openpilot v0.2.2 release

DBC modified to match the Vector format

.gitignore

@@ -0,0 +1,21 @@
+.DS_Store
+.tags
+
+*.pyc
+.*.swp
+.*.swo
+.*.un~
+*.o
+*.d
+*.so
+*.a
+*.clb
+config.json
+clcache
+
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/sensord/sensord
+selfdrive/ui/ui
+

RELEASES.md

@@ -1,3 +1,9 @@
+Version 0.2.2  (2017-01-10)
+===========================
+  * Board triggers started signal on CAN messages
+  * Improved autoexposure
+  * Handle out of space, improve upload status
+
 Version 0.2.1  (2016-12-14)
 ===========================
   * Performance improvements, removal of more numpy

board/main.c

@@ -25,7 +25,12 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 
 // debug safety check: is controls allowed?
 int controls_allowed = 0;
+int started = 0;
+int can_live = 0, pending_can_live = 0;
+
+// optional features
 int gas_interceptor_detected = 0;
+int started_signal_detected = 0;
 
 // ********************* instantiate queues *********************
 
@@ -147,6 +152,9 @@ void CAN2_TX_IRQHandler() {
 // CAN receive handlers
 void can_rx(CAN_TypeDef *CAN, int can_number) {
   while (CAN->RF0R & CAN_RF0R_FMP0) {
+    // can is live
+    pending_can_live = 1;
+
     // add to my fifo
     CAN_FIFOMailBox_TypeDef to_push;
     to_push.RIR = CAN->sFIFOMailBox[0].RIR;
@@ -256,6 +264,7 @@ int get_health_pkt(void *dat) {
     uint8_t started;
     uint8_t controls_allowed;
     uint8_t gas_interceptor_detected;
+    uint8_t started_signal_detected;
   } *health = dat;
   health->voltage = adc_get(ADCCHAN_VOLTAGE);
 #ifdef ENABLE_CURRENT_SENSOR
@@ -263,9 +272,12 @@ int get_health_pkt(void *dat) {
 #else
   health->current = 0;
 #endif
-  health->started = (GPIOC->IDR & (1 << 13)) != 0;
+  health->started = started;
+
   health->controls_allowed = controls_allowed;
+
   health->gas_interceptor_detected = gas_interceptor_detected;
+  health->started_signal_detected = started_signal_detected;
   return sizeof(*health);
 }
 
@@ -468,6 +480,9 @@ int main() {
 
   // LED should keep on blinking all the time
   while (1) {
+    can_live = pending_can_live;
+    pending_can_live = 0;
+
     #ifdef DEBUG
       puts("** blink ");
       puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
@@ -489,14 +504,21 @@ int main() {
     GPIOB->ODR &= ~(1 << 10);
     delay(1000000);
 
-    if (GPIOC->IDR & (1 << 13)) {
+    // started logic
+    int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
+    if (started_signal) { started_signal_detected = 1; }
+
+    if (started_signal || (!started_signal_detected && can_live)) {
+      started = 1;
+
       // turn on fan at half speed
       set_fan_speed(32768);
     } else {
+      started = 0;
+
       // turn off fan
       set_fan_speed(0);
     }
-
   }
 
   return 0;

cereal/gen/c/log.capnp.c

@@ -235,12 +235,12 @@ void cereal_set_CanData(const struct cereal_CanData *s, cereal_CanData_list l, i
 
 cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment *s) {
 	cereal_ThermalData_ptr p;
-	p.p = capn_new_struct(s, 16, 0);
+	p.p = capn_new_struct(s, 24, 0);
 	return p;
 }
 cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment *s, int len) {
 	cereal_ThermalData_list p;
-	p.p = capn_new_list(s, len, 16, 0);
+	p.p = capn_new_list(s, len, 24, 0);
 	return p;
 }
 void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
@@ -252,6 +252,7 @@ void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_pt
 	s->mem = capn_read16(p.p, 8);
 	s->gpu = capn_read16(p.p, 10);
 	s->bat = capn_read32(p.p, 12);
+	s->freeSpace = capn_to_f32(capn_read32(p.p, 16));
 }
 void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
 	capn_resolve(&p.p);
@@ -262,6 +263,7 @@ void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_Thermal
 	capn_write16(p.p, 8, s->mem);
 	capn_write16(p.p, 10, s->gpu);
 	capn_write32(p.p, 12, s->bat);
+	capn_write32(p.p, 16, capn_from_f32(s->freeSpace));
 }
 void cereal_get_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_list l, int i) {
 	cereal_ThermalData_ptr p;
@@ -291,6 +293,7 @@ void cereal_read_HealthData(struct cereal_HealthData *s, cereal_HealthData_ptr p
 	s->started = (capn_read8(p.p, 8) & 1) != 0;
 	s->controlsAllowed = (capn_read8(p.p, 8) & 2) != 0;
 	s->gasInterceptorDetected = (capn_read8(p.p, 8) & 4) != 0;
+	s->startedSignalDetected = (capn_read8(p.p, 8) & 8) != 0;
 }
 void cereal_write_HealthData(const struct cereal_HealthData *s, cereal_HealthData_ptr p) {
 	capn_resolve(&p.p);
@@ -299,6 +302,7 @@ void cereal_write_HealthData(const struct cereal_HealthData *s, cereal_HealthDat
 	capn_write1(p.p, 64, s->started != 0);
 	capn_write1(p.p, 65, s->controlsAllowed != 0);
 	capn_write1(p.p, 66, s->gasInterceptorDetected != 0);
+	capn_write1(p.p, 67, s->startedSignalDetected != 0);
 }
 void cereal_get_HealthData(struct cereal_HealthData *s, cereal_HealthData_list l, int i) {
 	cereal_HealthData_ptr p;
@@ -361,11 +365,11 @@ void cereal_read_Live20Data(struct cereal_Live20Data *s, cereal_Live20Data_ptr p
 	s->canMonoTimes.p = capn_getp(p.p, 3, 0);
 	s->mdMonoTime = capn_read64(p.p, 16);
 	s->ftMonoTime = capn_read64(p.p, 24);
-	s->warpMatrix.p = capn_getp(p.p, 0, 0);
+	s->warpMatrixDEPRECATED.p = capn_getp(p.p, 0, 0);
-	s->angleOffset = capn_to_f32(capn_read32(p.p, 0));
+	s->angleOffsetDEPRECATED = capn_to_f32(capn_read32(p.p, 0));
-	s->calStatus = (int8_t) ((int8_t)capn_read8(p.p, 4));
+	s->calStatusDEPRECATED = (int8_t) ((int8_t)capn_read8(p.p, 4));
-	s->calCycle = (int32_t) ((int32_t)capn_read32(p.p, 12));
+	s->calCycleDEPRECATED = (int32_t) ((int32_t)capn_read32(p.p, 12));
-	s->calPerc = (int8_t) ((int8_t)capn_read8(p.p, 5));
+	s->calPercDEPRECATED = (int8_t) ((int8_t)capn_read8(p.p, 5));
 	s->leadOne.p = capn_getp(p.p, 1, 0);
 	s->leadTwo.p = capn_getp(p.p, 2, 0);
 	s->cumLagMs = capn_to_f32(capn_read32(p.p, 8));
@@ -375,11 +379,11 @@ void cereal_write_Live20Data(const struct cereal_Live20Data *s, cereal_Live20Dat
 	capn_setp(p.p, 3, s->canMonoTimes.p);
 	capn_write64(p.p, 16, s->mdMonoTime);
 	capn_write64(p.p, 24, s->ftMonoTime);
-	capn_setp(p.p, 0, s->warpMatrix.p);
+	capn_setp(p.p, 0, s->warpMatrixDEPRECATED.p);
-	capn_write32(p.p, 0, capn_from_f32(s->angleOffset));
+	capn_write32(p.p, 0, capn_from_f32(s->angleOffsetDEPRECATED));
-	capn_write8(p.p, 4, (uint8_t) (s->calStatus));
+	capn_write8(p.p, 4, (uint8_t) (s->calStatusDEPRECATED));
-	capn_write32(p.p, 12, (uint32_t) (s->calCycle));
+	capn_write32(p.p, 12, (uint32_t) (s->calCycleDEPRECATED));
-	capn_write8(p.p, 5, (uint8_t) (s->calPerc));
+	capn_write8(p.p, 5, (uint8_t) (s->calPercDEPRECATED));
 	capn_setp(p.p, 1, s->leadOne.p);
 	capn_setp(p.p, 2, s->leadTwo.p);
 	capn_write32(p.p, 8, capn_from_f32(s->cumLagMs));
@@ -545,7 +549,7 @@ void cereal_read_Live100Data(struct cereal_Live100Data *s, cereal_Live100Data_pt
 	s->l20MonoTime = capn_read64(p.p, 72);
 	s->mdMonoTime = capn_read64(p.p, 80);
 	s->vEgo = capn_to_f32(capn_read32(p.p, 0));
-	s->aEgo = capn_to_f32(capn_read32(p.p, 4));
+	s->aEgoDEPRECATED = capn_to_f32(capn_read32(p.p, 4));
 	s->vPid = capn_to_f32(capn_read32(p.p, 8));
 	s->vTargetLead = capn_to_f32(capn_read32(p.p, 12));
 	s->upAccelCmd = capn_to_f32(capn_read32(p.p, 16));
@@ -558,7 +562,7 @@ void cereal_read_Live100Data(struct cereal_Live100Data *s, cereal_Live100Data_pt
 	s->aTargetMax = capn_to_f32(capn_read32(p.p, 44));
 	s->jerkFactor = capn_to_f32(capn_read32(p.p, 48));
 	s->angleSteers = capn_to_f32(capn_read32(p.p, 52));
-	s->hudLead = (int32_t) ((int32_t)capn_read32(p.p, 56));
+	s->hudLeadDEPRECATED = (int32_t) ((int32_t)capn_read32(p.p, 56));
 	s->cumLagMs = capn_to_f32(capn_read32(p.p, 60));
 	s->enabled = (capn_read8(p.p, 88) & 1) != 0;
 	s->steerOverride = (capn_read8(p.p, 88) & 2) != 0;
@@ -575,7 +579,7 @@ void cereal_write_Live100Data(const struct cereal_Live100Data *s, cereal_Live100
 	capn_write64(p.p, 72, s->l20MonoTime);
 	capn_write64(p.p, 80, s->mdMonoTime);
 	capn_write32(p.p, 0, capn_from_f32(s->vEgo));
-	capn_write32(p.p, 4, capn_from_f32(s->aEgo));
+	capn_write32(p.p, 4, capn_from_f32(s->aEgoDEPRECATED));
 	capn_write32(p.p, 8, capn_from_f32(s->vPid));
 	capn_write32(p.p, 12, capn_from_f32(s->vTargetLead));
 	capn_write32(p.p, 16, capn_from_f32(s->upAccelCmd));
@@ -588,7 +592,7 @@ void cereal_write_Live100Data(const struct cereal_Live100Data *s, cereal_Live100
 	capn_write32(p.p, 44, capn_from_f32(s->aTargetMax));
 	capn_write32(p.p, 48, capn_from_f32(s->jerkFactor));
 	capn_write32(p.p, 52, capn_from_f32(s->angleSteers));
-	capn_write32(p.p, 56, (uint32_t) (s->hudLead));
+	capn_write32(p.p, 56, (uint32_t) (s->hudLeadDEPRECATED));
 	capn_write32(p.p, 60, capn_from_f32(s->cumLagMs));
 	capn_write1(p.p, 704, s->enabled != 0);
 	capn_write1(p.p, 705, s->steerOverride != 0);

cereal/gen/c/log.capnp.h

@@ -193,13 +193,14 @@ struct cereal_ThermalData {
 	uint16_t mem;
 	uint16_t gpu;
 	uint32_t bat;
+	float freeSpace;
 };
 
-static const size_t cereal_ThermalData_word_count = 2;
+static const size_t cereal_ThermalData_word_count = 3;
 
 static const size_t cereal_ThermalData_pointer_count = 0;
 
-static const size_t cereal_ThermalData_struct_bytes_count = 16;
+static const size_t cereal_ThermalData_struct_bytes_count = 24;
 
 struct cereal_HealthData {
 	uint32_t voltage;
@@ -207,6 +208,7 @@ struct cereal_HealthData {
 	unsigned started : 1;
 	unsigned controlsAllowed : 1;
 	unsigned gasInterceptorDetected : 1;
+	unsigned startedSignalDetected : 1;
 };
 
 static const size_t cereal_HealthData_word_count = 2;
@@ -232,11 +234,11 @@ struct cereal_Live20Data {
 	capn_list64 canMonoTimes;
 	uint64_t mdMonoTime;
 	uint64_t ftMonoTime;
-	capn_list32 warpMatrix;
+	capn_list32 warpMatrixDEPRECATED;
-	float angleOffset;
+	float angleOffsetDEPRECATED;
-	int8_t calStatus;
+	int8_t calStatusDEPRECATED;
-	int32_t calCycle;
+	int32_t calCycleDEPRECATED;
-	int8_t calPerc;
+	int8_t calPercDEPRECATED;
 	cereal_Live20Data_LeadData_ptr leadOne;
 	cereal_Live20Data_LeadData_ptr leadTwo;
 	float cumLagMs;
@@ -307,7 +309,7 @@ struct cereal_Live100Data {
 	uint64_t l20MonoTime;
 	uint64_t mdMonoTime;
 	float vEgo;
-	float aEgo;
+	float aEgoDEPRECATED;
 	float vPid;
 	float vTargetLead;
 	float upAccelCmd;
@@ -320,7 +322,7 @@ struct cereal_Live100Data {
 	float aTargetMax;
 	float jerkFactor;
 	float angleSteers;
-	int32_t hudLead;
+	int32_t hudLeadDEPRECATED;
 	float cumLagMs;
 	unsigned enabled : 1;
 	unsigned steerOverride : 1;

