• Start Diagnostics, go to Overview screen

• Press F7 Additional Menu

• Select Maintenance of vehicle data

• Press F12 twice until you see a list of PR numbers

• Set GESCHWINDIGKEITSREGELANLAGE to 3V1 - ACC HIGH END MIT INNODRIVE 

• Set SPURHALTEASSISTENT to 612 - SPURHALTE+STAUASSISTENT (ALDW+ACA)

• Set SPURWECHSEL-/SPURHALTEASSISTENT to 7Y1 - SPURWECHSELASSISTENT (BSD)

• Press F12 twice to see the screen showing the coding values CV that have been changed

• Press F8 to WRITE values

• Press F11 twice to return to the Overview screen

• Option 1: auto code all modules

  • Press F6 to select all modules

  • Press Coding/Programming, select Automatic Coding. Press F12

  • Wait for coding to complete

  • Note: this is very likely overkill and you may need more than 1 pass at this

• Option 2: selective auto coding (needs further validation)

  • Pass 1: Gateway & PCM coding

    • Select Gateway [0x19) and MIB (Zentralrechner) [0x5F]

    • Press Coding/Programming, select Automatic Coding. Press F12

  • Pass 2: Steering & Chassis coding

    • Select ZFAS (Zentrales Fahrer Assistenz System) [0xA5] module

    • Press Coding/Programming, select Automatic Coding. Press F12

    • Select EPS (Lenkhilfe) [0x44]

    • Select Manual Coding without coding rules, Press F12
      TBC required on MY20 EPS units to force the lane-centering torque maps

    • Set Kodierwert: Bitfield Assitent System Monitor (ASM) to aktiv

    • Set Kodierwert: Bitfield Heading_control_assistant to aktiv

    • Press F8 to WRITE.

  • Pass 3: Kombi coding

    • Select the Kombi [0x17]

    • Press Coding/Programming, select Automatic Coding. Press F12

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