp
 can/*.so
 can/build/
diff --git a/acura_ilx_2016_can_generated.dbc b/acura_ilx_2016_can_generated.dbc
index 76444138d3f7e3..b1e2b2cb854c54 100644
--- a/acura_ilx_2016_can_generated.dbc
+++ b/acura_ilx_2016_can_generated.dbc
@@ -86,6 +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
@@ -164,7 +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
@@ -174,10 +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
 
@@ -272,9 +281,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/acura_rdx_2018_can_generated.dbc b/acura_rdx_2018_can_generated.dbc
index 233ece8ffc1ce4..1a87ebc55061af 100644
--- a/acura_rdx_2018_can_generated.dbc
+++ b/acura_rdx_2018_can_generated.dbc
@@ -86,6 +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
@@ -164,7 +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
@@ -174,10 +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
 
@@ -260,7 +269,7 @@ BO_ 392 GEARBOX: 6 XXX
 
 BO_ 399 STEER_STATUS: 6 EPS
  SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
diff --git a/azure-pipelines.yml b/azure-pipelines.yml
index 3841610a6abd65..6ac0f9ddd5aceb 100644
--- a/azure-pipelines.yml
+++ b/azure-pipelines.yml
@@ -14,3 +14,6 @@ steps:
     docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
     docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
   displayName: 'Python linter'
+- script: |
+    docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
+  displayName: 'Generator test'
diff --git a/can/packer_pyx_setup.py b/can/packer_pyx_setup.py
index 6f7a47d0ae3f0b..48d1c260a952dc 100644
--- a/can/packer_pyx_setup.py
+++ b/can/packer_pyx_setup.py
@@ -1,6 +1,7 @@
 import os
 import sysconfig
 import subprocess
+import platform
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
 
 from Cython.Build import cythonize
@@ -38,6 +39,10 @@ def get_ext_filename(self, ext_name):
 if ARCH == "aarch64":
   extra_compile_args += ["-Wno-deprecated-register"]
 
+if platform.system() == "Darwin":
+  libdbc = "libdbc.dylib"
+else:
+  libdbc = "libdbc.so"
 
 setup(name='CAN packer',
       cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
@@ -52,9 +57,13 @@ def get_ext_filename(self, ext_name):
             os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
           ],
           extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
+            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
           ],
         )
       ),
       nthreads=4,
 )
+
+if platform.system() == "Darwin":
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib packer_pyx.so")
+
diff --git a/can/parser_pyx_setup.py b/can/parser_pyx_setup.py
index 8ce6e7e7b4dd9a..5662530d7d8eb3 100644
--- a/can/parser_pyx_setup.py
+++ b/can/parser_pyx_setup.py
@@ -1,6 +1,7 @@
 import os
 import subprocess
 import sysconfig
+import platform
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
 
 from Cython.Build import cythonize
@@ -38,6 +39,11 @@ def get_ext_filename(self, ext_name):
 if ARCH == "aarch64":
   extra_compile_args += ["-Wno-deprecated-register"]
 
+if platform.system() == "Darwin":
+  libdbc = "libdbc.dylib"
+else:
+  libdbc = "libdbc.so"
+
 setup(name='CAN parser',
       cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
       ext_modules=cythonize(
@@ -51,9 +57,13 @@ def get_ext_filename(self, ext_name):
             os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
           ],
           extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
+            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
           ],
         )
       ),
       nthreads=4,
 )
+
+if platform.system() == "Darwin":
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib parser_pyx.so")
+
diff --git a/can/tests/test_generator.sh b/can/tests/test_generator.sh
new file mode 100755
index 00000000000000..c4df547dca8d55
--- /dev/null
+++ b/can/tests/test_generator.sh
@@ -0,0 +1,13 @@
+#!/bin/bash -e
+
+cd ../../generator/
+
+# run generator
+./generator.py
+
+if [ -n "$(git status --untracked-files=no --porcelain)" ]; then
+  echo "Unexpected changes after running generator.py";
+  exit 1
+else
+  echo "Success";
+fi
diff --git a/generator/honda/_bosch_2018.dbc b/generator/honda/_bosch_2018.dbc
index 19585529f01bd3..488eed42417bc5 100644
--- a/generator/honda/_bosch_2018.dbc
+++ b/generator/honda/_bosch_2018.dbc
@@ -64,7 +64,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -92,9 +94,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
@@ -106,6 +109,13 @@ 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_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
diff --git a/generator/honda/_honda_2017.dbc b/generator/honda/_honda_2017.dbc
index d805d45e87a120..de78403179d680 100644
--- a/generator/honda/_honda_2017.dbc
+++ b/generator/honda/_honda_2017.dbc
@@ -64,6 +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
@@ -142,7 +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
@@ -152,10 +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
 
