Merge pull request #176 from commaai/devel

openpilot v0.4.0.2
2026-07-03 20:42:09 +08:00 · 2018-01-22 09:55:06 -08:00
parent c2e120c362 36bef17224
commit 675d9feb0b
46 changed files with 4904 additions and 1076 deletions
@@ -1,3 +1,8 @@
+Version 0.4.0.2 (2018-01-18)
+==========================
+ * Add focus adjustment slider
+ * Minor bugfixes
+
 Version 0.4.0.1 (2017-12-21)
 ==========================
 * New UI to match chffrplus
@@ -33,6 +33,7 @@ struct InitData {
  androidBuildInfo @5 :AndroidBuildInfo;
  androidSensors @6 :List(AndroidSensor);
  chffrAndroidExtra @7 :ChffrAndroidExtra;
+  iosBuildInfo @14 :IosBuildInfo;

  pandaInfo @8 :PandaInfo;

@@ -43,6 +44,7 @@ struct InitData {
    unknown @0;
    neo @1;
    chffrAndroid @2;
+    chffrIos @3;
  }

  struct AndroidBuildInfo {
@@ -93,6 +95,13 @@ struct InitData {
    allCameraCharacteristics @0 :Map(Text, Text);
  }

+  struct IosBuildInfo {
+    appVersion @0 :Text;
+    appBuild @1 :UInt32;
+    osVersion @2 :Text;
+    deviceModel @3 :Text;
+  }
+
  struct PandaInfo {
    hasPanda @0 :Bool;
    dongleId @1 :Text;
@@ -222,6 +231,7 @@ struct GpsLocationData {
    fusion @4;
    external @5;
    ublox @6;
+    trimble @7;
  }
 }

@@ -374,6 +384,8 @@ struct Live100Data {

  angleOffset @27 :Float32;

+  gpsPlannerActive @40 :Bool;
+
  enum ControlState {
    disabled @0;
    preEnabled @1;
@@ -514,6 +526,8 @@ struct Plan {
  # gps trajectory in car frame
  gpsTrajectory @12 :GpsTrajectory;

+  gpsPlannerActive @19 :Bool;
+
  struct GpsTrajectory {
    x @0 :List(Float32);
    y @1 :List(Float32);
@@ -1298,6 +1312,27 @@ struct LiveLongitudinalMpcData {
  calculationTime @9 :UInt64;
 }

+
+struct ECEFPoint {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints {
+  curPos @0 :ECEFPoint;
+  points @1 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  instructionProgress @4 :Float32;
+}
+
+struct GPSPlannerPlan {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+}
+
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
@@ -1341,5 +1376,8 @@ struct Event {
    liveMpc @36 :LiveMpcData;
    liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
    navStatus @38 :NavStatus;
+    ubloxRaw @39 :Data;
+    gpsPlannerPoints @40 :GPSPlannerPoints;
+    gpsPlannerPlan @41 :GPSPlannerPlan;
  }
 }
@@ -16,6 +16,9 @@ _FINGERPRINTS = {
    # sent messages
    0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
  },
+  "HONDA ODYSSEY 2018 EX-L": {
+    57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
+  },
  "TOYOTA RAV4 2017": {
    36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
  },
@@ -59,4 +62,3 @@ def eliminate_incompatible_cars(msg, candidate_cars):
 def all_known_cars():
  """Returns a list of all known car strings."""
  return _FINGERPRINTS.keys()
-
@@ -52,7 +52,7 @@ BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM
 SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
 SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
 SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] ""  NEO
- SG_ FirctionBrakeCmd : 3|12@0+ (1,0) [0|0] ""  NEO
+ SG_ FirctionBrakeCmd : 3|12@0- (1,0) [0|0] ""  NEO

 BO_TX_BU_ 823 : K43_PSCM,NEO;
 BO_TX_BU_ 789 : NEO,K17_EBCM;
@@ -101,7 +101,7 @@ BO_ 384 ASCMLKASteeringCmd: 4 NEO
 SG_ RollingCounter : 5|2@0+ (1,0) [0|0] ""  NEO
 SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] ""  NEO
 SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 2|11@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] ""  NEO

 BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
 SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -155,7 +155,8 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
 SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
 SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
 SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmd : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO

 BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
 SG_ FLWheelSpd : 7|16@0+ (0.0305,0) [0|255] "km/h"  NEO
@@ -0,0 +1,437 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
+
+
+BO_ 57 XXX_1: 3 XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 148 XXX_2: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" NEO
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" NEO
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" NEO
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" NEO
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" NEO
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" NEO
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ TRIP_DISTANCE : 55|8@0+ (0.010588,0) [0|255] "km" NEO
+
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" NEO
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" NEO
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
+
+BO_ 427 XXX_3: 3 VSA
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|6] "" NEO
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 428 XXX_4: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" NEO
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 450 XXX_5: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" NEO
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 470 XXX_6: 2 VSA
+ SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 8|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 476 XXX_7: 7 XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 487 XXX_8: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 493 XXX_9: 5 VSA
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 55|10@0+ (0.003906248,0) [0|0] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|1@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] "" EBCM
+ SG_ FCW2 : 40|1@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 545 XXX_10: 5 XXX
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" NEO
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|6] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 662 CRUISE_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" NEO
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" NEO
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 777 XXX_11: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 795 XXX_12: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 800 XXX_13: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" NEO
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" NEO
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" NEO
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" NEO
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" NEO
+ SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 808 XXX_14: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 862 XXX_15: 8 ADAS
+ SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" NEO
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" NEO
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" NEO
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 891 XXX_17: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 927 XXX_19: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 929 XXX_20: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 985 XXX_21: 3 XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1024 XXX_22: 5 XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1027 XXX_23: 5 XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1036 XXX_24: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1039 XXX_25: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1108 XXX_26: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1302 XXX_27: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1322 XXX_28: 5 XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1361 XXX_29: 5 XXX
+
+BO_ 1365 XXX_30: 5 XXX
+
+BO_ 1424 XXX_31: 5 XXX
+
+BO_ 1600 XXX_32: 5 XXX
+
+BO_ 1601 XXX_33: 8 XXX
+
+BO_ 1633 XXX_34: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 419 GEARBOX: 8 XXX
+ SG_ GEAR : 29|6@0+ (1,0) [0|63] "" NEO
+ SG_ GEAR_SHIFTER : 34|3@0+ (1,0) [0|7] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_TX_BU_ 228 : NEO,ADAS;
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+BO_TX_BU_ 862 : NEO,ADAS;
+BO_TX_BU_ 927 : NEO,ADAS;
+
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -168,6 +168,8 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX

+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
@@ -166,6 +166,8 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX

+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
@@ -165,6 +165,8 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX

+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
@@ -1 +1 @@
-v1.0.3
+v1.0.4
@@ -1 +1 @@
-from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st
+from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
@@ -5,16 +5,19 @@
 // esp = USART1
 uart_ring esp_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
                       .w_ptr_rx = 0, .r_ptr_rx = 0,
-                       .uart = USART1 };
+                       .uart = USART1,
+                       .callback = NULL};

 // lin1, K-LINE = UART5
 // lin2, L-LINE = USART3
 uart_ring lin1_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
                        .w_ptr_rx = 0, .r_ptr_rx = 0,
-                        .uart = UART5 };
+                        .uart = UART5,
+                        .callback = NULL};
 uart_ring lin2_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
                        .w_ptr_rx = 0, .r_ptr_rx = 0,
-                        .uart = USART3 };
+                        .uart = USART3,
+                        .callback = NULL};

 // debug = USART2
 void debug_ring_callback(uart_ring *ring);
@@ -59,7 +62,7 @@ void uart_ring_process(uart_ring *q) {
    q->uart->CR1 &= ~USART_CR1_TXEIE;
  }

-  if (sr & USART_SR_RXNE) {
+  if (sr & USART_SR_RXNE || sr & USART_SR_ORE) {
    uint8_t c = q->uart->DR;  // TODO: can drop packets
    uint8_t next_w_ptr = q->w_ptr_rx + 1;
    if (next_w_ptr != q->r_ptr_rx) {
@@ -68,6 +71,11 @@ void uart_ring_process(uart_ring *q) {
      if (q->callback) q->callback(q);
    }
  }
+
+  if (sr & USART_SR_ORE) {
+    // set dropped packet flag?
+  }
+
  exit_critical_section();
 }

@@ -225,8 +225,8 @@ void ICACHE_FLASH_ATTR wifi_init() {
  char password[] = "testing123";

  // fetch secure ssid and password
-  // update, try 3 times
-  for (int i = 0; i < 3; i++) {
+  // update, try 20 times, for 1 second
+  for (int i = 0; i < 20; i++) {
    uint8_t digest[SHA_DIGEST_SIZE];
    char resp[0x20];
    __spi_comm("\x00\x00\x00\x00\x40\xD0\x00\x00\x00\x00\x20\x00", 0xC, recvData, 0x40);
@@ -251,7 +251,7 @@ void ICACHE_FLASH_ATTR wifi_init() {
  config.ssid_len = strlen(ssid);
  config.authmode = AUTH_WPA2_PSK;
  config.beacon_interval = 100;
-  config.max_connection = 10;
+  config.max_connection = 4;
  wifi_softap_set_config(&config);

  //set IP
@@ -354,7 +354,6 @@ void ICACHE_FLASH_ATTR user_init() {
  system_os_post(LOOP_PRIO, 0, 0);
 }