cereal/gen/cpp/log.capnp.c++

@@ -641,73 +641,80 @@ const ::capnp::_::RawSchema s_8785009a964c7c59 = {
   0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<122> b_8d8231a40b7fe6e0 = {
+static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     224, 230, 127,  11, 164,  49, 130, 141,
-     10,   0,   0,   0,   1,   0,   2,   0,
+     10,   0,   0,   0,   1,   0,   3,   0,
      91,  40, 164,  37, 126, 241, 177, 243,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 178,   0,   0,   0,
      29,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0, 143,   1,   0,   0,
+     25,   0,   0,   0, 199,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  84, 104, 101, 114, 109,  97,
     108,  68,  97, 116,  97,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     28,   0,   0,   0,   3,   0,   4,   0,
+     32,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    181,   0,   0,   0,  42,   0,   0,   0,
+    209,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    176,   0,   0,   0,   3,   0,   1,   0,
+    204,   0,   0,   0,   3,   0,   1,   0,
-    188,   0,   0,   0,   2,   0,   1,   0,
+    216,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    185,   0,   0,   0,  42,   0,   0,   0,
+    213,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    180,   0,   0,   0,   3,   0,   1,   0,
+    208,   0,   0,   0,   3,   0,   1,   0,
-    192,   0,   0,   0,   2,   0,   1,   0,
+    220,   0,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    189,   0,   0,   0,  42,   0,   0,   0,
+    217,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    184,   0,   0,   0,   3,   0,   1,   0,
+    212,   0,   0,   0,   3,   0,   1,   0,
-    196,   0,   0,   0,   2,   0,   1,   0,
+    224,   0,   0,   0,   2,   0,   1,   0,
       3,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    193,   0,   0,   0,  42,   0,   0,   0,
+    221,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    188,   0,   0,   0,   3,   0,   1,   0,
+    216,   0,   0,   0,   3,   0,   1,   0,
-    200,   0,   0,   0,   2,   0,   1,   0,
+    228,   0,   0,   0,   2,   0,   1,   0,
       4,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    197,   0,   0,   0,  34,   0,   0,   0,
+    225,   0,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    192,   0,   0,   0,   3,   0,   1,   0,
+    220,   0,   0,   0,   3,   0,   1,   0,
-    204,   0,   0,   0,   2,   0,   1,   0,
+    232,   0,   0,   0,   2,   0,   1,   0,
       5,   0,   0,   0,   5,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    201,   0,   0,   0,  34,   0,   0,   0,
+    229,   0,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    196,   0,   0,   0,   3,   0,   1,   0,
+    224,   0,   0,   0,   3,   0,   1,   0,
-    208,   0,   0,   0,   2,   0,   1,   0,
+    236,   0,   0,   0,   2,   0,   1,   0,
       6,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    205,   0,   0,   0,  34,   0,   0,   0,
+    233,   0,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    200,   0,   0,   0,   3,   0,   1,   0,
+    228,   0,   0,   0,   3,   0,   1,   0,
-    212,   0,   0,   0,   2,   0,   1,   0,
+    240,   0,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    237,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
      99, 112, 117,  48,   0,   0,   0,   0,
       7,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -762,19 +769,28 @@ static const ::capnp::_::AlignedData<122> b_8d8231a40b7fe6e0 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       8,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    102, 114, 101, 101,  83, 112,  97,  99,
+    101,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_8d8231a40b7fe6e0 = b_8d8231a40b7fe6e0.words;
 #if !CAPNP_LITE
-static const uint16_t m_8d8231a40b7fe6e0[] = {6, 0, 1, 2, 3, 5, 4};
+static const uint16_t m_8d8231a40b7fe6e0[] = {6, 0, 1, 2, 3, 7, 5, 4};
-static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6};
+static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7};
 const ::capnp::_::RawSchema s_8d8231a40b7fe6e0 = {
-  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 122, nullptr, m_8d8231a40b7fe6e0,
+  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 138, nullptr, m_8d8231a40b7fe6e0,
-  0, 7, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
+  0, 8, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<95> b_cfa2b0c2c82af1e4 = {
+static const ::capnp::_::AlignedData<112> b_cfa2b0c2c82af1e4 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     228, 241,  42, 200, 194, 176, 162, 207,
      10,   0,   0,   0,   1,   0,   2,   0,
@@ -784,49 +800,56 @@ static const ::capnp::_::AlignedData<95> b_cfa2b0c2c82af1e4 = {
      21,   0,   0,   0, 170,   0,   0,   0,
      29,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0,  31,   1,   0,   0,
+     25,   0,   0,   0,  87,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  72, 101,  97, 108, 116, 104,
      68,  97, 116,  97,   0,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     20,   0,   0,   0,   3,   0,   4,   0,
+     24,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    125,   0,   0,   0,  66,   0,   0,   0,
+    153,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    120,   0,   0,   0,   3,   0,   1,   0,
-    132,   0,   0,   0,   2,   0,   1,   0,
-      1,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   1,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    129,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    124,   0,   0,   0,   3,   0,   1,   0,
-    136,   0,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,  64,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    133,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    128,   0,   0,   0,   3,   0,   1,   0,
-    140,   0,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,  65,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    137,   0,   0,   0, 130,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    136,   0,   0,   0,   3,   0,   1,   0,
-    148,   0,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    145,   0,   0,   0, 186,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     148,   0,   0,   0,   3,   0,   1,   0,
     160,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    157,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    152,   0,   0,   0,   3,   0,   1,   0,
+    164,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,  64,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    161,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    156,   0,   0,   0,   3,   0,   1,   0,
+    168,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,  65,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    165,   0,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    164,   0,   0,   0,   3,   0,   1,   0,
+    176,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    173,   0,   0,   0, 186,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    176,   0,   0,   0,   3,   0,   1,   0,
+    188,   0,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,  67,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    185,   0,   0,   0, 178,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    188,   0,   0,   0,   3,   0,   1,   0,
+    200,   0,   0,   0,   2,   0,   1,   0,
     118, 111, 108, 116,  97, 103, 101,   0,
       8,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -863,6 +886,16 @@ static const ::capnp::_::AlignedData<95> b_cfa2b0c2c82af1e4 = {
     103,  97, 115,  73, 110, 116, 101, 114,
      99, 101, 112, 116, 111, 114,  68, 101,
     116, 101,  99, 116, 101, 100,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 116,  97, 114, 116, 101, 100,  83,
+    105, 103, 110,  97, 108,  68, 101, 116,
+    101,  99, 116, 101, 100,   0,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -873,11 +906,11 @@ static const ::capnp::_::AlignedData<95> b_cfa2b0c2c82af1e4 = {
 };
 ::capnp::word const* const bp_cfa2b0c2c82af1e4 = b_cfa2b0c2c82af1e4.words;
 #if !CAPNP_LITE
-static const uint16_t m_cfa2b0c2c82af1e4[] = {3, 1, 4, 2, 0};
+static const uint16_t m_cfa2b0c2c82af1e4[] = {3, 1, 4, 2, 5, 0};
-static const uint16_t i_cfa2b0c2c82af1e4[] = {0, 1, 2, 3, 4};
+static const uint16_t i_cfa2b0c2c82af1e4[] = {0, 1, 2, 3, 4, 5};
 const ::capnp::_::RawSchema s_cfa2b0c2c82af1e4 = {
-  0xcfa2b0c2c82af1e4, b_cfa2b0c2c82af1e4.words, 95, nullptr, m_cfa2b0c2c82af1e4,
+  0xcfa2b0c2c82af1e4, b_cfa2b0c2c82af1e4.words, 112, nullptr, m_cfa2b0c2c82af1e4,
-  0, 5, i_cfa2b0c2c82af1e4, nullptr, nullptr, { &s_cfa2b0c2c82af1e4, nullptr, nullptr, 0, 0, nullptr }
+  0, 6, i_cfa2b0c2c82af1e4, nullptr, nullptr, { &s_cfa2b0c2c82af1e4, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<81> b_c08240f996aefced = {
@@ -972,7 +1005,7 @@ const ::capnp::_::RawSchema s_c08240f996aefced = {
   0, 4, i_c08240f996aefced, nullptr, nullptr, { &s_c08240f996aefced, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
+static const ::capnp::_::AlignedData<208> b_9a185389d6fdd05f = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      95, 208, 253, 214, 137,  83,  24, 154,
      10,   0,   0,   0,   1,   0,   4,   0,
@@ -997,82 +1030,83 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       3,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     37,   1,   0,   0,  90,   0,   0,   0,
+     37,   1,   0,   0, 170,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     36,   1,   0,   0,   3,   0,   1,   0,
+     40,   1,   0,   0,   3,   0,   1,   0,
-     64,   1,   0,   0,   2,   0,   1,   0,
+     68,   1,   0,   0,   2,   0,   1,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     61,   1,   0,   0,  98,   0,   0,   0,
+     65,   1,   0,   0, 178,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     60,   1,   0,   0,   3,   0,   1,   0,
-     72,   1,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     69,   1,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      68,   1,   0,   0,   3,   0,   1,   0,
      80,   1,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     77,   1,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     80,   1,   0,   0,   3,   0,   1,   0,
+     92,   1,   0,   0,   2,   0,   1,   0,
       8,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     77,   1,   0,   0,  66,   0,   0,   0,
+     89,   1,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     72,   1,   0,   0,   3,   0,   1,   0,
-     84,   1,   0,   0,   2,   0,   1,   0,
-      9,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     81,   1,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     76,   1,   0,   0,   3,   0,   1,   0,
-     88,   1,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     85,   1,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      84,   1,   0,   0,   3,   0,   1,   0,
      96,   1,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     93,   1,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     88,   1,   0,   0,   3,   0,   1,   0,
+    100,   1,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97,   1,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     96,   1,   0,   0,   3,   0,   1,   0,
+    108,   1,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     93,   1,   0,   0,  90,   0,   0,   0,
+    105,   1,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     92,   1,   0,   0,   3,   0,   1,   0,
+    104,   1,   0,   0,   3,   0,   1,   0,
-    104,   1,   0,   0,   2,   0,   1,   0,
+    116,   1,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    101,   1,   0,   0,  90,   0,   0,   0,
+    113,   1,   0,   0,  90,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    100,   1,   0,   0,   3,   0,   1,   0,
-    112,   1,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    109,   1,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    108,   1,   0,   0,   3,   0,   1,   0,
-    120,   1,   0,   0,   2,   0,   1,   0,
-      7,   0,   0,   0,   5,   0,   0,   0,
-      0,   0,   1,   0,   9,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    117,   1,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     112,   1,   0,   0,   3,   0,   1,   0,
     124,   1,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    121,   1,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    124,   1,   0,   0,   3,   0,   1,   0,
+    136,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    133,   1,   0,   0, 146,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    136,   1,   0,   0,   3,   0,   1,   0,
+    148,   1,   0,   0,   2,   0,   1,   0,
       0,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,  10,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    121,   1,   0,   0, 106,   0,   0,   0,
+    145,   1,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    120,   1,   0,   0,   3,   0,   1,   0,
+    144,   1,   0,   0,   3,   0,   1,   0,
-    148,   1,   0,   0,   2,   0,   1,   0,
+    172,   1,   0,   0,   2,   0,   1,   0,
     119,  97, 114, 112,  77,  97, 116, 114,
-    105, 120,   0,   0,   0,   0,   0,   0,
+    105, 120,  68,  69,  80,  82,  69,  67,
+     65,  84,  69,  68,   0,   0,   0,   0,
      14,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1085,7 +1119,8 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      97, 110, 103, 108, 101,  79, 102, 102,
-    115, 101, 116,   0,   0,   0,   0,   0,
+    115, 101, 116,  68,  69,  80,  82,  69,
+     67,  65,  84,  69,  68,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1094,7 +1129,8 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99,  97, 108,  83, 116,  97, 116, 117,
-    115,   0,   0,   0,   0,   0,   0,   0,
+    115,  68,  69,  80,  82,  69,  67,  65,
+     84,  69,  68,   0,   0,   0,   0,   0,
       2,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1146,7 +1182,8 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99,  97, 108,  67, 121,  99, 108, 101,
-      0,   0,   0,   0,   0,   0,   0,   0,
+     68,  69,  80,  82,  69,  67,  65,  84,
+     69,  68,   0,   0,   0,   0,   0,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1154,7 +1191,9 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     99,  97, 108,  80, 101, 114,  99,   0,
+     99,  97, 108,  80, 101, 114,  99,  68,
+     69,  80,  82,  69,  67,  65,  84,  69,
+     68,   0,   0,   0,   0,   0,   0,   0,
       2,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1184,7 +1223,7 @@ static const ::capnp::_::RawSchema* const d_9a185389d6fdd05f[] = {
 static const uint16_t m_9a185389d6fdd05f[] = {1, 8, 9, 2, 10, 5, 7, 3, 4, 6, 0};
 static const uint16_t i_9a185389d6fdd05f[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
 const ::capnp::_::RawSchema s_9a185389d6fdd05f = {
-  0x9a185389d6fdd05f, b_9a185389d6fdd05f.words, 202, d_9a185389d6fdd05f, m_9a185389d6fdd05f,
+  0x9a185389d6fdd05f, b_9a185389d6fdd05f.words, 208, d_9a185389d6fdd05f, m_9a185389d6fdd05f,
   1, 11, i_9a185389d6fdd05f, nullptr, nullptr, { &s_9a185389d6fdd05f, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
@@ -1675,7 +1714,7 @@ const ::capnp::_::RawSchema s_8faa644732dec251 = {
   0, 10, i_8faa644732dec251, nullptr, nullptr, { &s_8faa644732dec251, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
+static const ::capnp::_::AlignedData<446> b_97ff69c53601abf1 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     241, 171,   1,  54, 197, 105, 255, 151,
      10,   0,   0,   0,   1,   0,  13,   0,
@@ -1703,185 +1742,185 @@ static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
       5,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    233,   2,   0,   0,  42,   0,   0,   0,
+    233,   2,   0,   0, 122,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    228,   2,   0,   0,   3,   0,   1,   0,
-    240,   2,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    237,   2,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     232,   2,   0,   0,   3,   0,   1,   0,
     244,   2,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    241,   2,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    236,   2,   0,   0,   3,   0,   1,   0,
+    248,   2,   0,   0,   2,   0,   1,   0,
       7,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    241,   2,   0,   0,  98,   0,   0,   0,
+    245,   2,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    240,   2,   0,   0,   3,   0,   1,   0,
+    244,   2,   0,   0,   3,   0,   1,   0,
-    252,   2,   0,   0,   2,   0,   1,   0,
+      0,   3,   0,   0,   2,   0,   1,   0,
       8,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    249,   2,   0,   0,  90,   0,   0,   0,
+    253,   2,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    248,   2,   0,   0,   3,   0,   1,   0,
+    252,   2,   0,   0,   3,   0,   1,   0,
-      4,   3,   0,   0,   2,   0,   1,   0,
+      8,   3,   0,   0,   2,   0,   1,   0,
       9,   0,   0,   0,   5,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      1,   3,   0,   0,  90,   0,   0,   0,
+      5,   3,   0,   0,  90,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   3,   0,   0,   3,   0,   1,   0,
-     12,   3,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      9,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       4,   3,   0,   0,   3,   0,   1,   0,
      16,   3,   0,   0,   2,   0,   1,   0,
-     11,   0,   0,   0,   7,   0,   0,   0,
+     10,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     13,   3,   0,   0,  42,   0,   0,   0,
+     13,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       8,   3,   0,   0,   3,   0,   1,   0,
      20,   3,   0,   0,   2,   0,   1,   0,
-     12,   0,   0,   0,   8,   0,   0,   0,
+     11,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     17,   3,   0,   0,  66,   0,   0,   0,
+     17,   3,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      12,   3,   0,   0,   3,   0,   1,   0,
      24,   3,   0,   0,   2,   0,   1,   0,
-     13,   0,   0,   0,   9,   0,   0,   0,
+     12,   0,   0,   0,   8,   0,   0,   0,
-      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      16,   3,   0,   0,   3,   0,   1,   0,
      28,   3,   0,   0,   2,   0,   1,   0,
+     13,   0,   0,   0,   9,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     25,   3,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     20,   3,   0,   0,   3,   0,   1,   0,
+     32,   3,   0,   0,   2,   0,   1,   0,
      14,   0,   0,   0,  10,   0,   0,   0,
       0,   0,   1,   0,  10,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   3,   0,   0,  90,   0,   0,   0,
+     29,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     24,   3,   0,   0,   3,   0,   1,   0,
+     28,   3,   0,   0,   3,   0,   1,   0,
-     36,   3,   0,   0,   2,   0,   1,   0,
+     40,   3,   0,   0,   2,   0,   1,   0,
      15,   0,   0,   0,  11,   0,   0,   0,
       0,   0,   1,   0,  11,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     33,   3,   0,   0,  90,   0,   0,   0,
+     37,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     32,   3,   0,   0,   3,   0,   1,   0,
+     36,   3,   0,   0,   3,   0,   1,   0,
-     44,   3,   0,   0,   2,   0,   1,   0,
+     48,   3,   0,   0,   2,   0,   1,   0,
      16,   0,   0,   0,  12,   0,   0,   0,
       0,   0,   1,   0,  12,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     41,   3,   0,   0,  90,   0,   0,   0,
+     45,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     40,   3,   0,   0,   3,   0,   1,   0,
+     44,   3,   0,   0,   3,   0,   1,   0,
-     52,   3,   0,   0,   2,   0,   1,   0,
+     56,   3,   0,   0,   2,   0,   1,   0,
      17,   0,   0,   0,  13,   0,   0,   0,
       0,   0,   1,   0,  13,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     49,   3,   0,   0,  98,   0,   0,   0,
+     53,   3,   0,   0,  98,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     48,   3,   0,   0,   3,   0,   1,   0,
-     60,   3,   0,   0,   2,   0,   1,   0,
-     18,   0,   0,   0,  14,   0,   0,   0,
-      0,   0,   1,   0,  14,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     57,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      52,   3,   0,   0,   3,   0,   1,   0,
      64,   3,   0,   0,   2,   0,   1,   0,
+     18,   0,   0,   0,  14,   0,   0,   0,
+      0,   0,   1,   0,  14,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     61,   3,   0,   0, 146,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     64,   3,   0,   0,   3,   0,   1,   0,
+     76,   3,   0,   0,   2,   0,   1,   0,
      19,   0,   0,   0,  15,   0,   0,   0,
       0,   0,   1,   0,  15,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     61,   3,   0,   0,  74,   0,   0,   0,
+     73,   3,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     60,   3,   0,   0,   3,   0,   1,   0,
+     72,   3,   0,   0,   3,   0,   1,   0,
-     72,   3,   0,   0,   2,   0,   1,   0,
+     84,   3,   0,   0,   2,   0,   1,   0,
       0,   0,   0,   0,   8,   0,   0,   0,
       0,   0,   1,   0,  16,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     69,   3,   0,   0,  98,   0,   0,   0,
+     81,   3,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     68,   3,   0,   0,   3,   0,   1,   0,
+     80,   3,   0,   0,   3,   0,   1,   0,
-     80,   3,   0,   0,   2,   0,   1,   0,
+     92,   3,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   9,   0,   0,   0,
       0,   0,   1,   0,  17,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     77,   3,   0,   0,  98,   0,   0,   0,
+     89,   3,   0,   0,  98,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     76,   3,   0,   0,   3,   0,   1,   0,
-     88,   3,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,  10,   0,   0,   0,
-      0,   0,   1,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     85,   3,   0,   0,  90,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     84,   3,   0,   0,   3,   0,   1,   0,
-     96,   3,   0,   0,   2,   0,   1,   0,
-     20,   0,   0,   0, 192,   2,   0,   0,
-      0,   0,   1,   0,  19,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     93,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      88,   3,   0,   0,   3,   0,   1,   0,
     100,   3,   0,   0,   2,   0,   1,   0,
-     21,   0,   0,   0, 193,   2,   0,   0,
+      3,   0,   0,   0,  10,   0,   0,   0,
-      0,   0,   1,   0,  20,   0,   0,   0,
+      0,   0,   1,   0,  18,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     97,   3,   0,   0, 114,   0,   0,   0,
+     97,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      96,   3,   0,   0,   3,   0,   1,   0,
     108,   3,   0,   0,   2,   0,   1,   0,
+     20,   0,   0,   0, 192,   2,   0,   0,
+      0,   0,   1,   0,  19,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    105,   3,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100,   3,   0,   0,   3,   0,   1,   0,
+    112,   3,   0,   0,   2,   0,   1,   0,
+     21,   0,   0,   0, 193,   2,   0,   0,
+      0,   0,   1,   0,  20,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    109,   3,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,   3,   0,   0,   3,   0,   1,   0,
+    120,   3,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,  21,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    105,   3,   0,   0, 106,   0,   0,   0,
+    117,   3,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    104,   3,   0,   0,   3,   0,   1,   0,
+    116,   3,   0,   0,   3,   0,   1,   0,
-    132,   3,   0,   0,   2,   0,   1,   0,
+    144,   3,   0,   0,   2,   0,   1,   0,
      22,   0,   0,   0,  23,   0,   0,   0,
       0,   0,   1,   0,  22,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    129,   3,   0,   0,  66,   0,   0,   0,
+    141,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    124,   3,   0,   0,   3,   0,   1,   0,
+    136,   3,   0,   0,   3,   0,   1,   0,
-    136,   3,   0,   0,   2,   0,   1,   0,
+    148,   3,   0,   0,   2,   0,   1,   0,
      23,   0,   0,   0, 194,   2,   0,   0,
       0,   0,   1,   0,  23,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    133,   3,   0,   0,  98,   0,   0,   0,
+    145,   3,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    132,   3,   0,   0,   3,   0,   1,   0,
+    144,   3,   0,   0,   3,   0,   1,   0,
-    144,   3,   0,   0,   2,   0,   1,   0,
+    156,   3,   0,   0,   2,   0,   1,   0,
      24,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,  24,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    141,   3,   0,   0,  90,   0,   0,   0,
+    153,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    140,   3,   0,   0,   3,   0,   1,   0,
+    152,   3,   0,   0,   3,   0,   1,   0,
-    152,   3,   0,   0,   2,   0,   1,   0,
+    164,   3,   0,   0,   2,   0,   1,   0,
      25,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,  25,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    149,   3,   0,   0,  90,   0,   0,   0,
+    161,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    148,   3,   0,   0,   3,   0,   1,   0,
+    160,   3,   0,   0,   3,   0,   1,   0,
-    160,   3,   0,   0,   2,   0,   1,   0,
+    172,   3,   0,   0,   2,   0,   1,   0,
      26,   0,   0,   0,  24,   0,   0,   0,
       0,   0,   1,   0,  26,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    157,   3,   0,   0, 130,   0,   0,   0,
+    169,   3,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    156,   3,   0,   0,   3,   0,   1,   0,
+    168,   3,   0,   0,   3,   0,   1,   0,
-    168,   3,   0,   0,   2,   0,   1,   0,
+    180,   3,   0,   0,   2,   0,   1,   0,
     118,  69, 103, 111,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1890,7 +1929,8 @@ static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     97,  69, 103, 111,   0,   0,   0,   0,
+     97,  69, 103, 111,  68,  69,  80,  82,
+     69,  67,  65,  84,  69,  68,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -2001,7 +2041,9 @@ static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    104, 117, 100,  76, 101,  97, 100,   0,
+    104, 117, 100,  76, 101,  97, 100,  68,
+     69,  80,  82,  69,  67,  65,  84,  69,
+     68,   0,   0,   0,   0,   0,   0,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -2125,7 +2167,7 @@ static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
 static const uint16_t m_97ff69c53601abf1[] = {1, 11, 10, 24, 25, 13, 26, 16, 21, 15, 19, 14, 12, 17, 18, 23, 20, 5, 9, 4, 8, 22, 0, 2, 3, 6, 7};
 static const uint16_t i_97ff69c53601abf1[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26};
 const ::capnp::_::RawSchema s_97ff69c53601abf1 = {
-  0x97ff69c53601abf1, b_97ff69c53601abf1.words, 443, nullptr, m_97ff69c53601abf1,
+  0x97ff69c53601abf1, b_97ff69c53601abf1.words, 446, nullptr, m_97ff69c53601abf1,
   0, 27, i_97ff69c53601abf1, nullptr, nullptr, { &s_97ff69c53601abf1, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE

cereal/gen/cpp/log.capnp.h

@@ -158,7 +158,7 @@ struct ThermalData {
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(8d8231a40b7fe6e0, 2, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(8d8231a40b7fe6e0, 3, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
     #endif  // !CAPNP_LITE
@@ -1109,6 +1109,8 @@ public:
 
   inline  ::uint32_t getBat() const;
 
+  inline float getFreeSpace() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1158,6 +1160,9 @@ public:
   inline  ::uint32_t getBat();
   inline void setBat( ::uint32_t value);
 
+  inline float getFreeSpace();
+  inline void setFreeSpace(float value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -1211,6 +1216,8 @@ public:
 
   inline bool getGasInterceptorDetected() const;
 
+  inline bool getStartedSignalDetected() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1254,6 +1261,9 @@ public:
   inline bool getGasInterceptorDetected();
   inline void setGasInterceptorDetected(bool value);
 
+  inline bool getStartedSignalDetected();
+  inline void setStartedSignalDetected(bool value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -1398,12 +1408,12 @@ public:
   }
 #endif  // !CAPNP_LITE
 
-  inline bool hasWarpMatrix() const;
+  inline bool hasWarpMatrixDEPRECATED() const;
-  inline  ::capnp::List<float>::Reader getWarpMatrix() const;
+  inline  ::capnp::List<float>::Reader getWarpMatrixDEPRECATED() const;
 
-  inline float getAngleOffset() const;
+  inline float getAngleOffsetDEPRECATED() const;
 
-  inline  ::int8_t getCalStatus() const;
+  inline  ::int8_t getCalStatusDEPRECATED() const;
 
   inline bool hasLeadOne() const;
   inline  ::cereal::Live20Data::LeadData::Reader getLeadOne() const;
@@ -1417,9 +1427,9 @@ public:
 
   inline  ::uint64_t getFtMonoTime() const;
 
-  inline  ::int32_t getCalCycle() const;
+  inline  ::int32_t getCalCycleDEPRECATED() const;
 
-  inline  ::int8_t getCalPerc() const;
+  inline  ::int8_t getCalPercDEPRECATED() const;
 
   inline bool hasCanMonoTimes() const;
   inline  ::capnp::List< ::uint64_t>::Reader getCanMonoTimes() const;
@@ -1452,19 +1462,19 @@ public:
   inline ::kj::StringTree toString() const { return asReader().toString(); }
 #endif  // !CAPNP_LITE
 
-  inline bool hasWarpMatrix();
+  inline bool hasWarpMatrixDEPRECATED();
-  inline  ::capnp::List<float>::Builder getWarpMatrix();
+  inline  ::capnp::List<float>::Builder getWarpMatrixDEPRECATED();
-  inline void setWarpMatrix( ::capnp::List<float>::Reader value);
+  inline void setWarpMatrixDEPRECATED( ::capnp::List<float>::Reader value);
-  inline void setWarpMatrix(::kj::ArrayPtr<const float> value);
+  inline void setWarpMatrixDEPRECATED(::kj::ArrayPtr<const float> value);
-  inline  ::capnp::List<float>::Builder initWarpMatrix(unsigned int size);
+  inline  ::capnp::List<float>::Builder initWarpMatrixDEPRECATED(unsigned int size);
-  inline void adoptWarpMatrix(::capnp::Orphan< ::capnp::List<float>>&& value);
+  inline void adoptWarpMatrixDEPRECATED(::capnp::Orphan< ::capnp::List<float>>&& value);
-  inline ::capnp::Orphan< ::capnp::List<float>> disownWarpMatrix();
+  inline ::capnp::Orphan< ::capnp::List<float>> disownWarpMatrixDEPRECATED();
 
-  inline float getAngleOffset();
+  inline float getAngleOffsetDEPRECATED();
-  inline void setAngleOffset(float value);
+  inline void setAngleOffsetDEPRECATED(float value);
 
