diff --git a/CANbus.dbc b/CANbus.dbc
index 3ed5783b..0b2f56a1 100644
--- a/CANbus.dbc
+++ b/CANbus.dbc
@@ -1,403 +1,403 @@
-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_
-
-BS_:
-
-BU_: SME ACC ETC PDB TMAIN VDM TPERIPH_FL TPERIPH_FR TPERIPH_BL TPERIPH_BR SMPC CHARGER_BOARD IZZE1
-
-
-BO_ 128 SYNC: 0 ETC
-
-BO_ 390 SME_RPDO_Throttle_Demand: 8 ETC
- SG_ SME_THROTL_PowerReady : 35|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_THROTL_MBB_Alive : 40|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ SME_THROTL_Reverse : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_THROTL_Forward : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_THROTL_MaxSpeed : 16|16@1- (1,0) [-32768|32767] "RPM" Vector__XXX
- SG_ SME_THROTL_TorqueDemand : 0|16@1- (1,0) [-32767|32767] "Q15" Vector__XXX
-
-BO_ 646 SME_RPDO_Max_Currents: 8 ETC
- SG_ SME_CURRLIM_ChargeCurrentLim : 0|16@1+ (1,0) [0|65535] "A" Vector__XXX
- SG_ SME_CURRLIM_DischargeCurrentLim : 16|16@1+ (1,0) [0|65535] "A" Vector__XXX
-
-BO_ 1154 SME_TPDO_Torque_speed: 8 SME
- SG_ SME_TRQSPD_SOC_Low_Traction : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_SOC_Low_Hydraulic : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Reverse : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Forward : 35|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Park_Brake : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Pedal_Brake : 37|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Controller_Overtermp : 38|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Key_switch_overvolt : 39|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Key_switch_undervolt : 40|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Running : 41|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Traction : 42|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Hydraulic : 43|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Powering_Enabled : 44|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Powering_Ready : 45|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_contactor_closed : 47|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Precharging : 46|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SME_TRQSPD_Speed : 0|16@1+ (1,0) [-32768|32767] "RPM" Vector__XXX
- SG_ SME_TRQSPD_MotorFlags : 48|16@1+ (1,0) [0|65535] "" Vector__XXX
- SG_ SME_TRQSPD_Torque : 16|16@1- (1,0) [-32767|32767] "Q15" Vector__XXX
-
-BO_ 1666 SME_TPDO_Temperature: 8 SME
- SG_ SME_TEMP_FaultLevel : 40|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ SME_TEMP_FaultCode : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ SME_TEMP_DC_Bus_V : 16|16@1+ (0.1,0) [0|6553.5] "V" Vector__XXX
- SG_ SME_TEMP_ControllerTemperature : 8|8@1+ (1,-40) [0|255] "C" Vector__XXX
- SG_ SME_TEMP_MotorTemperature : 0|8@1+ (1,-40) [0|255] "C" Vector__XXX
- SG_ SME_TEMP_BusCurrent : 48|16@1- (0.1,0) [-3276.8|3276.7] "A" Vector__XXX
-
-BO_ 392 ACC_TPDO_STATUS: 8 ACC
- SG_ ACC_STATUS_BMS_FAULT : 0|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_IMD_FAULT : 1|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_SHUTDOWN_STATE : 2|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_PRECHARGE_DONE : 3|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_PRECHARGING : 4|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_CELL_TOO_LOW : 8|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_CELL_TOO_HIGH : 9|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_TEMP_TOO_LOW : 10|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_TEMP_TOO_HIGH : 11|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_TEMP_TOO_HIGH_CRG : 12|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_CHARGING : 5|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_GLV_VOLTAGE : 16|16@1+ (1,0) [0|65.635] "mV" Vector__XXX
- SG_ ACC_STATUS_CELL_FAULT_INDEX : 32|32@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ACC_STATUS_BALANCING : 13|1@1+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 648 ACC_TPDO_POWER: 8 ACC
- SG_ ACC_POWER_PACK_VOLTAGE : 0|16@1+ (0.01,0) [0|655.35] "V" Vector__XXX
- SG_ ACC_POWER_SOC : 16|8@1+ (1,0) [0|255] "Percentage" Vector__XXX
- SG_ ACC_POWER_CURRENT : 24|16@1- (0.1,0) [-3276.8|3276.7] "A" Vector__XXX
-
-BO_ 401 ACC_TPDO_SEG0_VOLTS: 6 ACC
- SG_ ACC_SEG0_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG0_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG0_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG0_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG0_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG0_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
-
-BO_ 657 ACC_TPDO_SEG0_TEMPS: 6 ACC
- SG_ ACC_SEG0_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG0_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG0_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG0_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG0_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG0_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
-
-BO_ 402 ACC_TPDO_SEG1_VOLTS: 6 ACC
- SG_ ACC_SEG1_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG1_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG1_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG1_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG1_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG1_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
-
-BO_ 658 ACC_TPDO_SEG1_TEMPS: 6 ACC
- SG_ ACC_SEG1_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG1_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG1_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG1_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG1_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG1_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
-
-BO_ 403 ACC_TPDO_SEG2_VOLTS: 6 ACC
- SG_ ACC_SEG2_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG2_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG2_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG2_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG2_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG2_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
-
-BO_ 659 ACC_TPDO_SEG2_TEMPS: 6 ACC
- SG_ ACC_SEG2_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG2_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG2_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG2_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG2_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG2_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
-
-BO_ 404 ACC_TPDO_SEG3_VOLTS: 6 ACC
- SG_ ACC_SEG3_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG3_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG3_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG3_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG3_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG3_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
-
-BO_ 660 ACC_TPDO_SEG3_TEMPS: 6 ACC
- SG_ ACC_SEG3_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG3_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG3_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG3_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG3_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG3_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
-
-BO_ 405 ACC_TPDO_SEG4_VOLTS: 6 ACC
- SG_ ACC_SEG4_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG4_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG4_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG4_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG4_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
- SG_ ACC_SEG4_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
-
-BO_ 661 ACC_TPDO_SEG4_TEMPS: 6 ACC
- SG_ ACC_SEG4_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG4_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG4_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG4_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG4_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
- SG_ ACC_SEG4_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
-
-BO_ 2148139008 VDM_GPS_LAT_LONG: 8 VDM
- SG_ VDM_GPS_Latitude : 7|32@0- (1,0) [0|0] "deg" Vector__XXX
- SG_ VDM_GPS_Longitude : 39|32@0- (1,0) [0|0] "deg" Vector__XXX
-
-BO_ 2148139009 VDM_GPS_DATA: 8 VDM
- SG_ VDM_GPS_SPEED : 7|16@0+ (0.01,0) [0|0] "mph" Vector__XXX
- SG_ VDM_GPS_ALTITUDE : 23|16@0- (1,0) [0|0] "ft" Vector__XXX
- SG_ VDM_GPS_TRUE_COURSE : 39|16@0+ (0.01,0) [0|0] "deg" Vector__XXX
- SG_ VDM_GPS_SATELLITES_IN_USE : 55|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VDM_GPS_VALID1 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 2148139010 VDM_DATE_TIME: 8 VDM
- SG_ VDM_GPS_VALID2 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ VDM_UTC_DATE_YEAR : 15|8@0+ (1,0) [0|0] "years" Vector__XXX
- SG_ VDM_UTC_DATE_MONTH : 23|8@0+ (1,0) [0|0] "months" Vector__XXX
- SG_ VDM_UTC_DATE_DAY : 31|8@0+ (1,0) [0|0] "days" Vector__XXX
- SG_ VDM_UTC_TIME_HOURS : 47|8@0+ (1,0) [0|0] "hours" Vector__XXX
- SG_ VDM_UTC_TIME_MINUTES : 55|8@0+ (1,0) [0|0] "minutes" Vector__XXX
- SG_ VDM_UTC_TIME_SECONDS : 63|8@0+ (1,0) [0|0] "seconds" Vector__XXX
-
-BO_ 2148139011 VDM_ACCELERATION: 8 VDM
- SG_ VDM_X_AXIS_ACCELERATION : 7|16@0- (0.000244141,0) [0|0] "gs" Vector__XXX
- SG_ VDM_Y_AXIS_ACCELERATION : 23|16@0- (0.000244141,0) [0|0] "gs" Vector__XXX
- SG_ VDM_Z_AXIS_ACCELERATION : 39|16@0- (0.000244141,0) [0|0] "gs" Vector__XXX
-
-BO_ 2148139012 VDM_YAW_RATE: 8 VDM
- SG_ VDM_X_AXIS_YAW_RATE : 7|16@0- (0.0152588,0) [0|0] "deg/s" Vector__XXX
- SG_ VDM_Y_AXIS_YAW_RATE : 23|16@0- (0.0152588,0) [0|0] "deg/s" Vector__XXX
- SG_ VDM_Z_AXIS_YAW_RATE : 39|16@0- (0.0152588,0) [0|0] "deg/s" Vector__XXX
-
-BO_ 393 ETC_TPDO_STATUS: 8 ETC
- SG_ ETC_STATUS_HE1 : 0|16@1+ (1,0) [0|65535] "mV" Vector__XXX
- SG_ ETC_STATUS_HE2 : 16|16@1+ (1,0) [0|65535] "mV" Vector__XXX
- SG_ ETC_STATUS_BRAKE_SENSE_VOLTAGE : 32|16@1+ (1,0) [0|65535] "mV" Vector__XXX
- SG_ ETC_STATUS_RTD_BUTTON : 56|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ETC_STATUS_RTDS : 57|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ETC_STATUS_REVERSE : 58|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ETC_STATUS_BRAKELIGHT : 59|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ETC_STATUS_PEDAL_TRAVEL : 48|8@1+ (1,0) [0|100] "%" Vector__XXX
- SG_ ETC_STATUS_RTD : 60|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ETC_STATUS_IMPLAUSIBILITY : 61|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ETC_STATUS_TS_ACTIVE : 62|1@1+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 410 PDB_TPDO_POWER_A: 8 PDB
- SG_ PDB_POWER_A_GLV_VOLTAGE : 0|16@1+ (1,0) [0|65535] "mV" Vector__XXX
- SG_ PDB_POWER_A_CURRENT_SHUTDOWN : 16|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_A_CURRENT_ACC : 24|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_A_CURRENT_ETC : 32|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_A_CURRENT_BPS : 40|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_A_CURRENT_TRACTIVE : 48|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_A_CURRENT_BSPD : 56|8@1+ (1,0) [0|255] "lsb" Vector__XXX
-
-BO_ 666 PDB_TPDO_POWER_B: 8 PDB
- SG_ PDB_POWER_B_CURRENT_TELEMETRY : 0|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_B_CURRENT_PDB : 8|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_B_CURRENT_DASH : 16|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_B_CURRENT_RTML : 24|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_B_CURRENT_EXTRA_1 : 32|8@1+ (1,0) [0|255] "lsb" Vector__XXX
- SG_ PDB_POWER_B_CURRENT_EXTRA_2 : 40|8@1+ (1,0) [0|255] "lsb" Vector__XXX
-
-BO_ 416 TMAIN_TPDO_DATA: 8 TMAIN
- SG_ TMAIN_DATA_BRAKES_F : 0|16@1+ (0.1,0) [0|0] "psi" Vector__XXX
- SG_ TMAIN_DATA_BRAKES_R : 16|16@1+ (0.1,0) [0|0] "psi" Vector__XXX
-
-BO_ 418 TPERIPH_FL_TPDO_DATA: 7 TPERIPH_FL
- SG_ TPERIPH_FL_DATA_WHEELSPEED : 0|16@1- (0.1,0) [0|0] "rpm" Vector__XXX
- SG_ TPERIPH_FL_DATA_SUSTRAVEL : 16|16@1+ (0.01,0) [0|655.35] "mm" Vector__XXX
- SG_ TPERIPH_FL_DATA_STRAIN : 32|16@1- (1e-07,0) [0|0] "%" Vector__XXX
- SG_ TPERIPH_FL_DATA_SIDE_TIRE_TEMP : 48|8@1+ (1,0) [0|255] "C" Vector__XXX
-
-BO_ 419 TPERIPH_FR_TPDO_DATA: 7 TPERIPH_FR
- SG_ TPERIPH_FR_DATA_WHEELSPEED : 0|16@1- (0.1,0) [0|0] "rpm" Vector__XXX
- SG_ TPERIPH_FR_DATA_SUSTRAVEL : 16|16@1+ (0.01,0) [0|655.35] "mm" Vector__XXX
- SG_ TPERIPH_FR_DATA_STRAIN : 32|16@1- (1e-07,0) [0|0] "%" Vector__XXX
- SG_ TPERIPH_FR_DATA_SIDE_TIRE_TEMP : 48|8@1+ (1,0) [0|255] "C" Vector__XXX
-
-BO_ 420 TPERIPH_BL_TPDO_DATA: 7 TPERIPH_BL
- SG_ TPERIPH_BL_DATA_WHEELSPEED : 0|16@1- (0.1,0) [0|0] "rpm" Vector__XXX
- SG_ TPERIPH_BL_DATA_SUSTRAVEL : 16|16@1+ (0.01,0) [0|655.35] "mm" Vector__XXX
- SG_ TPERIPH_BL_DATA_STRAIN : 32|16@1- (1e-07,0) [0|0] "%" Vector__XXX
- SG_ TPERIPH_BL_DATA_SIDE_TIRE_TEMP : 48|8@1+ (1,0) [0|255] "C" Vector__XXX
-
-BO_ 421 TPERIPH_BR_TPDO_DATA: 7 TPERIPH_BR
- SG_ TPERIPH_BR_DATA_WHEELSPEED : 0|16@1- (0.1,0) [0|0] "rpm" Vector__XXX
- SG_ TPERIPH_BR_DATA_SUSTRAVEL : 16|16@1+ (0.01,0) [0|655.35] "mm" Vector__XXX
- SG_ TPERIPH_BR_DATA_STRAIN : 32|16@1- (1e-07,0) [0|0] "%" Vector__XXX
- SG_ TPERIPH_BR_DATA_SIDE_TIRE_TEMP : 48|8@1+ (1,0) [0|255] "C" Vector__XXX
-
-BO_ 673 TPERIPH_FL_TPDO_TIRETEMP: 8 TPERIPH_FL
- SG_ TPERIPH_FL_TIRETEMP_1 : 0|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FL_TIRETEMP_2 : 8|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FL_TIRETEMP_3 : 16|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FL_TIRETEMP_4 : 24|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FL_TIRETEMP_5 : 32|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FL_TIRETEMP_6 : 40|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FL_TIRETEMP_7 : 48|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FL_TIRETEMP_8 : 56|8@1+ (1,0) [0|0] "C" Vector__XXX
-
-BO_ 674 TPERIPH_FR_TPDO_TIRETEMP: 8 TPERIPH_FR
- SG_ TPERIPH_FR_TIRETEMP_1 : 0|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FR_TIRETEMP_2 : 8|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FR_TIRETEMP_3 : 16|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FR_TIRETEMP_4 : 24|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FR_TIRETEMP_5 : 32|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FR_TIRETEMP_6 : 40|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FR_TIRETEMP_7 : 48|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_FR_TIRETEMP_8 : 56|8@1+ (1,0) [0|0] "C" Vector__XXX
-
-BO_ 675 TPERIPH_BL_TPDO_TIRETEMP: 8 TPERIPH_BL
- SG_ TPERIPH_BL_TIRETEMP_1 : 0|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BL_TIRETEMP_2 : 8|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BL_TIRETEMP_3 : 16|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BL_TIRETEMP_4 : 24|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BL_TIRETEMP_5 : 32|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BL_TIRETEMP_6 : 40|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BL_TIRETEMP_7 : 48|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BL_TIRETEMP_8 : 56|8@1+ (1,0) [0|0] "C" Vector__XXX
-
-BO_ 676 TPERIPH_BR_TPDO_TIRETEMP: 8 TPERIPH_BR
- SG_ TPERIPH_BR_TIRETEMP_1 : 0|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BR_TIRETEMP_2 : 8|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BR_TIRETEMP_3 : 16|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BR_TIRETEMP_4 : 24|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BR_TIRETEMP_5 : 32|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BR_TIRETEMP_6 : 40|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BR_TIRETEMP_7 : 48|8@1+ (1,0) [0|0] "C" Vector__XXX
- SG_ TPERIPH_BR_TIRETEMP_8 : 56|8@1+ (1,0) [0|0] "C" Vector__XXX
-
-BO_ 2021 LSS_COMMAND: 8 CHARGER_BOARD
- SG_ COMMAND_MODE : 8|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COMMAND_COMMAND_SPECIFIER : 0|8@1+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 2020 LSS_RESPONSE: 8 SMPC
- SG_ RESPONSE_COMMAND_SPECIFIER : 0|8@1+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 518 SMPC_RPDO_CONTROL: 8 CHARGER_BOARD
- SG_ SMPC_CONTROL_PACK_VOLTAGE : 16|32@1+ (1,0) [0|65535] "mV" Vector__XXX
- SG_ SMPC_CONTROL_DEST_NODE_ID : 0|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ SMPC_CONTROL_ENABLE : 9|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ SMPC_CONTROL_CURRENT_10X_MULT : 11|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ SMPC_CONTROL_EVSE_OVERRIDE : 13|1@1+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 774 SMPC_RPDO_MAX_VOLTAGE_CURRENT: 8 CHARGER_BOARD
- SG_ SMPC_MAX_DEST_NODE_ID : 0|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ SMPC_MAX_CHRG_VOLTAGE : 8|32@1+ (1,0) [0|0] "mV" Vector__XXX