diff --git a/generator/honda/acura_ilx_2016_can.dbc b/generator/honda/acura_ilx_2016_can.dbc
index df774482049702..2d3c1a9d2e61eb 100644
--- a/generator/honda/acura_ilx_2016_can.dbc
+++ b/generator/honda/acura_ilx_2016_can.dbc
@@ -27,9 +27,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/generator/honda/acura_rdx_2018_can.dbc b/generator/honda/acura_rdx_2018_can.dbc
index 2fccfd1b2eb4e0..01d9d64383be56 100644
--- a/generator/honda/acura_rdx_2018_can.dbc
+++ b/generator/honda/acura_rdx_2018_can.dbc
@@ -15,7 +15,7 @@ BO_ 392 GEARBOX: 6 XXX
 
 BO_ 399 STEER_STATUS: 6 EPS
  SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
diff --git a/generator/honda/honda_civic_touring_2016_can.dbc b/generator/honda/honda_civic_touring_2016_can.dbc
index 2cce31609d179a..da4f59bdaa96d9 100644
--- a/generator/honda/honda_civic_touring_2016_can.dbc
+++ b/generator/honda/honda_civic_touring_2016_can.dbc
@@ -25,16 +25,19 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/generator/honda/honda_crv_touring_2016_can.dbc b/generator/honda/honda_crv_touring_2016_can.dbc
index b41171d4345f90..6d113fafdc9604 100644
--- a/generator/honda/honda_crv_touring_2016_can.dbc
+++ b/generator/honda/honda_crv_touring_2016_can.dbc
@@ -9,7 +9,7 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 6 EPS
  SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
diff --git a/generator/honda/honda_fit_ex_2018_can.dbc b/generator/honda/honda_fit_ex_2018_can.dbc
index 9c2bf64b5a746d..ed64c1feeb6e38 100644
--- a/generator/honda/honda_fit_ex_2018_can.dbc
+++ b/generator/honda/honda_fit_ex_2018_can.dbc
@@ -27,9 +27,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/generator/honda/honda_fit_hybrid_2018_can.dbc b/generator/honda/honda_fit_hybrid_2018_can.dbc
index 4ad9f2a0621580..4ceda6aefa35a1 100644
--- a/generator/honda/honda_fit_hybrid_2018_can.dbc
+++ b/generator/honda/honda_fit_hybrid_2018_can.dbc
@@ -27,9 +27,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/generator/honda/honda_odyssey_exl_2018.dbc b/generator/honda/honda_odyssey_exl_2018.dbc
index 8f045489106e1f..64cff2e01f32db 100644
--- a/generator/honda/honda_odyssey_exl_2018.dbc
+++ b/generator/honda/honda_odyssey_exl_2018.dbc
@@ -19,9 +19,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc b/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
index 7927f8c80f4dd5..3ffe59a118e548 100644
--- a/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
+++ b/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
@@ -12,11 +12,12 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
diff --git a/generator/honda/honda_pilot_touring_2017_can.dbc b/generator/honda/honda_pilot_touring_2017_can.dbc
index ea9ec396444332..1da2248b60594f 100644
--- a/generator/honda/honda_pilot_touring_2017_can.dbc
+++ b/generator/honda/honda_pilot_touring_2017_can.dbc
@@ -27,9 +27,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/generator/honda/honda_ridgeline_black_edition_2017_can.dbc b/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
index cec7a08e7d295d..adc23d68793275 100644
--- a/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
+++ b/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
@@ -22,9 +22,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/honda_accord_lx15t_2018_can_generated.dbc b/honda_accord_lx15t_2018_can_generated.dbc
index 0cf9ea5662e65c..48c571df1f5e65 100644
--- a/honda_accord_lx15t_2018_can_generated.dbc
+++ b/honda_accord_lx15t_2018_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
@@ -110,6 +113,13 @@ 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_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
diff --git a/honda_accord_s2t_2018_can_generated.dbc b/honda_accord_s2t_2018_can_generated.dbc
index 770cfdf1fd5eec..b160dff8537b9e 100644
--- a/honda_accord_s2t_2018_can_generated.dbc
+++ b/honda_accord_s2t_2018_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
@@ -110,6 +113,13 @@ 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_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@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
index 06c6edabdfb64a..d6c9505d94f961 100644
--- a/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
@@ -110,6 +113,13 @@ 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_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
diff --git a/honda_civic_touring_2016_can_generated.dbc b/honda_civic_touring_2016_can_generated.dbc
index cb83511b3df59f..26173859b4398f 100644
--- a/honda_civic_touring_2016_can_generated.dbc
+++ b/honda_civic_touring_2016_can_generated.dbc
@@ -86,6 +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
@@ -272,16 +279,19 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/honda_crv_ex_2017_can_generated.dbc b/honda_crv_ex_2017_can_generated.dbc
index 7aa93a96356832..db11aa3a719596 100644
--- a/honda_crv_ex_2017_can_generated.dbc
+++ b/honda_crv_ex_2017_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
@@ -110,6 +113,13 @@ 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_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
diff --git a/honda_crv_hybrid_2019_can_generated.dbc b/honda_crv_hybrid_2019_can_generated.dbc
index 5d3e81ecbd5bc5..ed90b9408d6169 100644
--- a/honda_crv_hybrid_2019_can_generated.dbc
+++ b/honda_crv_hybrid_2019_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
@@ -110,6 +113,13 @@ 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_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
diff --git a/honda_crv_touring_2016_can_generated.dbc b/honda_crv_touring_2016_can_generated.dbc
index dca42994872338..8730e0357541e2 100644
--- a/honda_crv_touring_2016_can_generated.dbc
+++ b/honda_crv_touring_2016_can_generated.dbc
@@ -86,6 +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
@@ -164,7 +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
@@ -174,10 +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
 