-  inline  ::int8_t getCalStatus();
+  inline  ::int8_t getCalStatusDEPRECATED();
-  inline void setCalStatus( ::int8_t value);
+  inline void setCalStatusDEPRECATED( ::int8_t value);
 
   inline bool hasLeadOne();
   inline  ::cereal::Live20Data::LeadData::Builder getLeadOne();
@@ -1489,11 +1499,11 @@ public:
   inline  ::uint64_t getFtMonoTime();
   inline void setFtMonoTime( ::uint64_t value);
 
-  inline  ::int32_t getCalCycle();
+  inline  ::int32_t getCalCycleDEPRECATED();
-  inline void setCalCycle( ::int32_t value);
+  inline void setCalCycleDEPRECATED( ::int32_t value);
 
-  inline  ::int8_t getCalPerc();
+  inline  ::int8_t getCalPercDEPRECATED();
-  inline void setCalPerc( ::int8_t value);
+  inline void setCalPercDEPRECATED( ::int8_t value);
 
   inline bool hasCanMonoTimes();
   inline  ::capnp::List< ::uint64_t>::Builder getCanMonoTimes();
@@ -1899,7 +1909,7 @@ public:
 
   inline float getVEgo() const;
 
-  inline float getAEgo() const;
+  inline float getAEgoDEPRECATED() const;
 
   inline float getVPid() const;
 
@@ -1925,7 +1935,7 @@ public:
 
   inline float getAngleSteers() const;
 
-  inline  ::int32_t getHudLead() const;
+  inline  ::int32_t getHudLeadDEPRECATED() const;
 
   inline float getCumLagMs() const;
 
@@ -1985,8 +1995,8 @@ public:
   inline float getVEgo();
   inline void setVEgo(float value);
 
-  inline float getAEgo();
+  inline float getAEgoDEPRECATED();
-  inline void setAEgo(float value);
+  inline void setAEgoDEPRECATED(float value);
 
   inline float getVPid();
   inline void setVPid(float value);
@@ -2024,8 +2034,8 @@ public:
   inline float getAngleSteers();
   inline void setAngleSteers(float value);
 
-  inline  ::int32_t getHudLead();
+  inline  ::int32_t getHudLeadDEPRECATED();
-  inline void setHudLead( ::int32_t value);
+  inline void setHudLeadDEPRECATED( ::int32_t value);
 
   inline float getCumLagMs();
   inline void setCumLagMs(float value);
@@ -4106,6 +4116,20 @@ inline void ThermalData::Builder::setBat( ::uint32_t value) {
       3 * ::capnp::ELEMENTS, value);
 }
 
+inline float ThermalData::Reader::getFreeSpace() const {
+  return _reader.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+
+inline float ThermalData::Builder::getFreeSpace() {
+  return _builder.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+inline void ThermalData::Builder::setFreeSpace(float value) {
+  _builder.setDataField<float>(
+      4 * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint32_t HealthData::Reader::getVoltage() const {
   return _reader.getDataField< ::uint32_t>(
       0 * ::capnp::ELEMENTS);
@@ -4176,6 +4200,20 @@ inline void HealthData::Builder::setGasInterceptorDetected(bool value) {
       66 * ::capnp::ELEMENTS, value);
 }
 
+inline bool HealthData::Reader::getStartedSignalDetected() const {
+  return _reader.getDataField<bool>(
+      67 * ::capnp::ELEMENTS);
+}
+
+inline bool HealthData::Builder::getStartedSignalDetected() {
+  return _builder.getDataField<bool>(
+      67 * ::capnp::ELEMENTS);
+}
+inline void HealthData::Builder::setStartedSignalDetected(bool value) {
+  _builder.setDataField<bool>(
+      67 * ::capnp::ELEMENTS, value);
+}
+
 inline bool LiveUI::Reader::getRearViewCam() const {
   return _reader.getDataField<bool>(
       0 * ::capnp::ELEMENTS);
@@ -4268,66 +4306,66 @@ inline void LiveUI::Builder::setAwarenessStatus(float value) {
       1 * ::capnp::ELEMENTS, value);
 }
 
-inline bool Live20Data::Reader::hasWarpMatrix() const {
+inline bool Live20Data::Reader::hasWarpMatrixDEPRECATED() const {
   return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
 }
-inline bool Live20Data::Builder::hasWarpMatrix() {
+inline bool Live20Data::Builder::hasWarpMatrixDEPRECATED() {
   return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
 }
-inline  ::capnp::List<float>::Reader Live20Data::Reader::getWarpMatrix() const {
+inline  ::capnp::List<float>::Reader Live20Data::Reader::getWarpMatrixDEPRECATED() const {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::get(
       _reader.getPointerField(0 * ::capnp::POINTERS));
 }
-inline  ::capnp::List<float>::Builder Live20Data::Builder::getWarpMatrix() {
+inline  ::capnp::List<float>::Builder Live20Data::Builder::getWarpMatrixDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::get(
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
-inline void Live20Data::Builder::setWarpMatrix( ::capnp::List<float>::Reader value) {
+inline void Live20Data::Builder::setWarpMatrixDEPRECATED( ::capnp::List<float>::Reader value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float>>::set(
       _builder.getPointerField(0 * ::capnp::POINTERS), value);
 }
-inline void Live20Data::Builder::setWarpMatrix(::kj::ArrayPtr<const float> value) {
+inline void Live20Data::Builder::setWarpMatrixDEPRECATED(::kj::ArrayPtr<const float> value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float>>::set(
       _builder.getPointerField(0 * ::capnp::POINTERS), value);
 }
-inline  ::capnp::List<float>::Builder Live20Data::Builder::initWarpMatrix(unsigned int size) {
+inline  ::capnp::List<float>::Builder Live20Data::Builder::initWarpMatrixDEPRECATED(unsigned int size) {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::init(
       _builder.getPointerField(0 * ::capnp::POINTERS), size);
 }
-inline void Live20Data::Builder::adoptWarpMatrix(
+inline void Live20Data::Builder::adoptWarpMatrixDEPRECATED(
     ::capnp::Orphan< ::capnp::List<float>>&& value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float>>::adopt(
       _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::capnp::List<float>> Live20Data::Builder::disownWarpMatrix() {
+inline ::capnp::Orphan< ::capnp::List<float>> Live20Data::Builder::disownWarpMatrixDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::disown(
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
-inline float Live20Data::Reader::getAngleOffset() const {
+inline float Live20Data::Reader::getAngleOffsetDEPRECATED() const {
   return _reader.getDataField<float>(
       0 * ::capnp::ELEMENTS);
 }
 
-inline float Live20Data::Builder::getAngleOffset() {
+inline float Live20Data::Builder::getAngleOffsetDEPRECATED() {
   return _builder.getDataField<float>(
       0 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setAngleOffset(float value) {
+inline void Live20Data::Builder::setAngleOffsetDEPRECATED(float value) {
   _builder.setDataField<float>(
       0 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int8_t Live20Data::Reader::getCalStatus() const {
+inline  ::int8_t Live20Data::Reader::getCalStatusDEPRECATED() const {
   return _reader.getDataField< ::int8_t>(
       4 * ::capnp::ELEMENTS);
 }
 
-inline  ::int8_t Live20Data::Builder::getCalStatus() {
+inline  ::int8_t Live20Data::Builder::getCalStatusDEPRECATED() {
   return _builder.getDataField< ::int8_t>(
       4 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setCalStatus( ::int8_t value) {
+inline void Live20Data::Builder::setCalStatusDEPRECATED( ::int8_t value) {
   _builder.setDataField< ::int8_t>(
       4 * ::capnp::ELEMENTS, value);
 }
@@ -4448,30 +4486,30 @@ inline void Live20Data::Builder::setFtMonoTime( ::uint64_t value) {
       3 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int32_t Live20Data::Reader::getCalCycle() const {
+inline  ::int32_t Live20Data::Reader::getCalCycleDEPRECATED() const {
   return _reader.getDataField< ::int32_t>(
       3 * ::capnp::ELEMENTS);
 }
 
-inline  ::int32_t Live20Data::Builder::getCalCycle() {
+inline  ::int32_t Live20Data::Builder::getCalCycleDEPRECATED() {
   return _builder.getDataField< ::int32_t>(
       3 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setCalCycle( ::int32_t value) {
+inline void Live20Data::Builder::setCalCycleDEPRECATED( ::int32_t value) {
   _builder.setDataField< ::int32_t>(
       3 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int8_t Live20Data::Reader::getCalPerc() const {
+inline  ::int8_t Live20Data::Reader::getCalPercDEPRECATED() const {
   return _reader.getDataField< ::int8_t>(
       5 * ::capnp::ELEMENTS);
 }
 
-inline  ::int8_t Live20Data::Builder::getCalPerc() {
+inline  ::int8_t Live20Data::Builder::getCalPercDEPRECATED() {
   return _builder.getDataField< ::int8_t>(
       5 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setCalPerc( ::int8_t value) {
+inline void Live20Data::Builder::setCalPercDEPRECATED( ::int8_t value) {
   _builder.setDataField< ::int8_t>(
       5 * ::capnp::ELEMENTS, value);
 }
@@ -4912,16 +4950,16 @@ inline void Live100Data::Builder::setVEgo(float value) {
       0 * ::capnp::ELEMENTS, value);
 }
 
-inline float Live100Data::Reader::getAEgo() const {
+inline float Live100Data::Reader::getAEgoDEPRECATED() const {
   return _reader.getDataField<float>(
       1 * ::capnp::ELEMENTS);
 }
 
-inline float Live100Data::Builder::getAEgo() {
+inline float Live100Data::Builder::getAEgoDEPRECATED() {
   return _builder.getDataField<float>(
       1 * ::capnp::ELEMENTS);
 }
-inline void Live100Data::Builder::setAEgo(float value) {
+inline void Live100Data::Builder::setAEgoDEPRECATED(float value) {
   _builder.setDataField<float>(
       1 * ::capnp::ELEMENTS, value);
 }
@@ -5094,16 +5132,16 @@ inline void Live100Data::Builder::setAngleSteers(float value) {
       13 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int32_t Live100Data::Reader::getHudLead() const {
+inline  ::int32_t Live100Data::Reader::getHudLeadDEPRECATED() const {
   return _reader.getDataField< ::int32_t>(
       14 * ::capnp::ELEMENTS);
 }
 
-inline  ::int32_t Live100Data::Builder::getHudLead() {
+inline  ::int32_t Live100Data::Builder::getHudLeadDEPRECATED() {
   return _builder.getDataField< ::int32_t>(
       14 * ::capnp::ELEMENTS);
 }
-inline void Live100Data::Builder::setHudLead( ::int32_t value) {
+inline void Live100Data::Builder::setHudLeadDEPRECATED( ::int32_t value) {
   _builder.setDataField< ::int32_t>(
       14 * ::capnp::ELEMENTS, value);
 }

cereal/log.capnp

@@ -61,6 +61,9 @@ struct ThermalData {
   mem @4 :UInt16;
   gpu @5 :UInt16;
   bat @6 :UInt32;
+
+  # not thermal
+  freeSpace @7 :Float32;
 }
 
 struct HealthData {
@@ -70,6 +73,7 @@ struct HealthData {
   started @2 :Bool;
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
+  startedSignalDetected @5 :Bool;
 }
 
 struct LiveUI {

common/profiler.py

@@ -0,0 +1,26 @@
+from common.realtime import sec_since_boot
+
+class Profiler(object):
+  def __init__(self, enabled=False):
+    self.enabled = enabled
+    self.cp = []
+    self.start_time = sec_since_boot()
+    self.last_time = self.start_time
+
+  def checkpoint(self, name):
+    if not self.enabled:
+      return
+    tt = sec_since_boot()
+    self.cp.append((name, tt - self.last_time))
+    self.last_time = tt
+
+  def display(self):
+    if not self.enabled:
+      return
+    print "******* Profiling *******"
+    tot = 0.0
+    for n, ms in self.cp:
+      print "%30s: %7.2f" % (n, ms*1000.0)
+      tot += ms
+    print "    TOTAL: %7.2f" % (tot*1000.0)
+

common/realtime.py

@@ -28,7 +28,7 @@ if libc is not None:
   libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
 
 def clock_gettime(clk_id):
-  if platform.system() == "darwin":
+  if platform.system().lower() == "darwin":
     # TODO: fix this
     return time.time()
   else:
@@ -47,7 +47,7 @@ def sec_since_boot():
 
 def set_realtime_priority(level):
   if os.getuid() != 0:
-    print "not setting priority, not root"
+    print("not setting priority, not root")
     return
   if platform.machine() == "x86_64":
     NR_gettid = 186
@@ -80,15 +80,19 @@ class Ratekeeper(object):
 
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self):
-    self.monitor_time()
+    lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
+    return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate
   def monitor_time(self):
+    lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
     if remaining < -self._print_delay_threshold:
-      print self._process_name, "lagging by", round(-remaining * 1000, 2), "ms"
+      print(self._process_name, "lagging by", round(-remaining * 1000, 2), "ms")
+      lagged = True
     self._frame += 1
     self._remaining = remaining
+    return lagged

dbcs/acura_ilx_2016_can.dbc

@@ -15,7 +15,7 @@ NS_ :
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
+	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
@@ -33,263 +33,292 @@ NS_ :
 
 BS_:
 
