diff --git a/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch1_V26.dbc b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch1_V26.dbc
new file mode 100644
index 00000000..ea738163
--- /dev/null
+++ b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch1_V26.dbc	
@@ -0,0 +1,928 @@
+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_: EPAM IMU MCU RC VCU BCM Bosch_IMU
+VAL_TABLE_ CAR_ChargingStatus 3 "EXIT" 2 "CHARGING" 1 "INITIALIZE" 0 "READY" ;
+VAL_TABLE_ SysMode 3 "SysOFF" 2 "RUN" 1 "Ready" 0 "Initialize" ;
+VAL_TABLE_ BitSTA 1 "True" 0 "False" ;
+VAL_TABLE_ IntLck 1 "Connected" 0 "Disconnected" ;
+VAL_TABLE_ CE_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_TABLE_ CommSta 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_TABLE_ LampCmd_t 3 "BLINKING" 2 "OFF" 1 "ON" 0 "N/A" ;
+VAL_TABLE_ HW_Index 1 "6D IMU e.g. MM7.10" 0 "5D IMU e.g. MM5.10" ;
+
+
+BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
+ SG_ CAR_Bms_SoH_Wrng : 0|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAR_EPAM_Temperature : 0|8@1+ (1,-40) [-40|215] "¡É" Vector__XXX
+
+BO_ 18 CAR_STAT: 8 VCU
+ SG_ CAR_Bms_PackCur : 16|16@1+ (0.1,0) [-3276.8|3276.7] "A" Vector__XXX
+ SG_ CAR_LDC_ACTL_VOLT : 40|8@1+ (0.1,0) [0|25.5] "V" Vector__XXX
+ SG_ CAR_Battery_Voltage : 32|8@1+ (0.1,0) [0|25.5] "V"  RC
+ SG_ CAR_ARC : 56|8@1+ (1,0) [0|255] ""  RC
+ SG_ CAR_BMS_HVOn_STA : 51|1@1+ (1,0) [0|1] ""  RC
+ SG_ CAR_ChargingStatus : 48|3@1+ (1,0) [0|3] ""  RC
+ SG_ CAR_MCU_InvTemp : 8|8@1+ (1,-50) [-40|200] "¡É"  RC
+ SG_ CAR_MCU_MtrTemp : 0|8@1+ (1,-50) [-50|160] "¡É"  RC
+
+BO_ 256 SW_VER: 8 VCU
+ SG_ CAR_NUM : 32|32@1+ (1,0) [0|4294967295] "" Vector__XXX
+ SG_ Ver : 24|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ Day : 16|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ Month : 8|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ YEAR : 0|8@1+ (1,0) [0|255] "" Vector__XXX
+
+BO_ 544 VCU_EPAM: 8 VCU
+ SG_ EPAM_ErrClear_State : 2|1@1+ (1,0) [0|1] ""  EPAM
+ SG_ Park_Request_to_EPC : 0|2@1+ (1,0) [0|3] ""  EPAM
+
+BO_ 545 EPAM_VCU: 8 EPAM
+ SG_ ErrEPAM_DCBusOverCurrent : 54|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_DCBusOverVoltage : 53|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_DCBusUnderVoltage : 52|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_HallTimeOut : 51|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_HallPaternError : 50|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_CANErr : 49|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_OT_ECU : 48|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_HallSenErr : 47|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_CommErr : 46|1@1+ (1,0) [0|1] ""  VCU
+ SG_ EPAM_State : 45|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_MotFail : 44|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_MotOpen : 43|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_MotStallPark : 42|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_MotStallUnPark : 41|1@1+ (1,0) [0|1] ""  VCU
+ SG_ ErrEPAM_MotStallMiddle : 40|1@1+ (1,0) [0|1] ""  VCU
+ SG_ EPAM_HallPosition : 32|8@1+ (1,0) [0|255] "¢ª"  VCU
+ SG_ EPAM_Temperature : 24|8@1+ (1,-40) [-40|215] "¡É"  VCU
+ SG_ EPAM_Current : 16|8@1+ (0.1,0) [0|25.5] "A"  VCU
+ SG_ EPAM_Voltage : 8|8@1+ (0.1,0) [0|25.5] "V"  VCU
+ SG_ EPAM_ParkRequestStatus : 5|2@1+ (1,0) [0|3] ""  VCU
+ SG_ EPAM_parkLock : 2|3@1+ (1,0) [0|7] ""  VCU
+ SG_ EPAM_parkSensor : 1|1@1+ (1,0) [0|1] ""  VCU
+ SG_ EPAM_driveSensor : 0|1@1+ (1,0) [0|1] ""  VCU
+
+BO_ 0 IMU_RX3: 8 VCU
+
+BO_ 2004 IMU_RX2: 8 VCU
+
+BO_ 2015 IMU_RX1: 0 VCU
+
+BO_ 2012 IMU_TX4: 8 Bosch_IMU
+
+BO_ 380 IMU_TX3: 8 Bosch_IMU
+ SG_ IMU_TX3_CRC : 56|8@1+ (1,0) [0|255] ""  VCU
+ SG_ IMU_PitchRtVal : 0|16@1+ (0.005,-163.84) [0|0] "¢ª/s"  VCU
+ SG_ IMU_PITCH_RATE_STAT : 20|4@1+ (1,0) [0|15] ""  VCU
+ SG_ IMU_MSG_TX3_CNT : 48|4@1+ (1,0) [0|15] ""  VCU
+ SG_ IMU_HW_Index : 16|4@1+ (1,0) [0|15] ""  VCU
+ SG_ IMU_AZ_Val : 32|16@1+ (0.00125,-40.957) [0|0] "m/s©÷"  VCU
+ SG_ IMU_AZ_STAT : 52|4@1+ (1,0) [0|15] ""  VCU
+
+BO_ 376 IMU_TX2: 8 Bosch_IMU
+ SG_ IMU_TX2_CRC : 56|8@1+ (1,0) [0|255] ""  VCU
+ SG_ IMU_MSG_TX2_CNT : 48|4@1+ (1,0) [0|15] ""  VCU
+ SG_ IMU_AX_Val : 32|16@1+ (0.00125,-40.957) [0|0] "m/s©÷"  VCU
+ SG_ IMU_AX_STAT : 52|4@1+ (1,0) [0|15] ""  VCU
+ SG_ IMU_CLU_DIAG : 24|8@1+ (1,0) [0|255] ""  VCU
+ SG_ IMU_CLU_STAT5 : 16|4@1+ (1,0) [0|15] ""  VCU
+ SG_ IMU_RollRtVal : 0|16@1+ (0.005,-163.84) [0|0] "¢ª/s"  VCU
+ SG_ IMU_ROLL_RATE_STAT : 20|4@1+ (1,0) [0|15] ""  VCU
+
+BO_ 372 IMU_TX1: 8 Bosch_IMU
+ SG_ IMU_YawRtVal : 0|16@1+ (0.005,-163.84) [0|0] "¢ª/s"  VCU
+ SG_ IMU_YAW_RATE_STAT : 20|4@1+ (1,0) [0|15] ""  VCU
+ SG_ IMU_TX1_CRC : 56|8@1+ (1,0) [0|255] ""  VCU
+ SG_ IMU_TEMP_RATE : 24|8@1- (1,-50) [0|0] "¡ÆC"  VCU
+ SG_ IMU_MSG_TX1_CNT : 48|4@1+ (1,0) [0|15] ""  VCU
+ SG_ IMU_CLU_STAT : 16|4@1+ (1,0) [0|15] ""  VCU
+ SG_ IMU_AY_Val : 32|16@1+ (0.00125,-40.957) [0|0] "m/s©÷"  VCU
+ SG_ IMU_AY_STAT : 52|4@1+ (1,0) [0|15] ""  VCU
+
+BO_ 341 RC_BCM_Signal_1: 8 RC
+ SG_ RC_Wiper_CMD : 18|2@1+ (1,0) [0|3] ""  BCM
+ SG_ RC_Lamp_DRL_CMD : 16|2@1+ (1,0) [0|3] ""  BCM
+ SG_ RC_Lamp_Position_CMD : 14|2@1+ (1,0) [0|3] ""  BCM
+ SG_ RC_Lamp_RTRN_CMD : 12|2@1+ (1,0) [0|3] ""  BCM
+ SG_ RC_Lamp_Reverse_CMD : 10|2@1+ (1,0) [0|3] ""  BCM
+ SG_ RC_Lamp_LTRN_CMD : 8|2@1+ (1,0) [0|3] ""  BCM
+ SG_ RC_Lamp_Head_CMD : 6|2@1+ (1,0) [0|3] ""  BCM
+ SG_ RC_Lamp_HBEAM_CMD : 4|2@1+ (1,0) [0|3] ""  BCM
+ SG_ RC_Lamp_Hazard_CMD : 2|2@1+ (1,0) [0|0] ""  BCM
+ SG_ RC_Lamp_BRAKE_CMD : 0|2@1+ (1,0) [0|0] ""  BCM
+
+BO_ 384 VCU_BCM_Signal2: 8 VCU
+ SG_ HMI_LMP_5 : 8|2@1+ (1,0) [0|0] ""  BCM
+ SG_ HMI_LMP_4 : 6|2@1+ (1,0) [0|0] ""  BCM
+ SG_ HMI_LMP_3 : 4|2@1+ (1,0) [0|0] ""  BCM
+ SG_ HMI_LMP_2 : 2|2@1+ (1,0) [0|0] ""  BCM
+ SG_ HMI_LMP_1 : 0|2@1+ (1,0) [0|0] ""  BCM
+
+BO_ 65 RC_VCU_Signal2: 8 RC
+ SG_ RC_VX_Limit : 16|8@1+ (1,0) [0|255] "km/h" Vector__XXX
+ SG_ RC_VCU_ARC : 24|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ RC_VCU_long_Ctl_mode : 9|2@1+ (1,0) [0|2] ""  VCU
+ SG_ RC_Emergency_Stop : 8|1@1+ (1,0) [0|1] ""  VCU
+ SG_ RC_ParkBrake_Cmd : 6|2@1+ (1,0) [0|3] ""  VCU
+ SG_ RC_GearSelStat : 2|4@1+ (1,0) [0|4] ""  VCU
+ SG_ RC_Drive_Mode : 0|2@1+ (1,0) [0|2] ""  VCU
+
+BO_ 97 RWS2_VCU_RC_Signal: 8 VCU
+ SG_ RWS_RackAngleSpeedFbk2 : 16|16@1+ (0.05,-1638) [-1638|1638.75] "deg/s"  RC
+ SG_ RWS_RackAngleFbk2 : 0|16@1+ (0.02,-665) [-665|665.7] "deg"  RC
+
+BO_ 96 RWS1_VCU_RC_Signal: 8 VCU
+ SG_ RWS_RackAngleSpeedFbk1 : 16|16@1+ (0.05,-1638) [-1638|1638.75] "deg/s"  RC
+ SG_ RWS_RackAngleFbk1 : 0|16@1+ (0.02,-665) [-665|665.7] "deg"  RC
+
+BO_ 81 RWA2_VCU_RC_Signal: 8 VCU
+ SG_ RWA_RackAngleSpeedFbk2 : 16|16@1+ (0.05,-1638) [-1638|1638.75] "deg/s"  RC
+ SG_ RWA_RackAngleFbk2 : 0|16@1+ (0.02,-665) [-665|665.7] "deg"  RC
+
+BO_ 80 RWA1_VCU_RC_Signal: 8 VCU
+ SG_ RWA_RackAngleSpeedFbk1 : 16|16@1+ (0.05,-1638) [-1638|1638.75] "deg/s"  RC
+ SG_ RWA_RackAngleFbk1 : 0|16@1+ (0.02,-665) [-665|665.7] "deg"  RC
+
+BO_ 336 VCU_BCM_Signal_1: 8 VCU
+ SG_ Vcu_OperMode : 40|3@1+ (1,0) [0|0] ""  BCM
+ SG_ Vcu_SysMode : 43|3@1+ (1,0) [0|0] ""  BCM
+ SG_ LDC_TRGT_CUR : 32|8@1+ (1,0) [0|100] "A"  BCM
+ SG_ CE_ON_CMD : 30|2@1+ (1,0) [0|3] ""  BCM
+ SG_ HV_ON_CMD : 26|2@1+ (1,0) [0|3] ""  BCM
+ SG_ LDC_ACT_CMD : 24|2@1+ (1,0) [0|3] ""  BCM
+ SG_ Wiper_CMD : 18|2@1+ (1,0) [0|3] ""  BCM
+ SG_ Lamp_DRL_CMD : 16|2@1+ (1,0) [0|3] ""  BCM
+ SG_ Lamp_Position_CMD : 14|2@1+ (1,0) [0|3] ""  BCM
+ SG_ Lamp_RTRN_CMD : 12|2@1+ (1,0) [0|3] ""  BCM
+ SG_ Lamp_Reverse_CMD : 10|2@1+ (1,0) [0|3] ""  BCM
+ SG_ Lamp_LTRN_CMD : 8|2@1+ (1,0) [0|3] ""  BCM
+ SG_ Lamp_Head_CMD : 6|2@1+ (1,0) [0|3] ""  BCM
+ SG_ Lamp_HBEAM_CMD : 4|2@1+ (1,0) [0|3] ""  BCM
+ SG_ Lamp_Hazard_CMD : 2|2@1+ (1,0) [0|0] ""  BCM
+ SG_ Lamp_BRAKE_CMD : 0|2@1+ (1,0) [0|0] ""  BCM
+
+BO_ 64 RC_VCU_Signal1: 8 RC
+ SG_ RC_Drive_ACC_Cmd : 32|16@1+ (1E-005,-0.32768) [-0.32768|0.32767] "g"  VCU
+ SG_ RC_Vx_Command : 48|8@1+ (1,0) [0|255] "km/h"  VCU
+ SG_ RC_RWA_RackAngleCommand : 16|16@1+ (0.02,-655) [-655|655.7] "deg"  VCU
+ SG_ RC_BrakeTorqueCommand : 0|16@1+ (0.1,0) [0|6553.5] "Nm"  VCU
+
+BO_ 16 VCU_RC_Signals1: 8 VCU
+ SG_ VCU_Vx_Limit : 56|8@1+ (1,0) [0|255] "km/h" Vector__XXX
+ SG_ VCU_MCU_EstTrq : 0|16@1+ (0.1,-200) [-200|200] "Nm"  RC
+ SG_ VCU_Brk_Pressure_Fbk : 32|10@1+ (0.05,0) [0|153.45] "bar"  RC
+ SG_ VCU_RWA_Rack_Fbk : 16|16@1+ (0.02,-655) [-655|655.7] "deg"  RC
+ SG_ VCU_Vx_Fbk : 48|8@1+ (1,0) [0|255] "km/h"  RC
+
+BO_ 17 VCU_RC_Signals2: 8 VCU
+ SG_ VCU_RC_long_Ctl_mode : 8|2@1+ (1,0) [0|3] ""  RC
+ SG_ VCU_RC_Emergency_Stop : 10|1@1+ (1,0) [0|1] ""  RC
+ SG_ VCU_ParkBrake_Fbk : 18|2@1+ (1,0) [0|3] ""  RC
+ SG_ VCU_GearSelStat : 11|2@1+ (1,0) [0|3] ""  RC
+ SG_ VCU_Drive_Mode : 16|2@1+ (1,0) [0|3] ""  RC
+ SG_ VCU_Acc_Fbk : 32|16@1+ (1E-005,-0.32768) [-0.32768|0.32767] "g"  RC
+ SG_ VCU_Acc_Limit : 48|16@1+ (1E-005,-0.32768) [-0.32768|0.32767] "g"  RC
+ SG_ VCU_RC_BMS_SOC : 0|8@1+ (1,0) [0|100] "%"  RC
+
+BO_ 32 IMU_VCU_Signal: 8 IMU
+ SG_ IMU_VCU_counter : 56|4@1+ (1,0) [0|15] ""  VCU
+ SG_ YawRate : 32|16@1- (0.005,-163.84) [-163.84|163.82] "deg/s"  VCU
+ SG_ LongAccelVal : 11|11@1- (0.01,-10.23) [-10.23|10.24] "m/s^2"  VCU
+ SG_ LatAccelVal : 0|11@1- (0.01,-10.23) [-10.23|10.24] "m/s^2"  VCU
+
+BO_ 592 VCU_MCU_Signals1: 8 VCU
+ SG_ VCU_NegTrqLimit : 32|16@1+ (0.1,-200) [-200|4000] "" Vector__XXX
+ SG_ VCU_TrqCmd : 48|16@1+ (0.1,-200) [-200|4000] "Nm" Vector__XXX
+ SG_ VCU_PosTrqLimit : 16|16@1+ (0.1,-200) [-200|4000] "Nm"  MCU
+ SG_ VCU_BmsHvSt : 13|2@1+ (1,0) [0|0] ""  MCU
+ SG_ VCU_BmsFlt : 10|3@1+ (1,0) [0|7] ""  MCU
+ SG_ VCU_MtrDir : 8|2@1+ (1,0) [0|3] ""  MCU
+ SG_ VCU_GearCmd : 4|4@1+ (1,0) [0|15] ""  MCU
+ SG_ VCU_PwrEnable : 3|1@1+ (1,0) [0|1] ""  MCU
+ SG_ VCU_ControlMode : 2|1@1+ (1,0) [0|1] ""  MCU
+ SG_ VCU_Ready : 1|1@1+ (1,0) [0|1] ""  MCU
+ SG_ VCU_TorqueContol : 0|1@1+ (1,0) [0|1] ""  MCU
+
+BO_ 768 MCU_VCU_Signals1: 8 MCU
+ SG_ MCU_EstTrq : 48|16@1- (0.1,-200) [-200|200] "Nm" Vector__XXX
+ SG_ MCU_EstSpd : 32|16@1+ (1,-32768) [-32768|32767] "rpm" Vector__XXX
+ SG_ MCU_InvTemp : 24|8@1+ (1,-50) [-40|200] "¡É"  VCU
+ SG_ MCU_MtrTemp : 16|8@1- (1,-50) [-50|160] "¡É"  VCU
+ SG_ MCU_SvrFlt : 12|1@1+ (1,0) [0|1] ""  VCU
+ SG_ MCU_Derating : 8|4@1+ (1,0) [0|15] ""  VCU
+ SG_ MCU_GearStaInv : 7|1@1+ (1,0) [0|1] ""  VCU
+ SG_ MCU_CurGearSta : 4|3@1- (1,0) [0|7] ""  VCU
+ SG_ MCU_Interlock : 3|1@1+ (1,0) [0|1] ""  VCU
+ SG_ MCU_Flt : 2|1@1+ (1,0) [0|1] ""  VCU
+ SG_ MCU_Controlable : 1|1@1+ (1,0) [0|1] ""  VCU
+ SG_ MCU_Ready : 0|1@1+ (1,0) [0|1] ""  VCU
+
+BO_ 769 MCU_VCU_Signals2: 8 MCU
+ SG_ FaultMessage2 : 32|32@1+ (1,0) [0|4294967295] "" Vector__XXX
+ SG_ FaultMessage1 : 0|32@1+ (1,0) [0|4294967295] ""  VCU
+
+BO_ 1440 BCM_VCU_Signal6: 8 BCM
+ SG_ BMS_DchCurrLimit : 0|16@1+ (0.1,0) [0|0] "V"  VCU
+ SG_ BMS_DchPowerLimit : 16|16@1+ (0.1,0) [0|0] "V"  VCU
+
+BO_ 1413 BCM_VCU_Signal5: 8 BCM
+ SG_ OBC_TEMP_FAULT : 12|4@1+ (1,0) [0|0] ""  VCU
+ SG_ LDC_TEMP_FAULT : 10|2@1+ (1,0) [0|3] ""  VCU
+ SG_ BMS_TEMP_FAULT : 8|2@1+ (1,0) [0|3] ""  VCU
+ SG_ OBC_FltSta : 0|2@1+ (1,0) [0|3] ""  VCU
+ SG_ LDC_FltSta : 4|2@1+ (1,0) [0|3] ""  VCU
+ SG_ BMS_FltSta : 2|2@1+ (1,0) [0|3] ""  VCU
+ SG_ BCM_FltSta : 6|2@1+ (1,0) [0|3] ""  VCU
+
+BO_ 1429 BCM_VCU_Signal4: 8 BCM
+ SG_ CAR_LDC_ACTL_VOLT : 24|8@1+ (0.1,0) [0|25.5] "V" Vector__XXX
+ SG_ LDC_INP_VOLT : 8|10@1+ (0.5,0) [0|511.5] "V" Vector__XXX
+ SG_ LDC_ACTL_CUR : 0|8@1+ (1,0) [0|100] "A"  VCU
+
+BO_ 1424 BCM_VCU_Signal3: 8 BCM
+ SG_ Bms_PackPwr : 32|16@1- (0.1,0) [-3276.8|3276.7] "V"  VCU
+ SG_ Bms_PackCur : 16|16@1- (0.1,0) [-3276.8|3276.7] "V"  VCU
+ SG_ Bms_PackVolt : 0|16@1+ (0.1,0) [0|0] "V"  VCU
+
+BO_ 1408 BCM_VCU_Signal2: 8 BCM
+ SG_ BCM_ChgeCon_DTD : 3|1@1+ (1,0) [0|0] ""  VCU
+ SG_ Bms_SoH_Wrng : 39|1@1+ (1,0) [0|1] ""  VCU
+ SG_ Bms_Soc_Wrng : 38|1@1+ (1,0) [0|1] ""  VCU
+ SG_ CommSta_VCU : 26|2@1+ (1,0) [0|0] ""  VCU
+ SG_ CommSta_TMS : 32|2@1+ (1,0) [0|0] ""  VCU
+ SG_ CommSta_OBC : 24|2@1+ (1,0) [0|0] ""  VCU
+ SG_ CommSta_LDC : 30|2@1+ (1,0) [0|0] ""  VCU
+ SG_ CommSta_BMS : 28|2@1+ (1,0) [0|0] ""  VCU
+ SG_ BMS_SOH_INV : 36|1@1+ (1,0) [0|1] ""  VCU
+ SG_ BMS_SOC_INV : 37|1@1+ (1,0) [0|1] ""  VCU
+ SG_ IntLckSta_OBC : 6|1@1+ (1,0) [0|1] ""  VCU
+ SG_ IntLckSta_BMS : 7|1@1+ (1,0) [0|1] ""  VCU
+ SG_ BMS_SOH : 16|8@1+ (1,0) [0|100] "%"  VCU
+ SG_ BMS_SOC : 8|8@1+ (1,0) [0|100] "%"  VCU
+ SG_ ChargingStatus : 0|3@1+ (1,0) [0|0] ""  VCU
+ SG_ BMS_HVOn_STA : 5|1@1+ (1,0) [0|0] ""  VCU
+
+BO_ 1392 BCM_VCU_Signal1: 8 BCM
+ SG_ LDC_STA : 40|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ BCM_Sys_Status : 16|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ Lamp_Position : 46|2@1+ (1,0) [0|0] ""  VCU
+ SG_ Lamp_DRL : 44|2@1+ (1,0) [0|0] ""  VCU
+ SG_ BCM_MAINSW_STA : 30|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Battery_Voltage : 32|8@1+ (0.1,0) [0|0] ""  VCU
+ SG_ BCM_CE5_STA : 28|2@1+ (1,0) [0|0] ""  VCU
+ SG_ BCM_CE4_STA : 26|2@1+ (1,0) [0|0] ""  VCU
+ SG_ BCM_CE3_STA : 24|2@1+ (1,0) [0|0] ""  VCU
+ SG_ BCM_CE2_STA : 22|2@1+ (1,0) [0|0] ""  VCU
+ SG_ BCM_CE1_STA : 20|2@1+ (1,0) [0|0] ""  VCU
+ SG_ Status_Wiper : 14|2@1+ (1,0) [0|0] ""  VCU
+ SG_ Lamp_BRAKE : 12|2@1+ (1,0) [0|0] ""  VCU
+ SG_ Lamp_Hazard : 10|2@1+ (1,0) [0|0] ""  VCU
+ SG_ Lamp_HBEAM : 8|2@1+ (1,0) [0|0] ""  VCU
+ SG_ Lamp_Head : 6|2@1+ (1,0) [0|0] ""  VCU
+ SG_ Lamp_LTRN : 4|2@1+ (1,0) [0|0] ""  VCU
+ SG_ Lamp_Reverse : 2|2@1+ (1,0) [0|0] ""  VCU
+ SG_ Lamp_RTRN : 0|2@1+ (1,0) [0|0] ""  VCU
+
+
+
+CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider.";
+CM_ SG_ 3221225472 CAR_Bms_SoH_Wrng "0 = False / 1 = True
+";
+CM_ SG_ 3221225472 CAR_EPAM_Temperature "-40¡É~215¡É
+";
+CM_ SG_ 18 CAR_Bms_PackCur "negative : discharge, positive : charge
+";
+CM_ SG_ 18 CAR_Battery_Voltage "12V battery voltage (0x570 ¸Þ½ÃÁö ÂüÁ¶)
+";
+CM_ SG_ 18 CAR_ARC "RC¸ðµâ Åë½Å ÀÌ»ó°¨Áö¿ëµµ ¾ó¶óÀ̺ê Ä«¿îÆ®  
+";
+CM_ SG_ 18 CAR_BMS_HVOn_STA "0 = False / 1 = True
+";
+CM_ SG_ 18 CAR_MCU_InvTemp "Inverter Temp
+";
+CM_ SG_ 18 CAR_MCU_MtrTemp "Motor Temp ";
+CM_ SG_ 256 CAR_NUM "Â÷·® ½Äº°¹øÈ£";
+CM_ SG_ 256 Ver "SW ÀÛ¼º ¹öÀü";
+CM_ SG_ 256 Day "SW ÀÛ¼º ÀÏ";
+CM_ SG_ 256 Month "SW ÀÛ¼º ¿ù
+";
+CM_ SG_ 256 YEAR "SW ÀÛ¼º ³âµµ";
+CM_ SG_ 544 EPAM_ErrClear_State "0 = none
+
+1 = EPAM Error Clear
+";
+CM_ SG_ 544 Park_Request_to_EPC "0=OFF
+
+1=Park
+
+2=Unpark
+
+3=Invalid
+";
+CM_ SG_ 545 ErrEPAM_DCBusOverCurrent "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_DCBusOverVoltage "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_DCBusUnderVoltage "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_HallTimeOut "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_HallPaternError "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_CANErr "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_OT_ECU "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_HallSenErr "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_CommErr "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 EPAM_State "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_MotFail "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_MotOpen "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_MotStallPark "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_MotStallUnPark "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 ErrEPAM_MotStallMiddle "0 = normal state
+ 
+1 = error state
+";
+CM_ SG_ 545 EPAM_HallPosition "0~255¢ª
+";
+CM_ SG_ 545 EPAM_Temperature "-40¡É~215¡É
+";
+CM_ SG_ 545 EPAM_Current "0~25.5A";
+CM_ SG_ 545 EPAM_Voltage "0~25.5V
+";
+CM_ SG_ 545 EPAM_ParkRequestStatus "0=OFF
+
+1=Park
+
+2=Unpark
+
+3=Invalid
+
+";
+CM_ SG_ 545 EPAM_parkLock "0=Off
+1=Parking
+2=Parked
+3=Park Stalled
+4=Unparking
+5=Unparked
+6=Unparked Stalled
+7=Unknown
+
+
+";
+CM_ SG_ 545 EPAM_parkSensor "0=Not Parked
+1=Park Active
+";
+CM_ SG_ 545 EPAM_driveSensor "0:Not Ready To Drive
+1:Ready To Drive";
+CM_ SG_ 380 IMU_PitchRtVal "IMU_PitchRateValue #";
+CM_ SG_ 380 IMU_PITCH_RATE_STAT "Status information for signals:
+xxx0 = IMU available
+xxx1 = IMU not available
+xx0x = Signal in specification
+xx1x = Signal failure
+x0xx = Initialisation is ready
+x1xx = Initialisation is running
+0xxx = Reserved
+1xxx = Reserved";
+CM_ SG_ 380 IMU_MSG_TX3_CNT "This value is incremented within every message by the IMU itself.";
+CM_ SG_ 380 IMU_HW_Index "0000 = 5D IMU e.g. MM5.10
+0001 = 6D IMU e.g. MM7.10
+Others: reserved for future IMU";
+CM_ SG_ 380 IMU_AZ_Val "IMU_Vertical Acceleration#";
+CM_ SG_ 380 IMU_AZ_STAT "Status information for signals:
+xxx0 = IMU available
+xxx1 = IMU not available
+xx0x = Signal in specification
+xx1x = Signal failure
+x0xx = Initialisation is ready
+x1xx = Initialisation is running
+0xxx = Reserved
+1xxx = Reserved";
+CM_ SG_ 376 IMU_MSG_TX2_CNT "This value is incremented within every message by the IMU itself.";
+CM_ SG_ 376 IMU_AX_Val "IMU_LongitudinalAccelerationValue#";
+CM_ SG_ 376 IMU_AX_STAT "Status information for signals:
+xxx0 = IMU available
+xxx1 = IMU not available
+xx0x = Signal in specification
+xx1x = Signal failure
+x0xx = Initialisation is ready
+x1xx = Initialisation is running
+0xxx = Reserved
+1xxx = Reserved";
+CM_ SG_ 376 IMU_CLU_DIAG "Diagnosis information. Serial ASCII code, max. 255byte/1byte per can cycle.
+- Value 00h marks the end of the text block
+- Value 0Dh (carriage return) marks the end of each cycle";
+CM_ SG_ 376 IMU_CLU_STAT5 "CLU_STAT5_0: DIAG_BYTE_NR
+CLU_STAT5_1: DIAG_BYTE_NR
+CLU_STAT5_2: DIAG_BYTE_NR
+CLU_STAT5_3: DIAG_BYTE_NR";
+CM_ SG_ 376 IMU_RollRtVal "IMU_RollRateValue #";
+CM_ SG_ 376 IMU_ROLL_RATE_STAT "Status information for signals:
+xxx0 = IMU available
+xxx1 = IMU not available
+xx0x = Signal in specification
+xx1x = Signal failure
+x0xx = Initialisation is ready
+x1xx = Initialisation is running
+0xxx = Reserved
+1xxx = Reserved";
+CM_ SG_ 372 IMU_YawRtVal "IMU_YawRateValue #";
+CM_ SG_ 372 IMU_YAW_RATE_STAT "Status information for signals:
+xxx0 = IMU available
+xxx1 = IMU not available
+xx0x = Signal in specification
+xx1x = Signal failure
+x0xx = Initialisation is ready
+x1xx = Initialisation is running
+0xxx = Reserved
+1xxx = Reserved";
+CM_ SG_ 372 IMU_TEMP_RATE "Temperature value of the angular rate Z sensor IC
+min-value: -50¡ÆC = 0x0
+max-value: 150¡ÆC = 0xC8
+Quantisation: 1LSB/¡ÆC
+Invalid: 0xFF (< -50¡ÆC or CRC-error for T-message)
+0xC9 (> 150¡ÆC)";
+CM_ SG_ 372 IMU_MSG_TX1_CNT "This value is incremented within every message by the IMU itself.";
+CM_ SG_ 372 IMU_CLU_STAT "IMU status:
+0000 = default xxxx = reserved";
+CM_ SG_ 372 IMU_AY_Val "IMU_LateralAccelerationValue#";
+CM_ SG_ 372 IMU_AY_STAT "Status information for signals:
+xxx0 = IMU available
+xxx1 = IMU not available
+xx0x = Signal in specification
+xx1x = Signal failure
+x0xx = Initialisation is ready
+x1xx = Initialisation is running
+0xxx = Reserved
+1xxx = Reserved";
+CM_ SG_ 65 RC_VX_Limit "Â÷·® ¼Óµµ Á¦¾î Á¦ÇÑ 
+";
+CM_ SG_ 65 RC_VCU_ARC "RC¸ðµâ Åë½Å ÀÌ»ó°¨Áö¿ëµµ ¾ó¶óÀ̺ê Ä«¿îÆ®  
+";
+CM_ SG_ 65 RC_VCU_long_Ctl_mode "0: idle/ 1: Vx CMD Mode / 2: Ax CMD Mode REQ
+";
+CM_ SG_ 65 RC_Emergency_Stop "ºñ»óÁ¤Áö ¸í·É 0 = OFF / 1 = ON
+";
+CM_ SG_ 65 RC_ParkBrake_Cmd "Parking Brake Status¡¡
+";
+CM_ SG_ 65 RC_GearSelStat "Gear Select Status (P/R/N/D)
+";
+CM_ SG_ 65 RC_Drive_Mode "¸ðºô¸®Æ¼Á¦¾î ½Ã ACU¸ðµå = 0, RC ¼öµ¿¸ðµå = 1";
+CM_ SG_ 97 RWS_RackAngleSpeedFbk2 "ÈÄ·û Á¶Çâ °¢¼Óµµ Çǵå¹é(Primary)
+";
+CM_ SG_ 97 RWS_RackAngleFbk2 "ÈÄ·û Á¶Çâ °¢ Çǵå¹é(Primary)
+";
+CM_ SG_ 96 RWS_RackAngleSpeedFbk1 "ÈÄ·û Á¶Çâ °¢¼Óµµ Çǵå¹é(Primary)
+";
+CM_ SG_ 96 RWS_RackAngleFbk1 "ÈÄ·û Á¶Çâ °¢ Çǵå¹é(Primary)
+";
+CM_ SG_ 81 RWA_RackAngleSpeedFbk2 "Àü·û Á¶Çâ °¢¼Óµµ Çǵå¹é(Primary)
+";
+CM_ SG_ 81 RWA_RackAngleFbk2 "Àü·û Á¶Çâ °¢ Çǵå¹é(Primary)
+";
+CM_ SG_ 80 RWA_RackAngleSpeedFbk1 "Àü·û Á¶Çâ °¢¼Óµµ Çǵå¹é(Primary)
+";
+CM_ SG_ 80 RWA_RackAngleFbk1 "Àü·û Á¶Çâ °¢ Çǵå¹é(Primary)
+";
+CM_ SG_ 64 RC_Drive_ACC_Cmd "Motor torque Command
+";
+CM_ SG_ 64 RC_Vx_Command "Vehicle Speed Command
+";
+CM_ SG_ 64 RC_RWA_RackAngleCommand "RWA rack command 
+";
+CM_ SG_ 64 RC_BrakeTorqueCommand "Commanded Brake Torque
+";
+CM_ SG_ 16 VCU_Vx_Limit "Â÷·® ¼Óµµ Á¦¾î Á¦ÇÑ Çǵå¹é
+";
+CM_ SG_ 16 VCU_MCU_EstTrq "Motor torque
+";
+CM_ SG_ 16 VCU_Brk_Pressure_Fbk "IDB Clamping Pressure Çǵå¹é
+Measured brake pressure
+
+";
+CM_ SG_ 16 VCU_RWA_Rack_Fbk "Á¶Çâ °¢ Çǵå¹é
+";
+CM_ SG_ 16 VCU_Vx_Fbk "Vehicle Speed Command
+";
+CM_ SG_ 17 VCU_RC_long_Ctl_mode "0: idle/ 1: Vx CMD Mode / 2: Ax CMD Mode RESP
+";
+CM_ SG_ 17 VCU_RC_Emergency_Stop "ºñ»óÁ¤Áö ¸í·É 0 = OFF / 1 = ON »óÅ Àü´Þ
+";
+CM_ SG_ 17 VCU_ParkBrake_Fbk "Parking Brake Status¡¡(EPAM)
+";
+CM_ SG_ 17 VCU_GearSelStat "Gear Select Status (0 = P/ 1 = R / 2 = N/ 3 = D)
+";
+CM_ SG_ 17 VCU_Drive_Mode "¸ðºô¸®Æ¼Á¦¾î ½Ã ACU¸ðµå = 0, RC ¼öµ¿¸ðµå = 1
+";
+CM_ SG_ 17 VCU_Acc_Fbk "Â÷·® °¡¼Óµµ Á¦¾î Çǵå¹é
+";
+CM_ SG_ 17 VCU_Acc_Limit "Â÷·® °¡¼Óµµ Á¦¾î Á¦ÇÑ Çǵå¹é
+";
+CM_ SG_ 17 VCU_RC_BMS_SOC "¹èÅ͸® SOC »óÅ Àü´Þ 
+";
+CM_ SG_ 32 YawRate "TBD
+";
+CM_ SG_ 32 LongAccelVal "TBD
+";
+CM_ SG_ 32 LatAccelVal "TBD
+";
+CM_ SG_ 592 VCU_NegTrqLimit "Motoring Torque Limit
+";
+CM_ SG_ 592 VCU_TrqCmd "Motor torque Command
+";
+CM_ SG_ 592 VCU_PosTrqLimit "Generating Torque Limit
+";
+CM_ SG_ 592 VCU_BmsHvSt "0 : High Voltage Off Status
+
+1 : High Voltage On Status
+";
+CM_ SG_ 592 VCU_BmsFlt "0 : No Fault
+
+1 : Degraded Fault
+
+2 : Defective Fault
+
+3 : Temporary Degraded Fault
+
+4 : Temporary Defective Fault
+";
+CM_ SG_ 592 VCU_MtrDir "0 : No Control
+
+1 : Forward
+
+2 : Backward
+";
+CM_ SG_ 592 VCU_GearCmd "2 : Reverse
+
+3 : Neutral
+
+4 : Drive
+
+7 : Default
+";
+CM_ SG_ 592 VCU_PwrEnable "Power Enable
+";
+CM_ SG_ 592 VCU_ControlMode "Control Mode
+";
+CM_ SG_ 592 VCU_Ready "VCU Ready
+";
+CM_ SG_ 592 VCU_TorqueContol "Torque Control
+";
+CM_ SG_ 768 MCU_EstTrq "Motor torque
+
+";
+CM_ SG_ 768 MCU_EstSpd "Motor Speed
+
+";
+CM_ SG_ 768 MCU_InvTemp "Inverter Temp
+";
+CM_ SG_ 768 MCU_MtrTemp "Motor Temp
+";
+CM_ SG_ 768 MCU_SvrFlt "MCU Fault (Fault:1, Non Fault:0)
+";
+CM_ SG_ 768 MCU_Derating "Normal_Const_Torque : 0
+
+Power Protect :1
+
+TempSensorProtect : 2
+ 
+HV Protect : 3 
+
+InvOverTempProtect : 4
+
+MtrOverTempProtect : 5 
+
+MtrOverSpeed : 7 
+
+CanRxProtect : 9
+";
+CM_ SG_ 768 MCU_GearStaInv "0 : Valid
+
+1 : Invalid
+";
+CM_ SG_ 768 MCU_CurGearSta "2 : Reverse
+
+3 : Neutral
+
+4 : Drive
+
+7 : Default";
+CM_ SG_ 768 MCU_Interlock "HV Interlock(Connect:0, DisConnect:1)
+";
+CM_ SG_ 768 MCU_Flt "MCU Fault (Fault:1, Non Fault:0)
+";
+CM_ SG_ 768 MCU_Controlable "Torque Controlable (Enable:1, Disable:0)
+";
+CM_ SG_ 768 MCU_Ready "IG state (On:1, Off:0)
+";
+CM_ BO_ 1413 "BMS_OBC_INFO";
+CM_ SG_ 1413 OBC_TEMP_FAULT "Temperature Fault";
+CM_ SG_ 1413 LDC_TEMP_FAULT "Temperature Fault";
+CM_ SG_ 1413 BMS_TEMP_FAULT "Temperature Fault";
+CM_ BO_ 1429 "BMS_OBC_INFO";
+CM_ BO_ 1424 "BMS_OBC_INFO";
+CM_ BO_ 1408 "BMS_OBC INFO";
+CM_ SG_ 1408 ChargingStatus "0 = READY / 1 = INITIALIZE / 2 = CHARGING / 3 =EXIT";
+CM_ BO_ 1392 "BCM INFO";
+CM_ SG_ 1392 LDC_STA "LDC_STA 0 1 Ç¥Çö";
+CM_ SG_ 1392 BCM_Sys_Status "BCM_Sys_Status- 0 1Ç¥Çö  ";
+CM_ SG_ 1392 Battery_Voltage "12V battery voltage";
+BA_DEF_ SG_  "GenSigTimeoutTime_ABS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF1" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF2_Audio" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_DCDC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_OBC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test_PPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_FR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_RR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ECM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_EPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_GW_VMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SlopeSensor" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Slope_Filter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TCU" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TPMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Test_BMC" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTime" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTimeActive" INT 0 0;
+BA_DEF_ SG_  "GenSigInactiveValue" INT 0 0;
+BA_DEF_ SG_  "GenSigStartValue" INT 0 0;
+BA_DEF_ SG_  "GenSigSendType" ENUM  "cyclic","OnChange","OnWrite","IfActive","OnChangeWithRepetition","OnWriteWithRepetition","IfActiveWithRepetition","NoSigSendType","OnChangeAndIfActive","OnChangeAndIfActiveWithRepetition","CA","CE","Event";
+BA_DEF_ BO_  "GenMsgILSupport" ENUM  "No","Yes";
+BA_DEF_ BO_  "StartDelay" INT 0 100;
+BA_DEF_ BO_  "GenMsgStartDelayTime" INT 0 0;
+BA_DEF_ BO_  "GenMsgDelayTime" INT 0 0;
+BA_DEF_ BO_  "GenMsgNrOfRepetition" INT 0 0;
+BA_DEF_ BO_  "GenMsgCycleTimeFast" INT 0 0;
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 0;
+BA_DEF_ BO_  "GenMsgSendType" ENUM  "cyclic","Event","IfActive","CE","CA","NoMsgSendType";
+BA_DEF_ BO_  "DiagResponse" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagRequest" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagState" ENUM  "No","Yes";
+BA_DEF_ BO_  "NmMessage" ENUM  "No","Yes";
+BA_DEF_ BU_  "CANoeDrift" INT 0 0;
+BA_DEF_ BU_  "CANoeJitterMax" INT 0 0;
+BA_DEF_ BU_  "CANoeJitterMin" INT 0 0;
+BA_DEF_ BU_  "CANoeStartDelay" INT 0 10;
+BA_DEF_ BU_  "ECU" STRING ;
+BA_DEF_ BU_  "ILUsed" ENUM  "No","Yes";
+BA_DEF_ BU_  "NmCAN" INT 1 2;
+BA_DEF_ BU_  "NmNode" ENUM  "Yes","No";
+BA_DEF_ BU_  "NmStationAddress" HEX 0 241;
+BA_DEF_ BU_  "NodeLayerModules" STRING ;
+BA_DEF_  "ILTxTimeout" INT 0 100;
+BA_DEF_  "NmBaseAddress" HEX 0 2047;
+BA_DEF_  "NmMessageCount" INT 0 255;
+BA_DEF_  "VersionDay" INT 0 49;
+BA_DEF_  "VersionMonth" INT 0 18;
+BA_DEF_  "VersionNumber" INT 0 65535;
+BA_DEF_  "VersionWeek" INT 0 82;
+BA_DEF_  "VersionYear" INT 2009 2030;
+BA_DEF_  "Manufacturer" STRING ;
+BA_DEF_  "NmType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_  "Baudrate" INT 0 1000000;
+BA_DEF_  "DBName" STRING ;
+BA_DEF_DEF_  "GenSigTimeoutTime_ABS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF1" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF2_Audio" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_DCDC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_OBC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test_PPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_FR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_RR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ECM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_EPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_GW_VMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SlopeSensor" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Slope_Filter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TCU" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TPMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Test_BMC" 0;
+BA_DEF_DEF_  "GenSigCycleTime" 0;
+BA_DEF_DEF_  "GenSigCycleTimeActive" 0;
+BA_DEF_DEF_  "GenSigInactiveValue" 0;
+BA_DEF_DEF_  "GenSigStartValue" 0;
+BA_DEF_DEF_  "GenSigSendType" "cyclic";
+BA_DEF_DEF_  "GenMsgILSupport" "Yes";
+BA_DEF_DEF_  "StartDelay" 0;
+BA_DEF_DEF_  "GenMsgStartDelayTime" 0;
+BA_DEF_DEF_  "GenMsgDelayTime" 0;
+BA_DEF_DEF_  "GenMsgNrOfRepetition" 0;
+BA_DEF_DEF_  "GenMsgCycleTimeFast" 0;
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
+BA_DEF_DEF_  "GenMsgSendType" "cyclic";
+BA_DEF_DEF_  "DiagResponse" "No";
+BA_DEF_DEF_  "DiagRequest" "No";
+BA_DEF_DEF_  "DiagState" "No";
+BA_DEF_DEF_  "NmMessage" "No";
+BA_DEF_DEF_  "CANoeDrift" 0;
+BA_DEF_DEF_  "CANoeJitterMax" 0;
+BA_DEF_DEF_  "CANoeJitterMin" 0;
+BA_DEF_DEF_  "CANoeStartDelay" 0;
+BA_DEF_DEF_  "ECU" "";
+BA_DEF_DEF_  "ILUsed" "Yes";
+BA_DEF_DEF_  "NmCAN" 2;
+BA_DEF_DEF_  "NmNode" "No";
+BA_DEF_DEF_  "NmStationAddress" 0;
+BA_DEF_DEF_  "NodeLayerModules" "OSEKNM01.dll,CANoeILNLVector.dll";
+BA_DEF_DEF_  "ILTxTimeout" 0;
+BA_DEF_DEF_  "NmBaseAddress" 1024;
+BA_DEF_DEF_  "NmMessageCount" 128;
+BA_DEF_DEF_  "VersionDay" 0;
+BA_DEF_DEF_  "VersionMonth" 0;
+BA_DEF_DEF_  "VersionNumber" 0;
+BA_DEF_DEF_  "VersionWeek" 0;
+BA_DEF_DEF_  "VersionYear" 2013;
+BA_DEF_DEF_  "Manufacturer" "";
+BA_DEF_DEF_  "NmType" "";
+BA_DEF_DEF_  "BusType" "";
+BA_DEF_DEF_  "Baudrate" 500000;
+BA_DEF_DEF_  "DBName" "";
+BA_ "DBName" "CAN_CH1";
+BA_ "GenSigStartValue" SG_ 3221225472 CAR_EPAM_Temperature 40;
+BA_ "GenSigStartValue" SG_ 18 CAR_MCU_InvTemp 50;
+BA_ "GenSigStartValue" SG_ 18 CAR_MCU_MtrTemp 50;
+BA_ "GenSigStartValue" SG_ 545 EPAM_Temperature 40;
+BA_ "GenSigStartValue" SG_ 97 RWS_RackAngleSpeedFbk2 32760;
+BA_ "GenSigStartValue" SG_ 97 RWS_RackAngleFbk2 33250;
+BA_ "GenSigStartValue" SG_ 96 RWS_RackAngleSpeedFbk1 32760;
+BA_ "GenSigStartValue" SG_ 96 RWS_RackAngleFbk1 33250;
+BA_ "GenSigStartValue" SG_ 81 RWA_RackAngleSpeedFbk2 32760;
+BA_ "GenSigStartValue" SG_ 81 RWA_RackAngleFbk2 33250;
+BA_ "GenSigStartValue" SG_ 80 RWA_RackAngleSpeedFbk1 32760;
+BA_ "GenSigStartValue" SG_ 80 RWA_RackAngleFbk1 33250;
+BA_ "GenSigStartValue" SG_ 64 RC_Drive_ACC_Cmd 0;
+BA_ "GenSigStartValue" SG_ 16 VCU_MCU_EstTrq 2000;
+BA_ "GenSigStartValue" SG_ 17 VCU_Acc_Fbk 0;
+BA_ "GenSigStartValue" SG_ 17 VCU_Acc_Limit 0;
+BA_ "GenSigStartValue" SG_ 768 MCU_InvTemp 50;
+VAL_ 341 RC_Wiper_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 341 RC_Lamp_DRL_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 341 RC_Lamp_Position_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 341 RC_Lamp_RTRN_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 341 RC_Lamp_Reverse_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 341 RC_Lamp_LTRN_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 341 RC_Lamp_Head_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 341 RC_Lamp_HBEAM_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 341 RC_Lamp_Hazard_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 341 RC_Lamp_BRAKE_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 384 HMI_LMP_5 3 "BLINK_2" 2 "BLINK_1" 1 "ON" 0 "OFF" ;
+VAL_ 384 HMI_LMP_4 3 "BLINK_2" 2 "BLINK_1" 1 "ON" 0 "OFF" ;
+VAL_ 384 HMI_LMP_3 3 "BLINK_2" 2 "BLINK_1" 1 "ON" 0 "OFF" ;
+VAL_ 384 HMI_LMP_2 3 "BLINK_2" 2 "BLINK_1" 1 "ON" 0 "OFF" ;
+VAL_ 384 HMI_LMP_1 3 "BLINK_2" 2 "BLINK_1" 1 "ON" 0 "OFF" ;
+VAL_ 336 CE_ON_CMD 3 "INVALID" 2 "NOT_USE" 1 "ON" 0 "OFF" ;
+VAL_ 336 HV_ON_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 336 LDC_ACT_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 336 Wiper_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_DRL_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_Position_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_RTRN_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_Reverse_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_LTRN_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_Head_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_HBEAM_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_Hazard_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_BRAKE_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 1413 OBC_TEMP_FAULT 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 LDC_TEMP_FAULT 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 BMS_TEMP_FAULT 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 OBC_FltSta 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 LDC_FltSta 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 BMS_FltSta 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 BCM_FltSta 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1429 LDC_ACTL_CUR 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 1408 BCM_ChgeCon_DTD 1 "True" 0 "False" ;
+VAL_ 1408 Bms_SoH_Wrng 1 "True" 0 "False" ;
+VAL_ 1408 Bms_Soc_Wrng 1 "True" 0 "False" ;
+VAL_ 1408 CommSta_VCU 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 CommSta_TMS 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 CommSta_OBC 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 CommSta_LDC 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 CommSta_BMS 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 BMS_SOH_INV 1 "True" 0 "False" ;
+VAL_ 1408 BMS_SOC_INV 1 "True" 0 "False" ;
+VAL_ 1408 IntLckSta_OBC 1 "Connected" 0 "Disconnected" ;
+VAL_ 1408 IntLckSta_BMS 1 "Connected" 0 "Disconnected" ;
+VAL_ 1408 BMS_HVOn_STA 1 "True" 0 "False" ;
+VAL_ 1392 Lamp_Position 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_DRL 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_MAINSW_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE5_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE4_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE3_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE2_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE1_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Status_Wiper 3 "BLINKING" 2 "OFF" 1 "ON" 0 "N/A" ;
+VAL_ 1392 Lamp_BRAKE 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_Hazard 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_HBEAM 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_Head 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_LTRN 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_Reverse 3 "INVAILD" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_RTRN 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+
diff --git a/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch2_V17.dbc b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch2_V17.dbc
new file mode 100644
index 00000000..35fe85ef
--- /dev/null
+++ b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch2_V17.dbc	
@@ -0,0 +1,807 @@
+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_: ACU VCU
+VAL_TABLE_ SysMode 3 "SysOFF" 2 "RUN" 1 "Ready" 0 "Initialize" ;
+VAL_TABLE_ BitSTA 1 "True" 0 "False" ;
+VAL_TABLE_ IntLck 1 "Connected" 0 "Disconnected" ;
+VAL_TABLE_ CE_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_TABLE_ CommSta 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_TABLE_ LampCmd_t 3 "BLINKING" 2 "OFF" 1 "ON" 0 "N/A" ;
+
+
+BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
+ SG_ VCU_ACU_counter1 : 0|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ VCU_ACU_CRC1 : 0|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ VCU_ACU_GearPos : 0|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ VCU_ACU_EPAM_Resp : 0|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ VCU_ACU_long_Ctl_mode : 0|2@1+ (1,0) [0|2] "" Vector__XXX
+ SG_ YawRate : 0|16@1+ (0.005,-163.84) [-163.84|163.82] "deg/s" Vector__XXX
+ SG_ VCU_MCU_EstTrq : 0|8@1+ (1,0) [0|255] "km/h" Vector__XXX
+
+BO_ 22 ACU_CAR_STAT: 8 VCU
+ SG_ ACU_CAR_BMS_HVOn_STA : 36|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACU_CAR_ARC : 56|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ ACU_CAR_ChargingStatus : 33|3@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ ACU_CAR_EPAM_Temperature : 16|8@1+ (1,-40) [-40|215] "¡É" Vector__XXX
+ SG_ ACU_CAR_Battery_Voltage : 24|8@1+ (0.1,0) [0|25.5] "V" Vector__XXX
+ SG_ ACU_CAR_Bms_SoH_Wrng : 32|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACU_CAR_MCU_InvTemp : 8|8@1+ (1,-50) [-50|200] "¡É" Vector__XXX
+ SG_ ACU_CAR_MCU_MtrTemp : 0|8@1+ (1,-50) [-50|160] "¡É" Vector__XXX
+
+BO_ 380 ACU_IMU_TX3: 8 VCU
+ SG_ IMU_TX3_CRC : 56|8@1+ (1,0) [0|255] ""  ACU
+ SG_ IMU_AZ_STAT : 52|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_MSG_TX3_CNT : 48|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_AZ_Val : 24|16@1+ (1,-40.957) [0|0] "m/s©÷"  ACU
+ SG_ IMU_PITCH_RATE_STAT : 20|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_HW_Index : 16|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_PitchRtVal : 0|16@1+ (0.005,-163.84) [0|0] "¢ª/s"  ACU
+
+BO_ 376 ACU_IMU_TX2: 8 VCU
+ SG_ IMU_CLU_DIAG : 24|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ IMU_TX2_CRC : 56|8@1+ (1,0) [0|255] ""  ACU
+ SG_ IMU_AX_STAT : 52|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_MSG_TX2_CNT : 48|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_AX_Val : 32|16@1+ (0.00125,-40.957) [0|0] "m/s©÷"  ACU
+ SG_ IMU_ROLL_RATE_STAT : 20|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_CLU_STAT5 : 16|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_RollRtVal : 0|16@1+ (0.005,-163.84) [0|0] "¢ª/s"  ACU
+
+BO_ 372 ACU_IMU_TX1: 8 VCU
+ SG_ IMU_TEMP_RATE : 24|8@1- (1,-50) [0|0] "¡ÆC" Vector__XXX
+ SG_ IMU_TX1_CRC : 56|8@1+ (1,0) [0|255] ""  ACU
+ SG_ IMU_AY_STAT : 52|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_MSG_TX1_CNT : 48|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_AY_Val : 32|16@1+ (0.00125,-40.957) [0|0] "m/s©÷"  ACU
+ SG_ IMU_YAW_RATE_STAT : 20|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_CLU_STAT : 16|4@1+ (1,0) [0|15] ""  ACU
+ SG_ IMU_YawRtVal : 0|16@1+ (0.005,-163.84) [0|0] "¢ª/s"  ACU
+
+BO_ 146 ACU_VCU_Signal2: 8 ACU
+ SG_ ACU_VCU_CRC2 : 60|4@1+ (1,0) [0|15] ""  VCU
+ SG_ ACU_VCU_counter2 : 56|4@1+ (1,0) [0|15] ""  VCU
+ SG_ ACU_RWS_cmd_deg : 16|16@1+ (0.02,-655) [-655|655.7] "deg"  VCU
+ SG_ ACU_RWA_cmd_deg : 0|16@1+ (0.02,-655) [-655|655.7] "deg"  VCU
+
+BO_ 21 VCU_ACU_Signal3: 8 VCU
+ SG_ VCU_ACU_CRC3 : 60|4@1+ (1,0) [0|15] ""  ACU
+ SG_ VCU_ACU_counter3 : 56|4@1+ (1,0) [0|15] ""  ACU
+ SG_ VCU_Acc_Limit : 32|16@1- (1E-005,-0.32768) [-0.32768|0.32767] "g"  ACU
+ SG_ VCU_Acc_Fbk : 16|16@1- (1E-005,-0.32768) [-0.32768|0.32767] "g"  ACU
+ SG_ VCU_Vx_Limit : 8|8@1+ (1,0) [0|255] "km/h"  ACU
+ SG_ VCU_Vx_Fbk : 0|8@1+ (1,0) [0|255] "km/h"  ACU
+
+BO_ 97 RWS_VCU_ACU_Signal2: 8 VCU
+ SG_ RWS_VCU_ACU_CRC2 : 60|4@1+ (1,0) [0|15] ""  ACU
+ SG_ RWS_VCU_ACU_counter2 : 56|4@1+ (1,0) [0|15] ""  ACU
+ SG_ RWS_RackAngleSpeedFbk2 : 16|16@1+ (0.05,-1638) [-1638|1638.75] "deg/s"  ACU
+ SG_ RWS_RackAngleFbk2 : 0|16@1+ (0.02,-665) [-665|665.7] "deg"  ACU
+
+BO_ 81 RWA_VCU_ACU_Signal2: 8 VCU
+ SG_ RWA_VCU_ACU_counter2 : 56|4@1+ (1,0) [0|15] ""  ACU
+ SG_ RWA_VCU_ACU_CRC2 : 60|4@1+ (1,0) [0|15] ""  ACU
+ SG_ RWA_RackAngleSpeedFbk2 : 16|16@1+ (0.05,-1638) [-1638|1638.75] "deg/s"  ACU
+ SG_ RWA_RackAngleFbk2 : 0|16@1+ (0.02,-665) [-665|665.7] "deg"  ACU
+
+BO_ 336 ACU_BCM_Signal_1: 8 ACU
+ SG_ ACU_VCU_CRC : 60|4@1+ (1,0) [0|15] ""  VCU
+ SG_ ACU_VCU_counter : 56|4@1+ (1,0) [0|15] ""  VCU
+ SG_ Vcu_SysMode : 43|3@1+ (1,0) [0|0] ""  VCU
+ SG_ Vcu_OperMode : 40|3@1+ (1,0) [0|0] ""  VCU
+ SG_ LDC_TRGT_CUR : 32|8@1+ (1,0) [0|100] "A"  VCU
+ SG_ CE_ON_CMD : 30|2@1+ (1,0) [0|3] ""  VCU
+ SG_ HV_ON_CMD : 26|2@1+ (1,0) [0|3] ""  VCU
+ SG_ LDC_ACT_CMD : 24|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Wiper_CMD : 18|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Lamp_DRL_CMD : 16|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Lamp_Position_CMD : 14|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Lamp_RTRN_CMD : 12|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Lamp_Reverse_CMD : 10|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Lamp_LTRN_CMD : 8|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Lamp_Head_CMD : 6|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Lamp_HBEAM_CMD : 4|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Lamp_Hazard_CMD : 2|2@1+ (1,0) [0|3] ""  VCU
+ SG_ Lamp_BRAKE_CMD : 0|2@1+ (1,0) [0|3] ""  VCU
+
+BO_ 19 VCU_ACU_Signal1: 8 VCU
+ SG_ VCU_ACU_Emergency_Stop : 62|1@1+ (1,0) [0|1] ""  ACU
+ SG_ VCU_ACU_ParkBrake_Fbk : 60|2@1+ (1,0) [0|3] ""  ACU
+ SG_ VCU_ACU_GearPos : 58|2@1+ (1,0) [0|3] ""  ACU
+ SG_ VCU_ACU_long_Ctl_mode : 56|2@1+ (1,0) [0|2] ""  ACU
+ SG_ VCU_ACU_RC_BMS_SOC : 48|8@1- (1,0) [0|100] "%"  ACU
+ SG_ VCU_ACU_Brk_Pressure_Fbk : 32|16@1+ (0.15,0) [0|153.45] "bar"  ACU
+ SG_ VCU_ACU_RWA_Rack_Fbk : 16|16@1- (0.02,-655) [-655|655.7] "deg"  ACU
+ SG_ VCU_ACU_MCU_EstTrq : 0|16@1+ (0.1,-200) [-200|200] "Nm"  ACU
+
+BO_ 20 VCU_ACU_Signal2: 8 VCU
+ SG_ VCU_ACU_CRC2 : 60|4@1+ (1,0) [0|15] ""  ACU
+ SG_ VCU_ACU_counter2 : 56|4@1+ (1,0) [0|15] ""  ACU
+ SG_ VCU_IGN_SIG : 16|2@1+ (1,0) [0|3] ""  ACU
+ SG_ RWS_Flt : 4|4@1+ (1,0) [0|15] ""  ACU
+ SG_ Drive_Mode : 13|2@1+ (1,0) [0|1] ""  ACU
+ SG_ IDB_Flt : 8|4@1+ (1,0) [0|15] ""  ACU
+ SG_ RWA_Flt : 0|4@1+ (1,0) [0|15] ""  ACU
+ SG_ MCU_Flt : 12|1@1+ (1,0) [0|1] ""  ACU
+
+BO_ 96 RWS_VCU_ACU_Signal: 8 VCU
+ SG_ RWS_VCU_ACU_CRC : 60|4@1+ (1,0) [0|15] ""  ACU
+ SG_ RWS_VCU_ACU_counter : 56|4@1+ (1,0) [0|15] ""  ACU
+ SG_ RWS_RackAngleSpeedFbk : 16|16@1+ (0.05,-1638) [-1638|1638.75] "deg/s"  ACU
+ SG_ RWS_RackAngleFbk : 0|16@1+ (0.02,-665) [-665|665.7] "deg"  ACU
+
+BO_ 80 RWA_VCU_ACU_Signal: 8 VCU
+ SG_ RWA_VCU_ACU_CRC1 : 60|4@1+ (1,0) [0|15] ""  ACU
+ SG_ RWA_VCU_ACU_counter1 : 56|4@1+ (1,0) [0|15] ""  ACU
+ SG_ RWA_RackAngleSpeedFbk1 : 16|16@1+ (0.05,-1638) [-1638|1638.75] "deg/s"  ACU
+ SG_ RWA_RackAngleFbk1 : 0|16@1+ (0.02,-665) [-665|665.7] "deg"  ACU
+
+BO_ 145 ACU_VCU_Signal1: 8 ACU
+ SG_ ACU_VCU_CRC1 : 60|4@1+ (1,0) [0|15] ""  VCU
+ SG_ ACU_BrakeTorqueCommand : 32|16@1+ (0.1,0) [0|6553.5] "Nm"  VCU
+ SG_ ACU_Drive_ACC_Cmd : 16|16@1+ (1E-005,-0.32768) [-0.32768|0.32767] "g"  VCU
+ SG_ ACU_VCU_counter1 : 56|4@1+ (1,0) [0|15] ""  VCU
+ SG_ ACU_Vx_Command : 0|8@1+ (1,0) [0|255] "km/h"  VCU
+
+BO_ 147 ACU_VCU_Signal3: 8 ACU
+ SG_ ACU_VCU_GearPos : 6|2@1+ (1,0) [0|3] ""  VCU
+ SG_ ACU_VCU_CRC3 : 60|4@1+ (1,0) [0|15] ""  VCU
+ SG_ ACU_Emergency_Stop : 8|1@1+ (1,0) [0|1] "0"  VCU
+ SG_ ACU_long_Ctl_mode : 2|2@1+ (1,0) [0|2] ""  VCU
+ SG_ ACU_VCU_counter3 : 56|4@1+ (1,0) [0|15] ""  VCU
+ SG_ ACU_EPAM_req : 4|2@1+ (1,0) [0|3] ""  VCU
+ SG_ ACU_Drive_mode : 0|2@1+ (1,0) [0|3] ""  VCU
+
+BO_ 1440 BCM_VCU_ACU_Signal6: 8 VCU
+ SG_ BMS_DchPowerLimit : 16|16@1+ (0.1,0) [0|0] "V"  ACU
+ SG_ BMS_DchCurrLimit : 0|16@1+ (0.1,0) [0|0] "V"  ACU
+
+BO_ 1413 BCM_VCU_ACU_Signal5: 8 VCU
+ SG_ BCM_VCU_CRC5 : 60|4@1+ (1,0) [0|15] ""  ACU
+ SG_ BCM_VCU_counter5 : 56|4@1+ (1,0) [0|15] ""  ACU
+ SG_ OBC_TEMP_FAULT : 12|2@1+ (1,0) [0|3] ""  ACU
+ SG_ LDC_TEMP_FAULT : 10|2@1+ (1,0) [0|3] ""  ACU
+ SG_ BMS_TEMP_FAULT : 8|2@1+ (1,0) [0|3] ""  ACU
+ SG_ BCM_FltSta : 6|2@1+ (1,0) [0|3] ""  ACU
+ SG_ LDC_FltSta : 4|2@1+ (1,0) [0|3] ""  ACU
+ SG_ BMS_FltSta : 2|2@1+ (1,0) [0|3] ""  ACU
+ SG_ OBC_FltSta : 0|2@1+ (1,0) [0|3] ""  ACU
+
+BO_ 1429 BCM_VCU_ACU_Signal4: 8 VCU
+ SG_ BCM_VCU_CRC4 : 12|4@1+ (1,0) [0|15] ""  ACU
+ SG_ BCM_VCU_counter4 : 8|4@1+ (1,0) [0|15] ""  ACU
+ SG_ LDC_ACTL_CUR : 0|8@1+ (1,0) [0|100] "A"  ACU
+
+BO_ 1424 BCM_VCU_ACU_Signal3: 8 VCU
+ SG_ BCM_VCU_CRC3 : 52|4@1+ (1,0) [0|15] ""  ACU
+ SG_ BCM_VCU_counter3 : 48|4@1+ (1,0) [0|15] ""  ACU
+ SG_ Bms_PackPwr : 32|16@1- (0.1,0) [-3276.8|3276.7] "V"  ACU
+ SG_ Bms_PackCur : 16|16@1- (0.1,0) [-3276.8|3276.7] "V"  ACU
+ SG_ Bms_PackVolt : 0|16@1+ (0.1,0) [0|0] "V"  ACU
+
+BO_ 1408 BCM_VCU_ACU_Signal2: 8 VCU
+ SG_ BCM_VCU_CRC2 : 60|4@1+ (1,0) [0|15] ""  ACU
+ SG_ BCM_VCU_counter2 : 56|4@1+ (1,0) [0|15] ""  ACU
+ SG_ BCM_ChgeCon_DTD : 3|1@1+ (1,0) [0|0] ""  ACU
+ SG_ Bms_SoH_Wrng : 39|1@1+ (1,0) [0|1] ""  ACU
+ SG_ Bms_Soc_Wrng : 38|1@1+ (1,0) [0|1] ""  ACU
+ SG_ CommSta_VCU : 26|2@1+ (1,0) [0|0] ""  ACU
+ SG_ CommSta_TMS : 34|2@1+ (1,0) [0|0] ""  ACU
+ SG_ CommSta_OBC : 24|2@1+ (1,0) [0|0] ""  ACU
+ SG_ CommSta_LDC : 30|2@1+ (1,0) [0|0] ""  ACU
+ SG_ CommSta_BMS : 28|2@1+ (1,0) [0|0] ""  ACU
+ SG_ BMS_SOH_INV : 36|1@1+ (1,0) [0|1] ""  ACU
+ SG_ BMS_SOC_INV : 37|1@1+ (1,0) [0|1] ""  ACU
+ SG_ IntLckSta_OBC : 6|1@1+ (1,0) [0|1] ""  ACU
+ SG_ IntLckSta_BMS : 7|1@1+ (1,0) [0|1] ""  ACU
+ SG_ BMS_SOH : 16|8@1+ (1,0) [0|100] "%"  ACU
+ SG_ BMS_SOC : 8|8@1+ (1,0) [0|100] "%"  ACU
+ SG_ ChargingStatus : 0|3@1+ (1,0) [0|0] ""  ACU
+ SG_ BMS_HVOn_STA : 5|1@1+ (1,0) [0|0] ""  ACU
+
+BO_ 1392 BCM_VCU_ACU_Signal1: 8 VCU
+ SG_ BCM_VCU_CRC1 : 60|4@1+ (1,0) [0|15] ""  ACU
+ SG_ BCM_VCU_counter1 : 56|4@1+ (1,0) [0|15] ""  ACU
+ SG_ Lamp_Position : 46|2@1+ (1,0) [0|0] ""  ACU
+ SG_ Lamp_DRL : 44|2@1+ (1,0) [0|0] ""  ACU
+ SG_ BCM_MAINSW_STA : 30|2@1+ (1,0) [0|3] ""  ACU
+ SG_ Battery_Voltage : 32|8@1+ (0.1,0) [0|0] ""  ACU
+ SG_ BCM_CE5_STA : 28|2@1+ (1,0) [0|0] ""  ACU
+ SG_ BCM_CE4_STA : 26|2@1+ (1,0) [0|0] ""  ACU
+ SG_ BCM_CE3_STA : 24|2@1+ (1,0) [0|0] ""  ACU
+ SG_ BCM_CE2_STA : 22|2@1+ (1,0) [0|0] ""  ACU
+ SG_ BCM_CE1_STA : 20|2@1+ (1,0) [0|0] ""  ACU
+ SG_ Status_Wiper : 14|2@1+ (1,0) [0|0] ""  ACU
+ SG_ Lamp_BRAKE : 12|2@1+ (1,0) [0|0] ""  ACU
+ SG_ Lamp_Hazard : 10|2@1+ (1,0) [0|0] ""  ACU
+ SG_ Lamp_HBEAM : 8|2@1+ (1,0) [0|0] ""  ACU
+ SG_ Lamp_Head : 6|2@1+ (1,0) [0|0] ""  ACU
+ SG_ Lamp_LTRN : 4|2@1+ (1,0) [0|0] ""  ACU
+ SG_ Lamp_Reverse : 2|2@1+ (1,0) [0|0] ""  ACU
+ SG_ Lamp_RTRN : 0|2@1+ (1,0) [0|0] ""  ACU
+
+
+
+CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider.";
+CM_ SG_ 3221225472 VCU_ACU_counter1 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 3221225472 VCU_ACU_CRC1 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 3221225472 VCU_ACU_GearPos "Gear Status (0 = P/ 1 = R / 2 = N/ 3 = D)
+";
+CM_ SG_ 3221225472 VCU_ACU_EPAM_Resp "EPAM ÀÛµ¿ ¿©ºÎ(Á¤Â÷ ½Ã ÀÛµ¿)
+";
+CM_ SG_ 3221225472 VCU_ACU_long_Ctl_mode "0: idle/ 1: Vx CMD Mode / 2: Ax CMD Mode RESP
+";
+CM_ SG_ 3221225472 YawRate "TBD
+";
+CM_ SG_ 3221225472 VCU_MCU_EstTrq "Vehicle speed
+";
+CM_ SG_ 22 ACU_CAR_BMS_HVOn_STA "0 = False / 1 = True
+";
+CM_ SG_ 22 ACU_CAR_ARC "Åë½Å ÀÌ»ó°¨Áö¿ëµµ ¾ó¶óÀ̺ê Ä«¿îÆ®  
+";
+CM_ SG_ 22 ACU_CAR_ChargingStatus "0 = READY / 1 = INITIALIZE / 2 = CHARGING / 3 =EXIT
+";
+CM_ SG_ 22 ACU_CAR_EPAM_Temperature "-40¡É~215¡É
+";
+CM_ SG_ 22 ACU_CAR_Battery_Voltage "12V battery voltage (0x570 ¸Þ½ÃÁö ÂüÁ¶)
+";
+CM_ SG_ 22 ACU_CAR_Bms_SoH_Wrng "0 = False / 1 = True
+";
+CM_ SG_ 22 ACU_CAR_MCU_InvTemp "Inverter Temp
+";
+CM_ SG_ 22 ACU_CAR_MCU_MtrTemp "Motor Temp (0x300 ¸Þ¼¼Áö ÂüÁ¶)
+";
+CM_ SG_ 380 IMU_AZ_STAT "Status information for signals:
+
+xxx0 = IMU available
+
+xxx1 = IMU not available
+
+xx0x = Signal in specification
+
+xx1x = Signal failure
+
+x0xx = Initialisation is ready
+
+x1xx = Initialisation is running
+
+0xxx = Reserved
+
+1xxx = Reserved
+";
+CM_ SG_ 380 IMU_MSG_TX3_CNT "This value is incremented within every message by the IMU itself.
+";
+CM_ SG_ 380 IMU_AZ_Val "IMU_Vertical Acceleration#
+";
+CM_ SG_ 380 IMU_PITCH_RATE_STAT "Status information for signals:
+
+xxx0 = IMU available
+
+xxx1 = IMU not available
+
+xx0x = Signal in specification
+
+xx1x = Signal failure
+
+x0xx = Initialisation is ready
+
+x1xx = Initialisation is running
+
+0xxx = Reserved
+1
+xxx = Reserved
+";
+CM_ SG_ 380 IMU_HW_Index "0000 = 5D IMU e.g. MM5.10
+
+0001 = 6D IMU e.g. MM7.10
+
+Others: reserved for future IMU
+";
+CM_ SG_ 380 IMU_PitchRtVal "IMU_RollRateValue #
+";
+CM_ SG_ 376 IMU_CLU_DIAG "Diagnosis information. Serial ASCII code, max. 255byte/1byte per can cycle.
+
+- Value 00h marks the end of the text block
+
+- Value 0Dh (carriage return) marks the end of each cycle
+";
+CM_ SG_ 376 IMU_AX_STAT "Status information for signals:
+
+xxx0 = IMU available
+
+xxx1 = IMU not available
+
+xx0x = Signal in specification
+
+xx1x = Signal failure
+
+x0xx = Initialisation is ready
+
+x1xx = Initialisation is running
+
+0xxx = Reserved
+
+1xxx = Reserved
+";
+CM_ SG_ 376 IMU_MSG_TX2_CNT "This value is incremented within every message by the IMU itself.
+";
+CM_ SG_ 376 IMU_AX_Val "IMU_LongitudinalAccelerationValue#
+
+";
+CM_ SG_ 376 IMU_ROLL_RATE_STAT "Status information for signals:
+
+xxx0 = IMU available
+
+xxx1 = IMU not available
+
+xx0x = Signal in specification
+
+xx1x = Signal failure
+
+x0xx = Initialisation is ready
+
+x1xx = Initialisation is running
+
+0xxx = Reserved
+
+1xxx = Reserved
+";
+CM_ SG_ 376 IMU_CLU_STAT5 "CLU_STAT5_0: DIAG_BYTE_NR
+
+CLU_STAT5_1: DIAG_BYTE_NR
+
+CLU_STAT5_2: DIAG_BYTE_NR
+
+CLU_STAT5_3: DIAG_BYTE_NR
+";
+CM_ SG_ 376 IMU_RollRtVal "IMU_PitchRateValue #
+";
+CM_ SG_ 372 IMU_TEMP_RATE "Temperature value of the angular rate Z sensor IC
+
+min-value: -50¡ÆC = 0x0
+
+max-value: 150¡ÆC = 0xC8
+
+Quantisation: 1LSB/¡ÆC
+
+Invalid: 0xFF (< -50¡ÆC or CRC-error for T-message)
+
+0xC9 (> 150¡ÆC)
+";
+CM_ SG_ 372 IMU_AY_STAT "Status information for signals:
+
+xxx0 = IMU available
+
+xxx1 = IMU not available
+
+xx0x = Signal in specification
+
+xx1x = Signal failure
+
+x0xx = Initialisation is ready
+
+x1xx = Initialisation is running
+
+0xxx = Reserved
+
+1xxx = Reserved
+";
+CM_ SG_ 372 IMU_MSG_TX1_CNT "This value is incremented within every message by the IMU itself.
+";
+CM_ SG_ 372 IMU_AY_Val "IMU_LateralAccelerationValue#
+";
+CM_ SG_ 372 IMU_YAW_RATE_STAT "Status information for signals:
+
+xxx0 = IMU available
+
+xxx1 = IMU not available
+
+xx0x = Signal in specification
+
+xx1x = Signal failure
+x0xx = Initialisation is ready
+
+x1xx = Initialisation is running
+
+0xxx = Reserved
+
+1xxx = Reserved
+";
+CM_ SG_ 372 IMU_CLU_STAT "IMU status:
+
+0000 = default 
+xxxx = reserved
+";
+CM_ SG_ 372 IMU_YawRtVal "IMU_YawRateValue #
+";
+CM_ SG_ 146 ACU_VCU_CRC2 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 146 ACU_VCU_counter2 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 146 ACU_RWS_cmd_deg "ÈÄ·û Á¶Çâ°¢ ¸í·É
+";
+CM_ SG_ 146 ACU_RWA_cmd_deg "Àü·û Á¶Çâ°¢ ¸í·É
+";
+CM_ SG_ 21 VCU_ACU_CRC3 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 21 VCU_ACU_counter3 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 21 VCU_Acc_Limit "Â÷·® °¡¼Óµµ Á¦¾î Á¦ÇÑ Çǵå¹é
+";
+CM_ SG_ 21 VCU_Acc_Fbk "Â÷·® °¡¼Óµµ Á¦¾î Çǵå¹é
+";
+CM_ SG_ 21 VCU_Vx_Limit "¼Óµµ ¸í·É Çǵå¹é
+";
+CM_ SG_ 21 VCU_Vx_Fbk "¼Óµµ ¸í·É Çǵå¹é
+";
+CM_ SG_ 97 RWS_VCU_ACU_CRC2 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 97 RWS_VCU_ACU_counter2 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 97 RWS_RackAngleSpeedFbk2 "ÈÄ·û Á¶Çâ °¢¼Óµµ Çǵå¹é(Primary)
+";
+CM_ SG_ 97 RWS_RackAngleFbk2 "ÈÄ·û Á¶Çâ °¢ Çǵå¹é(Primary)
+";
+CM_ SG_ 81 RWA_VCU_ACU_counter2 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 81 RWA_VCU_ACU_CRC2 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 81 RWA_RackAngleSpeedFbk2 "Àü·û Á¶Çâ °¢¼Óµµ Çǵå¹é(Primary)
+";
+CM_ SG_ 81 RWA_RackAngleFbk2 "Àü·û Á¶Çâ °¢ Çǵå¹é(Primary)
+";
+CM_ SG_ 336 ACU_VCU_CRC "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 336 ACU_VCU_counter "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 19 VCU_ACU_Emergency_Stop "ºñ»óÁ¤Áö ¸í·É 0 = OFF / 1 = ON »óÅ Àü´Þ
+";
+CM_ SG_ 19 VCU_ACU_ParkBrake_Fbk "Parking Brake Status¡¡(EPAM)
+";
+CM_ SG_ 19 VCU_ACU_GearPos "Gear Select Status (0 = P/ 1 = R / 2 = N/ 3 = D)
+";
+CM_ SG_ 19 VCU_ACU_long_Ctl_mode "0: idle/ 1: Vx CMD Mode / 2: Ax CMD Mode RESP
+";
+CM_ SG_ 19 VCU_ACU_RC_BMS_SOC "¹èÅ͸® SOC »óÅ Àü´Þ 
+";
+CM_ SG_ 19 VCU_ACU_Brk_Pressure_Fbk "IDB Clamping Pressure Çǵå¹é
+";
+CM_ SG_ 19 VCU_ACU_RWA_Rack_Fbk "Á¶Çâ °¢ Çǵå¹é
+";
+CM_ SG_ 19 VCU_ACU_MCU_EstTrq "Motor torque
+";
+CM_ SG_ 20 VCU_ACU_CRC2 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 20 VCU_ACU_counter2 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 20 VCU_IGN_SIG "0 = IGN_OFF / 1 = IGN_ON / 2 = IGN_ON_PROCESS / 3 = IGN_OFF_PROCESS
+";
+CM_ SG_ 20 RWS_Flt "ÈÄ·û Á¶Çâ¸ðµâ ¿¢Ãò¿¡ÀÌÅÍ »óÅ Init, Passive, Passive_Fault, Active, Active_Fault µî
+";
+CM_ SG_ 20 Drive_Mode "Autonomous driving mode / Manual driving mode / Default driving mode
+¸ðºô¸®Æ¼Á¦¾î ½Ã ACU¸ðµå = 0, RC ¸ðµå =1, µðÆúÆ®¸ðµå
+";
+CM_ SG_ 20 IDB_Flt "Á¦µ¿¸ðµâ ¿¢Ãò¿¡ÀÌÅÍ »óÅÂ(0 = Normal ,1 = Fault)
+Á¦µ¿¸ðµâ ¿¢Ãò¿¡ÀÌÅÍ »óÅ initializing, normal, fault  µî";
+CM_ SG_ 20 RWA_Flt "Á¶Çâ¸ðµâ ¿¢Ãò¿¡ÀÌÅÍ »óÅÂ(0 = Normal ,1 = Fault)
+Àü·û Á¶Çâ¸ðµâ ¿¢Ãò¿¡ÀÌÅÍ »óÅ Init, Passive, Passive_Fault, Active, Active_Fault µî
+";
+CM_ SG_ 20 MCU_Flt "±¸µ¿¸ðµâ ¿¢Ãò¿¡ÀÌÅÍ »óÅÂ(0 = Normal ,1 = Fault)
+";
+CM_ SG_ 96 RWS_VCU_ACU_CRC "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 96 RWS_VCU_ACU_counter "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 96 RWS_RackAngleSpeedFbk "ÈÄ·û Á¶Çâ °¢¼Óµµ Çǵå¹é(Primary)
+";
+CM_ SG_ 96 RWS_RackAngleFbk "ÈÄ·û Á¶Çâ °¢ Çǵå¹é(Primary)
+";
+CM_ SG_ 80 RWA_VCU_ACU_CRC1 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 80 RWA_VCU_ACU_counter1 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 80 RWA_RackAngleSpeedFbk1 "Àü·û Á¶Çâ °¢¼Óµµ Çǵå¹é(Primary)
+";
+CM_ SG_ 80 RWA_RackAngleFbk1 "Àü·û Á¶Çâ °¢ Çǵå¹é(Primary)
+";
+CM_ SG_ 145 ACU_VCU_CRC1 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 145 ACU_BrakeTorqueCommand "Commanded Brake Torque
+";
+CM_ SG_ 145 ACU_Drive_ACC_Cmd "Â÷·® °¡¼Óµµ Á¦¾î Ä¿¸àµå";
+CM_ SG_ 145 ACU_VCU_counter1 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 145 ACU_Vx_Command "¼Óµµ ¸í·É
+";
+CM_ SG_ 147 ACU_VCU_GearPos "Gear Status (0 = P/ 1 = R / 2 = N/ 3 = D)
+";
+CM_ SG_ 147 ACU_VCU_CRC3 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 147 ACU_Emergency_Stop "ºñ»óÁ¤Áö ¸í·É 0 = OFF / 1 = ON
+";
+CM_ SG_ 147 ACU_long_Ctl_mode "0: idle/ 1: Vx CMD Mode / 2: Ax CMD Mode
+";
+CM_ SG_ 147 ACU_VCU_counter3 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 147 ACU_EPAM_req "Parking Brake Status¡¡
+";
+CM_ SG_ 147 ACU_Drive_mode "¸ðºô¸®Æ¼Á¦¾î ½Ã ACU¸ðµå = 0, RC ¼öµ¿¸ðµå = 1
+";
+CM_ BO_ 1413 "BMS_OBC_INFO";
+CM_ SG_ 1413 BCM_VCU_CRC5 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 1413 BCM_VCU_counter5 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 1413 OBC_TEMP_FAULT "Temperature Fault";
+CM_ SG_ 1413 LDC_TEMP_FAULT "Temperature Fault";
+CM_ SG_ 1413 BMS_TEMP_FAULT "Temperature Fault";
+CM_ BO_ 1429 "BMS_OBC_INFO";
+CM_ SG_ 1429 BCM_VCU_CRC4 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 1429 BCM_VCU_counter4 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ BO_ 1424 "BMS_OBC_INFO";
+CM_ SG_ 1424 BCM_VCU_CRC3 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 1424 BCM_VCU_counter3 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ BO_ 1408 "BMS_OBC INFO";
+CM_ SG_ 1408 BCM_VCU_CRC2 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 1408 BCM_VCU_counter2 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 1408 BCM_ChgeCon_DTD "Charging Connector Detected Info";
+CM_ BO_ 1392 "BCM INFO";
+CM_ SG_ 1392 BCM_VCU_CRC1 "ÇØ´ç CAN Signal À¯È¿¼º ÆǺ°
+";
+CM_ SG_ 1392 BCM_VCU_counter1 "ÇØ´ç CAN Signal Á¤»óÀÛµ¿ ÆǺ°
+";
+CM_ SG_ 1392 Battery_Voltage "12V battery voltage";
+BA_DEF_ SG_  "GenSigTimeoutTime_ABS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF1" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF2_Audio" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_DCDC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_OBC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test_PPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_FR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_RR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ECM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_EPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_GW_VMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SlopeSensor" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Slope_Filter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TCU" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TPMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Test_BMC" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTime" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTimeActive" INT 0 0;
+BA_DEF_ SG_  "GenSigInactiveValue" INT 0 0;
+BA_DEF_ SG_  "GenSigStartValue" INT 0 0;
+BA_DEF_ SG_  "GenSigSendType" ENUM  "cyclic","OnChange","OnWrite","IfActive","OnChangeWithRepetition","OnWriteWithRepetition","IfActiveWithRepetition","NoSigSendType","OnChangeAndIfActive","OnChangeAndIfActiveWithRepetition","CA","CE","Event";
+BA_DEF_ BO_  "GenMsgILSupport" ENUM  "No","Yes";
+BA_DEF_ BO_  "StartDelay" INT 0 100;
+BA_DEF_ BO_  "GenMsgStartDelayTime" INT 0 0;
+BA_DEF_ BO_  "GenMsgDelayTime" INT 0 0;
+BA_DEF_ BO_  "GenMsgNrOfRepetition" INT 0 0;
+BA_DEF_ BO_  "GenMsgCycleTimeFast" INT 0 0;
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 0;
+BA_DEF_ BO_  "GenMsgSendType" ENUM  "cyclic","Event","IfActive","CE","CA","NoMsgSendType";
+BA_DEF_ BO_  "DiagResponse" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagRequest" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagState" ENUM  "No","Yes";
+BA_DEF_ BO_  "NmMessage" ENUM  "No","Yes";
+BA_DEF_ BU_  "CANoeDrift" INT 0 0;
+BA_DEF_ BU_  "CANoeJitterMax" INT 0 0;
+BA_DEF_ BU_  "CANoeJitterMin" INT 0 0;
+BA_DEF_ BU_  "CANoeStartDelay" INT 0 10;
+BA_DEF_ BU_  "ECU" STRING ;
+BA_DEF_ BU_  "ILUsed" ENUM  "No","Yes";
+BA_DEF_ BU_  "NmCAN" INT 1 2;
+BA_DEF_ BU_  "NmNode" ENUM  "Yes","No";
+BA_DEF_ BU_  "NmStationAddress" HEX 0 241;
+BA_DEF_ BU_  "NodeLayerModules" STRING ;
+BA_DEF_  "ILTxTimeout" INT 0 100;
+BA_DEF_  "NmBaseAddress" HEX 0 2047;
+BA_DEF_  "NmMessageCount" INT 0 255;
+BA_DEF_  "VersionDay" INT 0 49;
+BA_DEF_  "VersionMonth" INT 0 18;
+BA_DEF_  "VersionNumber" INT 0 65535;
+BA_DEF_  "VersionWeek" INT 0 82;
+BA_DEF_  "VersionYear" INT 2009 2030;
+BA_DEF_  "Manufacturer" STRING ;
+BA_DEF_  "NmType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_  "Baudrate" INT 0 1000000;
+BA_DEF_  "DBName" STRING ;
+BA_DEF_DEF_  "GenSigTimeoutTime_ABS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF1" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF2_Audio" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_DCDC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_OBC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test_PPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_FR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_RR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ECM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_EPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_GW_VMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SlopeSensor" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Slope_Filter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TCU" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TPMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Test_BMC" 0;
+BA_DEF_DEF_  "GenSigCycleTime" 0;
+BA_DEF_DEF_  "GenSigCycleTimeActive" 0;
+BA_DEF_DEF_  "GenSigInactiveValue" 0;
+BA_DEF_DEF_  "GenSigStartValue" 0;
+BA_DEF_DEF_  "GenSigSendType" "cyclic";
+BA_DEF_DEF_  "GenMsgILSupport" "Yes";
+BA_DEF_DEF_  "StartDelay" 0;
+BA_DEF_DEF_  "GenMsgStartDelayTime" 0;
+BA_DEF_DEF_  "GenMsgDelayTime" 0;
+BA_DEF_DEF_  "GenMsgNrOfRepetition" 0;
+BA_DEF_DEF_  "GenMsgCycleTimeFast" 0;
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
+BA_DEF_DEF_  "GenMsgSendType" "cyclic";
+BA_DEF_DEF_  "DiagResponse" "No";
+BA_DEF_DEF_  "DiagRequest" "No";
+BA_DEF_DEF_  "DiagState" "No";
+BA_DEF_DEF_  "NmMessage" "No";
+BA_DEF_DEF_  "CANoeDrift" 0;
+BA_DEF_DEF_  "CANoeJitterMax" 0;
+BA_DEF_DEF_  "CANoeJitterMin" 0;
+BA_DEF_DEF_  "CANoeStartDelay" 0;
+BA_DEF_DEF_  "ECU" "";
+BA_DEF_DEF_  "ILUsed" "Yes";
+BA_DEF_DEF_  "NmCAN" 2;
+BA_DEF_DEF_  "NmNode" "No";
+BA_DEF_DEF_  "NmStationAddress" 0;
+BA_DEF_DEF_  "NodeLayerModules" "OSEKNM01.dll,CANoeILNLVector.dll";
+BA_DEF_DEF_  "ILTxTimeout" 0;
+BA_DEF_DEF_  "NmBaseAddress" 1024;
+BA_DEF_DEF_  "NmMessageCount" 128;
+BA_DEF_DEF_  "VersionDay" 0;
+BA_DEF_DEF_  "VersionMonth" 0;
+BA_DEF_DEF_  "VersionNumber" 0;
+BA_DEF_DEF_  "VersionWeek" 0;
+BA_DEF_DEF_  "VersionYear" 2013;
+BA_DEF_DEF_  "Manufacturer" "";
+BA_DEF_DEF_  "NmType" "";
+BA_DEF_DEF_  "BusType" "";
+BA_DEF_DEF_  "Baudrate" 500000;
+BA_DEF_DEF_  "DBName" "";
+BA_ "DBName" "CAN_CH2";
+BA_ "GenSigStartValue" SG_ 22 ACU_CAR_EPAM_Temperature 40;
+BA_ "GenSigStartValue" SG_ 22 ACU_CAR_MCU_InvTemp 50;
+BA_ "GenSigStartValue" SG_ 22 ACU_CAR_MCU_MtrTemp 50;
+BA_ "GenSigStartValue" SG_ 380 IMU_AZ_Val 40.957;
+BA_ "GenSigStartValue" SG_ 380 IMU_PitchRtVal 32768;
+BA_ "GenSigStartValue" SG_ 376 IMU_AX_Val 32765.6;
+BA_ "GenSigStartValue" SG_ 376 IMU_RollRtVal 32768;
+BA_ "GenSigStartValue" SG_ 372 IMU_TEMP_RATE 50;
+BA_ "GenSigStartValue" SG_ 372 IMU_AY_Val 32765.6;
+BA_ "GenSigStartValue" SG_ 372 IMU_YawRtVal 32768;
+BA_ "GenSigStartValue" SG_ 146 ACU_RWS_cmd_deg 32750;
+BA_ "GenSigStartValue" SG_ 146 ACU_RWA_cmd_deg 32750;
+BA_ "GenSigStartValue" SG_ 19 VCU_ACU_RWA_Rack_Fbk 32750;
+BA_ "GenSigStartValue" SG_ 19 VCU_ACU_MCU_EstTrq 2000;
+BA_ "GenSigStartValue" SG_ 145 ACU_BrakeTorqueCommand 0;
+BA_ "GenSigStartValue" SG_ 145 ACU_Drive_ACC_Cmd 32768;
+VAL_ 336 CE_ON_CMD 3 "INVALID" 2 "OFF" 1 "ON" 0 "Not Used" ;
+VAL_ 336 HV_ON_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 336 LDC_ACT_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 336 Wiper_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_DRL_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_Position_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_RTRN_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_Reverse_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_LTRN_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_Head_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_HBEAM_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_Hazard_CMD 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 336 Lamp_BRAKE_CMD 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 1413 OBC_TEMP_FAULT 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 LDC_TEMP_FAULT 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 BMS_TEMP_FAULT 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 BCM_FltSta 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 LDC_FltSta 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 BMS_FltSta 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1413 OBC_FltSta 3 "Reserved" 2 "Level2 Fault" 1 "Level1 Fault" 0 "None" ;
+VAL_ 1429 LDC_ACTL_CUR 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 1408 BCM_ChgeCon_DTD 1 "True" 0 "False" ;
+VAL_ 1408 Bms_SoH_Wrng 1 "True" 0 "False" ;
+VAL_ 1408 Bms_Soc_Wrng 1 "True" 0 "False" ;
+VAL_ 1408 CommSta_VCU 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 CommSta_TMS 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 CommSta_OBC 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 CommSta_LDC 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 CommSta_BMS 2 "Invalid Communication" 1 "Normal Communication" 0 "N/A" ;
+VAL_ 1408 BMS_SOH_INV 1 "True" 0 "False" ;
+VAL_ 1408 BMS_SOC_INV 1 "True" 0 "False" ;
+VAL_ 1408 IntLckSta_OBC 1 "Connected" 0 "Disconnected" ;
+VAL_ 1408 IntLckSta_BMS 1 "Connected" 0 "Disconnected" ;
+VAL_ 1408 BMS_HVOn_STA 1 "True" 0 "False" ;
+VAL_ 1392 Lamp_Position 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_DRL 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_MAINSW_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE5_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE4_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE3_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE2_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 BCM_CE1_STA 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Status_Wiper 3 "BLINKING" 2 "OFF" 1 "ON" 0 "N/A" ;
+VAL_ 1392 Lamp_BRAKE 3 "INVALID" 2 "BLINKING" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_Hazard 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_HBEAM 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_Head 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_LTRN 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_Reverse 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+VAL_ 1392 Lamp_RTRN 3 "INVALID" 2 "RESERVED" 1 "ON" 0 "OFF" ;
+
diff --git a/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch3_V04 (2).dbc b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch3_V04 (2).dbc
new file mode 100644
index 00000000..a892c088
--- /dev/null
+++ b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch3_V04 (2).dbc	
@@ -0,0 +1,319 @@
+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_: RWA VCU IDB
+VAL_TABLE_ EpbTransition 2 "no_transition_requested" 1 "transition_requested" 0 "invalid" ;
+VAL_TABLE_ VtSig 1 "Warning" 0 "NoWarning" ;
+VAL_TABLE_ TargetMotorTorqueValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ Warning_GENERAL 1 "NoWarning" 0 "Warning" ;
+VAL_TABLE_ Fault_GENERAL 1 "NoFault" 0 "Fault" ;
+VAL_TABLE_ RackAngleSpeedFbkValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ SteeringEcuPowerMode 3 "PowerDown" 2 "Disable" 1 "Enabe" 0 "Invalid" ;
+VAL_TABLE_ SteeringWarningLamp 3 "Error" 2 "Active" 1 "Inactive" 0 "Invalid" ;
+VAL_TABLE_ SteeringEcuStatus 8 "PowerDownReady" 7 "AssistStandby" 6 "AssistActive" 5 "PassiveFault" 4 "Passive" 3 "InitComplete" 2 "InitEcuPhaseCutTest" 1 "InitArbritation" 0 "Invalid" ;
+VAL_TABLE_ SteeringSysInfo 8 "CalibrationFault" 7 "RedundancyFault" 6 "SelfCentering" 5 "Reduced" 4 "Normal" 3 "AligningRWA" 2 "InitComplete" 1 "Initializing" 0 "Invalid" ;
+VAL_TABLE_ SteeringEcuRole 3 "SNA" 2 "SLAVE" 1 "MASTER" 0 "INVALID" ;
+VAL_TABLE_ RackAngleSpeedCmdValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ RackAngleCmdValid 1 "VALID" 0 "INVALID" ;
+
+
+BO_ 50 VCU_IDB_Startup_Cmd: 8 VCU
+ SG_ IDB_WakeUpCommand : 23|1@0+ (1,0) [0|1] ""  IDB
+
+BO_ 100 VCU_IDB_Brk_Cmd: 8 VCU
+ SG_ IDB_DriveTorqCommand : 55|14@0+ (0.25,0) [0|4095.75] "Nm"  IDB
+ SG_ IDB_GearPos : 33|2@0+ (1,0) [0|3] ""  IDB
+ SG_ IDB_BrakeTorqueCommand : 23|16@0+ (0.1,0) [0|6553.5] "Nm"  IDB
+ SG_ IDB_ParkBrake : 39|2@0+ (1,0) [0|3] ""  IDB
+
+BO_ 140 IDB_VCU_Wheel_dir: 8 IDB
+ SG_ IDB_RearLeftWheelDirection : 57|2@0+ (1,0) [0|3] ""  VCU
+ SG_ IDB_RearRightWheelDirection : 63|2@0+ (1,0) [0|3] ""  VCU
+ SG_ IDB_FrontLeftWheelDirection : 49|2@0+ (1,0) [0|3] ""  VCU
+ SG_ IDB_FrontRightWheelDirection : 55|2@0+ (1,0) [0|3] ""  VCU
+
+BO_ 154 IDB_VCU_stat_Signal: 8 IDB
+ SG_ IDB_EstimatedVehicleSpeed : 41|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  VCU
+ SG_ IDB_EcuStatus : 47|4@0+ (1,0) [0|15] ""  VCU
+ SG_ IDB_MasterCylinderPressure : 25|10@0+ (0.15,0) [0|153.45] "bar"  VCU
+
+BO_ 115 RWA_VCU_Stat1_Signal: 8 RWA
+ SG_ RWA_RackAngleFbk1 : 23|16@0+ (0.02,-655) [-655|655.7] "deg"  VCU,IDB
+
+BO_ 114 RWA_VCU_Stat2_Signal: 8 RWA
+ SG_ RWA_RackAngleSpeedFbk1 : 39|16@0+ (0.05,-1638) [-1638|1638.75] "deg/s"  VCU
+ SG_ RWA_EcuStatus1 : 19|4@0+ (1,0) [0|15] ""  VCU
+
+BO_ 64 RWA_VCU_Rack_Cmd: 8 VCU
+ SG_ RWA_RackAngleCmd1 : 23|16@0+ (0.02,-655) [-655|655.7] "deg"  RWA
+
+BO_ 784 VCU_RWA_Startup_Cmd: 8 VCU
+ SG_ RWA_WakeUpCommand1 : 16|1@0+ (1,0) [0|1] ""  RWA
+ SG_ RWA_ModeCommand1 : 17|1@0+ (1,0) [0|1] ""  RWA
+
+BO_ 136 IDB_VCU_WSS: 8 IDB
+ SG_ IDB_Vehicle_wheel_speed_RL : 47|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  RWA,VCU
+ SG_ IDB_Vehicle_wheel_speed_RR : 49|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  RWA,VCU
+ SG_ IDB_Vehicle_wheel_speed_FL : 23|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  RWA,VCU
+ SG_ IDB_Vehicle_wheel_speed_FR : 25|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  RWA,VCU
+
+
+
+CM_ " ";
+CM_ BO_ 50 "Network Management for CAN Wake up sequence";
+CM_ SG_ 50 IDB_WakeUpCommand "Command to turn off/on Can Tx/Rx messages.";
+CM_ SG_ 100 IDB_DriveTorqCommand "Target motor torque received by the motor controller. Brakes uses this information internally.";
+CM_ SG_ 100 IDB_GearPos "Gear State from Bot";
+CM_ SG_ 100 IDB_BrakeTorqueCommand "Commanded Brake Torque";
+CM_ SG_ 100 IDB_ParkBrake "EPB engage/disengage request";
+CM_ SG_ 140 IDB_RearLeftWheelDirection "Wheel direction";
+CM_ SG_ 140 IDB_RearRightWheelDirection "Wheel direction";
+CM_ SG_ 140 IDB_FrontLeftWheelDirection "Wheel direction";
+CM_ SG_ 140 IDB_FrontRightWheelDirection "Wheel direction";
+CM_ SG_ 154 IDB_EstimatedVehicleSpeed "Estimated vehicle speed";
+CM_ SG_ 154 IDB_MasterCylinderPressure "Measured brake pressure";
+CM_ SG_ 784 RWA_WakeUpCommand1 "Command to turn off/on Can Tx/Rx messages.";
+CM_ SG_ 136 IDB_Vehicle_wheel_speed_RL "Measured wheel angular speed";
+CM_ SG_ 136 IDB_Vehicle_wheel_speed_RR "Measured wheel angular speed";
+CM_ SG_ 136 IDB_Vehicle_wheel_speed_FL "Measured wheel angular speed";
+CM_ SG_ 136 IDB_Vehicle_wheel_speed_FR "Measured wheel angular speed";
+BA_DEF_ BO_  "NmMessage" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagState" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagRequest" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagResponse" ENUM  "No","Yes";
+BA_DEF_ BO_  "GenMsgSendType" ENUM  "cyclic","Event","IfActive","CE","CA","NoMsgSendType";
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 0;
+BA_DEF_ SG_  "GenSigSendType" ENUM  "cyclic","OnChange","OnWrite","IfActive","OnChangeWithRepetition","OnWriteWithRepetition","IfActiveWithRepetition","NoSigSendType","OnChangeAndIfActive","OnChangeAndIfActiveWithRepetition","CA","CE","Event";
+BA_DEF_ SG_  "GenSigStartValue" INT 0 0;
+BA_DEF_ SG_  "GenSigInactiveValue" INT 0 0;
+BA_DEF_ BO_  "GenMsgCycleTimeFast" INT 0 0;
+BA_DEF_ BO_  "GenMsgNrOfRepetition" INT 0 0;
+BA_DEF_ BO_  "GenMsgDelayTime" INT 0 0;
+BA_DEF_  "DBName" STRING ;
+BA_DEF_ BO_  "GenMsgStartDelayTime" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTimeActive" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTime" INT 0 0;
+BA_DEF_  "Baudrate" INT 0 1000000;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_  "NmType" STRING ;
+BA_DEF_  "Manufacturer" STRING ;
+BA_DEF_  "VersionYear" INT 2009 2030;
+BA_DEF_  "VersionWeek" INT 0 82;
+BA_DEF_  "VersionNumber" INT 0 65535;
+BA_DEF_  "VersionMonth" INT 0 18;
+BA_DEF_  "VersionDay" INT 0 49;
+BA_DEF_ BO_  "StartDelay" INT 0 100;
+BA_DEF_ BU_  "NodeLayerModules" STRING ;
+BA_DEF_ BU_  "NmStationAddress" HEX 0 241;
+BA_DEF_ BU_  "NmNode" ENUM  "Yes","No";
+BA_DEF_  "NmMessageCount" INT 0 255;
+BA_DEF_ BU_  "NmCAN" INT 1 2;
+BA_DEF_  "NmBaseAddress" HEX 0 2047;
+BA_DEF_ BU_  "ILUsed" ENUM  "No","Yes";
+BA_DEF_  "ILTxTimeout" INT 0 100;
+BA_DEF_ SG_  "GenSigTimeoutTime_Test_BMC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TPMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TCU" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Slope_Filter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SlopeSensor" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_GW_VMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_EPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ECM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_RR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_FR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test_PPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_OBC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_DCDC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF2_Audio" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF1" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ABS" INT 0 0;
+BA_DEF_ BO_  "GenMsgILSupport" ENUM  "No","Yes";
+BA_DEF_ BU_  "ECU" STRING ;
+BA_DEF_ BU_  "CANoeStartDelay" INT 0 10;
+BA_DEF_ BU_  "CANoeJitterMin" INT 0 0;
+BA_DEF_ BU_  "CANoeJitterMax" INT 0 0;
+BA_DEF_ BU_  "CANoeDrift" INT 0 0;
+BA_DEF_DEF_  "NmMessage" "No";
+BA_DEF_DEF_  "DiagState" "No";
+BA_DEF_DEF_  "DiagRequest" "No";
+BA_DEF_DEF_  "DiagResponse" "No";
+BA_DEF_DEF_  "GenMsgSendType" "cyclic";
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
+BA_DEF_DEF_  "GenSigSendType" "cyclic";
+BA_DEF_DEF_  "GenSigStartValue" 0;
+BA_DEF_DEF_  "GenSigInactiveValue" 0;
+BA_DEF_DEF_  "GenMsgCycleTimeFast" 0;
+BA_DEF_DEF_  "GenMsgNrOfRepetition" 0;
+BA_DEF_DEF_  "GenMsgDelayTime" 0;
+BA_DEF_DEF_  "DBName" "";
+BA_DEF_DEF_  "GenMsgStartDelayTime" 0;
+BA_DEF_DEF_  "GenSigCycleTimeActive" 0;
+BA_DEF_DEF_  "GenSigCycleTime" 0;
+BA_DEF_DEF_  "Baudrate" 500000;
+BA_DEF_DEF_  "BusType" "";
+BA_DEF_DEF_  "NmType" "";
+BA_DEF_DEF_  "Manufacturer" "";
+BA_DEF_DEF_  "VersionYear" 2013;
+BA_DEF_DEF_  "VersionWeek" 0;
+BA_DEF_DEF_  "VersionNumber" 0;
+BA_DEF_DEF_  "VersionMonth" 0;
+BA_DEF_DEF_  "VersionDay" 0;
+BA_DEF_DEF_  "StartDelay" 0;
+BA_DEF_DEF_  "NodeLayerModules" "OSEKNM01.dll,CANoeILNLVector.dll";
+BA_DEF_DEF_  "NmStationAddress" 0;
+BA_DEF_DEF_  "NmNode" "No";
+BA_DEF_DEF_  "NmMessageCount" 128;
+BA_DEF_DEF_  "NmCAN" 2;
+BA_DEF_DEF_  "NmBaseAddress" 1024;
+BA_DEF_DEF_  "ILUsed" "Yes";
+BA_DEF_DEF_  "ILTxTimeout" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Test_BMC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TPMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TCU" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Slope_Filter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SlopeSensor" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_GW_VMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_EPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ECM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_RR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_FR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test_PPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_OBC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_DCDC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF2_Audio" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF1" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ABS" 0;
+BA_DEF_DEF_  "GenMsgILSupport" "Yes";
+BA_DEF_DEF_  "ECU" "";
+BA_DEF_DEF_  "CANoeStartDelay" 0;
+BA_DEF_DEF_  "CANoeJitterMin" 0;
+BA_DEF_DEF_  "CANoeJitterMax" 0;
+BA_DEF_DEF_  "CANoeDrift" 0;
+BA_ "Baudrate" 1000000;
+BA_ "BusType" "CAN";
+BA_ "DBName" "CAN_CH3";
+BA_ "NmStationAddress" BU_ RWA 2;
+BA_ "NmStationAddress" BU_ IDB 1;
+BA_ "GenMsgCycleTime" BO_ 50 5;
+BA_ "GenMsgCycleTime" BO_ 100 5;
+BA_ "GenMsgCycleTime" BO_ 140 5;
+BA_ "GenMsgCycleTime" BO_ 154 10;
+BA_ "GenMsgCycleTime" BO_ 115 5;
+BA_ "GenMsgCycleTime" BO_ 114 5;
+BA_ "GenMsgCycleTime" BO_ 64 5;
+BA_ "GenMsgCycleTime" BO_ 784 5;
+BA_ "GenMsgCycleTime" BO_ 136 5;
+BA_ "GenSigCycleTime" SG_ 100 IDB_GearPos 5;
+BA_ "GenSigCycleTimeActive" SG_ 100 IDB_GearPos 5;
+BA_ "GenSigCycleTime" SG_ 100 IDB_BrakeTorqueCommand 5;
+BA_ "GenSigCycleTimeActive" SG_ 100 IDB_BrakeTorqueCommand 5;
+BA_ "GenSigCycleTime" SG_ 100 IDB_ParkBrake 5;
+BA_ "GenSigCycleTimeActive" SG_ 100 IDB_ParkBrake 5;
+BA_ "GenSigCycleTime" SG_ 140 IDB_RearLeftWheelDirection 5;
+BA_ "GenSigCycleTimeActive" SG_ 140 IDB_RearLeftWheelDirection 5;
+BA_ "GenSigCycleTime" SG_ 140 IDB_RearRightWheelDirection 5;
+BA_ "GenSigCycleTimeActive" SG_ 140 IDB_RearRightWheelDirection 5;
+BA_ "GenSigCycleTime" SG_ 140 IDB_FrontLeftWheelDirection 5;
+BA_ "GenSigCycleTimeActive" SG_ 140 IDB_FrontLeftWheelDirection 5;
+BA_ "GenSigCycleTime" SG_ 140 IDB_FrontRightWheelDirection 5;
+BA_ "GenSigCycleTimeActive" SG_ 140 IDB_FrontRightWheelDirection 5;
+BA_ "GenSigCycleTime" SG_ 154 IDB_EstimatedVehicleSpeed 10;
+BA_ "GenSigCycleTimeActive" SG_ 154 IDB_EstimatedVehicleSpeed 10;
+BA_ "GenSigStartValue" SG_ 154 IDB_EstimatedVehicleSpeed 4.00000000000002;
+BA_ "GenSigCycleTime" SG_ 154 IDB_EcuStatus 100;
+BA_ "GenSigCycleTimeActive" SG_ 154 IDB_EcuStatus 100;
+BA_ "GenSigCycleTime" SG_ 154 IDB_MasterCylinderPressure 100;
+BA_ "GenSigCycleTimeActive" SG_ 154 IDB_MasterCylinderPressure 100;
+BA_ "GenSigStartValue" SG_ 115 RWA_RackAngleFbk1 32750;
+BA_ "GenSigStartValue" SG_ 114 RWA_RackAngleSpeedFbk1 32760;
+BA_ "GenSigStartValue" SG_ 64 RWA_RackAngleCmd1 32750;
+BA_ "GenSigCycleTime" SG_ 136 IDB_Vehicle_wheel_speed_RL 5;
+BA_ "GenSigCycleTimeActive" SG_ 136 IDB_Vehicle_wheel_speed_RL 5;
+BA_ "GenSigStartValue" SG_ 136 IDB_Vehicle_wheel_speed_RL 0;
+BA_ "GenSigCycleTime" SG_ 136 IDB_Vehicle_wheel_speed_RR 5;
+BA_ "GenSigCycleTimeActive" SG_ 136 IDB_Vehicle_wheel_speed_RR 5;
+BA_ "GenSigStartValue" SG_ 136 IDB_Vehicle_wheel_speed_RR 0;
+BA_ "GenSigCycleTime" SG_ 136 IDB_Vehicle_wheel_speed_FL 5;
+BA_ "GenSigCycleTimeActive" SG_ 136 IDB_Vehicle_wheel_speed_FL 5;
+BA_ "GenSigStartValue" SG_ 136 IDB_Vehicle_wheel_speed_FL 0;
+BA_ "GenSigCycleTime" SG_ 136 IDB_Vehicle_wheel_speed_FR 5;
+BA_ "GenSigCycleTimeActive" SG_ 136 IDB_Vehicle_wheel_speed_FR 5;
+BA_ "GenSigStartValue" SG_ 136 IDB_Vehicle_wheel_speed_FR 0;
+VAL_ 50 IDB_WakeUpCommand 1 "On" 0 "Off" ;
+VAL_ 100 IDB_GearPos 3 "Reverse" 2 "Drive" 1 "Park" 0 "Invalid" ;
+VAL_ 100 IDB_ParkBrake 2 "EPB_APPLY" 1 "EPB_RELEASE" 0 "NO_REQUEST" ;
+VAL_ 140 IDB_RearLeftWheelDirection 3 "STANDSTILL" 2 "BACKWARD" 1 "FORWARD" 0 "INVALID" ;
+VAL_ 140 IDB_RearRightWheelDirection 3 "STANDSTILL" 2 "BACKWARD" 1 "FORWARD" 0 "INVALID" ;
+VAL_ 140 IDB_FrontLeftWheelDirection 3 "STANDSTILL" 2 "BACKWARD" 1 "FORWARD" 0 "INVALID" ;
+VAL_ 140 IDB_FrontRightWheelDirection 3 "STANDSTILL" 2 "BACKWARD" 1 "FORWARD" 0 "INVALID" ;
+VAL_ 154 IDB_EcuStatus 4 "start_powering_down" 3 "fault" 2 "normal" 1 "initializing" 0 "invalid" ;
+VAL_ 114 RWA_EcuStatus1 15 "Invalid" 9 "PowerDown_Ready" 8 "Reserved" 7 "Reserved" 6 "Assist_Standby" 5 "Assist_Active" 4 "Passive_Fault" 3 "Passive" 2 "Init_Cmpl" 1 "Init_EcuPhaCutTst" 0 "Init_Arbn" ;
+VAL_ 784 RWA_WakeUpCommand1 1 "On" 0 "Off" ;
+VAL_ 784 RWA_ModeCommand1 1 "NORMAL" 0 "STANDBY" ;
+
diff --git a/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch4_V04 (3).dbc b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch4_V04 (3).dbc
new file mode 100644
index 00000000..10b7409c
--- /dev/null
+++ b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch4_V04 (3).dbc	
@@ -0,0 +1,308 @@
+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_: RCU RWA VCU
+VAL_TABLE_ VtSig 1 "Warning" 0 "NoWarning" ;
+VAL_TABLE_ Warning_GENERAL 1 "NoWarning" 0 "Warning" ;
+VAL_TABLE_ Fault_GENERAL 1 "NoFault" 0 "Fault" ;
+VAL_TABLE_ RackAngleSpeedFbkValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ SteeringEcuPowerMode 3 "PowerDown" 2 "Disable" 1 "Enabe" 0 "Invalid" ;
+VAL_TABLE_ SteeringWarningLamp 3 "Error" 2 "Active" 1 "Inactive" 0 "Invalid" ;
+VAL_TABLE_ SteeringEcuStatus 8 "PowerDownReady" 7 "AssistStandby" 6 "AssistActive" 5 "PassiveFault" 4 "Passive" 3 "InitComplete" 2 "InitEcuPhaseCutTest" 1 "InitArbritation" 0 "Invalid" ;