@@ -254,7 +263,7 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 6 EPS
  SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
diff --git a/honda_fit_ex_2018_can_generated.dbc b/honda_fit_ex_2018_can_generated.dbc
index df5fc95910fdc1..a9cf3eb9e69ece 100644
--- a/honda_fit_ex_2018_can_generated.dbc
+++ b/honda_fit_ex_2018_can_generated.dbc
@@ -86,6 +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
@@ -164,7 +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
@@ -174,10 +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
 
@@ -272,9 +281,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/honda_fit_hybrid_2018_can_generated.dbc b/honda_fit_hybrid_2018_can_generated.dbc
index 3490737c8e8369..fe76cbf57aa8c1 100644
--- a/honda_fit_hybrid_2018_can_generated.dbc
+++ b/honda_fit_hybrid_2018_can_generated.dbc
@@ -266,9 +266,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/honda_insight_ex_2019_can_generated.dbc b/honda_insight_ex_2019_can_generated.dbc
index 890ae8a2e6afd3..775e22adad132e 100644
--- a/honda_insight_ex_2019_can_generated.dbc
+++ b/honda_insight_ex_2019_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
@@ -110,6 +113,13 @@ 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_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
diff --git a/honda_odyssey_exl_2018_generated.dbc b/honda_odyssey_exl_2018_generated.dbc
index ae0394d5a6e3be..36af55b113bdd2 100644
--- a/honda_odyssey_exl_2018_generated.dbc
+++ b/honda_odyssey_exl_2018_generated.dbc
@@ -86,6 +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
@@ -164,7 +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
@@ -174,10 +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
 
@@ -264,9 +273,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/honda_odyssey_extreme_edition_2018_china_can_generated.dbc b/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
index 01b2b6f4684779..3c5a88a35619cd 100644
--- a/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
+++ b/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
@@ -86,6 +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
@@ -164,7 +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
@@ -174,10 +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
 
@@ -257,11 +266,12 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
diff --git a/honda_pilot_touring_2017_can_generated.dbc b/honda_pilot_touring_2017_can_generated.dbc
index fbd83260964bf2..1f8221323da2c4 100644
--- a/honda_pilot_touring_2017_can_generated.dbc
+++ b/honda_pilot_touring_2017_can_generated.dbc
@@ -86,6 +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
@@ -164,7 +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
@@ -174,10 +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
 
@@ -272,9 +281,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
diff --git a/honda_ridgeline_black_edition_2017_can_generated.dbc b/honda_ridgeline_black_edition_2017_can_generated.dbc
index ebf8e3098e4b7a..cdfb2310038eaf 100644
--- a/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -86,6 +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
@@ -164,7 +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
@@ -174,10 +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
 
@@ -267,9 +276,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON