Updates for Volkswagen support (commaai#191)

* Update ACC_02.SetSpeed to use a more accurate m/s formula instead of kmh * Fixes to LWI vs EPS calculations for steering angles, clarify descriptions of each. * Endianness fixes * Add ESP_15 and PSD_04/05/06 * Testing PSD interpretation * Correct message info for ESP_08 * Additional authoritative message names and IDs * OpenDBC updates * OpenDBC updates * DBC cleanup, CRC support, restore VIN_01 mux lost during Cabana editing. * Add the PQ heading control assist message. * Add a pointer to the VIN_1 mux. * Add comment about rate-limiting on Getriebe_11 counter signal. * Rename CRC->CHECKSUM for upstream of a minimum viable VW port. Per my Discord talk with @rbiasini, to reduce OP core code diffs a bit, we will temporarily (ab)use CHECKSUM to store a CRC like Pedal is doing today. After the port is upstreamed, we will look at updating the core OP code to support dynamic CRC and counter signal names, and revert the DBC signal names back to canonical (MSG_NAME_CRC, MSG_NAME_BZ, etc). I will update the OP core CRC support PR shortly.
jyoung8607 · Oct 17, 2019 · e4472d6 · e4472d6
1 parent cbf9150
commit e4472d6
Showing 1 changed file with 90 additions and 60 deletions.
diff --git a/vw_golf_mk4.dbc b/vw_golf_mk4.dbc
@@ -2,38 +2,30 @@ VERSION ""
 
 
 NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
 
 BS_:
 
-BU_: XXX t _ e f S c a I i
+BU_: XXX
 
 
 BO_ 1394 ZAS_1: 2 XXX
@@ -195,10 +187,10 @@ BO_ 1298 PSG_2: 8 XXX
  SG_ RAM_Inhalt_1 : 0|16@1+ (1,0) [0|0] "" XXX
 
 BO_ 274 PSG_1: 8 XXX
- SG_ Pumpentemperatur__2_1_ : 48|16@1+ (0.0625,0) [0|4096] "°K" XXX
+ SG_ Pumpentemperatur__2_1_ : 48|16@1+ (0.0625,0) [0|4096] "K" XXX
  SG_ Pumpentemperatur__3_2_2_ : 44|12@1+ (1,0) [0|0] "" XXX
- SG_ Zylinderzaehler__3_2_2_ : 43|3@1+ (1,0) [1|8] "Zähler" XXX
- SG_ Ansteuerdauer__3_2_2_ : 32|11@1+ (0.0469,0) [0|96] "°NW" XXX
+ SG_ Zylinderzaehler__3_2_2_ : 43|3@1+ (1,0) [1|8] "Zaehler" XXX
+ SG_ Ansteuerdauer__3_2_2_ : 32|11@1+ (0.0469,0) [0|96] "NW" XXX
  SG_ Nockenwellendrehzahl__3_2_2_ : 20|12@1+ (4,0) [0|16380] "upm" XXX
  SG_ Pumpen_Statuswort__3_2_2_ : 0|20@1+ (1,0) [0|0] "" XXX
 
@@ -241,7 +233,7 @@ BO_ 1424 Niveau_1: 6 XXX
  SG_ ESP_Beeinflussung : 14|1@1+ (1,0) [0|0] "" XXX
  SG_ Warnlampe_Niveau_1 : 13|1@1+ (1,0) [0|0] "" XXX
  SG_ Frei_Niveau_1_1 : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Niveau_1 : 8|4@1+ (1,0) [0|15] "Zähler" XXX
+ SG_ Zaehler_Niveau_1 : 8|4@1+ (1,0) [0|15] "Zaehler" XXX
  SG_ Checksumme_Niveau_1 : 0|8@1+ (1,0) [0|0] "" XXX
 
 BO_ 1328 Navigation_1: 7 XXX
@@ -256,11 +248,11 @@ BO_ 1328 Navigation_1: 7 XXX
  SG_ Laenderkennung : 16|8@1+ (1,0) [0|0] "" XXX
  SG_ Vorzeichen_Gierrate______ : 15|1@1+ (1,0) [0|0] "" XXX
  SG_ Gierratenfehler : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Gierrate : 0|14@1+ (0.01,0) [0|100] "°/sek" XXX
+ SG_ Gierrate : 0|14@1+ (0.01,0) [0|100] "deg/sek" XXX
 
 BO_ 1792 MSG_3: 3 XXX
  SG_ MSG_Konfiguration : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ Lage_des_OT_Impuls : 0|16@1+ (0.01172,-384) [-384|384] "°KW" XXX
+ SG_ Lage_des_OT_Impuls : 0|16@1+ (0.01172,-384) [-384|384] "KW" XXX
 