-BO_ 0x039 XXX: 3 XXX
+BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX
-
-BO_ 0x091 XXX: 8 XXX
- SG_ LAT_ACCEL : 0|10@1+ (0.02,-512) [-20|20] "m/s2" Vector__XXX 
-
-BO_ 0x0E4 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 0|16@1- (1,0) [-3840|3840] "" Vector__XXX
- SG_ STEER_TORQUE_REQUEST : 16|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X00 : 17|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ SET_ME_X00 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x130 GAS_PEDAL2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 0|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
- SG_ ENGINE_TORQUE_REQUEST : 16|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
- SG_ CAR_GAS : 32|8@1+ (1,0) [0|255] "" Vector__XXX
-
-BO_ 0x13C GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- 
-BO_ 0x156 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX
- SG_ STEER_ANGLE_RATE : 16|16@1- (1,0) [-3000|3000] "deg/s" Vector__XXX
- SG_ COUNTER : 42|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 44|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x158 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_SPEED : 0|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX
- SG_ XMISSION_SPEED2 : 32|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x17C POWERTRAIN_DATA2: 8 PCM
- SG_ PEDAL_GAS : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX
- SG_ GAS_PRESSED : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_STATUS : 33|1@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BOH_17C : 34|5@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BRAKE_LIGHTS_ON : 39|1@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BOH2_17C : 40|10@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BRAKE_PRESSED : 50|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH3_17C : 51|5@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x18E XXX: 3 XXX
-
-BO_ 0x18F STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 0|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
- SG_ STEER_TORQUE_MOTOR : 16|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
- SG_ STEER_STATUS : 32|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ STEER_CONTROL_ACTIVE : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1A3 GEARBOX: 8 PCM
- SG_ GEAR : 0|8@1+ (1,0) [0|256] "" Vector__XXX
- SG_ GEAR_SHIFTER : 36|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1A4 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 0|16@1+ (0.015625,-103) [0|1000] "" Vector__XXX
- SG_ ESP_DISABLED : 27|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1A6 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 0|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ LIGHTS_SETTING : 6|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ MAIN_ON : 40|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_SETTING : 44|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1AC XXX: 8 XXX
-
-BO_ 0x1B0 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_1 : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_2 : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1D0 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 0|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_FR : 15|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_RL : 30|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_RR : 45|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1DC XXX: 4 XXX
-
-BO_ 0x1EA VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 16|16@1- (0.0015384,0) [-20|20] "m/s2" Vector__XXX
-
-BO_ 0x1FA BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 0|10@1+ (0.003906248,0) [0|1] "" Vector__XXX
- SG_ ZEROS_BOH : 10|5@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH2 : 16|3@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_OVERRIDE : 19|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH3 : 20|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_FAULT_CMD : 21|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_CANCEL_CMD : 22|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST_2 : 23|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH4 : 24|8@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_LIGHTS : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH5 : 33|7@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CHIME : 40|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ CRUISE_BOH6 : 43|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCW : 44|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CRUISE_BOH7 : 46|10@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x200 GAS_COMMAND: 3 ADAS
- SG_ GAS_COMMAND : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ COUNTER : 18|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 20|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x201 GAS_SENSOR: 5 ADAS
- SG_ INTERCEPTOR_GAS : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ INTERCEPTOR_GAS2 : 16|16@1+ (0.126992032,-656) [0|1] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x21E XXX: 7 XXX
-BO_ 0x221 XXX: 4 XXX
-
-BO_ 0x255 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 0|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_FR : 8|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_RL : 16|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_RR : 24|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ SET_TO_X55 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ SET_TO_X55 : 40|8@1+ (1,0) [0|255] "" Vector__XXX
-
-BO_ 0x294 SCM_COMMANDS: 8 SCM
- SG_ RIGHT_BLINKER : 1|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LEFT_BLINKER : 2|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ WIPERS_SPEED : 3|2@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x305 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 0|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SEATBELT_DRIVER_LATCHED : 10|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x309 XXX: 8 XXX
-
-BO_ 0x30C ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 0|16@1+ (0.002763889,0) [0|100] "m/s" Vector__XXX
- SG_ PCM_GAS : 16|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ ZEROS_BOH : 23|1@1+ (1,0) [0|255] "" Vector__XXX
- SG_ CRUISE_SPEED : 24|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ DTC_MODE : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_PROBLEM : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_OFF : 35|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH_2 : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_PROBLEM : 37|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ RADAR_OBSTRUCTED : 38|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ENABLE_MINI_CAR : 39|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X03 : 40|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ HUD_LEAD : 42|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_3 : 44|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_4 : 45|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_5 : 46|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CRUISE_CONTROL_LABEL : 47|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ HUD_DISTANCE_3 : 51|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x320 XXX: 8 XXX
-
-BO_ 0x324 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ BOH : 8|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ TRIP_FUEL_CONSUMED : 16|16@1+ (1,0) [0|255] "" Vector__XXX
- SG_ CRUISE_SPEED_PCM : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ BOH2 : 40|8@1- (1,0) [0|255] "" Vector__XXX
- SG_ BOH3 : 48|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x328 XXX: 8 XXX
-BO_ 0x333 XXX: 7 XXX
-BO_ 0x335 XXX: 5 XXX
-
-BO_ 0x33D LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 0|1@1+ (1,0) [0|255] "" Vector__XXX
- SG_ BOH : 1|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ DASHED_LANES : 9|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DTC : 10|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LKAS_PROBLEM : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LKAS_OFF : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SOLID_LANES : 13|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_RIGHT : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ STEERING_REQUIRED : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 16|2@1+ (1,0) [0|4] "" Vector__XXX
- SG_ LDW_PROBLEM : 18|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BEEP : 22|2@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_ON : 27|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_OFF : 28|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CLEAN_WINDSHIELD : 29|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X48 : 24|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
 
 
-BO_ 0x372 XXX: 2 XXX
+BO_ 57 XXX_1: 3 XXX
 
-BO_ 0x374 XXX: 7 XXX
+BO_ 145 XXX_2: 8 XXX
-BO_ 0x377 XXX: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
-BO_ 0x378 XXX: 8 XXX
-BO_ 0x37C XXX: 8 XXX
-BO_ 0x39B XXX: 2 XXX
-BO_ 0x3A1 XXX: 4 XXX
-BO_ 0x3D7 XXX: 8 XXX
-BO_ 0x3D9 XXX: 3 XXX
-BO_ 0x400 XXX: 5 XXX
-BO_ 0x403 XXX: 5 XXX
 
-BO_ 0x405 DOORS_STATUS: 8 BDY
+BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ DOOR_OPEN_FL : 34|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] ""  EPS
- SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] ""  EPS
- SG_ DOOR_OPEN_RL : 32|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] ""  EPS
- SG_ DOOR_OPEN_RR : 47|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] ""  EPS
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  EPS
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  EPS
 
-BO_ 0x406 XXX: 5 VSA
+BO_ 304 GAS_PEDAL2: 8 PCM
-BO_ 0x40A XXX: 5 XXX
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
-BO_ 0x40C XXX: 8 XXX
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
-BO_ 0x40F XXX: 8 XXX
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
-BO_ 0x421 XXX: 5 EPS
-BO_ 0x428 XXX: 7 XXX
-BO_ 0x454 XXX: 8 XXX
-BO_ 0x555 XXX: 5 XXX
-BO_ 0x640 XXX: 5 XXX
-BO_ 0x641 XXX: 8 XXX
 
-VAL_ 0x1A6 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none";
+BO_ 316 GAS_PEDAL: 8 PCM
-VAL_ 0x1A6 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none";
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
-VAL_ 0x30C HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car";
+
-VAL_ 0x1A6 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights";
+BO_ 342 STEERING_SENSORS: 6 EPS
-VAL_ 0x18F STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal";
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
-VAL_ 0x1A3 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s"  NEO
-VAL_ 0x33D BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
-VAL_ 0x1FA CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
-VAL_ 0x1FA FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
+
+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
+
+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_LIGHTS_ON : 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_ 398 XXX_3: 3 XXX
+
+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_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] ""  NEO
+ SG_ GEAR_SHIFTER : 35|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_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ ESP_DISABLED : 28|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_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
+ SG_ CRUISE_SETTING : 43|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_ 428 XXX_4: 8 XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ 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_ 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_ 476 XXX_5: 4 XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|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_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH4 : 31|8@0+ (1,0) [0|1] ""  EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH5 : 38|7@0+ (1,0) [0|1] ""  EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
+ SG_ CRUISE_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] ""  EBCM
+ SG_ CRUISE_BOH7 : 41|10@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,-328) [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,-328) [0|1] ""  NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 542 XXX_6: 7 XXX
+
+BO_ 545 XXX_7: 4 XXX
+
+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 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 660 SCM_COMMANDS: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
+ SG_ WIPERS_SPEED : 4|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_ 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_8: 8 XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [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_ SET_ME_X03 : 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_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] ""  BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 800 XXX_9: 8 XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] ""  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_ 808 XXX_10: 8 XXX
+
+BO_ 819 XXX_11: 7 XXX
+
+BO_ 821 XXX_12: 5 XXX
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] ""  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_ BOH : 23|2@0+ (1,0) [0|4] ""  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_ 882 XXX_13: 2 XXX
+
+BO_ 884 XXX_14: 7 XXX
+
+BO_ 887 XXX_15: 8 XXX
+
+BO_ 888 XXX_16: 8 XXX
+
+BO_ 892 XXX_17: 8 XXX
+
+BO_ 923 XXX_18: 2 XXX
+
+BO_ 929 XXX_19: 4 XXX
+
+BO_ 983 XXX_20: 8 XXX
+
+BO_ 985 XXX_21: 3 XXX
+
+BO_ 1024 XXX_22: 5 XXX
+
+BO_ 1027 XXX_23: 5 XXX
+
+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_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 1030 XXX_24: 5 VSA
+
+BO_ 1034 XXX_25: 5 XXX
+
+BO_ 1036 XXX_26: 8 XXX
+
+BO_ 1039 XXX_27: 8 XXX
+
+BO_ 1057 XXX_28: 5 EPS
+
+BO_ 1064 XXX_29: 7 XXX
+
+BO_ 1108 XXX_30: 8 XXX
+
+BO_ 1365 XXX_31: 5 XXX
+
+BO_ 1600 XXX_32: 5 XXX
+
+BO_ 1601 XXX_33: 8 XXX
+
+BO_TX_BU_ 228 : NEO,ADAS;
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+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_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ SG_ 0x1A3 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 0x324 CRUISE_SPEED_ECHO "255 = no speed";
-CM_ SG_ 0x33D CRUISE_SPEED "255 = no speed";
-CM_ SG_ 0x1EA LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 0x33D BEEP "beeps are pleasant, chimes are for warnngs etc...";

dbcs/acura_ilx_2016_nidec.dbc

@@ -15,7 +15,7 @@ NS_ :
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
+	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
@@ -33,143 +33,151 @@ NS_ :
 
 BS_:
 
+BU_: ADAS RADAR NEO XXX
 
-BO_ 0x300 VEHICLE_STATE: 8 ADAS
- SG_ SET_ME_XF9 : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ VEHICLE_SPEED : 8|8@1+ (1,0) [0|255] "kph" Vector__XXX
 
-BO_ 0x301 VEHICLE_STATE2: 8 ADAS
+BO_ 768 VEHICLE_STATE: 8 ADAS
- SG_ SET_ME_0F18510 : 0|28@1+ (1,0) [0|268435455] "" Vector__XXX
+ SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ SET_ME_25A0000 : 28|28@1+ (1,0) [0|268435455] "" Vector__XXX
+ SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX
 
-BO_ 0x400 XXX: 8 RADAR
+BO_ 769 VEHICLE_STATE2: 8 ADAS
+ SG_ SET_ME_0F18510 : 7|28@0+ (1,0) [0|268435455] "" Vector__XXX
+ SG_ SET_ME_25A0000 : 27|28@0+ (1,0) [0|268435455] "" Vector__XXX
 
-BO_ 0x410 XXX: 8 RADAR
+BO_ 1024 XXX_100: 8 RADAR
 
-BO_ 0x411 XXX: 8 RADAR
+BO_ 1040 XXX_101: 8 RADAR
 
-BO_ 0x412 XXX: 8 RADAR
+BO_ 1041 XXX_102: 8 RADAR
 
-BO_ 0x413 XXX: 8 RADAR
+BO_ 1042 XXX_103: 8 RADAR
 
-BO_ 0x414 XXX: 8 RADAR
+BO_ 1043 XXX_104: 8 RADAR
 
-BO_ 0x415 XXX: 8 RADAR
+BO_ 1044 XXX_105: 8 RADAR
 
-BO_ 0x416 XXX: 8 RADAR
+BO_ 1045 XXX_106: 8 RADAR
 
-BO_ 0x417 XXX: 8 RADAR
+BO_ 1046 XXX_107: 8 RADAR
 
-BO_ 0x420 XXX: 8 RADAR
+BO_ 1047 XXX_108: 8 RADAR
 
-BO_ 0x421 XXX: 8 RADAR
+BO_ 1056 XXX_109: 8 RADAR
 
-BO_ 0x422 XXX: 8 RADAR
+BO_ 1057 XXX_110: 8 RADAR
 
-BO_ 0x423 XXX: 8 RADAR
+BO_ 1058 XXX_111: 8 RADAR
 
-BO_ 0x424 XXX: 8 RADAR
+BO_ 1059 XXX_112: 8 RADAR
 
-BO_ 0x430 TRACK_0: 8 RADAR
+BO_ 1060 XXX_113: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
 
-BO_ 0x431 TRACK_1: 8 RADAR
+BO_ 1072 TRACK_0: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x432 TRACK_2: 8 RADAR
+BO_ 1073 TRACK_1: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x433 TRACK_3: 8 RADAR
+BO_ 1074 TRACK_2: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x434 TRACK_4: 8 RADAR
+BO_ 1075 TRACK_3: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x435 TRACK_5: 8 RADAR
+BO_ 1076 TRACK_4: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x436 TRACK_6: 8 RADAR
+BO_ 1077 TRACK_5: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x437 TRACK_7: 8 RADAR
+BO_ 1078 TRACK_6: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x438 TRACK_8: 8 RADAR
+BO_ 1079 TRACK_7: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x439 TRACK_9: 8 RADAR
+BO_ 1080 TRACK_8: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x440 TRACK_10: 8 RADAR
+BO_ 1081 TRACK_9: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x441 TRACK_11: 8 RADAR
+BO_ 1088 TRACK_10: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x442 TRACK_12: 8 RADAR
+BO_ 1089 TRACK_11: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x443 TRACK_13: 8 RADAR
+BO_ 1090 TRACK_12: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x444 TRACK_14: 8 RADAR
+BO_ 1091 TRACK_13: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x445 TRACK_15: 8 RADAR
+BO_ 1092 TRACK_14: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x4FF XXX: 8 RADAR
+BO_ 1093 TRACK_15: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1279 XXX_114: 8 RADAR
+
+BO_ 1280 XXX_115: 8 RADAR
+
+BO_ 1296 XXX_116: 8 RADAR
+
+BO_ 1297 XXX_117: 8 RADAR
+
+BO_TX_BU_ 768 : NEO,ADAS;
+BO_TX_BU_ 769 : NEO,ADAS;
 
-BO_ 0x500 XXX: 8 RADAR
 
-BO_ 0x510 XXX: 8 RADAR
 
-BO_ 0x511 XXX: 8 RADAR

dbcs/honda_civic_touring_2016_can.dbc

@@ -15,7 +15,7 @@ NS_ :
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
+	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
@@ -33,287 +33,311 @@ NS_ :
 
 BS_:
 
-BO_ 0x039 XXX: 3 XXX
+BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
 
-BO_ 0x94 XXX: 8 XXX
- SG_ LAT_ACCEL : 0|10@1+ (0.02,-512) [-20|20] "m/s2" Vector__XXX
- SG_ LONG_ACCEL : 31|9@1- (-0.02,0) [-20|20] "m/s2" Vector__XXX
 
-BO_ 0x0E4 STEERING_CONTROL: 5 ADAS
+BO_ 57 XXX_1: 3 XXX
- SG_ STEER_TORQUE : 0|16@1- (1,0) [-3840|3840] "" Vector__XXX
- SG_ STEER_TORQUE_REQUEST : 16|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X00 : 17|7@1+ (1,0) [0|127] "" Vector__XXX 
- SG_ SET_ME_X00_2 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ CHECKSUM : 32|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ COUNTER : 38|2@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x130 GAS_PEDAL2: 8 PCM
+BO_ 148 XXX_2: 8 XXX
- SG_ ENGINE_TORQUE_ESTIMATE : 0|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
- SG_ ENGINE_TORQUE_REQUEST : 16|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2"  NEO
- SG_ CAR_GAS : 32|8@1+ (1,0) [0|255] "" Vector__XXX
 
-BO_ 0x14A STEERING_SENSORS: 8 EPS                                  
+BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX   
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] ""  EPS
- SG_ STEER_ANGLE_RATE : 16|16@1- (-1,0) [-3000|3000] "deg/s" Vector__XXX  
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] ""  EPS
- SG_ STEER_ANGLE_OFFSET : 32|8@1- (-0.1,0) [-128|127] "deg" Vector__XXX
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] ""  EPS
- SG_ STEER_WHEEL_ANGLE : 40|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] ""  EPS
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] ""  EPS
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ COUNTER : 33|2@0+ (1,0) [0|3] ""  EPS
 
-BO_ 0x158 POWERTRAIN_DATA: 8 PCM
+BO_ 304 GAS_PEDAL2: 8 PCM
- SG_ XMISSION_SPEED : 0|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX      
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX            
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
- SG_ XMISSION_SPEED2 : 32|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x17C POWERTRAIN_DATA2: 8 PCM
+BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ PEDAL_GAS : 0|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s"  NEO
- SG_ GAS_PRESSED : 32|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg"  NEO
- SG_ ACC_STATUS : 33|1@1+ (1,0) [0|1] "rpm" Vector__XXX
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg"  NEO
- SG_ BOH_17C : 34|5@1+ (1,0) [0|1] "rpm" Vector__XXX          
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ BRAKE_LIGHTS_ON : 39|1@1+ (1,0) [0|1] "rpm" Vector__XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
- SG_ BOH2_17C : 40|10@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BRAKE_PRESSED : 50|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH3_17C : 51|5@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x18F STEER_STATUS: 7 EPS
+BO_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ STEER_TORQUE_SENSOR : 0|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ STEER_TORQUE_MOTOR : 16|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ STEER_STATUS : 32|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ STEER_CONTROL_ACTIVE : 36|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x191 GEARBOX: 8 PCM                                     
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
- SG_ GEAR_SHIFTER : 2|6@1+ (1,0) [0|63] "" Vector__XXX
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ GEAR : 36|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ 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_LIGHTS_ON : 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_ 0x1A4 VSA_STATUS: 8 VSA
+BO_ 399 STEER_STATUS: 7 EPS
- SG_ USER_BRAKE : 0|16@1+ (0.015625,-103) [0|1000] "" Vector__XXX
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
- SG_ ESP_DISABLED : 27|1@1+ (1,0) [0|1] "" Vector__XXX          
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ 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_ 0x1AB XXX: 3 VSA
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  NEO
+ SG_ GEAR : 35|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_ 0x1AC XXX: 8 XXX
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ ESP_DISABLED : 28|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_ 0x1B0 STANDSTILL: 7 VSA
+BO_ 427 XXX_3: 3 VSA
- SG_ WHEELS_MOVING : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_1 : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_2 : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x1C2 XXX: 8 EPB
+BO_ 428 XXX_4: 8 XXX
- SG_ EPB_ACTIVE : 4|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ EPB_STATE : 26|2@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x1D0 WHEEL_SPEEDS: 8 VSA
+BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEEL_SPEED_FL : 0|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
- SG_ WHEEL_SPEED_FR : 15|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ WHEEL_SPEED_RL : 30|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ WHEEL_SPEED_RR : 45|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x1D6 XXX: 2 VSA
+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
 
-BO_ 0x1DC XXX: 7 XXX
+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_ 0x1E7 XXX: 4 VSA
+BO_ 470 XXX_6: 2 VSA
- SG_ BRAKE_PRESSURE1 : 0|10@1+ (0.015625,-103) [0|1000] "" Vector__XXX
- SG_ BRAKE_PRESSURE2 : 14|10@1+ (0.015625,-103) [0|1000] "" Vector__XXX
 
-BO_ 0x1EA VEHICLE_DYNAMICS: 8 VSA
+BO_ 476 XXX_7: 7 XXX
- SG_ LONG_ACCEL : 16|16@1- (0.0015384,0) [-20|20] "m/s2" Vector__XXX
 
-BO_ 0x1ED XXX: 5 VSA
+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
 
-BO_ 0x1FA BRAKE_COMMAND: 8 ADAS
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ COMPUTER_BRAKE : 0|10@1+ (0.003906248,0) [0|1.0] "" Vector__XXX
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
- SG_ ZEROS_BOH : 10|5@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH2 : 16|3@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_OVERRIDE : 19|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH3 : 20|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_FAULT_CMD : 21|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_CANCEL_CMD : 22|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST_2 : 23|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_0X80 : 24|8@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_LIGHTS : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_STATES : 33|7@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CHIME : 40|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ ZEROS_BOH6 : 43|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCW : 44|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ ZEROS_BOH3 : 45|2@1+ (1,0) [0|0] "" Vector__XXX
- SG_ FCW2 : 47|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ZEROS_BOH4 : 48|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x200 GAS_COMMAND: 3 ADAS
+BO_ 493 XXX_9: 5 VSA
- SG_ GAS_COMMAND : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ COUNTER : 18|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 20|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x201 GAS_SENSOR: 5 ADAS
+BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ INTERCEPTOR_GAS : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
- SG_ INTERCEPTOR_GAS2 : 16|16@1+ (0.126992032,-656) [0|1] "" Vector__XXX
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
+ 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_ COMPUTER_BRAKE_REQUEST_2 : 16|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_ ZEROS_BOH4 : 55|8@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_ 0x221 XXX: 6 XXX
+BO_ 512 GAS_COMMAND: 3 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
 
-BO_ 0x255 ROUGH_WHEEL_SPEED: 8 VSA
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
- SG_ WHEEL_SPEED_FL : 0|8@1+ (1,0) [0|255] "mph" Vector__XXX
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
- SG_ WHEEL_SPEED_FR : 8|8@1+ (1,0) [0|255] "mph" Vector__XXX
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
- SG_ WHEEL_SPEED_RL : 16|8@1+ (1,0) [0|255] "mph" Vector__XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
- SG_ WHEEL_SPEED_RR : 24|8@1+ (1,0) [0|255] "mph" Vector__XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
- SG_ SET_TO_X55 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ SET_TO_X55 : 40|8@1+ (1,0) [0|255] "" Vector__XXX
 
-BO_ 0x296 CRUISE_BUTTONS: 4 SCM
+BO_ 545 XXX_10: 6 XXX
- SG_ CRUISE_BUTTONS : 0|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ CRUISE_SETTING : 4|2@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x305 SEATBELT_STATUS: 7 BDY
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ SEATBELT_DRIVER_LAMP : 0|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ SEATBELT_DRIVER_LATCHED : 10|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
 
-BO_ 0x309 XXX: 8 XXX
+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
 
-BO_ 0x30C ACC_HUD: 8 ADAS
+BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ PCM_SPEED : 0|16@1+ (0.002763889,0) [0|100] "m/s" Vector__XXX
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
- SG_ PCM_GAS : 16|7@1+ (1,0) [0|127] "" Vector__XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
- SG_ ZEROS_BOH : 23|1@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CRUISE_SPEED : 24|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
- SG_ DTC_MODE : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_PROBLEM : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_OFF : 35|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH_2 : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_PROBLEM : 37|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ RADAR_OBSTRUCTED : 38|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ENABLE_MINI_CAR : 39|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ HUD_DISTANCE : 40|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ HUD_LEAD : 42|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_3 : 44|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_4 : 45|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_5 : 46|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CRUISE_CONTROL_LABEL : 47|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x31B XXX: 8 XXX
+BO_ 777 XXX_11: 8 XXX
 
-BO_ 0x320 XXX: 8 XXX
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [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_ 0x324 CRUISE: 8 PCM
+BO_ 795 XXX_12: 8 XXX
- SG_ ENGINE_TEMPERATURE : 0|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ BOH : 8|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ TRIP_FUEL_CONSUMED : 16|16@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ CRUISE_SPEED_PCM : 32|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ BOH2 : 40|8@1- (1,0) [0|255] "" Vector__XXX 
- SG_ BOH3 : 48|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x326 SCM_FEEDBACK: 8 SCM                  
+BO_ 800 XXX_13: 8 XXX
- SG_ CMBS_BUTTON : 17|2@1+ (1,0) [0|3] "" Vector__XXX 
- SG_ MAIN_ON : 27|1@1+ (1,0) [0|1] "" Vector__XXX 
- SG_ RIGHT_BLINKER : 28|1@1+ (1,0) [0|1] "" Vector__XXX 
- SG_ LEFT_BLINKER : 29|1@1+ (1,0) [0|1] "" Vector__XXX 
- 
 
-BO_ 0x328 XXX: 8 XXX
+BO_ 804 CRUISE: 8 PCM
+ SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] ""  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_ 0x33D LKAS_HUD_2: 5 ADAS
+BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ CAM_TEMP_HIGH : 0|1@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] ""  NEO
- SG_ BOH : 1|7@1+ (1,0) [0|127] "" Vector__XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] ""  NEO
- SG_ DASHED_LANES : 9|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] ""  NEO
- SG_ DTC : 10|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] ""  NEO
- SG_ LKAS_PROBLEM : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LKAS_OFF : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SOLID_LANES : 13|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_RIGHT : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ STEERING_REQUIRED : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 16|2@1+ (1,0) [0|4] "" Vector__XXX
- SG_ LDW_PROBLEM : 18|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BEEP : 22|2@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_ON : 27|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_OFF : 28|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CLEAN_WINDSHIELD : 29|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X48 : 24|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x35E XXX: 8 ADAS
+BO_ 808 XXX_14: 8 XXX
- SG_ UI_ALERTS : 0|56@1+ (1,0) [0|127] "" Vector__XXX
 
-BO_ 0x374 XXX: 8 XXX
+BO_ 829 LKAS_HUD_2: 5 ADAS
-BO_ 0x37B XXX: 8 XXX
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
-BO_ 0x37C XXX: 8 XXX
+ SG_ BOH : 6|7@0+ (1,0) [0|127] ""  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_ BOH : 23|2@0+ (1,0) [0|4] ""  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_ 0x39F XXX: 8 ADAS
+BO_ 862 XXX_15: 8 ADAS
- SG_ ZEROS_BOH : 0|17@1+ (1,0) [0|127] "" Vector__XXX
+ SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] ""  BDY
- SG_ APPLY_BRAKES_FOR_CANC : 16|1@1+ (1,0) [0|15] "" Vector__XXX
- SG_ ZEROS_BOH2 : 17|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ RESUME_INSTRUCTION : 18|1@1+ (1,0) [0|15] "" Vector__XXX
- SG_ ACC_ALERTS : 19|5@1+ (1,0) [0|15] "" Vector__XXX
- SG_ ZEROS_BOH2 : 24|8@1+ (1,0) [0|127] "" Vector__XXX
- SG_ LEAD_SPEED : 32|9@1+ (1,0) [0|127] "" Vector__XXX
- SG_ LEAD_STATE : 41|3@1+ (1,0) [0|127] "" Vector__XXX
- SG_ LEAD_DISTANCE : 44|5@1+ (1,0) [0|31] "" Vector__XXX
- SG_ ZEROS_BOH3 : 49|7@1+ (1,0) [0|127] "" Vector__XXX
 
-BO_ 0x3A1 XXX: 8 XXX
+BO_ 884 XXX_16: 8 XXX
-BO_ 0x3D9 XXX: 3 XXX
-BO_ 0x400 XXX: 5 XXX
-BO_ 0x403 XXX: 5 XXX
 
-BO_ 0x405 DOORS_STATUS: 8 BDY
+BO_ 891 XXX_17: 8 XXX
- SG_ DOOR_OPEN_FL : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DOOR_OPEN_RL : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DOOR_OPEN_RR : 47|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x40C XXX: 8 XXX
+BO_ 892 XXX_18: 8 XXX
-BO_ 0x40F XXX: 8 XXX
-BO_ 0x454 XXX: 8 XXX
-BO_ 0x516 XXX: 8 XXX
-BO_ 0x52A XXX: 5 XXX
-BO_ 0x551 XXX: 5 XXX
-BO_ 0x555 XXX: 5 XXX
-BO_ 0x590 XXX: 5 XXX
-BO_ 0x640 XXX: 5 XXX
-BO_ 0x641 XXX: 8 XXX
-BO_ 0x661 XXX: 8 XXX
 
