Squashed commit of the following:

commit d585a9b Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Jan 2 16:10:04 2023 -0800 Hyundai CAN-FD: SCC upper jerk limit signal (commaai#775) upper jerk commit 107b96a Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Jan 1 17:09:27 2023 -0800 add some type hints (commaai#774) * type stubs for common, parser_pyx * Cleanup imports * values are indeed floats * common.pyi complete, added cpp stubs * parser_pyx.pyi complete * CANPacker completed * Holding temp changes... * remove *.pyi * just remove skip-file Co-authored-by: Jason Shuler <jshuler@gmail.com> commit dcab27c Author: Greg Hogan <gregjhogan@gmail.com> Date: Sun Jan 1 16:10:26 2023 -0800 toyota: update CAR_MOVEMENT and ODOMETER signal (commaai#748) commit 28f78f3 Author: Louie Lu <git@louie.lu> Date: Sun Jan 1 19:09:34 2023 -0500 Mazda: Add vehicle acceleration of x and y axis (NED) (commaai#767) commit 06a3e7d Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sat Dec 31 16:49:26 2022 -0800 add cpplint (commaai#773) * add cpplint * passes * bump cereal * here's a real hash commit e8e97fc Author: Shane Smiskol <shane@smiskol.com> Date: Thu Dec 15 15:19:11 2022 -0800 Bump pylint to 2.15.4 (commaai#765) bump commit 119f3f6 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Dec 15 13:16:57 2022 -0800 Bump pylint version (commaai#764) bump pylint commit 4a7ad63 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Dec 12 23:04:12 2022 -0800 HKG CAN-FD: add brake error signal (commaai#762) * add brake errors * rename and add comment * fix commit bb71829 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Dec 12 17:10:47 2022 -0800 GM: add comment for ACCAlwaysOne commit 38fe4d3 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Dec 12 17:03:36 2022 -0800 GM: add steering buttons ACC-related bit (commaai#761) * add missing acc bit * this just looks better commit 1f8aa05 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Dec 8 20:35:26 2022 -0800 Toyota: update LTA signals (commaai#759) * si * fix comments * run generator * Revert "run generator" This reverts commit 2b67e4c. Revert "fix comments" This reverts commit 7f95fd2. Revert "si" This reverts commit f058760. * sort and add LKA_ACTIVE signal (also flip STEER_REQUEST and _2) * Revert "sort and add LKA_ACTIVE signal (also flip STEER_REQUEST and _2)" This reverts commit 4ffd0f2. * minimal changes * run generator commit fae2238 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Dec 7 15:13:14 2022 -0800 more canfd hkg blinker signals commit 94fff47 Author: Shane Smiskol <shane@smiskol.com> Date: Sat Dec 3 02:02:55 2022 -0800 Toyota: add steer_unavailable EPS states (commaai#756) * add lxa_unavailable states * generate * better to be more descriptive * better commit 18e4ceb Author: Shane Smiskol <shane@smiskol.com> Date: Sat Dec 3 00:39:47 2022 -0800 Toyota: fix ACC fault signal comment (commaai#755) better name and comment commit 4e3899c Author: Shane Smiskol <shane@smiskol.com> Date: Fri Dec 2 21:02:00 2022 -0800 Toyota: add ACC faulted signals (commaai#754) * add acc faulted signal to toyota dbc * generate commit 3737675 Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Thu Dec 1 17:21:27 2022 -0500 HKG: Additional Distance Unit Signal (commaai#753) HKG: Car Port for Kia Sorento Plug-in Hybrid 2022 commit 900d8d1 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Nov 28 21:41:29 2022 -0800 Hyundai: CAN-FD RSPAS messages (commaai#752) * Hyundai: CAN-FD RSPAS messages * fix checksum commit 871e054 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Nov 22 14:57:13 2022 -0800 GM: add cruise state signal (commaai#750) * add cruise state signal * values * accurate commit cb53738 Author: Cameron Clough <cameronjclough@gmail.com> Date: Mon Nov 21 00:08:22 2022 -0800 update README link to cabana closes commaai#733 commit 16efea3 Author: Willem Melching <willem.melching@gmail.com> Date: Tue Nov 15 19:51:42 2022 +0100 add missing iterator include (commaai#747) commit 296f190 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Nov 2 16:17:20 2022 -0700 GM: add bits for moving backwards (commaai#737) add bits for moving forward/backwards commit 2304ecf Author: Shane Smiskol <shane@smiskol.com> Date: Wed Nov 2 15:39:33 2022 -0700 GM: add new undefined brake-related signals (commaai#736) * add some more brake related signals i found * generate * standardize name * add comments * generate * fix signal definition commit 909e650 Author: ioniq5-cz <111085918+ioniq5-cz@users.noreply.github.com> Date: Mon Oct 31 22:02:35 2022 +0100 CAN-FD HKG - Secondary Speed Limit, Schoolzone and bugfix (commaai#735) Secondary Speed Limit, Schoolzone and bugfix commit b3dc569 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Oct 30 17:57:29 2022 -0700 EV6 longitudinal signals (commaai#734) * match to can platform * more matching * little more commit 063f70a Author: ioniq5-cz <111085918+ioniq5-cz@users.noreply.github.com> Date: Sat Oct 29 21:47:01 2022 +0200 CAN-FD HGK - additional icons and chime from cars dash (commaai#728) additional Icons and chime from Dash commit 526e21d Author: ioniq5-cz <111085918+ioniq5-cz@users.noreply.github.com> Date: Fri Oct 28 21:42:39 2022 +0200 Hyundai CAN-FD: fix set speed signal size (commaai#729) * additional Icons and chime from Dash * Fix for EU cars using kph with 127 limit * 255 max * remove factor 0.5 * removing unused NEW_SIGNAL_4 on 103 commit bf30c91 Author: ioniq5-cz <111085918+ioniq5-cz@users.noreply.github.com> Date: Tue Oct 25 08:05:52 2022 +0200 CAN-FD HKG - Speed Limits from Dashboard (commaai#727) * SPEED_LIMITS HDA2 Dash * cleanup * cleanup 2 * Final Adjustments * cleanup * cleanup 2 * clean title for HDA2 * change title since it covers hda 1 and 2 commit a95b0ae Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Oct 24 19:15:26 2022 -0700 ev6 blindspot signals commit e111117 Author: Brandon Smyth <bjsmyth@umich.edu> Date: Mon Oct 24 19:23:43 2022 -0400 Ford: correct syntax error (commaai#720) Correct syntax error Co-authored-by: Brandon <brandon@Weston.local> commit d1dffa1 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Oct 23 17:34:46 2022 -0700 unpin scons commit 4e9acc8 Author: Jiapeng Li <gapleehit@gmail.com> Date: Fri Oct 21 11:08:47 2022 +0800 [docker] rm cereal .git folder (commaai#721) * [docker] rm cereal .git folder * Update Dockerfile Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 7bd94e3 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Oct 20 19:28:28 2022 -0700 HKG CAN-FD: rename common brake signal (commaai#725) * rename brake signals * move * fix * add comments commit 1903dc5 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Oct 20 15:36:44 2022 -0700 HKG CAN-FD: BRAKE_POSITION is signed (commaai#724) * signed * cmt commit 27022cc Author: Shane Smiskol <shane@smiskol.com> Date: Thu Oct 20 14:31:00 2022 -0700 HKG CAN-FD: rename brake pressure signal, add position signal (commaai#723) * add brake percent/pressure * This are actually swapped * add comments commit a58a58a Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Oct 19 21:50:34 2022 -0700 Hyundai CAN-FD: a few TCS signals (commaai#722) commit 8a37db4 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Oct 19 11:15:19 2022 -0700 EV6 corner radars (commaai#719) * ev6 blindspot radars * Update hyundai_canfd.dbc commit 8f245e6 Author: Eric Day <smartype@gmail.com> Date: Tue Oct 18 12:27:50 2022 +0800 Toyota: radar dsu tss-p radar support, aka nodsu (commaai#707) * Toyota: radar dsu tss-p radar support, aka nodsu * update LONG_DIST factor to 0.03 commit ad45ef8 Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Tue Oct 18 00:25:46 2022 -0400 Hyundai CAN-FD: support for ICE cars (commaai#680) * Hyundai: Car Port for Santa Cruz 2022 * Define gears * Wrong definition commit c131dce Author: Dean Lee <deanlee3@gmail.com> Date: Tue Oct 18 12:25:13 2022 +0800 CANParser: parse DBC from stream (commaai#718) commit dde0ff6 Author: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed Oct 12 19:26:00 2022 -0400 VW MQB: Update ACC messages (commaai#717) * add/update ACC messages * lower diff commit 04cc54d Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Oct 11 18:46:02 2022 -0700 EV6 radar + longitudinal messages (commaai#714) * EV6 radar messages * fix radar messages * adrv messages * start adrv * one more * it's on both, but don't want to split the dbc yet * and the signals * accel signals * little more * few more * getting somewhere commit a70a900 Author: Greg Hogan <gregjhogan@gmail.com> Date: Tue Oct 11 16:04:19 2022 -0700 Hyundai corner radar DBC (commaai#712) * corner radar dbc based on palisade * 0x100/0x200 scale/offset * update DBC * generate dbc properly commit c35e813 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Oct 10 23:04:08 2022 -0700 HKG CAN-FD: add LKA fault signal (commaai#716) * Add LKA fault signal * add comment * change to 1 bit commit 0c80dc3 Author: Shane Smiskol <shane@smiskol.com> Date: Sat Oct 8 22:14:50 2022 -0700 Add missing checksum and counter signals for PSCMStatus (commaai#715) * Add missing checksum and counter signals for PSCMStatus * flip commit c090e49 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Oct 7 17:12:17 2022 -0700 Revert "EV6 radar messages" This reverts commit b3be6e9. commit b3be6e9 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Oct 7 17:03:24 2022 -0700 EV6 radar messages commit 6fc6781 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Oct 7 15:50:33 2022 -0700 Add comment about variable length GM message, fix comment syntax commit ae2fd93 Author: Cameron Clough <cameronjclough@gmail.com> Date: Wed Oct 5 19:42:01 2022 -0700 Revert "Ford: fix steering command signal ranges (commaai#683)" This reverts commit 778894f. commit 9ddcdb2 Author: Greg Hogan <gregjhogan@gmail.com> Date: Mon Oct 3 18:43:26 2022 -0700 hyundai: fix FCA11 checksum and counter (commaai#656) commit 3a03644 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Oct 3 14:27:27 2022 -0700 hyundai_kia_generic: add values for ACCEnable signal commit 738e8aa Author: Greg Hogan <gregjhogan@gmail.com> Date: Sun Sep 25 08:31:57 2022 -0700 CAN-FD messages can be 64 bytes (commaai#711) commit eaac172 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Sep 21 21:40:31 2022 -0700 setup generator for hyundai radar dbc (commaai#710) * setup generator for hyundai radar dbc * fix indentation commit 1f47ae8 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Sep 19 11:48:09 2022 -0700 Honda Bosch Radarless: add standstill bit (commaai#699) * Update honda_civic_ex_2022_can.dbc * Update honda_civic_ex_2022_can.dbc * run generator commit 3008f67 Author: Greg Hogan <gregjhogan@gmail.com> Date: Sat Sep 17 16:02:44 2022 -0700 hyundai: fix CAN-FD steering angle rate signal (commaai#708) * hyundai: fix canfd steering angle rate signal * make consistent with non-canfd definition commit 82435e5 Author: ioniq5-cz <111085918+ioniq5-cz@users.noreply.github.com> Date: Thu Sep 8 21:28:07 2022 +0200 Hyundai: Add FCA signal for CAN-FD (commaai#706) * new signal for FCA detection IONIQ 5 HDA2 * Cleanup * cleanup * cleanup2 commit e95ed31 Author: martinl <martin@mlp.ee> Date: Thu Sep 8 06:37:36 2022 +0300 Add test for Subaru Brake_Status Signal1 large value (commaai#702) * Add test for Subaru Brake_Status Signal1 large value * fix Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 40c6132 Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed Sep 7 16:43:01 2022 -0400 Hyundai: Add Manumatic/Paddle Shifter signal (commaai#705) commit d588872 Author: Comma Device <device@comma.ai> Date: Fri Sep 2 19:00:25 2022 -0400 can parser: reduce spammy debug messages commit 83d4cb9 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Aug 31 15:17:08 2022 -0700 fix typo commit 8a60d0d Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Aug 31 15:01:27 2022 -0700 hyundai canfd: add a couple brake signals commit 63581cc Author: Shane Smiskol <shane@smiskol.com> Date: Mon Aug 29 22:59:48 2022 -0700 Toyota: add universal units signal (commaai#695) * Toyota: add universal units signal * not vehicle units * Update comment * Update comment 2 * Update comment 2 * Update signal name for RC and IS commit 778894f Author: Cameron Clough <cameronjclough@gmail.com> Date: Mon Aug 29 14:02:03 2022 -0700 Ford: fix steering command signal ranges (commaai#683) fix LatCtlPath_An_Actl signal range commit d8e7566 Author: Cameron Clough <cameronjclough@gmail.com> Date: Mon Aug 29 13:46:28 2022 -0700 ford: another mystery bit (commaai#697) Found another signal to passthrough
budney · Jan 7, 2023 · 04f9e6b · 04f9e6b
1 parent 7e45de4
commit 04f9e6b
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Showing 36 changed files with 1,797 additions and 642 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -37,6 +37,15 @@ repos:
         exclude: 'site_scons/'
         args:
         - --disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,E1136
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        args:
+        - --quiet
+        - --counting=detailed
+        - --linelength=240
+        - --filter=-legal,-build/include_order,-readability/casting,-whitespace/braces,-whitespace/indent,-whitespace/operators,-build/c++11,-readability/todo,-runtime/explicit,-runtime/int,-whitespace/comments,-readability/braces,-runtime/arrays,-runtime/references
 -   repo: local
     hooks:
     -   id: cppcheck

