I don't have anything official, but as far as observations, I notice that our dogs and cats understand each other perfectly.
Our dogs tend to be rather tough on the cats, often chasing them or playing pretty rough. However the cats are usually in pretty good control of the situation.
For example, the cats do give "calming signals" similar to the dogs' CS, including yawns, body postures, look aways and so forth. I've even seen our cats lie on their sides or backs and get the dogs to calm down by doing this.