New information on Brasilodon and Brasilitherium (Cynodontia, Probainognathia) from the Late Triassic, southern Brazil

New discoveries of articulated skulls and lower jaws of Brasilodon and Brasilitherium from the Late Triassic of Brazil provide additional information on these small cynodonts, allowing us to establish the family Brasilodontidae nov. The basicranium, lateral wall of the braincase, primary and secondary palates and the quadrate of Brasilitherium are described, as well as the basicranium, primary palate and lower jaw of Brasilodon. Brasilitherium exhibits more derived characters than Brasilodon in the periotic, the promontorium, and the articular process of the dentary. Brasilodon is more derived in the lower dentition, the mode of tooth replacement, and the vascular features in the "stapedial recess". Both genera have interpterygoid vacuities that are considered here as possibly derived or reversed characters of the mammalian primary palate. The new phylogenetic analysis presented here corroborates the position of both genera as sister-group of mammals as previously proposed.