- SG_ SMPC_MAX_CHRG_CURRENT : 40|16@1+ (1,0) [0|0] "mA" Vector__XXX
- SG_ SMPC_MAX_INPUT_EVSE_OVERRIDE : 56|8@1+ (1,0) [0|255] "A" Vector__XXX
-
-BO_ 400 SMPC_TPDO_STATUS: 8 SMPC
- SG_ SMPC_STATUS_CURRENT_MA : 48|16@1+ (1,0) [0|65535] "mA" Vector__XXX
- SG_ SMPC_STATUS_VOLTAGE_MV : 16|32@1+ (1,0) [0|2704] "mV" Vector__XXX
- SG_ SMPC_STATUS_J1772_DISCONN : 13|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_REQUEST_EXCLUSIVE : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_CHARGER_UNPLUGGED : 8|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_CHARGING : 7|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_INTERNAL_FAULT : 6|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_UNDERVOLTAGE_FAULT : 5|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_OVERVOLTAGE_FAULT : 4|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_OVERCURRENT_FAULT : 3|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_OVERTEMP_FAULT : 2|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_CHARGE_COMPLETE : 1|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_STATUS_READY : 0|1@1+ (1,0) [0|1] "" Vector__XXX
-
-BO_ 656 SMPC_TPDO_MAX_VOLTAGE_CURRENT: 8 SMPC
- SG_ SMPC_MAX2_INPUT_CURR_LIM : 56|8@1+ (1,0) [0|255] "A" Vector__XXX
- SG_ SMPC_MAX2_EVSE_CURRENT : 48|8@1+ (1,0) [0|255] "A" Vector__XXX
- SG_ SMPC_MAX2_MAX_CURRENT_MA : 32|16@1+ (1,0) [0|65535] "mA" Vector__XXX
- SG_ SMPC_MAX2_MAX_VOLTAGE_MV : 0|32@1+ (1,0) [0|2704] "mV" Vector__XXX
-
-BO_ 912 SMPC_TPDO_INPUT_AC: 8 SMPC
- SG_ SMPC_INPUT_MAX_CHARGER_TEMP_C : 40|8@1+ (1,-50) [-50|205] "C" Vector__XXX
- SG_ SMPC_INPUT_AC_INPUT_FREQUENCY_HZ : 32|8@1+ (1,0) [0|255] "HZ" Vector__XXX
- SG_ SMPC_INPUT_AC_INPUT_CURRENT_MA : 16|16@1+ (1,0) [0|65535] "mA" Vector__XXX
- SG_ SMPC_INPUT_J1772_TRIGGERED : 10|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_INPUT_J1772_DISCONNECTED : 9|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_INPUT_J1772_CONNECTED : 8|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SMPC_INPUT_AC_INPUT_VOLTAGE : 0|8@1+ (1,0) [0|255] "Vac" Vector__XXX
-
-BO_ 1168 SMPC_TPDO_SERIAL_PART_NUM: 8 SMPC
- SG_ SMPC_SER_FIRMWARE_VER : 48|16@1+ (1,0) [0|65535] "" Vector__XXX
- SG_ SMPC_SER_SERIAL_NUMBER : 16|32@1+ (1,0) [0|2704] "" Vector__XXX
- SG_ SMPC_SER_PART_NUMBER : 0|16@1+ (1,0) [0|65535] "" Vector__XXX
-
-BO_ 1220 IZZE_BRAKETEMP_S1M1: 8 IZZE1
- SG_ IZZE_BRAKETEMP_S1_CH1 : 7|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH2 : 23|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH3 : 39|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH4 : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
-
-BO_ 1221 IZZE_BRAKETEMP_S1M2: 8 IZZE1
- SG_ IZZE_BRAKETEMP_S1_CH5 : 7|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH6 : 23|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH7 : 39|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH8 : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
-
-BO_ 1222 IZZE_BRAKETEMP_S1M3: 8 IZZE1
- SG_ IZZE_BRAKETEMP_S1_CH9 : 7|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH10 : 23|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH11 : 39|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH12 : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
-
-BO_ 1223 IZZE_BRAKETEMP_S1M4: 8 IZZE1
- SG_ IZZE_BRAKETEMP_S1_CH13 : 7|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH14 : 23|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH15 : 39|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
- SG_ IZZE_BRAKETEMP_S1_CH16 : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
-
-BO_ 1224 IZZE_BRAKETEMP_S1M5: 8 IZZE1
- SG_ IZZE_BRAKETEMP_S1_STEMP : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
-
-
-
-CM_ SG_ 2148139008 VDM_GPS_Latitude "Float32";
-CM_ SG_ 2148139008 VDM_GPS_Longitude "Float32";
-BA_DEF_  "BusType" STRING ;
-BA_DEF_ BO_  "GenMsgBackgroundColor" STRING ;
-BA_DEF_ BO_  "GenMsgForegroundColor" STRING ;
-BA_DEF_DEF_  "BusType" "CAN";
-BA_DEF_DEF_  "GenMsgBackgroundColor" "#c8c8c8";
-BA_DEF_DEF_  "GenMsgForegroundColor" "#000000";
-
+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_
+
+BS_:
+
+BU_: SME ACC ETC PDB TMAIN VDM TPERIPH_FL TPERIPH_FR TPERIPH_BL TPERIPH_BR SMPC CHARGER_BOARD IZZE1
+
+
+BO_ 128 SYNC: 0 ETC
+
+BO_ 390 SME_RPDO_Throttle_Demand: 8 ETC
+ SG_ SME_THROTL_PowerReady : 35|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_THROTL_MBB_Alive : 40|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ SME_THROTL_Reverse : 33|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_THROTL_Forward : 32|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_THROTL_MaxSpeed : 16|16@1- (1,0) [-32768|32767] "RPM" Vector__XXX
+ SG_ SME_THROTL_TorqueDemand : 0|16@1- (1,0) [-32767|32767] "Q15" Vector__XXX
+
+BO_ 646 SME_RPDO_Max_Currents: 8 ETC
+ SG_ SME_CURRLIM_ChargeCurrentLim : 0|16@1+ (1,0) [0|65535] "A" Vector__XXX
+ SG_ SME_CURRLIM_DischargeCurrentLim : 16|16@1+ (1,0) [0|65535] "A" Vector__XXX
+
+BO_ 1154 SME_TPDO_Torque_speed: 8 SME
+ SG_ SME_TRQSPD_SOC_Low_Traction : 32|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_SOC_Low_Hydraulic : 33|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Reverse : 34|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Forward : 35|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Park_Brake : 36|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Pedal_Brake : 37|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Controller_Overtermp : 38|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Key_switch_overvolt : 39|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Key_switch_undervolt : 40|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Running : 41|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Traction : 42|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Hydraulic : 43|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Powering_Enabled : 44|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Powering_Ready : 45|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_contactor_closed : 47|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Precharging : 46|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SME_TRQSPD_Speed : 0|16@1+ (1,0) [-32768|32767] "RPM" Vector__XXX
+ SG_ SME_TRQSPD_MotorFlags : 48|16@1+ (1,0) [0|65535] "" Vector__XXX
+ SG_ SME_TRQSPD_Torque : 16|16@1- (1,0) [-32767|32767] "Q15" Vector__XXX
+
+BO_ 1666 SME_TPDO_Temperature: 8 SME
+ SG_ SME_TEMP_FaultLevel : 40|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ SME_TEMP_FaultCode : 32|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ SME_TEMP_DC_Bus_V : 16|16@1+ (0.1,0) [0|6553.5] "V" Vector__XXX
+ SG_ SME_TEMP_ControllerTemperature : 8|8@1+ (1,-40) [0|255] "C" Vector__XXX
+ SG_ SME_TEMP_MotorTemperature : 0|8@1+ (1,-40) [0|255] "C" Vector__XXX
+ SG_ SME_TEMP_BusCurrent : 48|16@1- (0.1,0) [-3276.8|3276.7] "A" Vector__XXX
+
+BO_ 392 ACC_TPDO_STATUS: 8 ACC
+ SG_ ACC_STATUS_BMS_FAULT : 0|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_IMD_FAULT : 1|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_SHUTDOWN_STATE : 2|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_PRECHARGE_DONE : 3|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_PRECHARGING : 4|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_CELL_TOO_LOW : 8|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_CELL_TOO_HIGH : 9|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_TEMP_TOO_LOW : 10|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_TEMP_TOO_HIGH : 11|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_TEMP_TOO_HIGH_CRG : 12|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_CHARGING : 5|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_GLV_VOLTAGE : 16|16@1+ (1,0) [0|65.635] "mV" Vector__XXX
+ SG_ ACC_STATUS_CELL_FAULT_INDEX : 32|32@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACC_STATUS_BALANCING : 13|1@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 648 ACC_TPDO_POWER: 8 ACC
+ SG_ ACC_POWER_PACK_VOLTAGE : 0|16@1+ (0.01,0) [0|655.35] "V" Vector__XXX
+ SG_ ACC_POWER_SOC : 16|8@1+ (1,0) [0|255] "Percentage" Vector__XXX
+ SG_ ACC_POWER_CURRENT : 24|16@1- (0.1,0) [-3276.8|3276.7] "A" Vector__XXX
+
+BO_ 401 ACC_TPDO_SEG0_VOLTS: 6 ACC
+ SG_ ACC_SEG0_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG0_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG0_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG0_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG0_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG0_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+
+BO_ 657 ACC_TPDO_SEG0_TEMPS: 6 ACC
+ SG_ ACC_SEG0_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG0_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG0_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG0_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG0_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG0_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
+
+BO_ 402 ACC_TPDO_SEG1_VOLTS: 6 ACC
+ SG_ ACC_SEG1_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG1_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG1_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG1_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG1_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG1_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+
+BO_ 658 ACC_TPDO_SEG1_TEMPS: 6 ACC
+ SG_ ACC_SEG1_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG1_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG1_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG1_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG1_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG1_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
+
+BO_ 403 ACC_TPDO_SEG2_VOLTS: 6 ACC
+ SG_ ACC_SEG2_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG2_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG2_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG2_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG2_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG2_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+
+BO_ 659 ACC_TPDO_SEG2_TEMPS: 6 ACC
+ SG_ ACC_SEG2_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG2_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG2_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG2_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG2_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG2_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
+
+BO_ 404 ACC_TPDO_SEG3_VOLTS: 6 ACC
+ SG_ ACC_SEG3_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG3_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG3_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG3_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG3_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG3_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+
+BO_ 660 ACC_TPDO_SEG3_TEMPS: 6 ACC
+ SG_ ACC_SEG3_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG3_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG3_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG3_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG3_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG3_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
+
+BO_ 405 ACC_TPDO_SEG4_VOLTS: 6 ACC
+ SG_ ACC_SEG4_VOLTS_CELL0 : 0|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG4_VOLTS_CELL1 : 8|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG4_VOLTS_CELL2 : 16|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG4_VOLTS_CELL3 : 24|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG4_VOLTS_CELL4 : 32|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+ SG_ ACC_SEG4_VOLTS_CELL5 : 40|8@1+ (0.01,2) [2|4.55] "V" Vector__XXX
+
+BO_ 661 ACC_TPDO_SEG4_TEMPS: 6 ACC
+ SG_ ACC_SEG4_TEMPS_CELL0 : 0|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG4_TEMPS_CELL1 : 8|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG4_TEMPS_CELL2 : 16|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG4_TEMPS_CELL3 : 24|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG4_TEMPS_CELL4 : 32|8@1- (1,0) [-128|127] "C" Vector__XXX
+ SG_ ACC_SEG4_TEMPS_CELL5 : 40|8@1- (1,0) [-128|127] "C" Vector__XXX
+
+BO_ 2148139008 VDM_GPS_LAT_LONG: 8 VDM
+ SG_ VDM_GPS_Latitude : 7|32@0- (1,0) [0|0] "deg" Vector__XXX
+ SG_ VDM_GPS_Longitude : 39|32@0- (1,0) [0|0] "deg" Vector__XXX
+
+BO_ 2148139009 VDM_GPS_DATA: 8 VDM
+ SG_ VDM_GPS_SPEED : 7|16@0+ (0.01,0) [0|0] "mph" Vector__XXX
+ SG_ VDM_GPS_ALTITUDE : 23|16@0- (1,0) [0|0] "ft" Vector__XXX
+ SG_ VDM_GPS_TRUE_COURSE : 39|16@0+ (0.01,0) [0|0] "deg" Vector__XXX
+ SG_ VDM_GPS_SATELLITES_IN_USE : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VDM_GPS_VALID1 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2148139010 VDM_DATE_TIME: 8 VDM
+ SG_ VDM_GPS_VALID2 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VDM_UTC_DATE_YEAR : 15|8@0+ (1,0) [0|0] "years" Vector__XXX
+ SG_ VDM_UTC_DATE_MONTH : 23|8@0+ (1,0) [0|0] "months" Vector__XXX
+ SG_ VDM_UTC_DATE_DAY : 31|8@0+ (1,0) [0|0] "days" Vector__XXX
+ SG_ VDM_UTC_TIME_HOURS : 47|8@0+ (1,0) [0|0] "hours" Vector__XXX
+ SG_ VDM_UTC_TIME_MINUTES : 55|8@0+ (1,0) [0|0] "minutes" Vector__XXX
+ SG_ VDM_UTC_TIME_SECONDS : 63|8@0+ (1,0) [0|0] "seconds" Vector__XXX
+
+BO_ 2148139011 VDM_ACCELERATION: 8 VDM
+ SG_ VDM_X_AXIS_ACCELERATION : 7|16@0- (0.000244141,0) [0|0] "gs" Vector__XXX
+ SG_ VDM_Y_AXIS_ACCELERATION : 23|16@0- (0.000244141,0) [0|0] "gs" Vector__XXX
+ SG_ VDM_Z_AXIS_ACCELERATION : 39|16@0- (0.000244141,0) [0|0] "gs" Vector__XXX
+
+BO_ 2148139012 VDM_YAW_RATE: 8 VDM
+ SG_ VDM_X_AXIS_YAW_RATE : 7|16@0- (0.0152588,0) [0|0] "deg/s" Vector__XXX
+ SG_ VDM_Y_AXIS_YAW_RATE : 23|16@0- (0.0152588,0) [0|0] "deg/s" Vector__XXX
+ SG_ VDM_Z_AXIS_YAW_RATE : 39|16@0- (0.0152588,0) [0|0] "deg/s" Vector__XXX
+
+BO_ 393 ETC_TPDO_STATUS: 8 ETC
+ SG_ ETC_STATUS_HE1 : 0|16@1+ (1,0) [0|65535] "mV" Vector__XXX
+ SG_ ETC_STATUS_HE2 : 16|16@1+ (1,0) [0|65535] "mV" Vector__XXX
+ SG_ ETC_STATUS_BRAKE_SENSE_VOLTAGE : 32|16@1+ (1,0) [0|65535] "mV" Vector__XXX
+ SG_ ETC_STATUS_RTD_BUTTON : 56|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ETC_STATUS_RTDS : 57|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ETC_STATUS_REVERSE : 58|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ETC_STATUS_BRAKELIGHT : 59|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ETC_STATUS_PEDAL_TRAVEL : 48|8@1+ (1,0) [0|100] "%" Vector__XXX
+ SG_ ETC_STATUS_RTD : 60|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ETC_STATUS_IMPLAUSIBILITY : 61|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ETC_STATUS_TS_ACTIVE : 62|1@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 410 PDB_TPDO_POWER_A: 8 PDB
+ SG_ PDB_POWER_A_GLV_VOLTAGE : 0|16@1+ (1,0) [0|65535] "mV" Vector__XXX
+ SG_ PDB_POWER_A_CURRENT_SHUTDOWN : 16|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_A_CURRENT_ACC : 24|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_A_CURRENT_ETC : 32|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_A_CURRENT_BPS : 40|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_A_CURRENT_TRACTIVE : 48|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_A_CURRENT_BSPD : 56|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+
+BO_ 666 PDB_TPDO_POWER_B: 8 PDB
+ SG_ PDB_POWER_B_CURRENT_TELEMETRY : 0|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_B_CURRENT_PDB : 8|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_B_CURRENT_DASH : 16|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_B_CURRENT_RTML : 24|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_B_CURRENT_EXTRA_1 : 32|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+ SG_ PDB_POWER_B_CURRENT_EXTRA_2 : 40|8@1+ (1,0) [0|255] "lsb" Vector__XXX
+
+BO_ 416 TMAIN_TPDO_DATA: 8 TMAIN
+ SG_ TMAIN_DATA_BRAKES_F : 0|16@1+ (0.1,0) [0|0] "psi" Vector__XXX
+ SG_ TMAIN_DATA_BRAKES_R : 16|16@1+ (0.1,0) [0|0] "psi" Vector__XXX
+
+BO_ 418 TPERIPH_FL_TPDO_DATA: 7 TPERIPH_FL
+ SG_ TPERIPH_FL_DATA_WHEELSPEED : 0|16@1- (0.1,0) [0|0] "rpm" Vector__XXX
+ SG_ TPERIPH_FL_DATA_SUSTRAVEL : 16|16@1+ (0.01,0) [0|655.35] "mm" Vector__XXX
+ SG_ TPERIPH_FL_DATA_STRAIN : 32|16@1- (1e-07,0) [0|0] "%" Vector__XXX
+ SG_ TPERIPH_FL_DATA_SIDE_TIRE_TEMP : 48|8@1+ (1,0) [0|255] "C" Vector__XXX
+
+BO_ 419 TPERIPH_FR_TPDO_DATA: 7 TPERIPH_FR
+ SG_ TPERIPH_FR_DATA_WHEELSPEED : 0|16@1- (0.1,0) [0|0] "rpm" Vector__XXX
+ SG_ TPERIPH_FR_DATA_SUSTRAVEL : 16|16@1+ (0.01,0) [0|655.35] "mm" Vector__XXX
+ SG_ TPERIPH_FR_DATA_STRAIN : 32|16@1- (1e-07,0) [0|0] "%" Vector__XXX
+ SG_ TPERIPH_FR_DATA_SIDE_TIRE_TEMP : 48|8@1+ (1,0) [0|255] "C" Vector__XXX
+
+BO_ 420 TPERIPH_BL_TPDO_DATA: 7 TPERIPH_BL
+ SG_ TPERIPH_BL_DATA_WHEELSPEED : 0|16@1- (0.1,0) [0|0] "rpm" Vector__XXX
+ SG_ TPERIPH_BL_DATA_SUSTRAVEL : 16|16@1+ (0.01,0) [0|655.35] "mm" Vector__XXX
+ SG_ TPERIPH_BL_DATA_STRAIN : 32|16@1- (1e-07,0) [0|0] "%" Vector__XXX
+ SG_ TPERIPH_BL_DATA_SIDE_TIRE_TEMP : 48|8@1+ (1,0) [0|255] "C" Vector__XXX
+
+BO_ 421 TPERIPH_BR_TPDO_DATA: 7 TPERIPH_BR
+ SG_ TPERIPH_BR_DATA_WHEELSPEED : 0|16@1- (0.1,0) [0|0] "rpm" Vector__XXX
+ SG_ TPERIPH_BR_DATA_SUSTRAVEL : 16|16@1+ (0.01,0) [0|655.35] "mm" Vector__XXX
+ SG_ TPERIPH_BR_DATA_STRAIN : 32|16@1- (1e-07,0) [0|0] "%" Vector__XXX
+ SG_ TPERIPH_BR_DATA_SIDE_TIRE_TEMP : 48|8@1+ (1,0) [0|255] "C" Vector__XXX
+
+BO_ 673 TPERIPH_FL_TPDO_TIRETEMP: 8 TPERIPH_FL
+ SG_ TPERIPH_FL_TIRETEMP_1 : 0|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FL_TIRETEMP_2 : 8|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FL_TIRETEMP_3 : 16|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FL_TIRETEMP_4 : 24|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FL_TIRETEMP_5 : 32|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FL_TIRETEMP_6 : 40|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FL_TIRETEMP_7 : 48|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FL_TIRETEMP_8 : 56|8@1+ (1,0) [0|0] "C" Vector__XXX
+
+BO_ 674 TPERIPH_FR_TPDO_TIRETEMP: 8 TPERIPH_FR
+ SG_ TPERIPH_FR_TIRETEMP_1 : 0|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FR_TIRETEMP_2 : 8|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FR_TIRETEMP_3 : 16|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FR_TIRETEMP_4 : 24|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FR_TIRETEMP_5 : 32|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FR_TIRETEMP_6 : 40|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FR_TIRETEMP_7 : 48|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_FR_TIRETEMP_8 : 56|8@1+ (1,0) [0|0] "C" Vector__XXX
+
+BO_ 675 TPERIPH_BL_TPDO_TIRETEMP: 8 TPERIPH_BL
+ SG_ TPERIPH_BL_TIRETEMP_1 : 0|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BL_TIRETEMP_2 : 8|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BL_TIRETEMP_3 : 16|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BL_TIRETEMP_4 : 24|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BL_TIRETEMP_5 : 32|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BL_TIRETEMP_6 : 40|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BL_TIRETEMP_7 : 48|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BL_TIRETEMP_8 : 56|8@1+ (1,0) [0|0] "C" Vector__XXX
+
+BO_ 676 TPERIPH_BR_TPDO_TIRETEMP: 8 TPERIPH_BR
+ SG_ TPERIPH_BR_TIRETEMP_1 : 0|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BR_TIRETEMP_2 : 8|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BR_TIRETEMP_3 : 16|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BR_TIRETEMP_4 : 24|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BR_TIRETEMP_5 : 32|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BR_TIRETEMP_6 : 40|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BR_TIRETEMP_7 : 48|8@1+ (1,0) [0|0] "C" Vector__XXX
+ SG_ TPERIPH_BR_TIRETEMP_8 : 56|8@1+ (1,0) [0|0] "C" Vector__XXX
+
+BO_ 2021 LSS_COMMAND: 8 CHARGER_BOARD
+ SG_ COMMAND_MODE : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ COMMAND_COMMAND_SPECIFIER : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2020 LSS_RESPONSE: 8 SMPC
+ SG_ RESPONSE_COMMAND_SPECIFIER : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 518 SMPC_RPDO_CONTROL: 8 CHARGER_BOARD
+ SG_ SMPC_CONTROL_PACK_VOLTAGE : 16|32@1+ (1,0) [0|65535] "mV" Vector__XXX
+ SG_ SMPC_CONTROL_DEST_NODE_ID : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SMPC_CONTROL_ENABLE : 9|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SMPC_CONTROL_CURRENT_10X_MULT : 11|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SMPC_CONTROL_EVSE_OVERRIDE : 13|1@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 774 SMPC_RPDO_MAX_VOLTAGE_CURRENT: 8 CHARGER_BOARD
+ SG_ SMPC_MAX_DEST_NODE_ID : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SMPC_MAX_CHRG_VOLTAGE : 8|32@1+ (1,0) [0|0] "mV" Vector__XXX
+ SG_ SMPC_MAX_CHRG_CURRENT : 40|16@1+ (1,0) [0|0] "mA" Vector__XXX
+ SG_ SMPC_MAX_INPUT_EVSE_OVERRIDE : 56|8@1+ (1,0) [0|255] "A" Vector__XXX
+
+BO_ 400 SMPC_TPDO_STATUS: 8 SMPC
+ SG_ SMPC_STATUS_CURRENT_MA : 48|16@1+ (1,0) [0|65535] "mA" Vector__XXX
+ SG_ SMPC_STATUS_VOLTAGE_MV : 16|32@1+ (1,0) [0|2704] "mV" Vector__XXX
+ SG_ SMPC_STATUS_J1772_DISCONN : 13|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_REQUEST_EXCLUSIVE : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_CHARGER_UNPLUGGED : 8|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_CHARGING : 7|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_INTERNAL_FAULT : 6|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_UNDERVOLTAGE_FAULT : 5|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_OVERVOLTAGE_FAULT : 4|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_OVERCURRENT_FAULT : 3|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_OVERTEMP_FAULT : 2|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_CHARGE_COMPLETE : 1|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_STATUS_READY : 0|1@1+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 656 SMPC_TPDO_MAX_VOLTAGE_CURRENT: 8 SMPC
+ SG_ SMPC_MAX2_INPUT_CURR_LIM : 56|8@1+ (1,0) [0|255] "A" Vector__XXX
+ SG_ SMPC_MAX2_EVSE_CURRENT : 48|8@1+ (1,0) [0|255] "A" Vector__XXX
+ SG_ SMPC_MAX2_MAX_CURRENT_MA : 32|16@1+ (1,0) [0|65535] "mA" Vector__XXX
+ SG_ SMPC_MAX2_MAX_VOLTAGE_MV : 0|32@1+ (1,0) [0|2704] "mV" Vector__XXX
+
+BO_ 912 SMPC_TPDO_INPUT_AC: 8 SMPC
+ SG_ SMPC_INPUT_MAX_CHARGER_TEMP_C : 40|8@1+ (1,-50) [-50|205] "C" Vector__XXX
+ SG_ SMPC_INPUT_AC_INPUT_FREQUENCY_HZ : 32|8@1+ (1,0) [0|255] "HZ" Vector__XXX
+ SG_ SMPC_INPUT_AC_INPUT_CURRENT_MA : 16|16@1+ (1,0) [0|65535] "mA" Vector__XXX
+ SG_ SMPC_INPUT_J1772_TRIGGERED : 10|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_INPUT_J1772_DISCONNECTED : 9|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_INPUT_J1772_CONNECTED : 8|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SMPC_INPUT_AC_INPUT_VOLTAGE : 0|8@1+ (1,0) [0|255] "Vac" Vector__XXX
+
+BO_ 1168 SMPC_TPDO_SERIAL_PART_NUM: 8 SMPC
+ SG_ SMPC_SER_FIRMWARE_VER : 48|16@1+ (1,0) [0|65535] "" Vector__XXX
+ SG_ SMPC_SER_SERIAL_NUMBER : 16|32@1+ (1,0) [0|2704] "" Vector__XXX
+ SG_ SMPC_SER_PART_NUMBER : 0|16@1+ (1,0) [0|65535] "" Vector__XXX
+
+BO_ 1220 IZZE_BRAKETEMP_S1M1: 8 IZZE1
+ SG_ IZZE_BRAKETEMP_S1_CH1 : 7|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH2 : 23|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH3 : 39|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH4 : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+
+BO_ 1221 IZZE_BRAKETEMP_S1M2: 8 IZZE1
+ SG_ IZZE_BRAKETEMP_S1_CH5 : 7|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH6 : 23|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH7 : 39|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH8 : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+
+BO_ 1222 IZZE_BRAKETEMP_S1M3: 8 IZZE1
+ SG_ IZZE_BRAKETEMP_S1_CH9 : 7|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH10 : 23|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH11 : 39|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH12 : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+
+BO_ 1223 IZZE_BRAKETEMP_S1M4: 8 IZZE1
+ SG_ IZZE_BRAKETEMP_S1_CH13 : 7|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH14 : 23|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH15 : 39|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+ SG_ IZZE_BRAKETEMP_S1_CH16 : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+
+BO_ 1224 IZZE_BRAKETEMP_S1M5: 8 IZZE1
+ SG_ IZZE_BRAKETEMP_S1_STEMP : 55|16@0+ (0.1,-100) [-100|6453] "C" Vector__XXX
+
+
+
+CM_ SG_ 2148139008 VDM_GPS_Latitude "Float32";
+CM_ SG_ 2148139008 VDM_GPS_Longitude "Float32";
+BA_DEF_  "BusType" STRING ;
+BA_DEF_ BO_  "GenMsgBackgroundColor" STRING ;
+BA_DEF_ BO_  "GenMsgForegroundColor" STRING ;
+BA_DEF_DEF_  "BusType" "CAN";
+BA_DEF_DEF_  "GenMsgBackgroundColor" "#c8c8c8";
+BA_DEF_DEF_  "GenMsgForegroundColor" "#000000";
+
diff --git a/Telemetry-Main/CANProtocol.hpp b/Telemetry-Main/CANProtocol.hpp
index 5b3bf2fb..ca9b1adb 100644
--- a/Telemetry-Main/CANProtocol.hpp
+++ b/Telemetry-Main/CANProtocol.hpp
@@ -128,14 +128,14 @@ struct PDB_POWER_B_t {
 };
 
 struct SME_THROTTLE_DEMAND_t {
-    uint16_t TORQUE_DEMAND;             // bits 0-15
-    uint16_t MAX_SPEED;                 // bits 16-31
-    uint8_t FORWARD : 1;                // bit 32
-    uint8_t REVERSE : 1;                // bit 33
-    uint8_t padding_34 : 1;             // bit 34 (used for alignment)
-    uint8_t POWER_READY : 1;            // bit 35
-    uint8_t padding2 : 4;               // bits 36-39
-    uint8_t MBB_ALIVE: 4;               // bits 40-43
+    uint16_t TORQUE_DEMAND;            // bits 0-15
+    uint16_t MAX_SPEED;                // bits 16-31
+    uint8_t FORWARD : 1;               // bit 32
+    uint8_t REVERSE : 1;               // bit 33
+    uint8_t padding_34 : 1;            // bit 34 (used for alignment)
+    uint8_t POWER_READY : 1;           // bit 35
+    uint8_t padding2 : 4;              // bits 36-39
+    uint8_t MBB_ALIVE: 4;              // bits 40-43
 };
 
 struct SME_TRQSPD_t {
@@ -199,13 +199,13 @@ struct TPERIPH_TIRETEMP_t {
 };
 
 struct VDM_GPS_LAT_LONG_t {
-    int32_t LATITUDE;                 // bits 7-38
-    int32_t LONGITUDE;                // bits 39-50
+    float LATITUDE;                  // bits 7-38
+    float LONGITUDE;                 // bits 39-50
 };
 
 struct VDM_GPS_DATA_t {
     uint16_t SPEED;                    // bits 7-22
-    int16_t ALTITUDE;                 // bits 23-38
+    int16_t ALTITUDE;                  // bits 23-38
     uint16_t TRUE_COURSE;              // bits 39-54
     uint8_t  SATELLITES_IN_USE;        // bits 55-62
     uint8_t  VALID1;                   // bits 63-70
@@ -216,21 +216,22 @@ struct VDM_DATE_TIME_t {
     uint8_t UTC_DATE_YEAR;             // bits 15-22
     uint8_t UTC_DATE_MONTH;            // bits 23-30
     uint8_t UTC_DATE_DAY;              // bits 31-38
+    uint8_t padding;                   // bits 39-46
     uint8_t UTC_TIME_HOURS;            // bits 47-54
     uint8_t UTC_TIME_MINUTES;          // bits 55-62
     uint8_t UTC_TIME_SECONDS;          // bits 63-70
 };
 
 struct VDM_ACCELERATION_t {
-    int16_t X;                        // bits 7-22
-    int16_t Y;                        // bits 23-38
-    int16_t Z;                        // bits 39-54
+    int16_t X;                         // bits 7-22
+    int16_t Y;                         // bits 23-38
+    int16_t Z;                         // bits 39-54
 };
 
