diff --git a/gr26/model/ecu.go b/gr26/model/ecu.go
index 8baced8e..b249d428 100644
--- a/gr26/model/ecu.go
+++ b/gr26/model/ecu.go
@@ -6,6 +6,23 @@ import (
 	mp "github.com/gaucho-racing/mapache/mapache-go/v3"
 )
 
+func map_forward_current(raw_current uint8) float64 {
+	switch raw_current {
+	case 0:
+		return 50
+	case 1:
+		return 100
+	case 2:
+		return 200
+	case 3:
+		return 300
+	case 4:
+		return 325
+	default:
+		return 0
+	}
+}
+
 var ECUStatus1 = mp.Message{
 	mp.NewField("ecu_state", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
 		return []mp.Signal{
@@ -27,10 +44,10 @@ var ECUStatus1 = mp.Message{
 			{Name: "ping_group_3", Value: float64(f.Value), RawValue: f.Value},
 		}
 	}),
-	mp.NewField("power_torque", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+	mp.NewField("forward_ac_i_code_regen_ac_i_code", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
 		return []mp.Signal{
-			{Name: "power_level", Value: float64(f.Value & 0x0F), RawValue: f.Value & 0x0F},
-			{Name: "torque_map", Value: float64((f.Value >> 4) & 0x0F), RawValue: (f.Value >> 4) & 0x0F},
+			{Name: "forward_ac_i_code", Value: map_forward_current(uint8(f.Value & 0x0F)), RawValue: f.Value & 0x0F},
+			{Name: "regen_ac_i_code", Value: float64((f.Value>>4)&0x0F) * 15.0, RawValue: (f.Value >> 4) & 0x0F},
 		}
 	}),
 	mp.NewField("max_cell_temp", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
diff --git a/gr26/model/message.go b/gr26/model/message.go
index ac023b2e..8afcb7bb 100644
--- a/gr26/model/message.go
+++ b/gr26/model/message.go
@@ -43,6 +43,9 @@ var messageMap = map[int]mp.Message{
 	0x201: TCMResourceUtil,
 	0x210: TCMShelterHeartbeat,
 	0x211: TCMShelterBatch,
+	// SAM
+	0x026: SAMIMU,
+	0x02B: SAMSusPots,
 	// GPS
 	0x030: DGPS_UVW,
 	0x031: GPSLatitude,
diff --git a/gr26/model/sam.go b/gr26/model/sam.go
new file mode 100644
index 00000000..7a7bcbde
--- /dev/null
+++ b/gr26/model/sam.go
@@ -0,0 +1,74 @@
+package model
+
+import (
+	mp "github.com/gaucho-racing/mapache/mapache-go/v3"
+)
+
+var SAMIMU = mp.Message{
+	mp.NewField("bmi323_acc_x", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "bmi323_acc_x",
+			Value:    (float64(f.Value) * 0.01) - 327.68,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("bmi323_acc_y", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "bmi323_acc_y",
+			Value:    (float64(f.Value) * 0.01) - 327.68,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("bmi323_acc_z", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "bmi323_acc_z",
+			Value:    (float64(f.Value) * 0.01) - 327.68,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("bmi323_gyro_x", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "bmi323_gyro_x",
+			Value:    (float64(f.Value) * 0.001) - 32.768,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("bmi323_gyro_y", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "bmi323_gyro_y",
+			Value:    (float64(f.Value) * 0.001) - 32.768,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("bmi323_gyro_z", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "bmi323_gyro_z",
+			Value:    (float64(f.Value) * 0.001) - 32.768,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+}
+
+var SAMSusPots = mp.Message{
+	mp.NewField("sus_pot_pos", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "sus_pot_pos",
+			Value:    float64(f.Value),
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+}