diff --git a/Dockerfile b/Dockerfile
@@ -46,11 +46,14 @@ ENV PYTHONPATH=/project
 
 WORKDIR /project
 # TODO: Add tag to cereal
-RUN git clone https://github.com/commaai/cereal.git /project/cereal && cd /project/cereal && git checkout d46f37c314bb92306207db44693b2f58c31f66b9
+RUN git clone https://github.com/commaai/cereal.git /project/cereal && \
+    cd /project/cereal && \
+    git checkout 959ff79963b80829be9902d146c31fda44dbbd20
 
 COPY SConstruct .
 COPY ./site_scons /project/site_scons
 COPY . /project/opendbc
 
-RUN rm -rf /project/opendbc/.git
+RUN rm -rf /project/opendbc/.git && \
+    rm -rf /project/cereal/.git
 RUN scons -c && scons -j$(nproc)
diff --git a/README.md b/README.md
@@ -5,7 +5,7 @@ Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/ind
 
 ## How to start reverse engineering cars
 
-[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).
+[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
 
 Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
 

diff --git a/SConstruct b/SConstruct
@@ -11,9 +11,6 @@ cereal_dir = Dir('.')
 python_path = sysconfig.get_paths()['include']
 cpppath = [
   '#',
-  '#cereal',
-  "#cereal/messaging",
-  "#opendbc/can",
   '/usr/lib/include',
   python_path
 ]

diff --git a/can/common.cc b/can/common.cc
@@ -1,4 +1,5 @@
-#include "common.h"
+#include "opendbc/can/common.h"
+
 
 unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
   int s = 0;
@@ -34,7 +35,7 @@ unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vec
 }
 
 unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
-  /* jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  // jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf
   uint8_t checksum = 0xFF;
   for (int j = 0; j < (d.size() - 1); j++) {
     uint8_t shift = 0x80;
@@ -123,64 +124,64 @@ unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const
   // Look up and apply the magic final CRC padding byte, which permutes by CAN
   // address, and additionally (for SOME addresses) by the message counter.
   uint8_t counter = d[1] & 0x0F;
-  switch(address) {
+  switch (address) {
     case 0x86:  // LWI_01 Steering Angle
-      crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
+      crc ^= (uint8_t[]){0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86}[counter];
       break;
     case 0x9F:  // LH_EPS_03 Electric Power Steering
-      crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
+      crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
       break;
     case 0xAD:  // Getriebe_11 Automatic Gearbox
-      crc ^= (uint8_t[]){0x3F,0x69,0x39,0xDC,0x94,0xF9,0x14,0x64,0xD8,0x6A,0x34,0xCE,0xA2,0x55,0xB5,0x2C}[counter];
+      crc ^= (uint8_t[]){0x3F, 0x69, 0x39, 0xDC, 0x94, 0xF9, 0x14, 0x64, 0xD8, 0x6A, 0x34, 0xCE, 0xA2, 0x55, 0xB5, 0x2C}[counter];
       break;
     case 0xFD:  // ESP_21 Electronic Stability Program
-      crc ^= (uint8_t[]){0xB4,0xEF,0xF8,0x49,0x1E,0xE5,0xC2,0xC0,0x97,0x19,0x3C,0xC9,0xF1,0x98,0xD6,0x61}[counter];
+      crc ^= (uint8_t[]){0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61}[counter];
       break;
     case 0x106: // ESP_05 Electronic Stability Program
-      crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
+      crc ^= (uint8_t[]){0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07}[counter];
       break;
     case 0x117: // ACC_10 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
+      crc ^= (uint8_t[]){0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16}[counter];
       break;
     case 0x120: // TSK_06 Drivetrain Coordinator
-      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      crc ^= (uint8_t[]){0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF}[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];
+      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];
+      crc ^= (uint8_t[]){0x37, 0x7D, 0xF3, 0xA9, 0x18, 0x46, 0x6D, 0x4D, 0x3D, 0x71, 0x92, 0x9C, 0xE5, 0x32, 0x10, 0xB9}[counter];
       break;
     case 0x126: // HCA_01 Heading Control Assist
-      crc ^= (uint8_t[]){0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA}[counter];
+      crc ^= (uint8_t[]){0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA}[counter];
       break;
     case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
-      crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
+      crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
       break;
     case 0x12E: // ACC_07 Automatic Cruise Control
-      crc ^= (uint8_t[]){0xF8,0xE5,0x97,0xC9,0xD6,0x07,0x47,0x21,0x66,0xDD,0xCF,0x6F,0xA1,0x94,0x74,0x63}[counter];
+      crc ^= (uint8_t[]){0xF8, 0xE5, 0x97, 0xC9, 0xD6, 0x07, 0x47, 0x21, 0x66, 0xDD, 0xCF, 0x6F, 0xA1, 0x94, 0x74, 0x63}[counter];
       break;
     case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
-      crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
+      crc ^= (uint8_t[]){0x7F, 0xED, 0x17, 0xC2, 0x7C, 0xEB, 0x44, 0x21, 0x01, 0xFA, 0xDB, 0x15, 0x4A, 0x6B, 0x23, 0x05}[counter];
       break;
     case 0x30C: // ACC_02 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
+      crc ^= (uint8_t[]){0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F}[counter];
       break;
     case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
-      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
+      crc ^= (uint8_t[]){0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C}[counter];
       break;
     case 0x324: // ACC_04 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[counter];
+      crc ^= (uint8_t[]){0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27}[counter];
       break;
     case 0x3C0: // Klemmen_Status_01 ignition and starting status
-      crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
+      crc ^= (uint8_t[]){0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3}[counter];
       break;
     case 0x65D: // ESP_20 Electronic Stability Program
-      crc ^= (uint8_t[]){0xAC,0xB3,0xAB,0xEB,0x7A,0xE1,0x3B,0xF7,0x73,0xBA,0x7C,0x9E,0x06,0x5F,0x02,0xD9}[counter];
+      crc ^= (uint8_t[]){0xAC, 0xB3, 0xAB, 0xEB, 0x7A, 0xE1, 0x3B, 0xF7, 0x73, 0xBA, 0x7C, 0x9E, 0x06, 0x5F, 0x02, 0xD9}[counter];
       break;
     default:    // As-yet undefined CAN message, CRC check expected to fail
       printf("Attempt to CRC check undefined Volkswagen message 0x%02X\n", address);
-      crc ^= (uint8_t[]){0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}[counter];
+      crc ^= (uint8_t[]){0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}[counter];
       break;
   }
   crc = crc8_lut_8h2f[crc];
@@ -221,7 +222,6 @@ unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vect
 }
 
 unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
-
   uint16_t crc = 0;
 
   for (int i = 2; i < d.size(); i++) {

diff --git a/can/common.h b/can/common.h
@@ -1,17 +1,20 @@
 #pragma once
 
-#include <vector>
 #include <map>
+#include <string>
+#include <utility>
 #include <unordered_map>
+#include <vector>
 
-#include "common_dbc.h"
 #include <capnp/dynamic.h>
 #include <capnp/serialize.h>
 
 #ifndef DYNAMIC_CAPNP
 #include "cereal/gen/cpp/log.capnp.h"
 #endif
 
+#include "opendbc/can/common_dbc.h"
+
 #define INFO printf
 #define WARN printf
 #define DEBUG(...)

diff --git a/can/common_dbc.h b/can/common_dbc.h
@@ -72,6 +72,17 @@ struct DBC {
   std::vector<Val> vals;
 };
 
+typedef struct ChecksumState {
+  int checksum_size;
+  int counter_size;
+  int checksum_start_bit;
+  int counter_start_bit;
+  bool little_endian;
+  SignalType checksum_type;
+  unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+} ChecksumState;
+
 DBC* dbc_parse(const std::string& dbc_path);
+DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr);
 const DBC* dbc_lookup(const std::string& dbc_name);
 std::vector<std::string> get_dbc_names();
diff --git a/can/dbc.cc b/can/dbc.cc
@@ -8,9 +8,10 @@
 #include <vector>
 #include <mutex>
 #include <cstring>
+#include <iterator>
 
-#include "common.h"
-#include "common_dbc.h"
+#include "opendbc/can/common.h"
+#include "opendbc/can/common_dbc.h"
 
 std::regex bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
 std::regex sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
@@ -47,16 +48,6 @@ inline std::string& trim(std::string& s, const char* t = " \t\n\r\f\v") {
   return s.erase(0, s.find_first_not_of(t));
 }
 
-typedef struct ChecksumState {
-  int checksum_size;
-  int counter_size;
-  int checksum_start_bit;
-  int counter_start_bit;
-  bool little_endian;
-  SignalType checksum_type;
-  unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
-} ChecksumState;
-
 ChecksumState* get_checksum(const std::string& dbc_name) {
   ChecksumState* s = nullptr;
   if (startswith(dbc_name, {"honda_", "acura_"})) {
@@ -107,14 +98,7 @@ void set_signal_type(Signal& s, ChecksumState* chk, const std::string& dbc_name,
   }
 }
 
-DBC* dbc_parse(const std::string& dbc_path) {
-  std::ifstream infile(dbc_path);
-  if (!infile) return nullptr;
-
-  const std::string dbc_name = std::filesystem::path(dbc_path).filename();
-
-  std::unique_ptr<ChecksumState> checksum(get_checksum(dbc_name));
-
+DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum) {
   uint32_t address = 0;
   std::set<uint32_t> address_set;
   std::set<std::string> msg_name_set;
@@ -134,7 +118,7 @@ DBC* dbc_parse(const std::string& dbc_path) {
   int line_num = 0;
   std::smatch match;
   // TODO: see if we can speed up the regex statements in this loop, SG_ is specifically the slowest
-  while (std::getline(infile, line)) {
+  while (std::getline(stream, line)) {
     line = trim(line);
     line_num += 1;
     if (startswith(line, "BO_ ")) {
@@ -168,7 +152,7 @@ DBC* dbc_parse(const std::string& dbc_path) {
       sig.is_signed = match[offset + 5].str() == "-";
       sig.factor = std::stod(match[offset + 6].str());
       sig.offset = std::stod(match[offset + 7].str());
-      set_signal_type(sig, checksum.get(), dbc_name, line_num);
+      set_signal_type(sig, checksum, dbc_name, line_num);
       if (sig.is_little_endian) {
         sig.lsb = sig.start_bit;
         sig.msb = sig.start_bit + sig.size - 1;
@@ -213,6 +197,16 @@ DBC* dbc_parse(const std::string& dbc_path) {
   return dbc;
 }
 