 struct VDM_YAW_RATE_t {
-    int16_t X;                        // bits 7-22
-    int16_t Y;                        // bits 23-38
-    int16_t Z;                        // bits 39-54
+    int16_t X;                         // bits 7-22
+    int16_t Y;                         // bits 23-38
+    int16_t Z;                         // bits 39-54
 };
 
 #endif // CANPROTOCOL_HPP
diff --git a/Telemetry-Main/CMakeLists.txt b/Telemetry-Main/CMakeLists.txt
index 41de1f67..1135dbf0 100644
--- a/Telemetry-Main/CMakeLists.txt
+++ b/Telemetry-Main/CMakeLists.txt
@@ -23,6 +23,6 @@ add_library(fsdaq STATIC ./fsdaq/data_logger.cpp) # ./fsdaq/can_processor_genera
 target_include_directories(fsdaq PUBLIC ./fsdaq)
 target_link_libraries(fsdaq mbed-core-flags mbed-storage-sd mbed-storage-fat libradio)
 
-add_executable(${PROJECT_NAME} main.cpp VehicleStateManager.cpp)
+add_executable(${PROJECT_NAME} main.cpp VehicleStateManager.cpp LapCounter.cpp)
 target_link_libraries(${PROJECT_NAME} mbed-os dash fsdaq libradio mbed-storage-sd mbed-storage-fat)
 mbed_set_post_build(${PROJECT_NAME})
diff --git a/Telemetry-Main/LapCounter.cpp b/Telemetry-Main/LapCounter.cpp
new file mode 100644
index 00000000..c3387830
--- /dev/null
+++ b/Telemetry-Main/LapCounter.cpp
@@ -0,0 +1,94 @@
+#include <cmath>
+
+#include "LapCounter.hpp"
+
+#define DEG_TO_RAD ((float) M_PI / 180.0f)
+
+#define EARTH_RADIUS 6378137    // earths radius in meters, used for conversion to local coordinate plane
+#define X_TOLERANCE 8.0f        // check lap completion if x is within +- X_TOLERANCE meters of home x coord
+#define Y_TOLERANCE 8.0f        // check lap completion if y is within +- Y_TOLERANCE meters of home y coord
+#define HEADING_TOLERANCE 80.0f // check lap completion if heading is within +- HEADING_TOLERANCE degrees of home
+#define MIN_LAP_TIME 10         // minimum lap time in seconds. used to ensure same lap isn't counted twice
+
+using namespace std;
+
+LapCounter::LapCounter(VehicleState state) {
+    resetLapCounter(state);
+}
+
+void LapCounter::resetLapCounter(VehicleState state) {
+    data.lap_home_latitude_f = state.vdmGpsLatLong.LATITUDE;
+    data.lap_home_longitude_f = state.vdmGpsLatLong.LONGITUDE;
+    data.lap_home_x_f = 0.0f;
+    data.lap_home_y_f = 0.0f;
+    data.lap_home_heading_f = (float) (state.vdmGpsData.TRUE_COURSE % 36000) * 0.01f; //scale to 0-359.99
+
+    data.lap_prev_latitude_f = 0.0f;
+    data.lap_prev_longitude_f = 0.0f;
+    data.lap_prev_x_f = 0.0f;
+    data.lap_prev_y_f = 0.0f;
+    data.lap_prev_heading_f = 0.0f;
+
+    data.lap_curr_latitude_f = data.lap_home_latitude_f;
+    data.lap_curr_longitude_f = data.lap_home_longitude_f;
+    data.lap_curr_x_f = data.lap_home_x_f;
+    data.lap_curr_y_f = data.lap_home_y_f;
+    data.lap_curr_heading_f = data.lap_home_heading_f;
+
+    data.lap_counter = 0;
+
+    timer.reset();
+    timer.start();
+}
+
+void LapCounter::updateLapCounter(VehicleState state) {
+    /**
+     * UPDATE POSITION
+     */
+    //  Get prev data, weighted avg to average out noise 
+    data.lap_prev_latitude_f = 0.1f * data.lap_prev_latitude_f + 0.9f * data.lap_curr_latitude_f;
+    data.lap_prev_longitude_f = 0.1f * data.lap_prev_longitude_f + 0.9f * data.lap_curr_longitude_f;
+    data.lap_prev_x_f = 0.1f * data.lap_prev_x_f + 0.9f * data.lap_curr_x_f;
+    data.lap_prev_y_f = 0.1f * data.lap_prev_y_f + 0.9f * data.lap_curr_y_f;
+    data.lap_prev_heading_f = 0.1f * data.lap_prev_heading_f + 0.9f * data.lap_curr_heading_f;
+
+    //  Get curr data, transform to local coordinate plane
+    data.lap_curr_latitude_f = state.vdmGpsLatLong.LATITUDE;
+    data.lap_curr_longitude_f = state.vdmGpsLatLong.LONGITUDE;
+    data.lap_curr_x_f = EARTH_RADIUS * DEG_TO_RAD * (data.lap_curr_longitude_f - data.lap_home_longitude_f) * cosf(DEG_TO_RAD * data.lap_home_latitude_f);  // lat, long is degrees -> translate to rad
+    data.lap_curr_y_f = EARTH_RADIUS * DEG_TO_RAD * (data.lap_curr_latitude_f - data.lap_home_latitude_f);
+    data.lap_curr_heading_f = (float) (state.vdmGpsData.TRUE_COURSE % 36000) * 0.01f; //scale to 0-359.99
+
+    //  TRANSFORM: Apply rotation matrix, home heading is x axis.
+    float home_heading_rad_f = DEG_TO_RAD * data.lap_home_heading_f;           // convert to rad for trig funcs
+    float temp_x_f = data.lap_curr_x_f * cosf(home_heading_rad_f) + data.lap_curr_y_f * sinf(home_heading_rad_f);
+    float temp_y_f = data.lap_curr_x_f * -sinf(home_heading_rad_f) + data.lap_curr_y_f * cosf(home_heading_rad_f);
+    data.lap_curr_x_f = temp_x_f;
+    data.lap_curr_y_f = temp_y_f;
+
+    /**
+     * CHECK IF LAP COMPLETED
+     */
+    //  If nowhere near home coords/heading, return immediately
+    if (abs(data.lap_curr_x_f - data.lap_home_x_f) > X_TOLERANCE) return;
+    if (abs(data.lap_curr_y_f - data.lap_home_y_f) > Y_TOLERANCE) return;
+    if (abs(data.lap_curr_heading_f - data.lap_home_heading_f) > HEADING_TOLERANCE) return;
+    if (timer.elapsed_time().count() < MIN_LAP_TIME) {
+        timer.reset();
+        timer.start();
+
+        return;
+    }
+
+    //  Lap has been completed, all conditions pass
+    data.lap_counter++;
+    data.lap_time = std::chrono::duration<float>{timer.elapsed_time()}.count();
+
+    timer.reset();
+    timer.start();
+    return;
+}
+
+float LapCounter::getTime() {
+    return std::chrono::duration<float>{timer.elapsed_time()}.count();
+}
diff --git a/Telemetry-Main/LapCounter.hpp b/Telemetry-Main/LapCounter.hpp
new file mode 100644
index 00000000..0421326a
--- /dev/null
+++ b/Telemetry-Main/LapCounter.hpp
@@ -0,0 +1,64 @@
+/**
+ * Lap Counter
+ * Author: Nicholas Tang
+ *
+ * Made to separate lap counting from VSM. Uses VSM GPS and HEADING/TRUE_COURSE
+ * data. Make sure to call updateLapCounter a lot.
+ *
+ * Note: "local coordinate plane" is defined as: nose towards positive x, positive y is left i think
+ */
+
+#ifndef LAP_COUNTER_HPP
+#define LAP_COUNTER_HPP
+
+#include "CANProtocol.hpp"
+#include "VehicleStateManager.hpp"
+#include "mbed.h"
+
+struct LapCounterData {
+    float lap_home_latitude_f;
+    float lap_home_longitude_f;
+    float lap_home_x_f;                 // relative to local coordinate plane
+    float lap_home_y_f;                 // relative to local coordinate plane
+    float lap_home_heading_f;
+
+    float lap_prev_latitude_f;
+    float lap_prev_longitude_f;
+    float lap_prev_x_f;                 // relative to local coordinate plane
+    float lap_prev_y_f;                 // relative to local coordinate plane
+    float lap_prev_heading_f;
+
+    float lap_curr_latitude_f;
+    float lap_curr_longitude_f;
+    float lap_curr_x_f;                 // relative to local coordinate plane
+    float lap_curr_y_f;                 // relative to local coordinate plane
+    float lap_curr_heading_f;
+
+    uint8_t lap_counter;                // MARK: surely we don't do more than 255 laps(?)
+    float lap_time;
+};
+
+class LapCounter {
+    public:
+        LapCounterData data;
+        Timer timer;
+
+        /**
+         * Constructor, initializes all fields to 0 but lat/long
+         */
+        LapCounter(VehicleState state);
+        /**
+         * Resets object field. GPS data is set to wherever is in vehicle state
+         */
+        void resetLapCounter(VehicleState state);
+        /**
+         * Checks if a lap has been completed. If so, increments lap counter
+         */
+        void updateLapCounter(VehicleState state);
+        /**
+         * Gets the lap time in seconds. 
+         */
+        float getTime();
+};
+
+#endif
diff --git a/Telemetry-Main/VehicleStateManager.cpp b/Telemetry-Main/VehicleStateManager.cpp
index a69442e7..6866af9c 100644
--- a/Telemetry-Main/VehicleStateManager.cpp
+++ b/Telemetry-Main/VehicleStateManager.cpp
@@ -1,5 +1,7 @@
 #include "VehicleStateManager.hpp"
 #include <cstdio>
+#include <cstdlib>
+#include <cmath>
 #include <algorithm>
 #include <chrono>
 #include <cstring>
@@ -16,14 +18,11 @@ VehicleStateManager::VehicleStateManager(
 ) : _mbedCAN(mbedCAN), _steering_sensor(steering_sensor), _brake_sensor_f(brake_sensor_r), _brake_sensor_r(brake_sensor_r)
 {
     _vehicleState = {};
-
-    strcpy(_lapTime, "0:00.000");
 }
 
 void VehicleStateManager::update() {
     // printf("Updating CAN\n");
     processCANMessage();
-    updateLapTime();
     readSensorValues();
 }
 
@@ -198,25 +197,6 @@ void VehicleStateManager::processCANMessage() {
     }
 }
 
-void VehicleStateManager::updateLapTime() {
-    uint32_t milliseconds = std::chrono::duration_cast<std::chrono::milliseconds>(_lapTimer.elapsed_time()).count();
-    uint32_t minutes = milliseconds / 60000;
-    uint32_t seconds = (milliseconds % 60000) / 1000;
-    uint32_t ms = milliseconds % 1000;
-    
-    snprintf(_lapTime, sizeof(_lapTime), "%lu:%02lu.%03lu", 
-             (unsigned long)minutes, (unsigned long)seconds, (unsigned long)ms);
-}
-
-void VehicleStateManager::startLapTimer() {
-    _lapTimer.reset();
-    _lapTimer.start();
-}
-
-const char* VehicleStateManager::getLapTime() const {
-    return _lapTime;
-}
-
 VehicleState VehicleStateManager::getState() const {
     return _vehicleState;
 }
diff --git a/Telemetry-Main/VehicleStateManager.hpp b/Telemetry-Main/VehicleStateManager.hpp
index bacd67c7..b95490d4 100644
--- a/Telemetry-Main/VehicleStateManager.hpp
+++ b/Telemetry-Main/VehicleStateManager.hpp
@@ -40,7 +40,6 @@ struct VehicleState {
     float steering_sensor;
     float brake_sensor_f;
     float brake_sensor_r;
-    
 };
 
 class VehicleStateManager {
@@ -55,8 +54,6 @@ class VehicleStateManager {
     
     VehicleState getState() const;
     void update();
-    void startLapTimer();
-    const char* getLapTime() const;
 
 private:
     MbedCAN* _mbedCAN;
@@ -66,11 +63,7 @@ class VehicleStateManager {
 
     VehicleState _vehicleState;
 
-    char _lapTime[16];
-    Timer _lapTimer;
-
     void processCANMessage();
-    void updateLapTime();
     void readSensorValues();
 };