diff --git a/obd/UnitsAndScaling.py b/obd/UnitsAndScaling.py
index b49650b1..e5236156 100644
--- a/obd/UnitsAndScaling.py
+++ b/obd/UnitsAndScaling.py
@@ -134,6 +134,8 @@ def __call__(self, _bytes):
     0x3F: UAS(False, 0.01, Unit.liter),
     0x40: UAS(False, 1, Unit.ppm),
     0x41: UAS(False, 0.01, Unit.microampere),
+    0x42: UAS(False, 0.1, Unit.kilometer),
+    0x43: UAS(False, 1, Unit.newton * Unit.meter),
 
     # signed -----------------------------------------
     0x81: UAS(True, 1, Unit.count),
diff --git a/obd/commands.py b/obd/commands.py
index 9162f1c8..79a53380 100644
--- a/obd/commands.py
+++ b/obd/commands.py
@@ -150,6 +150,24 @@
     OBDCommand("FUEL_INJECT_TIMING"         , "Fuel injection timing"                   , b"015D", 4, inject_timing,         ECU.ENGINE, True),
     OBDCommand("FUEL_RATE"                  , "Engine fuel rate"                        , b"015E", 4, fuel_rate,             ECU.ENGINE, True),
     OBDCommand("EMISSION_REQ"               , "Designed emission requirements"          , b"015F", 3, drop,                  ECU.ENGINE, True),
+
+    #                      name                             description                    cmd  bytes       decoder           ECU       fast
+    OBDCommand("PIDS_D"                     , "Supported PIDs [61-80]"                  , b"0160", 6, pid,                   ECU.ENGINE, True),
+    OBDCommand("DEMAND_PERCENT_TORQUE"      , "Driver's demand engine - percent torque" , b"0161", 3, percent_torque,        ECU.ENGINE, True),
+    OBDCommand("ACTUAL_PERCENT_TORQUE"      , "Actual engine - percent torque"          , b"0162", 3, percent_torque,        ECU.ENGINE, True),
+    OBDCommand("REF_TORQUE"                 , "Engine reference torque"                 , b"0163", 4, uas(0x43),             ECU.ENGINE, True),
+    OBDCommand("PERCENT_TORQUE_DATA"        , "Engine percent torque data"              , b"0164", 4, drop,                  ECU.ENGINE, True),
+
+    #                      name                             description                    cmd  bytes       decoder           ECU       fast
+    OBDCommand("PIDS_E"                     , "Supported PIDs [81-A0]"                  , b"0180", 6, pid,                   ECU.ENGINE, True),
+    OBDCommand("THROTTLE_POS_G"             , "Throttle position G"                     , b"018D", 3, percent,               ECU.ENGINE, True),
+    OBDCommand("FRICTION_PERCENT_TORQUE"    , "Engine Friction - Percent Torque"        , b"018E", 3, percent_torque,        ECU.ENGINE, True),
+
+    #                      name                             description                    cmd  bytes       decoder           ECU       fast
+    OBDCommand("PIDS_F"                     , "Supported PIDs [A1-C0]"                  , b"01A0", 6, pid,                   ECU.ENGINE, True),
+    OBDCommand("ODOMETER"                   , "Distance traveled"                       , b"01A6", 3, uas(0x42),               ECU.ENGINE, True),
+
+
 ]
 
 # mode 2 is the same as mode 1, but returns values from when the DTC occured
diff --git a/obd/decoders.py b/obd/decoders.py
index fffca50a..9c03c434 100644
--- a/obd/decoders.py
+++ b/obd/decoders.py
@@ -115,6 +115,13 @@ def percent_centered(messages):
     return v * Unit.percent
 
 
+def percent_torque(messages):  # to be tested  ~omar
+    d = messages[0].data[2:]  # implement this to decode pid 64 as well. If $64 not needed, probably this function can be replaced with an entry in the UAS dict.
+    v = d[0]
+    v = v - 125
+    return v * Unit.percent
+
+
 # -40 to 215 C
 def temp(messages):
     d = messages[0].data[2:]
diff --git a/obd/protocols/protocol_can.py b/obd/protocols/protocol_can.py
index ee2c3528..33dc13ea 100644
--- a/obd/protocols/protocol_can.py
+++ b/obd/protocols/protocol_can.py
@@ -263,8 +263,11 @@ def parse_message(self, message):
             #    []
             # 43 03 11 11 22 22 33 33
             #       [DTC] [DTC] [DTC]
+            try:
+                num_dtc_bytes = message.data[1] * 2  # each DTC is 2 bytes
+            except:
+                num_dtc_bytes = 0
 
-            num_dtc_bytes = message.data[1] * 2  # each DTC is 2 bytes
             message.data = message.data[:(num_dtc_bytes + 2)]  # add 2 to account for mode/DTC_count bytes
 
         return True
diff --git a/obd2.py b/obd2.py
new file mode 100644
index 00000000..0b9c389a
--- /dev/null
+++ b/obd2.py
@@ -0,0 +1,54 @@
+import serial
+import obd
+import ast
+import sys
+import time
+import argparse
+import traceback
+from logging import raiseExceptions
+sys.path.append('/opt/iotistic-mnvr/pyscripts/')
+from network_utils import run
+from db_util import *
+
+parser = argparse.ArgumentParser()
+# parser.add_argument("-r", "--request", type=str, help="requested data")
+args = parser.parse_args()
+
+
+def connect_to_OBD():
+    while True:
+        try:
+            serialport = '/dev/ttyUSB0' if 'Future' in run('udevadm info /dev/ttyUSB0') else '/dev/ttyUSB4'
+            connection = obd.OBD(serialport)
+            return connection
+        except:
+            traceback.print_exc()
+            continue
+
+def init_obd_db():
+    obd_db = Database('/home/mnvr/Data/obd.db')  # GPS_DB SETUP
+    obd_db.create_table("obd_data")
+    obd_db.empty_table("obd_data")
+    return obd_db
+
+if __name__=='__main__':
+    connection = connect_to_OBD()
+    obd_db = init_obd_db()
+    time.sleep(0.5)
+    while True:
+        try:
+            res = connection.query(obd.commands['GET_DTC'])
+            response = ast.literal_eval(str(res))
+            print(f'insert into obd_data (candtc) VALUES ("{response}")')
+            # print(response)
+            if (str(response)== 'None'):
+                raise Exception('OBD Connection is not available.')
+            obd_db.send_query(f'insert into obd_data (candtc) VALUES ("{response}")')
+            time.sleep(2)
+
+        except:
+            traceback.print_exc()
+            connection.close()
+            time.sleep(1)
+            connection = connect_to_OBD()
+            continue
\ No newline at end of file