-
 void ICACHE_FLASH_ATTR loop(os_event_t *events) {
  system_os_post(LOOP_PRIO, 0, 0);
 }
@@ -1,178 +1,178 @@
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-    <Keyword>Win32Proj</Keyword>
-    <RootNamespace>ECUsimCLI</RootNamespace>
-    <WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion>
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@@ -112,7 +112,7 @@ DWORD PandaJ2534Device::can_recv_thread() {
 				}
 			} else {
 				for (auto& conn : this->connections)
-					if (conn->isProtoCan() && conn->getPort() == msg_in.bus)
+					if (conn != nullptr && conn->isProtoCan() && conn->getPort() == msg_in.bus)
 						conn->processMessage(msg_out);
 			}
 		}
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+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>%(AdditionalIncludeDirectories);$(SolutionDir)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);$(OutDir)panda.lib;$(OutDir)ecusim.lib</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>%(AdditionalIncludeDirectories);$(SolutionDir)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);$(OutDir)panda.lib;$(OutDir)ecusim.lib</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>%(AdditionalIncludeDirectories);$(SolutionDir)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);$(OutDir)panda.lib;$(OutDir)ecusim.lib</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <Text Include="ReadMe.txt" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\pandaJ2534DLL Test\Loader4.h" />
+    <ClInclude Include="..\panda\panda.h" />
+    <ClInclude Include="stdafx.h" />
+    <ClInclude Include="targetver.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="..\pandaJ2534DLL Test\Loader4.cpp" />
+    <ClCompile Include="panda_playground.cpp" />
+    <ClCompile Include="stdafx.cpp">
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\ECUsim DLL\ECUsim DLL.vcxproj">
+      <Project>{96e0e646-ee76-444d-9a77-a0cd7f781deb}</Project>
+    </ProjectReference>
+    <ProjectReference Include="..\pandaJ2534DLL\pandaJ2534DLL.vcxproj">
+      <Project>{a2bb18a5-f26b-48d6-bbb5-b83d64473c77}</Project>
+    </ProjectReference>
+    <ProjectReference Include="..\panda\panda.vcxproj">
+      <Project>{5528aefb-638d-49af-b9d4-965154e7d531}</Project>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
 </Project>
@@ -43,9 +43,13 @@ def recv(panda, cnt, addr, nbus):
    kmsgs = nmsgs
  return map(str, ret)

-def isotp_recv(panda, addr, bus=0):
+def isotp_recv(panda, addr, bus=0, sendaddr=None):
  msg = recv(panda, 1, addr, bus)[0]

+  if sendaddr is None:
+    sendaddr = addr-8
+    
+
  if ord(msg[0])&0xf0 == 0x10:
    # first
    tlen = ((ord(msg[0]) & 0xf) << 8) | ord(msg[1])
@@ -54,7 +58,7 @@ def isotp_recv(panda, addr, bus=0):
    # 0 block size?
    CONTINUE = "\x30" + "\x00"*7

-    panda.can_send(addr-8, CONTINUE, bus)
+    panda.can_send(sendaddr, CONTINUE, bus)

    idx = 1
    for mm in recv(panda, (tlen-len(dat) + 7)/8, addr, bus):
@@ -12,6 +12,7 @@ from dfu import PandaDFU
 from esptool import ESPROM, CesantaFlasher
 from flash_release import flash_release
 from update import ensure_st_up_to_date
+from serial import PandaSerial

 __version__ = '0.0.6'

@@ -0,0 +1,27 @@
+# mimic a python serial port
+class PandaSerial(object):
+  def __init__(self, panda, port, baud):
+    self.panda = panda
+    self.port = port
+    self.panda.set_uart_parity(self.port, 0)
+    self.panda.set_uart_baud(self.port, baud)
+    self.buf = ""
+
+  def read(self, l=1):
+    tt = self.panda.serial_read(self.port)
+    if len(tt) > 0:
+      #print "R: ", tt.encode("hex")
+      self.buf += tt
+    ret = self.buf[0:l]
+    self.buf = self.buf[l:]
+    return ret
+
+  def write(self, dat):
+    #print "W: ", dat.encode("hex")
+    #print '  pigeon_send("' + ''.join(map(lambda x: "\\x%02X" % ord(x), dat)) + '");'
+    return self.panda.serial_write(self.port, dat)
+
+  def close(self):
+    pass
+
+
@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+import os
+import time
+import sys
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda, PandaSerial
+
+def add_nmea_checksum(msg):
+  d = msg[1:]
+  cs = 0
+  for i in d:
+    cs ^= ord(i)
+  return msg + "*%02X" % cs
+
+if __name__ == "__main__":
+  panda = Panda()
+  ser = PandaSerial(panda, 1, 9600)
+
+  # power cycle by toggling reset
+  print "resetting"
+  panda.set_esp_power(0)
+  time.sleep(0.5)
+  panda.set_esp_power(1)
+  time.sleep(0.5)
+  print "done"
+  print ser.read(1024)
+
+  # upping baud rate
+  # 460800 has issues
+  baudrate = 460800
+
+  print "upping baud rate"
+  msg = add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % baudrate)+"\r\n"
+  print msg
+  ser.write(msg)
+  time.sleep(0.1)   # needs a wait for it to actually send
+
+  # new panda serial
+  ser = PandaSerial(panda, 1, baudrate)
+
+  while True:
+    ret = ser.read(1024)
+    if len(ret) > 0:
+      sys.stdout.write(ret)
+      sys.stdout.flush()
+      #print str(ret).encode("hex")
+
@@ -11,4 +11,5 @@ simplejson==3.8.2
 pyyaml==3.12
 cffi==1.7.0
 enum34==1.1.1
+smbus2==0.2.0
 -e git+https://github.com/commaai/le_python.git#egg=Logentries
@@ -25,6 +25,8 @@
 #include "common/swaglog.h"
 #include "common/timing.h"

+#include <algorithm>
+
 // double the FIFO size
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
@@ -45,6 +47,7 @@ pthread_mutex_t usb_lock;
 bool spoofing_started = false;
 bool fake_send = false;
 bool loopback_can = false;
+bool has_pigeon = false;

 pthread_t safety_setter_thread_handle = -1;

@@ -102,6 +105,8 @@ void *safety_setter_thread(void *s) {
  return NULL;
 }

+void pigeon_init();
+
 // must be called before threads or with mutex
 bool usb_connect() {
  int err;
@@ -140,6 +145,8 @@ bool usb_connect() {
    err = pthread_create(&safety_setter_thread_handle, NULL, safety_setter_thread, NULL);
  }

+  if (has_pigeon) pigeon_init();
+
  return true;
 fail:
  return false;
@@ -409,6 +416,100 @@ void *can_health_thread(void *crap) {
  return NULL;
 }

+#define pigeon_send(x) _pigeon_send(x, sizeof(x)-1)
+
+void _pigeon_send(const char *dat, int len) {
+  int sent;
+  unsigned char a[0x20];
+  int err;
+  a[0] = 1;
+  for (int i=0; i<len; i+=0x1f) {
+    int ll = std::max(0x1f, len-i);
+    memcpy(&a[1], &dat[i], ll);
+    err = libusb_bulk_transfer(dev_handle, 2, a, ll+1, &sent, TIMEOUT);
+  }
+}
+
+void pigeon_set_baud(int baud) {
+  libusb_control_transfer(dev_handle, 0xc0, 0xe4, 1, baud/300, NULL, 0, TIMEOUT);
+}
+
+void pigeon_init() {
+  // power on pigeon
+  libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
+  usleep(100*1000);
+  libusb_control_transfer(dev_handle, 0xc0, 0xd9, 1, 0, NULL, 0, TIMEOUT);
+  usleep(500*1000);
+
+  // baud rate upping
+  pigeon_set_baud(9600);
+  pigeon_send("$PUBX,41,1,0007,0003,230400,0*1A\r\n");
+  usleep(200*1000);
+
+  // set baud rate to 230400
+  pigeon_set_baud(230400);
+
+  // init from ubloxd
+  pigeon_send("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F");
+  pigeon_send("\xB5\x62\x06\x3E\x00\x00\x44\xD2");
+  pigeon_send("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35");
+  pigeon_send("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x00\x00\x00\x00\x00\x00\x00\x00\xF2\x72");
+  pigeon_send("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85");
+  pigeon_send("\xB5\x62\x06\x00\x00\x00\x06\x18");
+  pigeon_send("\xB5\x62\x06\x00\x01\x00\x01\x08\x22");
+  pigeon_send("\xB5\x62\x06\x00\x01\x00\x02\x09\x23");
+  pigeon_send("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24");
+  pigeon_send("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10");
+  pigeon_send("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63");
+  pigeon_send("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37");
+  pigeon_send("\xB5\x62\x06\x24\x00\x00\x2A\x84");
+  pigeon_send("\xB5\x62\x06\x23\x00\x00\x29\x81");
+  pigeon_send("\xB5\x62\x06\x1E\x00\x00\x24\x72");
+  pigeon_send("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51");
+  pigeon_send("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70");
+
+  LOGW("pigeon is ready to fly");
+
+}
+
+void *pigeon_thread(void *crap) {
+  // ubloxRaw = 8042
+  void *context = zmq_ctx_new();
+  void *publisher = zmq_socket(context, ZMQ_PUB);
+  zmq_bind(publisher, "tcp://*:8042");
+
+  // run at ~200hz
+  unsigned char dat[0x40];
+  while (!do_exit) {
+    while (1) {
+      pthread_mutex_lock(&usb_lock);
+      int len = libusb_control_transfer(dev_handle, 0xc0, 0xe0, 1, 0, dat, 0x40, TIMEOUT);
+      pthread_mutex_unlock(&usb_lock);
+
+      if (len <= 0) break;
+
+      // create message
+      capnp::MallocMessageBuilder msg;
+      cereal::Event::Builder event = msg.initRoot<cereal::Event>();
+      event.setLogMonoTime(nanos_since_boot());
+      auto ublox_raw = event.initUbloxRaw(len);
+      memcpy(ublox_raw.begin(), dat, len);
+
+      // send to ubloxRaw
+      auto words = capnp::messageToFlatArray(msg);
+      auto bytes = words.asBytes();
+      zmq_send(publisher, bytes.begin(), bytes.size(), 0);
+
+      if (len < 0x40) break;
+    }
+
+    // 10ms
+    usleep(10*1000);
+  }
+
+  return NULL;
+}
+
 int set_realtime_priority(int level) {
  // should match python using chrt
  struct sched_param sa;
@@ -436,10 +537,14 @@ int main() {
    fake_send = true;
  }

-  if(getenv("BOARDD_LOOPBACK")){
+  if (getenv("BOARDD_LOOPBACK")){
    loopback_can = true;
  }

+  if (getenv("PIGEON")) {
+    has_pigeon = true;
+  }
+
  // init libusb
  err = libusb_init(&ctx);
  assert(err == 0);
@@ -470,6 +575,15 @@ int main() {
                       thermal_thread, NULL);
  assert(err == 0);