+VAL_TABLE_ SteeringSysInfo 8 "CalibrationFault" 7 "RedundancyFault" 6 "SelfCentering" 5 "Reduced" 4 "Normal" 3 "AligningRWA" 2 "InitComplete" 1 "Initializing" 0 "Invalid" ;
+VAL_TABLE_ SteeringEcuRole 3 "SNA" 2 "SLAVE" 1 "MASTER" 0 "INVALID" ;
+VAL_TABLE_ RackAngleSpeedCmdValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ RackAngleCmdValid 1 "VALID" 0 "INVALID" ;
+
+
+BO_ 51 VCU_RCU_Startup_Cmd: 8 VCU
+ SG_ RCU_WakeUpCommand : 16|1@0+ (1,0) [0|1] ""  RCU
+
+BO_ 101 VCU_RCU_Brk_Cmd: 8 VCU
+ SG_ RCU_BrakeTorqueCommand : 23|16@0+ (0.1,0) [0|6553.5] "Nm"  RCU
+ SG_ RCU_ParkBrake : 39|2@0+ (1,0) [0|3] ""  RCU
+ SG_ RCU_GearPos : 33|2@0+ (1,0) [0|3] ""  RCU
+
+BO_ 137 RCU_VCU_WheelSpeedStatus: 8 RCU
+ SG_ RCU_Vehicle_wheel_speed_RL : 47|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  RWA,VCU
+ SG_ RCU_Vehicle_wheel_speed_RR : 49|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  RWA,VCU
+ SG_ RCU_Vehicle_wheel_speed_FL : 23|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  RWA,VCU
+ SG_ RCU_Vehicle_wheel_speed_FR : 25|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  RWA,VCU
+
+BO_ 141 RCU_VCU_Wheel_dir: 8 RCU
+ SG_ RCU_RearLeftWheelDirection : 57|2@0+ (1,0) [0|3] ""  VCU
+ SG_ RCU_RearRightWheelDirection : 63|2@0+ (1,0) [0|3] ""  VCU
+ SG_ RCU_FrontLeftWheelDirection : 49|2@0+ (1,0) [0|3] ""  VCU
+ SG_ RCU_FrontRightWheelDirection : 55|2@0+ (1,0) [0|3] ""  VCU
+
+BO_ 155 RCU_VCU_stat_Signal: 8 RCU
+ SG_ RCU_EcuStatus : 47|4@0+ (1,0) [0|15] ""  VCU
+ SG_ RCU_MasterCylinderPressure : 25|10@0+ (0.15,0) [0|153.45] "bar"  VCU
+ SG_ RCU_EstimatedVehicleSpeed : 41|10@0+ (0.05,-15.15) [-15.15|36] "m/s"  VCU
+
+BO_ 115 RWA_VCU_Stat1_Signal: 8 RWA
+ SG_ RWA_RackAngleFbk2 : 23|16@0+ (0.02,-655) [-655|655.7] "deg"  RCU,VCU
+
+BO_ 114 RWA_VCU_Stat2_Signal: 8 RWA
+ SG_ RWA_RackAngleSpeedFbk2 : 39|16@0+ (0.05,-1638) [-1638|1638.75] "deg/s"  VCU
+ SG_ RWA_EcuStatus2 : 19|4@0+ (1,0) [0|15] ""  VCU
+
+BO_ 64 RWA_VCU_Rack_Cmd: 8 VCU
+ SG_ RWA_RackAngleCmd2 : 23|16@0+ (0.02,-655) [-655|655.7] "deg"  RWA
+
+BO_ 784 VCU_RWA_Startup_Cmd: 8 VCU
+ SG_ RWA_WakeUpCommand2 : 16|1@0+ (1,0) [0|1] ""  RWA
+ SG_ RWA_ModeCommand2 : 17|1@0+ (1,0) [0|1] ""  RWA
+
+
+
+CM_ " ";
+CM_ SG_ 101 RCU_BrakeTorqueCommand "Commanded Brake Torque";
+CM_ SG_ 101 RCU_ParkBrake "EPB engage/disengage request";
+CM_ SG_ 101 RCU_GearPos "Commanded gear state";
+CM_ SG_ 137 RCU_Vehicle_wheel_speed_RL "Measured wheel angular speed";
+CM_ SG_ 137 RCU_Vehicle_wheel_speed_RR "Measured wheel angular speed";
+CM_ SG_ 137 RCU_Vehicle_wheel_speed_FL "Measured wheel angular speed";
+CM_ SG_ 137 RCU_Vehicle_wheel_speed_FR "Measured wheel angular speed";
+CM_ SG_ 141 RCU_RearLeftWheelDirection "Wheel direction";
+CM_ SG_ 141 RCU_RearRightWheelDirection "Wheel direction";
+CM_ SG_ 141 RCU_FrontLeftWheelDirection "Wheel direction";
+CM_ SG_ 141 RCU_FrontRightWheelDirection "Wheel direction";
+CM_ SG_ 155 RCU_MasterCylinderPressure "Measured brake pressure";
+CM_ SG_ 155 RCU_EstimatedVehicleSpeed "Estimated vehicle speed";
+BA_DEF_ BO_  "NmMessage" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagState" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagRequest" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagResponse" ENUM  "No","Yes";
+BA_DEF_ BO_  "GenMsgSendType" ENUM  "cyclic","Event","IfActive","CE","CA","NoMsgSendType";
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 0;
+BA_DEF_ SG_  "GenSigSendType" ENUM  "cyclic","OnChange","OnWrite","IfActive","OnChangeWithRepetition","OnWriteWithRepetition","IfActiveWithRepetition","NoSigSendType","OnChangeAndIfActive","OnChangeAndIfActiveWithRepetition","CA","CE","Event";
+BA_DEF_ SG_  "GenSigStartValue" INT 0 0;
+BA_DEF_ SG_  "GenSigInactiveValue" INT 0 0;
+BA_DEF_ BO_  "GenMsgCycleTimeFast" INT 0 0;
+BA_DEF_ BO_  "GenMsgNrOfRepetition" INT 0 0;
+BA_DEF_ BO_  "GenMsgDelayTime" INT 0 0;
+BA_DEF_  "DBName" STRING ;
+BA_DEF_ BO_  "GenMsgStartDelayTime" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTimeActive" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTime" INT 0 0;
+BA_DEF_  "Baudrate" INT 0 1000000;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_  "NmType" STRING ;
+BA_DEF_  "Manufacturer" STRING ;
+BA_DEF_  "VersionYear" INT 2009 2030;
+BA_DEF_  "VersionWeek" INT 0 82;
+BA_DEF_  "VersionNumber" INT 0 65535;
+BA_DEF_  "VersionMonth" INT 0 18;
+BA_DEF_  "VersionDay" INT 0 49;
+BA_DEF_ BO_  "StartDelay" INT 0 100;
+BA_DEF_ BU_  "NodeLayerModules" STRING ;
+BA_DEF_ BU_  "NmStationAddress" HEX 0 241;
+BA_DEF_ BU_  "NmNode" ENUM  "Yes","No";
+BA_DEF_  "NmMessageCount" INT 0 255;
+BA_DEF_ BU_  "NmCAN" INT 1 2;
+BA_DEF_  "NmBaseAddress" HEX 0 2047;
+BA_DEF_ BU_  "ILUsed" ENUM  "No","Yes";
+BA_DEF_  "ILTxTimeout" INT 0 100;
+BA_DEF_ SG_  "GenSigTimeoutTime_Test_BMC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TPMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TCU" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Slope_Filter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SlopeSensor" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_GW_VMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_EPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ECM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_RR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_FR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test_PPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_OBC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_DCDC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF2_Audio" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF1" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ABS" INT 0 0;
+BA_DEF_ BO_  "GenMsgILSupport" ENUM  "No","Yes";
+BA_DEF_ BU_  "ECU" STRING ;
+BA_DEF_ BU_  "CANoeStartDelay" INT 0 10;
+BA_DEF_ BU_  "CANoeJitterMin" INT 0 0;
+BA_DEF_ BU_  "CANoeJitterMax" INT 0 0;
+BA_DEF_ BU_  "CANoeDrift" INT 0 0;
+BA_DEF_DEF_  "NmMessage" "No";
+BA_DEF_DEF_  "DiagState" "No";
+BA_DEF_DEF_  "DiagRequest" "No";
+BA_DEF_DEF_  "DiagResponse" "No";
+BA_DEF_DEF_  "GenMsgSendType" "cyclic";
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
+BA_DEF_DEF_  "GenSigSendType" "cyclic";
+BA_DEF_DEF_  "GenSigStartValue" 0;
+BA_DEF_DEF_  "GenSigInactiveValue" 0;
+BA_DEF_DEF_  "GenMsgCycleTimeFast" 0;
+BA_DEF_DEF_  "GenMsgNrOfRepetition" 0;
+BA_DEF_DEF_  "GenMsgDelayTime" 0;
+BA_DEF_DEF_  "DBName" "";
+BA_DEF_DEF_  "GenMsgStartDelayTime" 0;
+BA_DEF_DEF_  "GenSigCycleTimeActive" 0;
+BA_DEF_DEF_  "GenSigCycleTime" 0;
+BA_DEF_DEF_  "Baudrate" 500000;
+BA_DEF_DEF_  "BusType" "";
+BA_DEF_DEF_  "NmType" "";
+BA_DEF_DEF_  "Manufacturer" "";
+BA_DEF_DEF_  "VersionYear" 2013;
+BA_DEF_DEF_  "VersionWeek" 0;
+BA_DEF_DEF_  "VersionNumber" 0;
+BA_DEF_DEF_  "VersionMonth" 0;
+BA_DEF_DEF_  "VersionDay" 0;
+BA_DEF_DEF_  "StartDelay" 0;
+BA_DEF_DEF_  "NodeLayerModules" "OSEKNM01.dll,CANoeILNLVector.dll";
+BA_DEF_DEF_  "NmStationAddress" 0;
+BA_DEF_DEF_  "NmNode" "No";
+BA_DEF_DEF_  "NmMessageCount" 128;
+BA_DEF_DEF_  "NmCAN" 2;
+BA_DEF_DEF_  "NmBaseAddress" 1024;
+BA_DEF_DEF_  "ILUsed" "Yes";
+BA_DEF_DEF_  "ILTxTimeout" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Test_BMC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TPMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TCU" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Slope_Filter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SlopeSensor" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_GW_VMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_EPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ECM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_RR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_FR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test_PPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_OBC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_DCDC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF2_Audio" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF1" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ABS" 0;
+BA_DEF_DEF_  "GenMsgILSupport" "Yes";
+BA_DEF_DEF_  "ECU" "";
+BA_DEF_DEF_  "CANoeStartDelay" 0;
+BA_DEF_DEF_  "CANoeJitterMin" 0;
+BA_DEF_DEF_  "CANoeJitterMax" 0;
+BA_DEF_DEF_  "CANoeDrift" 0;
+BA_ "Baudrate" 1000000;
+BA_ "BusType" "CAN";
+BA_ "DBName" "CAN_CH4";
+BA_ "NmStationAddress" BU_ RCU 1;
+BA_ "NmStationAddress" BU_ RWA 2;
+BA_ "GenMsgCycleTime" BO_ 51 5;
+BA_ "GenMsgCycleTime" BO_ 101 5;
+BA_ "GenMsgCycleTime" BO_ 137 5;
+BA_ "GenMsgCycleTime" BO_ 141 5;
+BA_ "GenMsgCycleTime" BO_ 155 10;
+BA_ "GenMsgCycleTime" BO_ 115 5;
+BA_ "GenMsgCycleTime" BO_ 114 5;
+BA_ "GenMsgCycleTime" BO_ 64 5;
+BA_ "GenMsgCycleTime" BO_ 784 5;
+BA_ "GenSigCycleTime" SG_ 101 RCU_BrakeTorqueCommand 5;
+BA_ "GenSigCycleTimeActive" SG_ 101 RCU_BrakeTorqueCommand 5;
+BA_ "GenSigCycleTime" SG_ 101 RCU_ParkBrake 5;
+BA_ "GenSigCycleTimeActive" SG_ 101 RCU_ParkBrake 5;
+BA_ "GenSigCycleTime" SG_ 101 RCU_GearPos 5;
+BA_ "GenSigCycleTimeActive" SG_ 101 RCU_GearPos 5;
+BA_ "GenSigCycleTime" SG_ 137 RCU_Vehicle_wheel_speed_RL 5;
+BA_ "GenSigCycleTimeActive" SG_ 137 RCU_Vehicle_wheel_speed_RL 5;
+BA_ "GenSigCycleTime" SG_ 137 RCU_Vehicle_wheel_speed_RR 5;
+BA_ "GenSigCycleTimeActive" SG_ 137 RCU_Vehicle_wheel_speed_RR 5;
+BA_ "GenSigCycleTime" SG_ 137 RCU_Vehicle_wheel_speed_FL 5;
+BA_ "GenSigCycleTimeActive" SG_ 137 RCU_Vehicle_wheel_speed_FL 5;
+BA_ "GenSigCycleTime" SG_ 137 RCU_Vehicle_wheel_speed_FR 5;
+BA_ "GenSigCycleTimeActive" SG_ 137 RCU_Vehicle_wheel_speed_FR 5;
+BA_ "GenSigCycleTime" SG_ 141 RCU_RearLeftWheelDirection 5;
+BA_ "GenSigCycleTimeActive" SG_ 141 RCU_RearLeftWheelDirection 5;
+BA_ "GenSigCycleTime" SG_ 141 RCU_RearRightWheelDirection 5;
+BA_ "GenSigCycleTimeActive" SG_ 141 RCU_RearRightWheelDirection 5;
+BA_ "GenSigCycleTime" SG_ 141 RCU_FrontLeftWheelDirection 5;
+BA_ "GenSigCycleTimeActive" SG_ 141 RCU_FrontLeftWheelDirection 5;
+BA_ "GenSigCycleTime" SG_ 141 RCU_FrontRightWheelDirection 5;
+BA_ "GenSigCycleTimeActive" SG_ 141 RCU_FrontRightWheelDirection 5;
+BA_ "GenSigCycleTime" SG_ 155 RCU_EcuStatus 100;
+BA_ "GenSigCycleTimeActive" SG_ 155 RCU_EcuStatus 100;
+BA_ "GenSigCycleTime" SG_ 155 RCU_MasterCylinderPressure 100;
+BA_ "GenSigCycleTimeActive" SG_ 155 RCU_MasterCylinderPressure 100;
+BA_ "GenSigCycleTime" SG_ 155 RCU_EstimatedVehicleSpeed 10;
+BA_ "GenSigCycleTimeActive" SG_ 155 RCU_EstimatedVehicleSpeed 10;
+BA_ "GenSigStartValue" SG_ 155 RCU_EstimatedVehicleSpeed 4.00000000000002;
+BA_ "GenSigStartValue" SG_ 115 RWA_RackAngleFbk2 32750;
+BA_ "GenSigStartValue" SG_ 114 RWA_RackAngleSpeedFbk2 32760;
+BA_ "GenSigStartValue" SG_ 64 RWA_RackAngleCmd2 32750;
+VAL_ 51 RCU_WakeUpCommand 1 "On" 0 "Off" ;
+VAL_ 101 RCU_ParkBrake 2 "EPB_APPLY" 1 "EPB_RELEASE" 0 "NO_REQUEST" ;
+VAL_ 101 RCU_GearPos 3 "Reverse" 2 "Drive" 1 "Park" 0 "INVALID" ;
+VAL_ 141 RCU_RearLeftWheelDirection 3 "STANDSTILL" 2 "BACKWARD" 1 "FORWARD" 0 "INVALID" ;
+VAL_ 141 RCU_RearRightWheelDirection 3 "STANDSTILL" 2 "BACKWARD" 1 "FORWARD" 0 "INVALID" ;
+VAL_ 141 RCU_FrontLeftWheelDirection 3 "STANDSTILL" 2 "BACKWARD" 1 "FORWARD" 0 "INVALID" ;
+VAL_ 141 RCU_FrontRightWheelDirection 3 "STANDSTILL" 2 "BACKWARD" 1 "FORWARD" 0 "INVALID" ;
+VAL_ 155 RCU_EcuStatus 4 "start_powering_down" 3 "fault" 2 "normal" 1 "initializing" 0 "invalid" ;
+VAL_ 114 RWA_EcuStatus2 15 "Invalid" 9 "PowerDown_Ready" 8 "Reserved" 7 "Reserved" 6 "Assist_Standby" 5 "Assist_Active" 4 "Passive_Fault" 3 "Passive" 2 "Init_Cmpl" 1 "Init_EcuPhaCutTst" 0 "Init_Arbn" ;
+VAL_ 784 RWA_WakeUpCommand2 1 "On" 0 "Off" ;
+VAL_ 784 RWA_ModeCommand2 1 "NORMAL" 0 "STANDBY" ;
+
diff --git a/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch5_V04 (2).dbc b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch5_V04 (2).dbc
new file mode 100644
index 00000000..7b34116f
--- /dev/null
+++ b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch5_V04 (2).dbc	
@@ -0,0 +1,229 @@
+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_: RWA VCU
+VAL_TABLE_ VtSig 1 "Warning" 0 "NoWarning" ;
+VAL_TABLE_ TargetMotorTorqueValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ Warning_GENERAL 1 "NoWarning" 0 "Warning" ;
+VAL_TABLE_ Fault_GENERAL 1 "NoFault" 0 "Fault" ;
+VAL_TABLE_ RackAngleSpeedFbkValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ SteeringEcuPowerMode 3 "PowerDown" 2 "Disable" 1 "Enabe" 0 "Invalid" ;
+VAL_TABLE_ SteeringWarningLamp 3 "Error" 2 "Active" 1 "Inactive" 0 "Invalid" ;
+VAL_TABLE_ SteeringEcuStatus 8 "PowerDownReady" 7 "AssistStandby" 6 "AssistActive" 5 "PassiveFault" 4 "Passive" 3 "InitComplete" 2 "InitEcuPhaseCutTest" 1 "InitArbritation" 0 "Invalid" ;
+VAL_TABLE_ SteeringSysInfo 8 "CalibrationFault" 7 "RedundancyFault" 6 "SelfCentering" 5 "Reduced" 4 "Normal" 3 "AligningRWA" 2 "InitComplete" 1 "Initializing" 0 "Invalid" ;
+VAL_TABLE_ SteeringEcuRole 3 "SNA" 2 "SLAVE" 1 "MASTER" 0 "INVALID" ;
+VAL_TABLE_ RackAngleSpeedCmdValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ RackAngleCmdValid 1 "VALID" 0 "INVALID" ;
+
+
+BO_ 115 RWS_VCU_Rack_AngleFbk: 8 RWA
+ SG_ RWS_RackAngleFbk1 : 23|16@0+ (0.02,-655) [-655|655.7] "deg"  VCU
+
+BO_ 114 RWS_VCU_stat_Signal: 8 RWA
+ SG_ RWS_RackAngleSpeedFbk1 : 39|16@0+ (0.05,-1638) [-1638|1638.75] "deg/s"  VCU
+ SG_ RWS_EcuStatus1 : 19|4@0+ (1,0) [0|15] ""  VCU
+
+BO_ 64 VCU_RWS_Rack_Cmd: 8 VCU
+ SG_ RWS_RackAngleCmd1 : 23|16@0+ (0.02,-655) [-655|655.7] "deg"  RWA
+
+BO_ 784 VCU_RWS_StartupCommand: 8 VCU
+ SG_ RWS_WakeUpCommand1 : 16|1@0+ (1,0) [0|1] ""  RWA
+ SG_ RWS_ModeCommand1 : 17|1@0+ (1,0) [0|1] ""  RWA
+
+
+
+CM_ " ";
+CM_ SG_ 784 RWS_WakeUpCommand1 "Command to turn off/on Can Tx/Rx messages.";
+BA_DEF_ BO_  "NmMessage" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagState" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagRequest" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagResponse" ENUM  "No","Yes";
+BA_DEF_ BO_  "GenMsgSendType" ENUM  "cyclic","Event","IfActive","CE","CA","NoMsgSendType";
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 0;
+BA_DEF_ SG_  "GenSigSendType" ENUM  "cyclic","OnChange","OnWrite","IfActive","OnChangeWithRepetition","OnWriteWithRepetition","IfActiveWithRepetition","NoSigSendType","OnChangeAndIfActive","OnChangeAndIfActiveWithRepetition","CA","CE","Event";
+BA_DEF_ SG_  "GenSigStartValue" INT 0 0;
+BA_DEF_ SG_  "GenSigInactiveValue" INT 0 0;
+BA_DEF_ BO_  "GenMsgCycleTimeFast" INT 0 0;
+BA_DEF_ BO_  "GenMsgNrOfRepetition" INT 0 0;
+BA_DEF_ BO_  "GenMsgDelayTime" INT 0 0;
+BA_DEF_  "DBName" STRING ;
+BA_DEF_ BO_  "GenMsgStartDelayTime" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTimeActive" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTime" INT 0 0;
+BA_DEF_  "Baudrate" INT 0 1000000;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_  "NmType" STRING ;
+BA_DEF_  "Manufacturer" STRING ;
+BA_DEF_  "VersionYear" INT 2009 2030;
+BA_DEF_  "VersionWeek" INT 0 82;
+BA_DEF_  "VersionNumber" INT 0 65535;
+BA_DEF_  "VersionMonth" INT 0 18;
+BA_DEF_  "VersionDay" INT 0 49;
+BA_DEF_ BO_  "StartDelay" INT 0 100;
+BA_DEF_ BU_  "NodeLayerModules" STRING ;
+BA_DEF_ BU_  "NmStationAddress" HEX 0 241;
+BA_DEF_ BU_  "NmNode" ENUM  "Yes","No";
+BA_DEF_  "NmMessageCount" INT 0 255;
+BA_DEF_ BU_  "NmCAN" INT 1 2;
+BA_DEF_  "NmBaseAddress" HEX 0 2047;
+BA_DEF_ BU_  "ILUsed" ENUM  "No","Yes";
+BA_DEF_  "ILTxTimeout" INT 0 100;
+BA_DEF_ SG_  "GenSigTimeoutTime_Test_BMC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TPMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TCU" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Slope_Filter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SlopeSensor" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_GW_VMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_EPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ECM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_RR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_FR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test_PPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_OBC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_DCDC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF2_Audio" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF1" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ABS" INT 0 0;
+BA_DEF_ BO_  "GenMsgILSupport" ENUM  "No","Yes";
+BA_DEF_ BU_  "ECU" STRING ;
+BA_DEF_ BU_  "CANoeStartDelay" INT 0 10;
+BA_DEF_ BU_  "CANoeJitterMin" INT 0 0;
+BA_DEF_ BU_  "CANoeJitterMax" INT 0 0;
+BA_DEF_ BU_  "CANoeDrift" INT 0 0;
+BA_DEF_DEF_  "NmMessage" "No";
+BA_DEF_DEF_  "DiagState" "No";
+BA_DEF_DEF_  "DiagRequest" "No";
+BA_DEF_DEF_  "DiagResponse" "No";
+BA_DEF_DEF_  "GenMsgSendType" "cyclic";
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
+BA_DEF_DEF_  "GenSigSendType" "cyclic";
+BA_DEF_DEF_  "GenSigStartValue" 0;
+BA_DEF_DEF_  "GenSigInactiveValue" 0;
+BA_DEF_DEF_  "GenMsgCycleTimeFast" 0;
+BA_DEF_DEF_  "GenMsgNrOfRepetition" 0;
+BA_DEF_DEF_  "GenMsgDelayTime" 0;
+BA_DEF_DEF_  "DBName" "";
+BA_DEF_DEF_  "GenMsgStartDelayTime" 0;
+BA_DEF_DEF_  "GenSigCycleTimeActive" 0;
+BA_DEF_DEF_  "GenSigCycleTime" 0;
+BA_DEF_DEF_  "Baudrate" 500000;
+BA_DEF_DEF_  "BusType" "";
+BA_DEF_DEF_  "NmType" "";
+BA_DEF_DEF_  "Manufacturer" "";
+BA_DEF_DEF_  "VersionYear" 2013;
+BA_DEF_DEF_  "VersionWeek" 0;
+BA_DEF_DEF_  "VersionNumber" 0;
+BA_DEF_DEF_  "VersionMonth" 0;
+BA_DEF_DEF_  "VersionDay" 0;
+BA_DEF_DEF_  "StartDelay" 0;
+BA_DEF_DEF_  "NodeLayerModules" "OSEKNM01.dll,CANoeILNLVector.dll";
+BA_DEF_DEF_  "NmStationAddress" 0;
+BA_DEF_DEF_  "NmNode" "No";
+BA_DEF_DEF_  "NmMessageCount" 128;
+BA_DEF_DEF_  "NmCAN" 2;
+BA_DEF_DEF_  "NmBaseAddress" 1024;
+BA_DEF_DEF_  "ILUsed" "Yes";
+BA_DEF_DEF_  "ILTxTimeout" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Test_BMC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TPMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TCU" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Slope_Filter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SlopeSensor" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_GW_VMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_EPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ECM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_RR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_FR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test_PPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_OBC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_DCDC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF2_Audio" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF1" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ABS" 0;
+BA_DEF_DEF_  "GenMsgILSupport" "Yes";
+BA_DEF_DEF_  "ECU" "";
+BA_DEF_DEF_  "CANoeStartDelay" 0;
+BA_DEF_DEF_  "CANoeJitterMin" 0;
+BA_DEF_DEF_  "CANoeJitterMax" 0;
+BA_DEF_DEF_  "CANoeDrift" 0;
+BA_ "Baudrate" 1000000;
+BA_ "BusType" "CAN";
+BA_ "DBName" "CAN_CH5";
+BA_ "NmStationAddress" BU_ RWA 2;
+BA_ "GenMsgCycleTime" BO_ 115 5;
+BA_ "GenMsgCycleTime" BO_ 114 5;
+BA_ "GenMsgCycleTime" BO_ 64 5;
+BA_ "GenMsgCycleTime" BO_ 784 5;
+BA_ "GenSigStartValue" SG_ 115 RWS_RackAngleFbk1 32750;
+BA_ "GenSigStartValue" SG_ 114 RWS_RackAngleSpeedFbk1 32760;
+BA_ "GenSigStartValue" SG_ 64 RWS_RackAngleCmd1 32750;
+VAL_ 114 RWS_EcuStatus1 15 "Invalid" 9 "PowerDown_Ready" 8 "Reserved" 7 "Reserved" 6 "Assist_Standby" 5 "Assist_Active" 4 "Passive_Fault" 3 "Passive" 2 "Init_Cmpl" 1 "Init_EcuPhaCutTst" 0 "Init_Arbn" ;
+VAL_ 784 RWS_WakeUpCommand1 1 "On" 0 "Off" ;
+VAL_ 784 RWS_ModeCommand1 1 "NORMAL" 0 "STANDBY" ;
+
diff --git a/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch6_V04 (3).dbc b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch6_V04 (3).dbc
new file mode 100644
index 00000000..432e8471
--- /dev/null
+++ b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/CAN_DBC_ch6_V04 (3).dbc	
@@ -0,0 +1,229 @@
+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_: RWA VCU
+VAL_TABLE_ VtSig 1 "Warning" 0 "NoWarning" ;
+VAL_TABLE_ TargetMotorTorqueValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ Warning_GENERAL 1 "NoWarning" 0 "Warning" ;
+VAL_TABLE_ Fault_GENERAL 1 "NoFault" 0 "Fault" ;
+VAL_TABLE_ RackAngleSpeedFbkValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ SteeringEcuPowerMode 3 "PowerDown" 2 "Disable" 1 "Enabe" 0 "Invalid" ;
+VAL_TABLE_ SteeringWarningLamp 3 "Error" 2 "Active" 1 "Inactive" 0 "Invalid" ;
+VAL_TABLE_ SteeringEcuStatus 8 "PowerDownReady" 7 "AssistStandby" 6 "AssistActive" 5 "PassiveFault" 4 "Passive" 3 "InitComplete" 2 "InitEcuPhaseCutTest" 1 "InitArbritation" 0 "Invalid" ;
+VAL_TABLE_ SteeringSysInfo 8 "CalibrationFault" 7 "RedundancyFault" 6 "SelfCentering" 5 "Reduced" 4 "Normal" 3 "AligningRWA" 2 "InitComplete" 1 "Initializing" 0 "Invalid" ;
+VAL_TABLE_ SteeringEcuRole 3 "SNA" 2 "SLAVE" 1 "MASTER" 0 "INVALID" ;
+VAL_TABLE_ RackAngleSpeedCmdValid 1 "VALID" 0 "INVALID" ;
+VAL_TABLE_ RackAngleCmdValid 1 "VALID" 0 "INVALID" ;
+
+
+BO_ 115 RWS_VCU_Rack_AngleFbk: 8 RWA
+ SG_ RWS_RackAngleFbk2 : 23|16@0+ (0.02,-655) [-655|655.7] "deg"  VCU
+
+BO_ 114 RWS_VCU_stat_Signal: 8 RWA
+ SG_ RWS_RackAngleSpeedFbk2 : 39|16@0+ (0.05,-1638) [-1638|1638.75] "deg/s"  VCU
+ SG_ RWS_EcuStatus2 : 19|4@0+ (1,0) [0|15] ""  VCU
+
+BO_ 64 VCU_RWS_Rack_Cmd: 8 VCU
+ SG_ RWS_RackAngleCmd2 : 23|16@0+ (0.02,-655) [-655|655.7] "deg"  RWA
+
+BO_ 784 VCU_RWS_StartupCommand: 8 VCU
+ SG_ RWS_WakeUpCommand2 : 16|1@0+ (1,0) [0|1] ""  RWA
+ SG_ RWS_ModeCommand2 : 17|1@0+ (1,0) [0|1] ""  RWA
+
+
+
+CM_ " ";
+CM_ SG_ 784 RWS_WakeUpCommand2 "Command to turn off/on Can Tx/Rx messages.";
+BA_DEF_ BO_  "NmMessage" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagState" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagRequest" ENUM  "No","Yes";
+BA_DEF_ BO_  "DiagResponse" ENUM  "No","Yes";
+BA_DEF_ BO_  "GenMsgSendType" ENUM  "cyclic","Event","IfActive","CE","CA","NoMsgSendType";
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 0;
+BA_DEF_ SG_  "GenSigSendType" ENUM  "cyclic","OnChange","OnWrite","IfActive","OnChangeWithRepetition","OnWriteWithRepetition","IfActiveWithRepetition","NoSigSendType","OnChangeAndIfActive","OnChangeAndIfActiveWithRepetition","CA","CE","Event";
+BA_DEF_ SG_  "GenSigStartValue" INT 0 0;
+BA_DEF_ SG_  "GenSigInactiveValue" INT 0 0;
+BA_DEF_ BO_  "GenMsgCycleTimeFast" INT 0 0;
+BA_DEF_ BO_  "GenMsgNrOfRepetition" INT 0 0;
+BA_DEF_ BO_  "GenMsgDelayTime" INT 0 0;
+BA_DEF_  "DBName" STRING ;
+BA_DEF_ BO_  "GenMsgStartDelayTime" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTimeActive" INT 0 0;
+BA_DEF_ SG_  "GenSigCycleTime" INT 0 0;
+BA_DEF_  "Baudrate" INT 0 1000000;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_  "NmType" STRING ;
+BA_DEF_  "Manufacturer" STRING ;
+BA_DEF_  "VersionYear" INT 2009 2030;
+BA_DEF_  "VersionWeek" INT 0 82;
+BA_DEF_  "VersionNumber" INT 0 65535;
+BA_DEF_  "VersionMonth" INT 0 18;
+BA_DEF_  "VersionDay" INT 0 49;
+BA_DEF_ BO_  "StartDelay" INT 0 100;
+BA_DEF_ BU_  "NodeLayerModules" STRING ;
+BA_DEF_ BU_  "NmStationAddress" HEX 0 241;
+BA_DEF_ BU_  "NmNode" ENUM  "Yes","No";
+BA_DEF_  "NmMessageCount" INT 0 255;
+BA_DEF_ BU_  "NmCAN" INT 1 2;
+BA_DEF_  "NmBaseAddress" HEX 0 2047;
+BA_DEF_ BU_  "ILUsed" ENUM  "No","Yes";
+BA_DEF_  "ILTxTimeout" INT 0 100;
+BA_DEF_ SG_  "GenSigTimeoutTime_Test_BMC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TPMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_TCU" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Slope_Filter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SlopeSensor" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_GW_VMS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_EPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ECM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_RR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_WP_FR" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test_PPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Test" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_SRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_PEPS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_OBC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_Meter" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_ETG" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_DCDC" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BSW" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BD_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_BCM" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AirCon" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF_GPRS" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF2_Audio" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_AF1" INT 0 0;
+BA_DEF_ SG_  "GenSigTimeoutTime_ABS" INT 0 0;
+BA_DEF_ BO_  "GenMsgILSupport" ENUM  "No","Yes";
+BA_DEF_ BU_  "ECU" STRING ;
+BA_DEF_ BU_  "CANoeStartDelay" INT 0 10;
+BA_DEF_ BU_  "CANoeJitterMin" INT 0 0;
+BA_DEF_ BU_  "CANoeJitterMax" INT 0 0;
+BA_DEF_ BU_  "CANoeDrift" INT 0 0;
+BA_DEF_DEF_  "NmMessage" "No";
+BA_DEF_DEF_  "DiagState" "No";
+BA_DEF_DEF_  "DiagRequest" "No";
+BA_DEF_DEF_  "DiagResponse" "No";
+BA_DEF_DEF_  "GenMsgSendType" "cyclic";
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
+BA_DEF_DEF_  "GenSigSendType" "cyclic";
+BA_DEF_DEF_  "GenSigStartValue" 0;
+BA_DEF_DEF_  "GenSigInactiveValue" 0;
+BA_DEF_DEF_  "GenMsgCycleTimeFast" 0;
+BA_DEF_DEF_  "GenMsgNrOfRepetition" 0;
+BA_DEF_DEF_  "GenMsgDelayTime" 0;
+BA_DEF_DEF_  "DBName" "";
+BA_DEF_DEF_  "GenMsgStartDelayTime" 0;
+BA_DEF_DEF_  "GenSigCycleTimeActive" 0;
+BA_DEF_DEF_  "GenSigCycleTime" 0;
+BA_DEF_DEF_  "Baudrate" 500000;
+BA_DEF_DEF_  "BusType" "";
+BA_DEF_DEF_  "NmType" "";
+BA_DEF_DEF_  "Manufacturer" "";
+BA_DEF_DEF_  "VersionYear" 2013;
+BA_DEF_DEF_  "VersionWeek" 0;
+BA_DEF_DEF_  "VersionNumber" 0;
+BA_DEF_DEF_  "VersionMonth" 0;
+BA_DEF_DEF_  "VersionDay" 0;
+BA_DEF_DEF_  "StartDelay" 0;
+BA_DEF_DEF_  "NodeLayerModules" "OSEKNM01.dll,CANoeILNLVector.dll";
+BA_DEF_DEF_  "NmStationAddress" 0;
+BA_DEF_DEF_  "NmNode" "No";
+BA_DEF_DEF_  "NmMessageCount" 128;
+BA_DEF_DEF_  "NmCAN" 2;
+BA_DEF_DEF_  "NmBaseAddress" 1024;
+BA_DEF_DEF_  "ILUsed" "Yes";
+BA_DEF_DEF_  "ILTxTimeout" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Test_BMC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TPMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_TCU" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Slope_Filter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SlopeSensor" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_GW_VMS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_EPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ECM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_RR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_WP_FR" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test_PPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Test" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_SRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_PEPS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_OBC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_Meter" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_ETG" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_DCDC" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BSW" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BD_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_BCM" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AirCon" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF_GPRS" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF2_Audio" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_AF1" 0;
+BA_DEF_DEF_  "GenSigTimeoutTime_ABS" 0;
+BA_DEF_DEF_  "GenMsgILSupport" "Yes";
+BA_DEF_DEF_  "ECU" "";
+BA_DEF_DEF_  "CANoeStartDelay" 0;
+BA_DEF_DEF_  "CANoeJitterMin" 0;
+BA_DEF_DEF_  "CANoeJitterMax" 0;
+BA_DEF_DEF_  "CANoeDrift" 0;
+BA_ "BusType" "CAN";
+BA_ "Baudrate" 1000000;
+BA_ "DBName" "CAN_CH4";
+BA_ "NmStationAddress" BU_ RWA 2;
+BA_ "GenMsgCycleTime" BO_ 115 5;
+BA_ "GenMsgCycleTime" BO_ 114 5;
+BA_ "GenMsgCycleTime" BO_ 64 5;
+BA_ "GenMsgCycleTime" BO_ 784 5;
+BA_ "GenSigStartValue" SG_ 115 RWS_RackAngleFbk2 32750;
+BA_ "GenSigStartValue" SG_ 114 RWS_RackAngleSpeedFbk2 32760;
+BA_ "GenSigStartValue" SG_ 64 RWS_RackAngleCmd2 32750;
+VAL_ 114 RWS_EcuStatus2 15 "Invalid" 9 "PowerDown_Ready" 8 "Reserved" 7 "Reserved" 6 "Assist_Standby" 5 "Assist_Active" 4 "Passive_Fault" 3 "Passive" 2 "Init_Cmpl" 1 "Init_EcuPhaCutTst" 0 "Init_Arbn" ;
+VAL_ 784 RWS_WakeUpCommand2 1 "On" 0 "Off" ;
+VAL_ 784 RWS_ModeCommand2 1 "NORMAL" 0 "STANDBY" ;
+
diff --git a/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/~$배송모빌리티 CAN초안_V1.1.2.xlsx b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/~$배송모빌리티 CAN초안_V1.1.2.xlsx
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index 00000000..e427295d
Binary files /dev/null and b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/~$배송모빌리티 CAN초안_V1.1.2.xlsx differ
diff --git a/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/배송모빌리티 CAN초안_V1.1.3.xlsx b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/배송모빌리티 CAN초안_V1.1.3.xlsx
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Binary files /dev/null and b/CAN_DBC/배송모빌리티 CAN초안_V1.1.3/배송모빌리티 CAN초안_V1.1.3.xlsx differ