Thanks for the reference! That certainly does look much nicer.

That being said, I do still see some "magical" looking constants and dictionary keys here[1], as well as lots of small numbers later in the file. I think it would be confidence-inspiring to have those better documented as well.

Edit: I found some more magic-looking bytestrings in the Volkswagen support here[2].

[1]: https://github.com/commaai/openpilot/blob/de0ce142ae51cf9c85...

[2]: https://github.com/commaai/openpilot/blob/de0ce142ae51cf9c85...