+  if (has_pigeon) {
+    pthread_t pigeon_thread_handle;
+    err = pthread_create(&pigeon_thread_handle, NULL,
+                         pigeon_thread, NULL);
+    assert(err == 0);
+    err = pthread_join(pigeon_thread_handle, NULL);
+    assert(err == 0);
+  }
+
  // join threads

  err = pthread_join(thermal_thread_handle, NULL);
@@ -26,6 +26,7 @@ interfaces = {
  "ACURA ILX 2016 ACURAWATCH PLUS": HondaInterface,
  "HONDA ACCORD 2016 TOURING": HondaInterface,
  "HONDA CR-V 2016 TOURING": HondaInterface,
+  "HONDA ODYSSEY 2018 EX-L": HondaInterface,
  "TOYOTA PRIUS 2017": ToyotaInterface,
  "TOYOTA RAV4 2017": ToyotaInterface,
  "TOYOTA RAV4 2017 HYBRID": ToyotaInterface,
@@ -59,7 +60,7 @@ def fingerprint(logcan, timeout):
        candidate_cars = eliminate_incompatible_cars(can, candidate_cars)

    ts = sec_since_boot()
-    # if we only have one car choice and the time_fingerprint since we got our first 
+    # if we only have one car choice and the time_fingerprint since we got our first
    # message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
    # broadcast immediately
    if len(candidate_cars) == 1 and st is not None:
@@ -12,7 +12,7 @@ from . import hondacan
 from .values import AH


-def actuator_hystereses(brake, braking, brake_steady, v_ego, civic):
+def actuator_hystereses(brake, braking, brake_steady, v_ego, civic, odyssey):
  # hyst params... TODO: move these to VehicleParams
  brake_hyst_on = 0.02     # to activate brakes exceed this value
  brake_hyst_off = 0.005                     # to deactivate brakes below this value
@@ -32,7 +32,7 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, civic):
    brake_steady = brake + brake_hyst_gap
  brake = brake_steady

-  if not civic and brake > 0.0:
+  if (not civic and not odyssey) and brake > 0.0:
    brake += 0.15

  return brake, braking, brake_steady
@@ -78,7 +78,7 @@ class CarController(object):
      return

    # *** apply brake hysteresis ***
-    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.civic)
+    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.civic, CS.odyssey)

    # *** no output if not enabled ***
    if not enabled and CS.pcm_acc_status:
@@ -121,7 +121,7 @@ class CarController(object):
    tt = sec_since_boot()
    GAS_MAX = 1004
    BRAKE_MAX = 1024/4
-    if CS.civic:
+    if CS.civic or CS.odyssey:
      is_fw_modified = os.getenv("DONGLE_ID") in ['b0f5a01cf604185c']
      STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
    elif CS.crv:
@@ -165,16 +165,16 @@ class CarController(object):
    # Send dashboard UI commands.
    if (frame % 10) == 0:
      idx = (frame/10) % 4
-      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, CS.crv, idx))
+      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, CS.crv, CS.odyssey, idx))

    # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
-    if CS.civic or CS.accord or CS.crv:
-      radar_send_step = 5
-    else:
+    if CS.acura:
      radar_send_step = 2
+    else:
+      radar_send_step = 5

    if (frame % radar_send_step) == 0:
      idx = (frame/radar_send_step) % 4
-      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, idx))
+      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, CS.odyssey, idx))

    sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
@@ -6,14 +6,14 @@ from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 import numpy as np

-def parse_gear_shifter(can_gear_shifter, is_acura):
+def parse_gear_shifter(can_gear_shifter, is_acura, is_odyssey):

  if can_gear_shifter == 0x1:
    return "park"
  elif can_gear_shifter == 0x2:
    return "reverse"

-  if is_acura:
+  if is_acura or is_odyssey:
    if can_gear_shifter == 0x3:
      return "neutral"
    elif can_gear_shifter == 0x4:
@@ -261,6 +261,62 @@ def get_can_signals(CP):
      (0x324, 10),
      (0x405, 3),
    ]
+  elif CP.carFingerprint == "HONDA ODYSSEY 2018 EX-L":
+    dbc_f = 'honda_odyssey_exl_2018.dbc'
+    signals = [
+      ("XMISSION_SPEED", 0x158, 0),
+      ("WHEEL_SPEED_FL", 0x1d0, 0),
+      ("WHEEL_SPEED_FR", 0x1d0, 0),
+      ("WHEEL_SPEED_RL", 0x1d0, 0),
+      ("WHEEL_SPEED_RR", 0x1d0, 0),
+      ("STEER_ANGLE", 0x156, 0),
+      ("STEER_ANGLE_RATE", 0x156, 0),
+      ("STEER_TORQUE_SENSOR", 0x18f, 0),
+      ("GEAR", 0x1a3, 0),
+      ("WHEELS_MOVING", 0x1b0, 1),
+      ("DOOR_OPEN_FL", 0x405, 1),
+      ("DOOR_OPEN_FR", 0x405, 1),
+      ("DOOR_OPEN_RL", 0x405, 1),
+      ("DOOR_OPEN_RR", 0x405, 1),
+      ("CRUISE_SPEED_PCM", 0x324, 0),
+      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
+      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
+      ("BRAKE_PRESSED", 0x17c, 0),
+      ("BRAKE_SWITCH", 0x17c, 0),
+      ("CRUISE_BUTTONS", 0x296, 0),
+      ("ESP_DISABLED", 0x1a4, 1),
+      ("HUD_LEAD", 0x30c, 0),
+      ("USER_BRAKE", 0x1a4, 0),
+      ("STEER_STATUS", 0x18f, 5),
+      ("BRAKE_ERROR_1", 0x1b0, 1),
+      ("BRAKE_ERROR_2", 0x1b0, 1),
+      ("GEAR_SHIFTER", 0x1a3, 0),
+      ("MAIN_ON", 0x326, 0),
+      ("ACC_STATUS", 0x17c, 0),
+      ("PEDAL_GAS", 0x17c, 0),
+      ("CRUISE_SETTING", 0x296, 0),
+      ("LEFT_BLINKER", 0x326, 0),
+      ("RIGHT_BLINKER", 0x326, 0),
+      ("CRUISE_SPEED_OFFSET", 0x37c, 0),
+      ("EPB_STATE", 0x1c2, 0),
+      ("BRAKE_HOLD_ACTIVE", 0x1a4, 0),
+    ]
+    checks = [
+      (0x156, 100),
+      (0x158, 100),
+      (0x17c, 100),
+      (0x1a3, 50),
+      (0x1a4, 50),
+      (0x1b0, 50),
+      (0x1c2, 50),
+      (0x1d0, 50),
+      (0x296, 25),
+      (0x305, 10),
+      (0x324, 10),
+      (0x326, 10),
+      (0x37c, 10),
+      (0x405, 3),
+    ]
  # add gas interceptor reading if we are using it
  if CP.enableGas:
    signals.append(("INTERCEPTOR_GAS", 0x201, 0))
@@ -278,6 +334,7 @@ class CarState(object):
    self.civic = False
    self.accord = False
    self.crv = False
+    self.odyssey = False
    if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
      self.civic = True
    elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
@@ -286,6 +343,8 @@ class CarState(object):
      self.accord = True
    elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
      self.crv = True
+    elif CP.carFingerprint == "HONDA ODYSSEY 2018 EX-L":
+      self.odyssey = True
    else:
      raise ValueError("unsupported car %s" % CP.carFingerprint)

@@ -418,6 +477,20 @@ class CarState(object):
      self.cruise_speed_offset = -0.3
      self.park_brake = 0  # TODO
      self.brake_hold = 0  # TODO
+    elif self.odyssey:
+      can_gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
+      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
+      self.angle_steers_rate = cp.vl[0x156]['STEER_ANGLE_RATE']
+      self.gear = cp.vl[0x1A3]['GEAR']
+      self.cruise_setting = cp.vl[0x296]['CRUISE_SETTING']
+      self.cruise_buttons = cp.vl[0x296]['CRUISE_BUTTONS']
+      self.main_on = cp.vl[0x326]['MAIN_ON']
+      self.blinker_on = cp.vl[0x326]['LEFT_BLINKER'] or cp.vl[0x326]['RIGHT_BLINKER']
+      self.left_blinker_on = cp.vl[0x326]['LEFT_BLINKER']
+      self.right_blinker_on = cp.vl[0x326]['RIGHT_BLINKER']
+      self.cruise_speed_offset = calc_cruise_offset(cp.vl[0x37c]['CRUISE_SPEED_OFFSET'], self.v_ego)
+      self.park_brake = cp.vl[0x1c2]['EPB_STATE'] != 0
+      self.brake_hold = cp.vl[0x1a4]['BRAKE_HOLD_ACTIVE']
    elif self.acura:
      can_gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
@@ -431,15 +504,15 @@ class CarState(object):
      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
      self.cruise_speed_offset = calc_cruise_offset(cp.vl[0x37c]['CRUISE_SPEED_OFFSET'], self.v_ego)
      self.park_brake = 0  # TODO
-      self.brake_hold = 0
+      self.brake_hold = 0  # TODO

-    self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.acura)
+    self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.acura, self.odyssey)

    if self.accord:
      # on the accord, this doesn't seem to include cruise control
      self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
      self.steer_override = False
-    elif self.crv:
+    elif self.crv or self.odyssey:
      # like accord, crv doesn't include cruise control
      self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
      self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
@@ -79,7 +79,7 @@ def create_steering_control(apply_steer, crv, idx):
    commands.append(make_can_msg(0xe4, msg_0xe4, idx, 0))
  return commands

-def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):
+def create_ui_commands(pcm_speed, hud, civic, accord, crv, odyssey, idx):
  """Creates an iterable of CAN messages for the UIs."""
  commands = []
  pcm_speed_real = np.clip(int(round(pcm_speed / 0.002759506)), 0,
@@ -90,17 +90,17 @@ def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):

  msg_0x33d = chr(hud.X5) + chr(hud.lanes) + chr(hud.beep) + chr(hud.X8)
  commands.append(make_can_msg(0x33d, msg_0x33d, idx, 0))
-  if civic:  # 2 more msgs
+  if civic or odyssey:  # 2 more msgs
    msg_0x35e = chr(0) * 7
    commands.append(make_can_msg(0x35e, msg_0x35e, idx, 0))
-  if civic or accord:
+  if civic or accord or odyssey:
    msg_0x39f = (
      chr(0) * 2 + chr(hud.acc_alert) + chr(0) + chr(0xff) + chr(0x7f) + chr(0)
    )
    commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
  return commands

-def create_radar_commands(v_ego, civic, accord, crv, idx):
+def create_radar_commands(v_ego, civic, accord, crv, odyssey, idx):
  """Creates an iterable of CAN messages for the radar system."""
  commands = []
  v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
@@ -122,6 +122,9 @@ def create_radar_commands(v_ego, civic, accord, crv, idx):
  elif crv:
    msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
+  elif odyssey:
+    msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
+    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
  else:
    msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
@@ -104,7 +104,7 @@ class CarInterface(object):
      # self.accord_msg = []
      raise NotImplementedError

-    if not self.CS.civic:
+    if not self.CS.civic and not self.CS.odyssey:
      self.compute_gb = get_compute_gb_acura()
    else:
      self.compute_gb = compute_gb_honda
@@ -205,6 +205,18 @@ class CarInterface(object):
      ret.steerRatio = 15.3
      ret.steerKp, ret.steerKi = 0.8, 0.24

+      ret.longitudinalKpBP = [0., 5., 35.]
+      ret.longitudinalKpV = [1.2, 0.8, 0.5]
+      ret.longitudinalKiBP = [0., 35.]
+      ret.longitudinalKiV = [0.18, 0.12]
+    elif candidate == "HONDA ODYSSEY 2018 EX-L":
+      stop_and_go = False
+      ret.mass = 4354./2.205 + std_cargo
+      ret.wheelbase = 3.00
+      ret.centerToFront = ret.wheelbase * 0.41
+      ret.steerRatio = 14.35
+      ret.steerKp, ret.steerKi = 0.6, 0.18
+
      ret.longitudinalKpBP = [0., 5., 35.]
      ret.longitudinalKpV = [1.2, 0.8, 0.5]
      ret.longitudinalKiBP = [0., 35.]
@@ -1 +1 @@
-#define COMMA_VERSION "0.4.0.1-openpilot"
+#define COMMA_VERSION "0.4.0.2-openpilot"
@@ -210,7 +210,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
  return state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last


-def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk, 
+def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
                  awareness_status, PL, LaC, LoC, VM, angle_offset, rear_view_allowed, rear_view_toggle):
  # Given the state, this function returns the actuators

@@ -387,6 +387,9 @@ def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_
  # log learned angle offset
  dat.live100.angleOffset = float(angle_offset)

+  # Save GPS planner status
+  dat.live100.gpsPlannerActive = plan.gpsPlannerActive
+
  # lag
  dat.live100.cumLagMs = -rk.remaining*1000.

@@ -513,7 +516,7 @@ def controlsd_thread(gctx, rate=100):

    if not passive:
      # update control state
-      state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = state_transition(CS, CP, state, events, soft_disable_timer, 
+      state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = state_transition(CS, CP, state, events, soft_disable_timer,
                                                                                    v_cruise_kph, AM)
      prof.checkpoint("State transition")

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+import os
 import zmq

 import numpy as np
@@ -25,6 +26,8 @@ AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distract
 _DEBUG = False
 _LEAD_ACCEL_TAU = 1.5

+GPS_PLANNER_ADDR = "192.168.5.1"
+
 # lookup tables VS speed to determine min and max accels in cruise
 # make sure these accelerations are smaller than mpc limits
 _A_CRUISE_MIN_V  = [-1.0, -.8, -.67, -.5, -.30]
@@ -258,6 +261,12 @@ class Planner(object):
    self.poller = zmq.Poller()
    self.live20 = messaging.sub_sock(context, service_list['live20'].port, conflate=True, poller=self.poller)
    self.model = messaging.sub_sock(context, service_list['model'].port, conflate=True, poller=self.poller)
+
+    if os.environ.get('GPS_PLANNER_ACTIVE', False):
+      self.gps_planner_plan = messaging.sub_sock(context, service_list['gpsPlannerPlan'].port, conflate=True, poller=self.poller, addr=GPS_PLANNER_ADDR)
+    else:
+      self.gps_planner_plan = None
+
    self.plan = messaging.pub_sock(context, service_list['plan'].port)
    self.live_longitudinal_mpc = messaging.pub_sock(context, service_list['liveLongitudinalMpc'].port)

@@ -292,6 +301,9 @@ class Planner(object):
    self.fcw_checker = FCWChecker()
    self.fcw_enabled = fcw_enabled

+    self.last_gps_planner_plan = None
+    self.gps_planner_active = False
+
  def choose_solution(self, v_cruise_setpoint, enabled):
    if enabled:
      solutions = {'cruise': self.v_cruise}
@@ -329,12 +341,18 @@ class Planner(object):

    md = None
    l20 = None
+    gps_planner_plan = None

    for socket, event in self.poller.poll(0):
      if socket is self.model:
        md = messaging.recv_one(socket)
      elif socket is self.live20:
        l20 = messaging.recv_one(socket)
+      elif socket is self.gps_planner_plan:
+        gps_planner_plan = messaging.recv_one(socket)
+
+    if gps_planner_plan is not None:
+      self.last_gps_planner_plan = gps_planner_plan

    if md is not None:
      self.last_md_ts = md.logMonoTime
@@ -343,6 +361,17 @@ class Planner(object):

      self.PP.update(CS.vEgo, md)

+      if self.last_gps_planner_plan is not None:
+        plan = self.last_gps_planner_plan.gpsPlannerPlan
+        self.gps_planner_active = plan.valid
+        if plan.valid:
+          self.PP.d_poly = plan.poly
+          self.PP.p_poly = plan.poly
+          self.PP.c_poly = plan.poly
+          self.PP.l_prob = 0.0
+          self.PP.r_prob = 0.0
+          self.PP.c_prob = 1.0
+
    if l20 is not None:
      self.last_l20_ts = l20.logMonoTime
      self.last_l20 = cur_time
@@ -454,6 +483,8 @@ class Planner(object):
    plan_send.plan.hasLead = self.mpc1.prev_lead_status
    plan_send.plan.longitudinalPlanSource = self.longitudinalPlanSource