-VAL_ 0x296 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none";
+BO_ 927 XXX_19: 8 ADAS
-VAL_ 0x296 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none";
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x33D HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] ""  BDY
-VAL_ 0x1A6 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights";
+ SG_ ZEROS_BOH2 : 22|1@0+ (1,0) [0|1] ""  BDY
-VAL_ 0x18F STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal";
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] ""  BDY
-VAL_ 0x191 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] ""  BDY
-VAL_ 0x33D BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x1FA CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x1C2 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged";
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x326 CMBS_BUTTON 3 "pressed" 0 "released";
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] ""  BDY
-VAL_ 0x39F 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";
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x30C CRUISE_SPEED 255 "no_speed" 252 "stopped";
+
+BO_ 929 XXX_20: 8 XXX
+
+BO_ 985 XXX_21: 3 XXX
+
+BO_ 1024 XXX_22: 5 XXX
+
+BO_ 1027 XXX_23: 5 XXX
+
+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_ 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
+
+BO_ 1039 XXX_25: 8 XXX
+
+BO_ 1108 XXX_26: 8 XXX
+
+BO_ 1302 XXX_27: 8 XXX
+
+BO_ 1322 XXX_28: 5 XXX
+
+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
+
+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_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+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_ 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_ 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_ SG_ 0x1A3 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 0x324 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 0x30C CRUISE_SPEED "255 = no speed";
-CM_ SG_ 0x1EA LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 0x33D BEEP "beeps are pleasant, chimes are for warnngs etc...";

installation/files/continue.sh

@@ -3,21 +3,18 @@
 # enable wifi access point for debugging only!
 #service call wifi 37 i32 0 i32 1 # WifiService.setWifiApEnabled(null, true)
 
-# use the openpilot ro key
-export GIT_SSH_COMMAND="ssh -i /data/data/com.termux/files/id_rsa_openpilot_ro"
-
 # check out the openpilot repo
 if [ ! -d /data/openpilot ]; then
   cd /tmp
-  git clone git@github.com:commaai/openpilot.git -b release
+  git clone https://github.com/commaai/openpilot.git -b release
   mv /tmp/openpilot /data/openpilot
 fi
 
 # enter openpilot directory
 cd /data/openpilot
 
-# removed automatic update from openpilot
+# automatic update
-#git pull
+git pull
 
 # start manager
 cd selfdrive

installation/files/id_rsa_openpilot_ro

@@ -1,27 +0,0 @@
------BEGIN RSA PRIVATE KEY-----
-MIIEpAIBAAKCAQEAy/ZlYE/iHHjhbSvCnBm5Zsq5GPpVugLXFHai/doqyfRxErop
-/g1TIRhzK3mkHRYRN7H0L9whogwoIVr5CldoxU49FDnNbVHNimScNrL4LprRWjq6
-dRmCVoxMpLHZTyX1jIkcHsMr7klcUnssyeQO2pWvZv0ZC67wM7G20r7+ZLdEa0Ck
-MBh8JYhDaZx2xvYtTnt6vKMmFVE5+zW/+wDVma3a4r9pG9s0+r0wCl8CUuJ+yDhR
-mzNkPJ5mJCMx99AI6k4Gq9Vsng8/35b6Azh3TucPaXOLK7yPnL3YBKUa0PpR7IRH
-+OKkVCH+LL7tcPFSqPPVy/pUTBdEUROjJdSHxwIDAQABAoIBAQCxBgUM56h3T89Q
-AoghFg6dkdu/Ox8GmAp231UuAJncuMUfHObvcj8xXVgwZp4zBIEjFte6ZlPmoqh9
-8sht2lm7zeEjWdvbQwGjWRlgPEs9n++OYaSNl/tRBOpMk3Ppxydst1/prznE0nVH
-vVKtU7w0qXAYchm30zj1lQv5s/12CTGmnpQatbo5X488RfCfv2zFX1h+lEWF8ycL
-eZRi8z6l8h2Y+JLyEwPCmR+gR6XtosZ/ECQcTknavqLqdr7NbYYfOo3JfHCUtpJa
-8s7m0VFhMuxFFCl1sV0eMzAynJYNVz45DyaKpr2b/2YAGY8fn96FxaWv1xw1xTkK
-c5+wStwJAoGBAOjQpLZ1qGa4GwXzeHoDsGFpGgY9ug6af0M23c8O42fJHAwYkk7r
-Qeo4SSBddoSfo3jdchFLo59+m3qyTKpjkph7NBBCEwaCvX3heStDIMZEWX0IOV5y
-iJD/D6EXSqFmXCUUaudX2OxlaHguA0yOEx9s/5uUJrvaIHbBAOpYyar1AoGBAOBG
-MJp+EA3e1Zx/VszD2Tdxn8V0DAwvy9WIEqZuG689S/Sk5GnA4m2L8Txv0xAHFvLv
-JpF7Zn9AoFXGpjf9P0FF53cpjEYn9f+uK84j1HOL/6R7Nj9rcS5yL2PCP1ZHymw6
-xOXl3oZa1YtYE6jfvXUaOb8Z7y8gaStP763sXmpLAoGBAM1WSBANUcvXES58gIPN
-ASHJGwTqKFF8/kV//L4EuZjuDWi1u0UTxX0Yy5ZaGI/8ZKfTWCnc9qFTfzoGTAvz
-6nXGJDM6s6EIaqy90qrPd/amje7y8/ZTOhP4ggZojpAvwZGKoocMOey1vCBTJOG+
-ZStQbVkAn/EK/5r9uxr12FiJAoGAH9UWlPcLpExamWnhkhLCRAJWoRoFk708+0Pj
-EchTGZ5jp4e3++KqwM26Ic/lb0LyWOzk1oVjWPB9UW9urEe/sK4RWnKFPHfzjKTW
-Bt5DC1t1n4z1eC7x05vVah1qC/8IljAJPnBQE1XVNX/82l1XcMWWKK+vqUq6YrFn
-3ZHNHN0CgYA3uUVWqW37vfJuk0MJBkQSqMo5Y5TPlCt4b1ebkdhlM4v/N+iuiPiC
-PBhjP1MLeudkJvzllt4YvNWLerCKpMWuw7Zvy5uzFEsqOrVlzfnyWqqqYbYjHe9f
-Ef0/yXKuGJajs54Ts6Xrm0+elVUu//pEuf6NI96Ehctqz8/BqGqAtw==
------END RSA PRIVATE KEY-----

installation/install.sh

@@ -1,10 +1,6 @@
 #!/bin/bash
 set -e
 
-# move files into place
-adb push files/id_rsa_openpilot_ro /tmp/id_rsa_openpilot_ro
-adb shell mv /tmp/id_rsa_openpilot_ro /data/data/com.termux/files/
-
 # moving continue into place runs the continue script
 adb push files/continue.sh /tmp/continue.sh
 adb shell mv /tmp/continue.sh /data/data/com.termux/files/

requirements_openpilot.txt

@@ -1,7 +1,6 @@
 Cython==0.24.1
 bitstring==3.1.5
 fastcluster==1.1.21
-h5py==2.6.0
 libusb1==1.5.0
 pycapnp==0.5.9
 pyzmq==15.4.0

selfdrive/boardd/boardd.cc

@@ -36,7 +36,7 @@ bool spoofing_started = false;
 
 #define DEBUG_BOARDD
 #ifdef DEBUG_BOARDD
-#define DPRINTF(fmt, ...) printf("boardd: " fmt, ## __VA_ARGS__)
+#define DPRINTF(fmt, ...) printf("boardd(%lu): " fmt, time(NULL), ## __VA_ARGS__)
 #else
 #define DPRINTF(fmt, ...)
 #endif
@@ -129,6 +129,7 @@ void can_health(void *s) {
     uint8_t started;
     uint8_t controls_allowed;
     uint8_t gas_interceptor_detected;
+    uint8_t started_signal_detected;
   } health;
 
   // recv from board
@@ -157,6 +158,7 @@ void can_health(void *s) {
   }
   healthData.setControlsAllowed(health.controls_allowed);
   healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
+  healthData.setStartedSignalDetected(health.started_signal_detected);
 
   // send to health
   auto words = capnp::messageToFlatArray(msg);
@@ -274,16 +276,16 @@ int set_realtime_priority(int level) {
   struct sched_param sa;
   memset(&sa, 0, sizeof(sa));
   sa.sched_priority = level;
-  return sched_setscheduler(gettid(), SCHED_FIFO, &sa);
+  return sched_setscheduler(getpid(), SCHED_FIFO, &sa);
 }
 
 int main() {
   int err;
-  printf("boardd: starting boardd\n");
+  DPRINTF("starting boardd\n");
 
   // set process priority
   err = set_realtime_priority(4);
-  printf("boardd: setpriority returns %d\n", err);
+  DPRINTF("setpriority returns %d\n", err);
 
   // check the environment
   if (getenv("STARTED")) {

selfdrive/boardd/boardd.py

@@ -109,7 +109,7 @@ def boardd_mock_loop():
 
   while 1:
     tsc = messaging.drain_sock(logcan, wait_for_one=True)
-    snds = map(can_capnp_to_can_list, tsc)
+    snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
     snd = []
     for s in snds:
       snd += s
@@ -162,7 +162,7 @@ def boardd_loop(rate=200):
     # send can if we have a packet
     tsc = messaging.recv_sock(sendcan)
     if tsc is not None:
-      can_send_many(can_capnp_to_can_list(tsc))
+      can_send_many(can_capnp_to_can_list(tsc.sendcan))
 
     rk.keep_time()
 

selfdrive/car/honda/can_parser.py

@@ -74,7 +74,7 @@ class CANParser(object):
           msg_vl = fix(ck_portion, msg)
           # compare recalculated vs received checksum
           if msg_vl != cdat:
-            print hex(msg), "CHECKSUM FAIL"
+            print "CHECKSUM FAIL: " + hex(msg)
             self.ck[msg] = False
             self.ok[msg] = False
         # counter check
@@ -89,6 +89,7 @@ class CANParser(object):
           self.cn_vl[msg] -= 1   # counter check passed
         # message status is invalid if we received too many wrong counter values
         if self.cn_vl[msg] >= cn_vl_max:
+          print "COUNTER WRONG: " + hex(msg)
           self.ok[msg] = False
 
         # update msg time stamps and counter value

selfdrive/common/version.h

@@ -0,0 +1 @@
+const char *openpilot_version = "0.2.2";

selfdrive/controls/controlsd.py

@@ -11,6 +11,7 @@ from common.numpy_fast import clip
 from selfdrive.config import Conversions as CV
 from common.services import service_list
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
+from common.profiler import Profiler
 
 from selfdrive.controls.lib.drive_helpers import learn_angle_offset
 
@@ -72,16 +73,23 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
   soft_disable_timer = None
 
+  # Is cpu temp too high to enable?
+  overtemp = False
+  free_space = 1.0
+
   # start the loop
   set_realtime_priority(2)
 
   rk = Ratekeeper(rate, print_delay_threshold=2./1000)
   while 1:
+    prof = Profiler()
     cur_time = sec_since_boot()
 
     # read CAN
     CS = CI.update()
 
+    prof.checkpoint("CarInterface")
+
     # did it request to enable?
     enable_request, enable_condition = False, False
 
@@ -120,12 +128,14 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
 
       if not enabled and b.type in ["accelCruise", "decelCruise"] and not b.pressed:
-        enable_request = True 
+        enable_request = True
 
       # do disable on button down
       if b.type == "cancel" and b.pressed:
         AM.add("disable", enabled)
 
+    prof.checkpoint("Buttons")
+
     # *** health checking logic ***
     hh = messaging.recv_sock(health)
     if hh is not None:
@@ -138,11 +148,15 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     # thermal data, checked every second
     td = messaging.recv_sock(thermal)
     if td is not None:
-      cpu_temps = [td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
+      # Check temperature.
-                   td.thermal.cpu3, td.thermal.mem, td.thermal.gpu]
+      overtemp = any(
-      # check overtemp
+          t > 950
-      if any(t > 950 for t in cpu_temps):
+          for t in (td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
-        AM.add("overheat", enabled)
+                    td.thermal.cpu3, td.thermal.mem, td.thermal.gpu))
+      # under 15% of space free
+      free_space = td.thermal.freeSpace
+
+    prof.checkpoint("Health")
 
     # *** getting model logic ***
     PP.update(cur_time, CS.vEgo)
@@ -165,6 +179,11 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         print "enabled pressed at", cur_time
         last_enable_request = cur_time
 
+      # don't engage with less than 15% free
+      if free_space < 0.15:
+        AM.add("outOfSpace", enabled)
+        enable_request = False
+
     if VP.brake_only:
       enable_condition = ((cur_time - last_enable_request) < 0.2) and CS.cruiseState.enabled
     else:
@@ -181,6 +200,11 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
       if PP.dead:
         AM.add("modelCommIssue", enabled)
 
+      if overtemp:
+        AM.add("overheat", enabled)
+
+    prof.checkpoint("Model")
+
     if enable_condition and not enabled and not AM.alertPresent():
       print "*** enabling controls"
 
@@ -207,12 +231,16 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     # *** put the adaptive in adaptive cruise control ***
     AC.update(cur_time, CS.vEgo, CS.steeringAngle, LoC.v_pid, awareness_status, VP)
 
+    prof.checkpoint("AdaptiveCruise")
+
     # *** gas/brake PID loop ***
     final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph, AC.v_target_lead, AC.a_target, AC.jerk_factor, VP)
 
     # *** steering PID loop ***
     final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, PP.d_poly, angle_offset, VP)
 
+    prof.checkpoint("PID")
+
     # ***** handle alerts ****
     # send a "steering required alert" if saturation count has reached the limit
     if sat_flag:
@@ -232,7 +260,6 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         soft_disable_timer -= 1
     else:
       soft_disable_timer = None
-      
 
     # *** push the alerts to current ***
     alert_text_1, alert_text_2, visual_alert, audible_alert = AM.process_alerts(cur_time)
@@ -263,6 +290,8 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     if not CI.apply(CC):
       AM.add("controlsFailed", enabled)
 
+    prof.checkpoint("CarControl")
+
     # ***** publish state to logger *****
 
     # publish controls state at 100Hz
@@ -311,12 +340,14 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
     live100.send(dat.to_bytes())
 