+DBC* dbc_parse(const std::string& dbc_path) {
+  std::ifstream infile(dbc_path);
+  if (!infile) return nullptr;
+
+  const std::string dbc_name = std::filesystem::path(dbc_path).filename();
+
+  std::unique_ptr<ChecksumState> checksum(get_checksum(dbc_name));
+  return dbc_parse_from_stream(dbc_name, infile, checksum.get());
+}
+
 const std::string get_dbc_root_path() {
   char *basedir = std::getenv("BASEDIR");
   if (basedir != NULL) {

diff --git a/can/packer.cc b/can/packer.cc
@@ -4,7 +4,7 @@
 #include <map>
 #include <cmath>
 
-#include "common.h"
+#include "opendbc/can/common.h"
 
 
 void set_value(std::vector<uint8_t> &msg, const Signal &sig, int64_t ival) {

diff --git a/can/packer.py b/can/packer.py
@@ -1,3 +1,2 @@
-# pylint: skip-file
-from opendbc.can.packer_pyx import CANPacker
+from opendbc.can.packer_pyx import CANPacker # pylint: disable=no-name-in-module, import-error
 assert CANPacker
diff --git a/can/parser.cc b/can/parser.cc
@@ -21,7 +21,7 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
     int msb = (int)(sig.msb / 8) == i ? sig.msb : (i+1)*8 - 1;
     int size = msb - lsb + 1;
 
-    uint8_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1);
+    uint64_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1);
     ret |= d << (bits - size);
 
     bits -= size;
@@ -32,7 +32,6 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
 
 
 bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
-
   for (int i = 0; i < parse_sigs.size(); i++) {
     auto &sig = parse_sigs[i];
 
@@ -94,7 +93,6 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
           const std::vector<MessageParseOptions> &options,
           const std::vector<SignalParseOptions> &sigoptions)
   : bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {
-
   dbc = dbc_lookup(dbc_name);
   assert(dbc);
   init_crc_lookup_tables();
@@ -127,7 +125,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
     }
 
     state.size = msg->size;
-    assert(state.size < 64);  // max signal size is 64 bytes
+    assert(state.size <= 64);  // max signal size is 64 bytes
 
     // track checksums and counters for this message
     for (const auto& sig : msg->sigs) {
@@ -287,10 +285,12 @@ void CANParser::UpdateValid(uint64_t sec) {
     const bool missing = state.last_seen_nanos == 0;
     const bool timed_out = (sec - state.last_seen_nanos) > state.check_threshold;
     if (state.check_threshold > 0 && (missing || timed_out)) {
-      if (missing) {
-        LOGE("0x%X MISSING", state.address);
-      } else if (show_missing) {
-        LOGE("0x%X TIMEOUT", state.address);
+      if (show_missing && !bus_timeout) {
+        if (missing) {
+          LOGE("0x%X NOT SEEN", state.address);
+        } else if (timed_out) {
+          LOGE("0x%X TIMED OUT", state.address);
+        }
       }
       _valid = false;
     }

diff --git a/can/tests/test.dbc b/can/tests/test.dbc
@@ -9,6 +9,15 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 316 Brake_Status: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
+ SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 245 CAN_FD_MESSAGE: 32 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|1] "" XXX
  SG_ SIGNED : 22|16@0- (1,0) [0|1] "" XXX