+    plan_send.plan.gpsPlannerActive = self.gps_planner_active
+
    # Send out fcw
    fcw = self.fcw and (self.fcw_enabled or LoC.long_control_state != LongCtrlState.off)
    plan_send.plan.fcw = fcw
@@ -13,6 +13,7 @@ if __name__ == "__main__":
  poller = zmq.Poller()

  parser = argparse.ArgumentParser(description='Sniff a communcation socket')
+  parser.add_argument('--pipe', action='store_true')
  parser.add_argument('--raw', action='store_true')
  parser.add_argument('--json', action='store_true')
  parser.add_argument('--addr', default='127.0.0.1')
@@ -33,7 +34,10 @@ if __name__ == "__main__":
    for sock, mode in polld:
      if mode != zmq.POLLIN:
        continue
-      if args.raw:
+      if args.pipe:
+        sys.stdout.write(sock.recv())
+        sys.stdout.flush()
+      elif args.raw:
        hexdump(sock.recv())
      elif args.json:
        print(json.loads(sock.recv()))
@@ -1,14 +1,13 @@
 #!/usr/bin/env python

 # simple script to get a vehicle fingerprint.
-# keep this script running for few seconds: some messages are published every few seconds

 # Instructions:
 # - connect to a Panda
 # - run selfdrive/boardd/boardd
 # - launching this script
-# - since some messages are published at low frequency, keep this script running for few seconds, 
-#   until all messages are received at least once
+# - since some messages are published at low frequency, keep this script running for few
+#   seconds, until all messages are received at least once

 import zmq
 import selfdrive.messaging as messaging
@@ -90,6 +90,7 @@ managed_processes = {
  "sensord": ("selfdrive/sensord", ["./sensord"]),
  "gpsd": ("selfdrive/sensord", ["./gpsd"]),
  "updated": "selfdrive.updated",
+  #"gpsplanner": "selfdrive.controls.gps_plannerd",
 }

 running = {}
@@ -119,6 +120,7 @@ car_started_processes = [
  'radard',
  'visiond',
  'proclogd',
+  # 'gpsplanner,
 ]

 def register_managed_process(name, desc, car_started=False):
@@ -48,8 +48,15 @@ liveMpc: [8035, true]
 liveLongitudinalMpc: [8036, true]
 plusFrame: [8037, false]
 navStatus: [8038, true]
+gpsLocationTrimble: [8039, true]
+trimbleGnss: [8041, true]
+ubloxRaw: [8042, true]
+gpsPlannerPoints: [8043, true]
+gpsPlannerPlan: [8044, true]

 testModel: [8040, false]
+testLiveLocation: [8045, false]
+

 # manager -- base process to manage starting and stopping of all others
 #   subscribes: health
@@ -59,7 +66,7 @@ testModel: [8040, false]

 # boardd -- communicates with the car
 #   subscribes: sendcan
-#   publishes:  can, health
+#   publishes:  can, health, ubloxRaw

 # sensord -- publishes the IMU and GPS
 #   publishes:  sensorEvents, gpsNMEA
@@ -109,6 +109,11 @@ typedef struct UIScene {
  // Used to display calibration progress
  int cal_status;
  int cal_perc;
+
+
+  // Used to show gps planner status
+  bool gps_planner_active;
+
 } UIScene;

 typedef struct UIState {
@@ -421,6 +426,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
      .front_box_width = ui_info.front_box_width,
      .front_box_height = ui_info.front_box_height,
      .world_objects_visible = false,  // Invisible until we receive a calibration message.
+      .gps_planner_active = false,
  };

  s->rgb_width = back_bufs.width;
@@ -879,6 +885,21 @@ static void ui_draw_vision(UIState *s) {
      } else {
        nvgText(s->vg, x_pos + 120, 1110, "Drive above 45 mph", NULL);
      }
+    } else if (scene->gps_planner_active) {
+      int rec_width = 1120;
+      int x_pos = 500;
+      nvgBeginPath(s->vg);
+      nvgStrokeWidth(s->vg, 14);
+      nvgRoundedRect(s->vg, (1920-rec_width)/2, 920, rec_width, 225, 20);
+      nvgStroke(s->vg);
+      nvgFillColor(s->vg, nvgRGBA(0,0,0,180));
+      nvgFill(s->vg);
+
+      nvgFontSize(s->vg, 40*2.5);
+      nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
+      nvgFontFace(s->vg, "sans-semibold");
+      nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 220));
+      nvgText(s->vg, x_pos, 1010, "GPS planner active", NULL);
    }
  }

@@ -1361,6 +1382,7 @@ static void ui_update(UIState *s) {
        s->scene.v_ego = datad.vEgo;
        s->scene.curvature = datad.curvature;
        s->scene.engaged = datad.enabled;
+        s->scene.gps_planner_active = datad.gpsPlannerActive;
        // printf("recv %f\n", datad.vEgo);

        s->scene.frontview = datad.rearViewCam;