+    prof.checkpoint("Live100")
+
     # *** run loop at fixed rate ***
-    rk.keep_time()
+    if rk.keep_time():
+      prof.display()
 
 def main(gctx=None):
   controlsd_thread(gctx, 100)
 
 if __name__ == "__main__":
   main()
-

selfdrive/controls/lib/alertmanager.py

@@ -54,7 +54,9 @@ class AlertManager(object):
     "doorOpen":           alert("Take Control Immediately","Door Open",            ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
     "seatbeltNotLatched": alert("Take Control Immediately","Seatbelt Unlatched",   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
     "espDisabled":        alert("Take Control Immediately","ESP Off",              ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",      ET.NO_ENTRY,     None, None, .4, 0., 3.),
+    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",             ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "outOfSpace":         alert("Comma Unavailable","Out of Space",                ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "ethicalDilemma":     alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
   }
   def __init__(self):
     self.activealerts = []

selfdrive/controls/lib/pathplanner.py

@@ -3,10 +3,17 @@ import numpy as np
 
 from common.numpy_fast import interp
 import selfdrive.messaging as messaging
-X_PATH = np.arange(0.0, 50.0)
 
-def model_polyfit(points):
+
-  return np.polyfit(X_PATH, map(float, points), 3)
+def compute_path_pinv():
+  deg = 3
+  x = np.arange(50.0)
+  X = np.vstack(tuple(x**n for n in range(deg, -1, -1))).T
+  pinv = np.linalg.pinv(X)
+  return pinv
+
+def model_polyfit(points, path_pinv):
+  return np.dot(path_pinv, map(float, points))
 
 # lane width http://safety.fhwa.dot.gov/geometric/pubs/mitigationstrategies/chapter3/3_lanewidth.cfm
 _LANE_WIDTH_V = [3., 3.8]
@@ -40,24 +47,26 @@ class PathPlanner(object):
     self.last_model = 0.
     self.logMonoTime = 0
     self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
+    self._path_pinv = compute_path_pinv()
 
   def update(self, cur_time, v_ego):
     md = messaging.recv_sock(self.model)
 
     if md is not None:
       self.logMonoTime = md.logMonoTime
-      p_poly = model_polyfit(md.model.path.points)       # predicted path
+      p_poly = model_polyfit(md.model.path.points, self._path_pinv)       # predicted path
-      p_prob = 1.                                        # model does not tell this probability yet, so set to 1 for now
+      l_poly = model_polyfit(md.model.leftLane.points, self._path_pinv)   # left line
-      l_poly = model_polyfit(md.model.leftLane.points)   # left line
+      r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv)  # right line
-      l_prob = md.model.leftLane.prob                    # left line prob
+
-      r_poly = model_polyfit(md.model.rightLane.points)  # right line
+      p_prob = 1.                       # model does not tell this probability yet, so set to 1 for now
-      r_prob = md.model.rightLane.prob                   # right line prob
+      l_prob = md.model.leftLane.prob   # left line prob
+      r_prob = md.model.rightLane.prob  # right line prob
 
       self.lead_dist = md.model.lead.dist
       self.lead_prob = md.model.lead.prob
       self.lead_var = md.model.lead.std**2
 
-      #*** compute target path ***
+      # compute target path
       self.d_poly, _, _ = calc_desired_path(l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, v_ego)
 
       self.last_model = cur_time

selfdrive/debug/dump.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python
+import sys
+import argparse
+import zmq
+from hexdump import hexdump
+
+import selfdrive.messaging as messaging
+from common.services import service_list
+
+if __name__ == "__main__":
+  context = zmq.Context()
+  poller = zmq.Poller()
+
+  parser = argparse.ArgumentParser(description='Sniff a communcation socket')
+  parser.add_argument('--raw', action='store_true')
+  parser.add_argument("socket", type=str,
+                      help="socket name")
+  args = parser.parse_args()
+
+  messaging.sub_sock(context, service_list[args.socket].port, poller)
+
+  while 1:
+    polld = poller.poll(timeout=1000)
+    for sock, mode in polld:
+      if mode != zmq.POLLIN:
+        continue
+      if args.raw:
+        hexdump(sock.recv())
+      else:
+        print messaging.recv_sock(sock)
+

selfdrive/loggerd/config.py

@@ -1,8 +1,8 @@
 import os
 
 # fetch from environment
-DONGLE_ID = os.getenv("DONGLE_ID")
+def get_dongle_id_and_secret():
-DONGLE_SECRET = os.getenv("DONGLE_SECRET")
+  return os.getenv("DONGLE_ID"), os.getenv("DONGLE_SECRET") 
 
 ROOT = '/sdcard/realdata/'
 

selfdrive/loggerd/loggerd.py

@@ -75,10 +75,17 @@ def main(gctx=None):
         rotate_msg = messaging.log.LogRotate.new_message()
         rotate_msg.segmentNum = cur_part
         rotate_msg.path = cur_dir
-
         vision_control_sock.send(rotate_msg.to_bytes())
-
   finally:
+    cloudlog.info("loggerd exiting...")
+
+    # tell visiond to stop logging
+    rotate_msg = messaging.log.LogRotate.new_message()
+    rotate_msg.segmentNum = -1
+    rotate_msg.path = "/dev/null"
+    vision_control_sock.send(rotate_msg.to_bytes())
+
+    # stop logging
     logger.stop()
 
 if __name__ == "__main__":

selfdrive/loggerd/uploader.py

@@ -10,7 +10,7 @@ import traceback
 import threading
 
 from selfdrive.swaglog import cloudlog
-from selfdrive.loggerd.config import DONGLE_ID, DONGLE_SECRET, ROOT
+from selfdrive.loggerd.config import get_dongle_id_and_secret, ROOT
 
 from common.api import api_get
 
@@ -205,7 +205,13 @@ class Uploader(object):
 def uploader_fn(exit_event):
   cloudlog.info("uploader_fn")
 
-  uploader = Uploader(DONGLE_ID, DONGLE_SECRET, ROOT)
+  dongle_id, dongle_secret = get_dongle_id_and_secret()
+
+  if dongle_id is None or dongle_secret is None:
+    cloudlog.info("uploader MISSING DONGLE_ID or DONGLE_SECRET")
+    raise Exception("uploader can't start without dongle id and secret")
+
+  uploader = Uploader(dongle_id, dongle_secret, ROOT)
 
   while True:
     backoff = 0.1

selfdrive/manager.py

@@ -21,6 +21,8 @@ from selfdrive.registration import register
 
 import common.crash
 
+from selfdrive.loggerd.config import ROOT
+
 # comment out anything you don't want to run
 managed_processes = {
   "uploader": "selfdrive.loggerd.uploader",
@@ -49,10 +51,6 @@ car_started_processes = ['controlsd', 'loggerd', 'sensord', 'radard', 'calibrati
 # ****************** process management functions ******************
 def launcher(proc, gctx):
   try:
-    # unset the signals
-    signal.signal(signal.SIGINT, signal.SIG_DFL)
-    signal.signal(signal.SIGTERM, signal.SIG_DFL)
-
     # import the process
     mod = importlib.import_module(proc)
 
@@ -61,6 +59,8 @@ def launcher(proc, gctx):
 
     # exec the process
     mod.main(gctx)
+  except KeyboardInterrupt:
+    cloudlog.info("child %s got ctrl-c" % proc)
   except Exception:
     # can't install the crash handler becuase sys.excepthook doesn't play nice
     # with threads, so catch it here.
@@ -156,10 +156,6 @@ def manager_init():
     }
   }
 
-  # hook to kill all processes
-  signal.signal(signal.SIGINT, cleanup_all_processes)
-  signal.signal(signal.SIGTERM, cleanup_all_processes)
-
 def manager_thread():
   # now loop
   context = zmq.Context()
@@ -188,6 +184,8 @@ def manager_thread():
     for p in car_started_processes:
       start_managed_process(p)
 
+  logger_dead = False
+
   while 1:
     # get health of board, log this in "thermal"
     td = messaging.recv_sock(health_sock, wait=True)
@@ -195,6 +193,13 @@ def manager_thread():
 
     # replace thermald
     msg = read_thermal()
+
+    # loggerd is gated based on free space
+    statvfs = os.statvfs(ROOT)
+    avail = (statvfs.f_bavail * 1.0)/statvfs.f_blocks
+
+    # thermal message now also includes free space
+    msg.thermal.freeSpace = avail
     thermal_sock.send(msg.to_bytes())
     print msg
 
@@ -209,18 +214,26 @@ def manager_thread():
     elif max_temp < 70.0:
       start_managed_process("uploader")
 
+    if avail < 0.05:
+      logger_dead = True
+
     # start constellation of processes when the car starts
     if not os.getenv("STARTALL"):
-      if td.health.started:
+      # with 2% left, we killall, otherwise the phone is bricked
+      if td.health.started and avail > 0.02:
         for p in car_started_processes:
-          start_managed_process(p)
+          if p == "loggerd" and logger_dead:
+            kill_managed_process(p)
+          else:
+            start_managed_process(p)
       else:
+        logger_dead = False
         for p in car_started_processes:
           kill_managed_process(p)
 
     # check the status of all processes, did any of them die?
     for p in running:
-      cloudlog.info("   running %s %s" % (p, running[p]))
+      cloudlog.debug("   running %s %s" % (p, running[p]))
 
 
 # optional, build the c++ binaries and preimport the python for speed

selfdrive/ui/ui.c

@@ -25,6 +25,8 @@
 #include "common/visionipc.h"
 #include "common/modeldata.h"
 
+#include "common/version.h"
+
 #include "cereal/gen/c/log.capnp.h"
 
 #include "touch.h"
@@ -95,7 +97,6 @@ typedef struct UIState {
 
   // base ui
   uint64_t last_base_update;
-  uint64_t last_rx_bytes;
   uint64_t last_tx_bytes;
   char serial[4096];
   const char* dongle_id;
@@ -861,6 +862,11 @@ static void ui_draw_vision(UIState *s) {
   }
 }
 
+static void ui_draw_blank(UIState *s) {
+  glClearColor(0.1, 0.1, 0.1, 1.0);
+  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+}
+
 static void ui_draw_base(UIState *s) {
   glClearColor(0.1, 0.1, 0.1, 1.0);
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
@@ -910,8 +916,10 @@ static void ui_draw(UIState *s) {
 
   if (s->vision_connected) {
     ui_draw_vision(s);
-  } else {
+  } else if (s->awake) {
     ui_draw_base(s);
+  } else {
+    ui_draw_blank(s);
   }
 
   eglSwapBuffers(s->display, s->surface);
@@ -987,9 +995,20 @@ static int pending_uploads() {
   int cnt = 0;
   struct dirent *entry = NULL;
   while ((entry = readdir(dirp))) {
-    if (entry->d_name[0] != '.') {
+    if (entry->d_name[0] == '.') continue;
+
+    char subdirn[255];
+    snprintf(subdirn, 255, "/sdcard/realdata/%s", entry->d_name);
+    DIR *subdirp = opendir(subdirn);
+    if (!subdirp) continue;
+
+    struct dirent *subentry = NULL;
+    while ((subentry = readdir(subdirp))) {
+      if (subentry->d_name[0] == '.') continue;
+      //snprintf(subdirn, 255, "/sdcard/realdata/%s/%s", entry->d_name, subentry->d_name);
       cnt++;
     }
+    closedir(subdirp);
   }
   closedir(dirp);
   return cnt;
@@ -1206,20 +1225,19 @@ static void ui_update(UIState *s) {
     char* bat_stat = read_file("/sys/class/power_supply/battery/status");
 
     int tx_rate = 0;
-    int rx_rate = 0;
+    uint64_t tx_bytes_n = 0;
-    char* rx_bytes = read_file("/sys/class/net/rmnet_data0/statistics/rx_bytes");
+    char *tx_bytes;
-    char* tx_bytes = read_file("/sys/class/net/rmnet_data0/statistics/tx_bytes");
-    if (rx_bytes && tx_bytes) {
-      uint64_t rx_bytes_n = atoll(rx_bytes);
-      rx_rate = rx_bytes_n - s->last_rx_bytes;
-      s->last_rx_bytes = rx_bytes_n;
 
-      uint64_t tx_bytes_n = atoll(tx_bytes);
+    // cellular bytes
-      tx_rate = tx_bytes_n - s->last_tx_bytes;
+    tx_bytes = read_file("/sys/class/net/rmnet_data0/statistics/tx_bytes");
-      s->last_tx_bytes = tx_bytes_n;
+    if (tx_bytes) { tx_bytes_n += atoll(tx_bytes); free(tx_bytes); }
-    }
+
-    if (rx_bytes) free(rx_bytes);
+    // wifi bytes
-    if (tx_bytes) free(tx_bytes);
+    tx_bytes = read_file("/sys/class/net/wlan0/statistics/tx_bytes");
+    if (tx_bytes) { tx_bytes_n += atoll(tx_bytes); free(tx_bytes); }
+
+    tx_rate = tx_bytes_n - s->last_tx_bytes;
+    s->last_tx_bytes = tx_bytes_n;
 
     // TODO: do this properly
     system("git rev-parse --abbrev-ref HEAD > /tmp/git_branch");
@@ -1240,10 +1258,10 @@ static void ui_update(UIState *s) {
     s->board_connected = !system("lsusb | grep bbaa > /dev/null");
 
     snprintf(s->base_text, sizeof(s->base_text),
-             "version: %s (%s)\nserial: %s\n dongle id: %s\n battery: %s %s\npending: %d\nrx %.1fkiB/s tx %.1fkiB/s\nboard: %s",
+             "version: v%s %s (%s)\nserial: %s\n dongle id: %s\n battery: %s %s\npending: %d -> %.1f kb/s\nboard: %s",
-             git_commit, git_branch,
+             openpilot_version, git_commit, git_branch,
              s->serial, s->dongle_id, bat_cap ? bat_cap : "(null)", bat_stat ? bat_stat : "(null)",
-             pending, rx_rate / 1024.0, tx_rate / 1024.0, s->board_connected ? "found" : "NOT FOUND");
+             pending, tx_rate / 1024.0, s->board_connected ? "found" : "NOT FOUND");
 
     if (bat_cap) free(bat_cap);
     if (bat_stat) free(bat_stat);