diff --git a/Inc/mmr_can_message_id.h b/Inc/mmr_can_message_id.h
index c7feee5..3d9598e 100644
--- a/Inc/mmr_can_message_id.h
+++ b/Inc/mmr_can_message_id.h
@@ -27,16 +27,26 @@
  * 
  * Ids scheme:
  *
- *   id   | type | subtype
- * -------|------|---------
- *  SCS   | 000  | xxxxxxx
- *  DRIVE | 001  | xxxxxxx
+ *   id                        | type  | subtype
+ * ----------------------------|-------|---------
+ *  SENSING                    | 00000 | xxxxx
+ *  AUTONOMOUS_STATE           | 00001 |
+ *  MANUAL_MISSION             | 00010 |
+ *  AUTONOMOUS_MISSION         | 00011 |
+ *  AUTONOMOUS_MISSION_CONTROL | 00100 |
+ *  DRIVE                      | 00101 |
+ *  ECU_BOSCH                  | 00110 |
  */
 typedef enum MmrCanMessageId MmrCanMessageId;
 
 typedef enum MmrCanMessageIdType {
-  MMR_CAN_MESSAGE_ID_TYPE_SCS = 0,
-  MMR_CAN_MESSAGE_ID_TYPE_DRIVE = 1,
+  MMR_CAN_MESSAGE_ID_TYPE_SENSING,
+  MMR_CAN_MESSAGE_ID_TYPE_AUTONOMOUS_STATE,
+  MMR_CAN_MESSAGE_ID_TYPE_MANUAL_MISSION,
+  MMR_CAN_MESSAGE_ID_TYPE_AUTONOMOUS_MISSION,
+  MMR_CAN_MESSAGE_ID_TYPE_AUTONOMOUS_MISSION_CONTROL,
+  MMR_CAN_MESSAGE_ID_TYPE_DRIVE,
+  MMR_CAN_MESSAGE_ID_TYPE_ECU_BOSCH,
 } MmrCanMessageIdType;
 
 
@@ -65,36 +75,52 @@ bool MMR_CAN_IsMessageIdOfType(MmrCanMessageId msgId, MmrCanMessageIdType type);
 
 
 enum MmrCanMessageId {
-// SCS
-  MMR_CAN_MESSAGE_ID_SCS_PPA = 0x1,
-  MMR_CAN_MESSAGE_ID_SCS_PLF,
-  MMR_CAN_MESSAGE_ID_SCS_LV12,
-  MMR_CAN_MESSAGE_ID_SCS_LV24,
-  MMR_CAN_MESSAGE_ID_SCS_PF,
-  MMR_CAN_MESSAGE_ID_SCS_FRBPS,
-  MMR_CAN_MESSAGE_ID_SCS_EBS,
-  MMR_CAN_MESSAGE_ID_SCS_APPS,
-  MMR_CAN_MESSAGE_ID_SCS_TPS,
-  
-  MMR_CAN_MESSAGE_ID_SCS_AS_R2D,
-  MMR_CAN_MESSAGE_ID_SCS_AS_TS,
-  MMR_CAN_MESSAGE_ID_SCS_AS_FINISHED,
-  MMR_CAN_MESSAGE_ID_SCS_AS_EMERGENCY,
-  MMR_CAN_MESSAGE_ID_SCS_AS_READY,
-  MMR_CAN_MESSAGE_ID_SCS_AS_DRIVING,
-  MMR_CAN_MESSAGE_ID_SCS_AS_OFF,
-
-  MMR_CAN_MESSAGE_ID_SCS_AM_MANUAL_DRIVING,
-  MMR_CAN_MESSAGE_ID_SCS_AM_ACCELERATION,
-  MMR_CAN_MESSAGE_ID_SCS_AM_SKIDPAD,
-  MMR_CAN_MESSAGE_ID_SCS_AM_AUTOCROSS,
-  MMR_CAN_MESSAGE_ID_SCS_AM_TRACKDRIVE,
-  MMR_CAN_MESSAGE_ID_SCS_AM_EBS_TEST,
-  MMR_CAN_MESSAGE_ID_SCS_AM_INSPECTION = 0x17,
-// !SCS
+// SENSING
+  MMR_CAN_MESSAGE_ID_S_PPA = 0x0,
+  MMR_CAN_MESSAGE_ID_S_LV12,
+  MMR_CAN_MESSAGE_ID_S_LV24,
+  MMR_CAN_MESSAGE_ID_S_PF,
+  MMR_CAN_MESSAGE_ID_S_FRBPS,
+  MMR_CAN_MESSAGE_ID_S_EBS,
+  MMR_CAN_MESSAGE_ID_S_APPS,
+  MMR_CAN_MESSAGE_ID_S_TPS,
+  MMR_CAN_MESSAGE_ID_S_CLUTCH,
+// !SENSING
+// AUTONOMOUS_STATE
+  MMR_CAN_MESSAGE_ID_AS_R2D = 32,
+  MMR_CAN_MESSAGE_ID_AS_TS,
+  MMR_CAN_MESSAGE_ID_AS_FINISHED,
+  MMR_CAN_MESSAGE_ID_AS_EMERGENCY,
+  MMR_CAN_MESSAGE_ID_AS_READY,
+  MMR_CAN_MESSAGE_ID_AS_DRIVING,
+  MMR_CAN_MESSAGE_ID_AS_OFF,
+// !AUTONOMOUS_STATE
+// MANUAL_MISSION
+  MMR_CAN_MESSAGE_ID_MM_MANUAL = 64,
+// !MANUAL_MISSION
+// AUTONOMOUS_MISSION
+  MMR_CAN_MESSAGE_ID_AM_ACCELERATION = 96,
+  MMR_CAN_MESSAGE_ID_AM_SKIDPAD,
+  MMR_CAN_MESSAGE_ID_AM_AUTOCROSS,
+  MMR_CAN_MESSAGE_ID_AM_TRACKDRIVE,
+  MMR_CAN_MESSAGE_ID_AM_EBS_TEST,
+  MMR_CAN_MESSAGE_ID_AM_INSPECTION,
+// !AUTONOMOUS_MISSION
+// AUTONOMOUS_MISSION_CONTROL
+  MMR_CAN_MESSAGE_ID_AMC_MISSION_FINISHED = 128,
+  MMR_CAN_MESSAGE_ID_AMC_VEHICLE_STANDSTILL,
+  MMR_CAN_MESSAGE_ID_AMC_MISSION_SELECTED,
+  MMR_CAN_MESSAGE_ID_AMC_ASMS,
+  MMR_CAN_MESSAGE_ID_AMC_ASB,
+  MMR_CAN_MESSAGE_ID_AMC_TS,
+  MMR_CAN_MESSAGE_ID_AMC_BE,
+// !AUTONOMOUS_MISSION_CONTROL
 // DRIVE
-  MMR_CAN_MESSAGE_ID_DRIVE_STEERING_ANGLE = 0x8A,
+  MMR_CAN_MESSAGE_ID_D_STEERING_ANGLE = 160,
 // !DRIVE
+// ECU_BOSCH
+  MMR_CAN_MESSAGE_ID_ECU_BOSCH_ = 192,
+// !ECU_BOSCH
 };
 
 #endif // !INC_MMR_CAN_MESSAGE_ID_H_
diff --git a/Src/mmr_can_message_id.c b/Src/mmr_can_message_id.c
index eeb4c0f..2acb7b0 100644
--- a/Src/mmr_can_message_id.c
+++ b/Src/mmr_can_message_id.c
@@ -11,9 +11,9 @@ bool MMR_CAN_IsMessageIdOfType(
 
 
 uint8_t MMR_CAN_GetMessageIdType(MmrCanMessageId msgId) {
-  return msgId >> 7;
+  return msgId >> 5;
 }
 
 uint8_t MMR_CAN_GetMessageIdSubtype(MmrCanMessageId msgId) {
-  return msgId & B8_(0111, 1111);
+  return msgId & B8_(0001, 1111);
 }