 BO_ 1280 MSG_2: 8 XXX
  SG_ RAM_Adresse_4 : 48|16@1+ (1,0) [0|0] "" XXX
@@ -270,8 +262,8 @@ BO_ 1280 MSG_2: 8 XXX
 
 BO_ 256 MSG_1: 8 XXX
  SG_ Kurbelwellendrehzahl__3_2_2_ : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Soll_Foerderbeginn_KW__3_2_2_ : 40|16@1+ (0.01172,-384) [-384|384] "°KW" XXX
- SG_ Soll_Foerderbeginn_NW__3_2_2_ : 28|12@1+ (0.01172,0) [0|768] "°NW" XXX
+ SG_ Soll_Foerderbeginn_KW__3_2_2_ : 40|16@1+ (0.01172,-384) [-384|384] "KW" XXX
+ SG_ Soll_Foerderbeginn_NW__3_2_2_ : 28|12@1+ (0.01172,0) [0|768] "degNW" XXX
  SG_ Soll_Voreinspritzung : 16|12@1+ (1,0) [0|0] "" XXX
  SG_ Soll_Einspritzmenge : 0|16@1+ (0.03125,0) [0|2047] "mg/H" XXX
 
@@ -281,18 +273,32 @@ BO_ 1796 Motor_NOX: 8 XXX
  SG_ Heizleistungsanforderung : 18|1@1+ (1,0) [0|0] "" XXX
  SG_ Offsetkorrektur_moeglich : 17|1@1+ (1,0) [0|0] "" XXX
  SG_ Betriebsbereich : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Abgastemperatur_NOX : 8|8@1+ (5,-40) [-40|1230] "°C" XXX
+ SG_ Abgastemperatur_NOX : 8|8@1+ (5,-40) [-40|1230] "C" XXX
  SG_ Abgasdruck_NOX : 0|8@1+ (5,600) [600|1870] "mbar" XXX
 
 BO_ 900 Motor_Momente: 8 XXX
  SG_ Momentenangaben_ungenau__Moment : 35|2@1+ (1,0) [0|0] "" XXX
 
 BO_ 1408 Motor_Flexia: 8 XXX
+ SG_ Ansaugsystem m0 : 63|1@1+ (1,0) [0|0] "" XXX
+ SG_ Hubraum m0 : 56|7@1+ (0.1,0) [0|12.7] "l" XXX
+ SG_ Steigung_der_Befuellungskennlin m1 : 56|8@1+ (0.001,0) [0|0.255] "l/mm" XXX
+ SG_ Anzahl_Zylinder m0 : 52|4@1+ (1,0) [0|15] "Vent./Zyl." XXX
+ SG_ Bewertungsfaktor_Russindex_Turb m1 : 50|6@1+ (0.1,0) [0|6.3] "" XXX
+ SG_ Anzahl_Ventile m0 : 49|3@1+ (1,0) [0|7] "Vent./Zyl." XXX
+ SG_ Bewertungsfaktor_Verschleissind m1 : 44|6@1+ (0.1,0) [0|6.3] "" XXX
+ SG_ Hersteller_Code m1 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ Motorleistung m0 : 40|9@1+ (1,0) [0|512] "KW" XXX
+ SG_ Max_Drehmoment m0 : 32|8@1+ (10,0) [0|2550] "Nm" XXX
+ SG_ Normierter_Verbrauch m1 : 32|8@1+ (10,0) [0|2550] "l/Zyl." XXX
+ SG_ Oelniveauschwelle m1 : 24|8@1+ (0.25,0) [0|63.75] "cm" XXX
+ SG_ Drehzahl_MaxNorm m0 : 24|8@1+ (100,0) [0|25500] "U/min" XXX
  SG_ Verschleissindex : 16|8@1+ (1,0) [0|254] "" XXX
  SG_ Russindex : 8|8@1+ (1,0) [0|254] "" XXX
  SG_ Verbrennungsart : 7|1@1+ (1,0) [0|0] "" XXX
  SG_ Frei_Motor_Flexia_1 : 4|3@1+ (1,0) [0|0] "" XXX
  SG_ Zaehler_Motor_Flexia : 1|3@1+ (1,0) [0|15] "" XXX
+ SG_ Multiplex_Schalter_Motor_Flexia M : 0|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 1416 Motor_7: 8 XXX
  SG_ Frei_Motor_7_3 : 40|24@1+ (1,0) [0|0] "" XXX
@@ -339,6 +345,11 @@ BO_ 1152 Motor_5: 8 XXX
  SG_ E_Gas_Lampe : 10|1@1+ (1,0) [0|0] "" XXX
  SG_ Vorgluehlampe__Motor_5_ : 9|1@1+ (1,0) [0|0] "" XXX
  SG_ Ladekontroll_Lampe : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ Multiplex_Code M : 6|2@1+ (1,0) [0|0] "" XXX
+ SG_ Multiplex_Info_norm__Verbrauch m3 : 0|6@1+ (20,0) [0|1260] "l/Zyl" XXX
+ SG_ Multiplex_Info_Motortyp m2 : 0|6@1+ (1,0) [0|0] "" XXX
+ SG_ Multiplex_Info_Drehzahl_MD_Max m1 : 0|6@1+ (100,0) [0|6300] "U/min" XXX
+ SG_ Multiplex_Info_Max_Drehmoment m0 : 0|6@1+ (10,0) [0|630] "Nm" XXX
 
 BO_ 896 Motor_3: 8 XXX
  SG_ Drosselklappenpoti : 56|8@1+ (0.4,0) [0|101.6] "%" XXX
@@ -350,7 +361,7 @@ BO_ 896 Motor_3: 8 XXX
  SG_ Vorzeichen_Rad_Wunschmoment : 36|1@1+ (1,0) [0|0] "" XXX
  SG_ Rad_Wunschmoment : 24|12@1+ (0.39,0) [0|1597] "MDI" XXX
  SG_ Fahrpedal_Rohsignal : 16|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "°" XXX
+ SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
  SG_ Fehlerstatus_Ansauglufttemperat : 7|1@1+ (1,0) [0|0] "" XXX
  SG_ Motorsteuerger_t_gesperrt : 6|1@1+ (1,0) [0|0] "" XXX
  SG_ Drosselklappenwinkel_ungenau : 5|1@1+ (1,0) [0|0] "" XXX
@@ -373,7 +384,12 @@ BO_ 648 Motor_2: 8 XXX
  SG_ Fehlerstatus_Kuhlmitteltempera : 18|1@1+ (1,0) [0|0] "" XXX
  SG_ Bremstestschalter : 17|1@1+ (1,0) [0|0] "" XXX
  SG_ Bremslichtschalter : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "°" XXX
+ SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
+ SG_ Multiplex_Code_Motor_2 M : 6|2@1+ (1,0) [0|0] "" XXX
+ SG_ Multiplex_Info_Motorcode__4_x_ m1 : 0|6@1+ (1,0) [0|0] "" XXX
+ SG_ Multiplex_Info_Getriebecode m2 : 0|6@1+ (1,0) [0|0] "" XXX
+ SG_ Multiplex_Info_Max_Moment__Norm m3 : 0|6@1+ (10,0) [0|630] "Nm" XXX
+ SG_ Multiplex_Info_CAN_Stand m0 : 0|6@1+ (1,0) [0|0] "" XXX
 
 BO_ 640 Motor_1: 8 XXX
  SG_ Fahrerwunschmoment : 56|8@1+ (0.39,0) [0|99] "MDI" XXX
@@ -388,11 +404,12 @@ BO_ 640 Motor_1: 8 XXX
  SG_ Time_Out_Bremsen_Botschaft : 4|1@1+ (1,0) [0|0] "" XXX
  SG_ Kupplungsschalter : 3|1@1+ (1,0) [0|0] "" XXX
  SG_ Kickdownschalter : 2|1@1+ (1,0) [0|0] "" XXX
+ SG_ Fahrpedalwert_ungenau__Motor_1_ M : 1|1@1+ (1,0) [0|0] "" XXX
  SG_ Leergasinformation : 0|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 262 Master_3: 8 XXX
  SG_ Frei_Master_3_1 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Motortemperatur_linearisiert : 48|8@1+ (0.75,-48) [-48|143.25] "°" XXX
+ SG_ Motortemperatur_linearisiert : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX
  SG_ Indiziertes_Sollmoment_f_r_Vmax : 32|16@1+ (0.0015259,0) [0|100] "%" XXX
  SG_ Relative_Momentenanforderung_de : 16|16@1+ (0.003052,0) [0|200] "%" XXX
  SG_ Delta_Motormoment_aus_Verlustmo : 0|16@1+ (0.003052,-100) [-100|100] "%" XXX
@@ -431,7 +448,7 @@ BO_ 1986 Lenkwinkel_Init: 4 XXX
 
 BO_ 192 Lenkwinkel_1__RB_: 2 XXX
  SG_ Vorzeichen__RB_ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel__RB_ : 5|10@1+ (2.5,-720) [-720|720] "°" XXX
+ SG_ Lenkwinkel__RB_ : 5|10@1+ (2.5,-720) [-720|720] "" XXX
  SG_ LWS_OK__RB_ : 4|1@1+ (1,0) [0|0] "" XXX
  SG_ LWS_Abgleich__RB_ : 3|1@1+ (1,0) [0|0] "" XXX
  SG_ Frei_Lenkwinkel_1_1__RB_ : 2|1@1+ (1,0) [0|0] "" XXX
@@ -440,7 +457,7 @@ BO_ 192 Lenkwinkel_1__RB_: 2 XXX
 
 BO_ 196 Lenkwinkel_1__ITT_: 2 XXX
  SG_ Vorzeichen__ITT_ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel__ITT_ : 5|10@1+ (1.5,-768) [-768|766.5] "°" XXX
+ SG_ Lenkwinkel__ITT_ : 5|10@1+ (1.5,-768) [-768|766.5] "" XXX
  SG_ LWS_OK : 4|1@1+ (1,0) [0|0] "" XXX
  SG_ LWS_Abgleich__ITT_ : 3|1@1+ (1,0) [0|0] "" XXX
  SG_ LWS_Initialisierung__ITT_ : 2|1@1+ (1,0) [0|0] "" XXX
@@ -515,17 +532,36 @@ BO_ 1312 Kombi_3: 8 XXX
  SG_ Standzeit : 24|15@1+ (4,0) [0|131068] "sec" XXX
  SG_ Frei_Kombi_3_1 : 20|4@1+ (1,0) [0|0] "" XXX
  SG_ Schluesselinfo : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ Kombi_Multiplex_Code M : 14|2@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_Niveauregulie m3 : 11|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Multiplex_Marke m1 : 11|3@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_Lenkhilfe m3 : 10|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_Dieselpumpe m3 : 9|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_Lenkwinkel m3 : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Multiplex_Baureihe m1 : 8|3@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Multiplex_Laendervariante m0 : 8|6@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_Allrad m3 : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_Bordnetz m3 : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_ACC m3 : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_Airbag m3 : 4|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Multiplex_Generation m1 : 4|4@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_Klima m3 : 3|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_ABS m3 : 2|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Verbauliste_Motor m3 : 0|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Multiplex_Derivat m1 : 0|4@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Multiplex_Sprachvariante m0 : 0|8@1+ (1,0) [0|0] "" XXX
+ SG_ Kombi_Multiplex_Reifenumfang m2 : 0|12@1+ (1,0) [0|4095] "mm" XXX
 
 BO_ 1056 Kombi_2: 8 XXX
  SG_ Frei_Kombi_2_2 : 56|8@1+ (1,0) [0|0] "" XXX
  SG_ Fehlerstatus_Kl__58_s : 55|1@1+ (1,0) [0|0] "" XXX
  SG_ Klemme_58s__Kombi_2_ : 48|7@1+ (1,0) [0|100] "%" XXX
  SG_ Fehlerstatus_Kl__58_d : 47|1@1+ (1,0) [0|0] "" XXX
  SG_ Klemme_58d__Kombi_2_ : 40|7@1+ (1,0) [0|100] "%" XXX
- SG_ Kuehlmitteltemp__4_1__Kombi_2_ : 32|8@1+ (0.75,-48) [-48|142.5] "°C" XXX
- SG_ Oeltemperatur_4_1 : 24|8@1+ (1,-60) [-60|194] "°C" XXX
- SG_ Aussentemp__ungefiltert_4_1__Ko : 16|8@1+ (0.5,-50) [-50|77] "°C" XXX
- SG_ Aussentemperatur_gefiltert : 8|8@1+ (0.5,-50) [-50|77] "°C" XXX
+ SG_ Kuehlmitteltemp__4_1__Kombi_2_ : 32|8@1+ (0.75,-48) [-48|142.5] "C" XXX
+ SG_ Oeltemperatur_4_1 : 24|8@1+ (1,-60) [-60|194] "C" XXX
+ SG_ Aussentemp__ungefiltert_4_1__Ko : 16|8@1+ (0.5,-50) [-50|77] "C" XXX
+ SG_ Aussentemperatur_gefiltert : 8|8@1+ (0.5,-50) [-50|77] "C" XXX
  SG_ Fehlerspeichereintrag__Kombi_ : 7|1@1+ (1,0) [0|0] "" XXX
  SG_ Frei_Kombi_2_1 : 4|3@1+ (1,0) [0|0] "" XXX
  SG_ Anhaenger_erkannt : 3|1@1+ (1,0) [0|0] "" XXX
@@ -560,7 +596,7 @@ BO_ 800 Kombi_1: 8 XXX
  SG_ Fahrertuer_4_1 : 0|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 1504 Klima_1: 8 XXX
- SG_ Aussentemp__ungef__Sto_f__4_1 : 56|8@1+ (0.5,-50) [-50|77] "°C" XXX
+ SG_ Aussentemp__ungef__Sto_f__4_1 : 56|8@1+ (0.5,-50) [-50|77] "C" XXX
  SG_ Fehlerspeichereintrag__Klima_ : 55|1@1+ (1,0) [0|0] "" XXX
  SG_ Frei_Klima_1_5 : 50|5@1+ (1,0) [0|0] "" XXX
  SG_ AC_Schalter : 49|1@1+ (1,0) [0|0] "" XXX
@@ -569,7 +605,7 @@ BO_ 1504 Klima_1: 8 XXX
  SG_ Geblaeselast_4_1 : 32|8@1+ (0.4,0) [0|101.6] "%" XXX
  SG_ Kompressorlast : 24|8@1+ (0.25,0) [0|63.5] "Nm" XXX
  SG_ Klimadrucksignal__Klima_1_ : 16|8@1+ (0.2,0) [0|50.8] "bar" XXX
- SG_ Aussentemp__ungef__4_1__Klima_1 : 8|8@1+ (0.5,-50) [-50|77] "°C" XXX
+ SG_ Aussentemp__ungef__4_1__Klima_1 : 8|8@1+ (0.5,-50) [-50|77] "C" XXX
  SG_ Kaeltemitteldruck_veraltet : 7|1@1+ (1,0) [0|0] "" XXX
  SG_ Kompressormoment_veraltet_4_1 : 6|1@1+ (1,0) [0|0] "" XXX
  SG_ Keine_Heizleistg_gewuenscht_4_1 : 5|1@1+ (1,0) [0|0] "" XXX
@@ -800,9 +836,9 @@ BO_ 1192 Bremse_5: 8 XXX
  SG_ Checksumme_Bremse_5 : 56|8@1+ (1,0) [0|0] "" XXX
  SG_ Zaehler_Bremse_5 : 52|4@1+ (1,0) [0|15] "" XXX
  SG_ Bremslicht_ECD : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "°C" XXX
+ SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "C" XXX
  SG_ Frei_Bremse_5_5 : 40|8@1+ (1,0) [0|0] "" XXX
- SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "°/s" XXX
+ SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "deg/s" XXX
  SG_ Vorzeichen_Bremsdruck : 31|1@1+ (1,0) [0|0] "" XXX
  SG_ Status_Bremsdruck_durch_ESP_Sys : 30|1@1+ (1,0) [0|0] "" XXX
  SG_ Bremsdruck_ungueltig : 29|1@1+ (1,0) [0|0] "" XXX
@@ -840,6 +876,9 @@ BO_ 1440 Bremse_2: 8 XXX
  SG_ Wegimpulse_Vorderachse : 40|11@1+ (1,0) [0|2047] "" XXX
  SG_ Zeitstempel : 24|16@1+ (1,0) [0|65535] "tics" XXX
  SG_ mittlere_Raddrehzahl__Bremse_2 : 9|15@1+ (0.002,0) [0|65.278] "U/sec" XXX
+ SG_ Querbeschl__TimerTic M : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ Timer m1 : 0|8@1+ (0.04,0) [0|10.2] "usec" XXX
+ SG_ Querbeschleunigung m0 : 0|8@1+ (0.01,-1.27) [-1.27|1.27] "g" XXX
 
 BO_ 416 Bremse_1: 8 XXX
  SG_ Geschwindigkeitsersatzwert : 63|1@1+ (1,0) [0|0] "" XXX
@@ -1009,12 +1048,3 @@ BO_ 210 PQ_HCA: 8 XXX
  SG_ PQ_HCA_Checksum : 0|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1490 VIN_1: 8 XXX
-
-BO_ 208 EPS_1: 8 XXX
- SG_ Counter1 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Counter2 : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ Driver_Torque_Sign : 26|1@1+ (1,0) [0|1] "" XXX
- SG_ Driver_Torque : 16|10@1+ (1,0) [0|1023] "" XXX
- SG_ Steering_Angle : 32|12@1+ (1,0) [0|4095] "" XXX
- SG_ Steering_Angle_Sign : 44|1@0+ (1,0) [0|1] "" XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX