openpilot v0.5.1 release (#315)

Merge commit '2cfdc676101c387524246f789c8429647069b827' into release2

.gitignore

@@ -2,6 +2,7 @@
 .tags
 .ipynb_checkpoints
 .idea
+.sconsign.dblite
 model2.png
 a.out
 
@@ -19,6 +20,8 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+lane.cpp
+loc*.cpp
 config.json
 clcache
 
@@ -27,6 +30,7 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
+selfdrive/test/tests/plant/out
 /src/
 
 one

README.md

@@ -1,101 +1,102 @@
+[![](https://i.imgur.com/VlKV6V8.png)](#)
+
 Welcome to openpilot
 ======
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.
-
-Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras and Toyotas. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras, Toyotas, and a Chevy. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
 
 The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
-Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
-
 Community
 ------
 
-openpilot is supported by [comma.ai](https://comma.ai/)
+openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
 
 We have a [Twitter you should follow](https://twitter.com/comma_ai).
 
 Also, we have a 3500+ person [community on slack](https://slack.comma.ai).
 
+<table>
+  <tr>
+    <td><a href="https://www.youtube.com/watch?v=9TDi0BHgXyo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
+  </tr>
+  <tr>
+    <td><a href="https://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
+  </tr>
+</table>
+
 Hardware
 ------
 
-Right now openpilot supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
+Right now openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). We'd like to support other platforms as well.
 
 Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
 Supported Cars
 ------
 
-### Honda + Acura ###
+| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
+| Acura         | ILX 2016                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura         | ILX 2017                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura         | RDX 2018                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| GM<sup>3</sup>| Volt 2017                 | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
+| GM<sup>3</sup>| Volt 2018                 | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
+| Honda         | Accord 2018               | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda         | Civic 2016                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda         | Civic 2017                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda         | Civic 2017 *(Hatch)*      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | Civic 2018                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda         | CR-V 2015                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | CR-V 2016                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | CR-V 2017                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | CR-V 2018                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | Odyssey 2017              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Odyssey 2018              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Pilot 2017                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Pilot 2018                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Ridgeline 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Ridgeline 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Lexus         | RX Hybrid 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus         | RX Hybrid 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Camry 2018<sup>4</sup>    | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
+| Toyota        | C-HR 2018<sup>4</sup>     | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota        | Corolla 2017              | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Corolla 2018              | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Prius 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius 2017                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius 2018                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius Prime 2017          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius Prime 2018          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Rav4 2016                 | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Rav4 2017                 | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Rav4 2018                 | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Rav4 Hybrid 2017          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Rav4 Hybrid 2018          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
 
-- Honda Accord 2018 with Honda Sensing (alpha!)
-  - Uses stock Honda Sensing for longitudinal control
 
-- Honda Civic 2016+ with Honda Sensing
-  - Due to limitations in steering firmware, steering is disabled below 12 mph
-  - Note that the hatchback model is not supported
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
+<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)  
+<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).  
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.  
 
-- Honda Civic Hatchback 2017+ with Honda Sensing (alpha!)
-  - Due to limitations in steering firmware, steering is disabled below 12 mph
-  - Uses stock Honda Sensing for longitudinal control
+Community Maintained Cars
+------
 
-- Honda CR-V 2017-2018 with Honda Sensing (alpha!)
-  - Due to limitations in steering firmware, steering is disabled below 12 mph
-  - Uses stock Honda Sensing for longitudinal control
+| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
+| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
 
-- Honda CR-V Touring 2015-2016
-  - Can only be enabled above 25 mph
+[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
 
-- Honda Odyssey 2018 with Honda Sensing (alpha!)
-  - Can only be enabled above 25 mph
-
-- Honda Pilot 2017 with Honda Sensing (alpha!)
-  - Can only be enabled above 27 mph
-
-- Honda Ridgeline 2017 with Honda Sensing (alpha!)
-  - Can only be enabled above 27 mph
-
-- Acura ILX 2016 with AcuraWatch Plus
-  - Due to use of the cruise control for gas, it can only be enabled above 25 mph
-
-- Acura RDX 2018 with AcuraWatch Plus (alpha!)
-  - Can only be enabled above 25 mph
-
-### Toyota + Lexus ###
-
-- Toyota RAV-4 2016+ non-hybrid with TSS-P
-  - By default it uses stock Toyota ACC for longitudinal control
-  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
-
-- Toyota Prius 2017+
-  - By default it uses stock Toyota ACC for longitudinal control
-  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29)
-  - Lateral control needs improvements
-
-- Toyota RAV-4 2017+ hybrid
-  - By default it uses stock Toyota ACC for longitudinal control
-  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can do stop and go
-
-- Toyota Corolla 2017+
-  - By default it uses stock Toyota ACC for longitudinal control
-  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Corolla_.28for_openpilot.29) and can be enabled above 20 mph
-
-- Lexus RX 2017+ hybrid (alpha!)
-  - By default it uses stock Lexus ACC for longitudinal control
-  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Lexus_RX_hybrid)
-
-### GM (Chevrolet + Cadillac) ###
-
-- Chevrolet Volt Premier 2017+
-  - Driver Confidence II package (adaptive cruise control) required
-  - Can only be enabled above 18 mph
-  - Read the [installation guide](https://www.zoneos.com/volt.htm)
-
-- Cadillac CT6
-  - Uses stock ACC for longitudinal control
-  - Requires multiple panda for proxying the ASCMs
+Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
 
 In Progress Cars
 ------
@@ -103,49 +104,63 @@ In Progress Cars
   - 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
   - Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
 - All LSS-P Lexus with Steering Assist or Lane Keep Assist.
-  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, GS, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
+  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
   - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
 
-Community Maintained Cars
-------
-
-- [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/246)
-
 How can I add support for my car?
 ------
 
-If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://panda.comma.ai) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
+If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
 
-We've written a [porting guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for Toyota that might help you after you have the basics figured out.
+We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
 
-Sadly, BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon. We also put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
+- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
+- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
+- The 2016-2017 Honda Accord use a custom signaling protocol for steering that's unlikely to ever be upstreamed.
 
 Directory structure
 ------
-
-- cereal        -- The messaging spec used for all logs on the phone
-- common        -- Library like functionality we've developed here
-- opendbc       -- Files showing how to interpret data from cars
-- panda         -- Code used to communicate on CAN and LIN
-- phonelibs     -- Libraries used on the phone
-- selfdrive     -- Code needed to drive the car
-  - assets        -- Fonts for ui
-  - boardd        -- Daemon to talk to the board
-  - car           -- Code that talks to the car and implements CarInterface
-  - common        -- Shared C/C++ code for the daemons
-  - controls      -- Python controls (PID loops etc) for the car
-  - debug         -- Tools to help you debug and do car ports
-  - logcatd       -- Android logcat as a service
-  - loggerd       -- Logger and uploader of car data
-  - orbd          -- Service generating ORB features from road camera
-  - proclogd      -- Logs information from proc
-  - sensord       -- IMU / GPS interface code
-  - test/plant    -- Car simulator running code through virtual maneuvers
-  - ui            -- The UI
-  - visiond       -- embedded vision pipeline
+    .
+    ├── apk                 # The apk files used for the UI
+    ├── cereal              # The messaging spec used for all logs on EON
+    ├── common              # Library like functionality we've developed here
+    ├── installer/updater   # Manages auto-updates of openpilot
+    ├── opendbc             # Files showing how to interpret data from cars
+    ├── panda               # Code used to communicate on CAN and LIN
+    ├── phonelibs           # Libraries used on EON
+    ├── pyextra             # Libraries used on EON
+    └── selfdrive           # Code needed to drive the car
+        ├── assets          # Fonts and images for UI
+        ├── boardd          # Daemon to talk to the board
+        ├── can             # Helpers for parsing CAN messages
+        ├── car             # Car specific code to read states and control actuators
+        ├── common          # Shared C/C++ code for the daemons
+        ├── controls        # Perception, planning and controls
+        ├── debug           # Tools to help you debug and do car ports
+        ├── locationd       # Soon to be home of precise location
+        ├── logcatd         # Android logcat as a service
+        ├── loggerd         # Logger and uploader of car data
+        ├── proclogd        # Logs information from proc
+        ├── sensord         # IMU / GPS interface code
+        ├── test            # Car simulator running code through virtual maneuvers
+        ├── ui              # The UI
+        └── visiond         # Embedded vision pipeline
 
 To understand how the services interact, see `selfdrive/service_list.yaml`
 
+User Data / chffr Account / Crash Reporting
+------
+
+By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
+
+It's open source software, so you are free to disable it if you wish.
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The user facing camera is only logged if you explicitly opt-in in settings.
+It does not log the microphone.
+
+By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
 Testing on PC
 ------
 
@@ -156,30 +171,17 @@ There is rudimentary infrastructure to run a basic simulation and generate a rep
 ./run_docker_tests.sh
 ```
 
-The results are written to `selfdrive/test/plant/out/index.html`
+The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudinal/index.html`
 
 More extensive testing infrastructure and simulation environments are coming soon.
 
-User Data / chffr Account / Crash Reporting
-------
-
-By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
-
-It's open source software, so you are free to disable it if you wish.
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-It does not log the user facing camera or the microphone.
-
-By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
 Contributing
 ------
 
 We welcome both pull requests and issues on
-[github](http://github.com/commaai/openpilot). See the TODO file for a list of
-good places to start.
+[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
 
-Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)
+Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
 
 Licensing
 ------

RELEASES.md

@@ -1,3 +1,32 @@
+Version 0.5.1 (2018-08-01)
+========================
+ * Fix radar error on Civic sedan 2018
+ * Improve thermal management logic
+ * Alpha Toyota C-HR and Camry support!
+ * Auto-switch Driver Monitoring to 3 min counter when inaccurate
+
+Version 0.5 (2018-07-11)
+========================
+ * Driver Monitoring (beta) option in settings!
+ * Make visiond, loggerd and UI use less resources
+ * 60 FPS UI
+ * Better car parameters for most cars
+ * New sidebar with stats
+ * Remove Waze and Spotify to free up system resources
+ * Remove rear view mirror option
+ * Calibration 3x faster
+
+Version 0.4.7.2 (2018-06-25)
+==========================
+ * Fix loggerd lag issue
+ * No longer prompt for updates
+ * Mitigate right lane hugging for properly mounted EON (procedure on wiki)
+
+Version 0.4.7.1 (2018-06-18)
+==========================
+ * Fix Acura ILX steer faults
+ * Fix bug in mock car
+
 Version 0.4.7 (2018-06-15)
 ==========================
  * New model!

SAFETY.md

@@ -6,7 +6,10 @@ Like other ACC and LKA systems, openpilot requires the driver to be alert and to
 pay attention at all times. We repeat, **driver alertness is necessary, but not 
 sufficient, for openpilot to be used safely**.
 
-Even with an attentive driver, we must make further efforts for the system to be
+In order to enforce driver alertness, openpilot includes a driver monitoring feature
+that alerts the driver when distracted.
+
+However, even with an attentive driver, we must make further efforts for the system to be
 safe. We have designed openpilot with two other safety considerations.
 
 1. The driver must always be capable to immediately retake manual control of the vehicle, 
@@ -20,7 +23,7 @@ Following are details of the car specific safety implementations:
 Honda/Acura
 ------
 
-  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
     the stock system.
 
   - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
@@ -28,16 +31,16 @@ Honda/Acura
     interceptor, the gas is clipped to 60%.
 
   - The brake is controlled by the 0x1FA CAN message. This message allows full
-    braking, although the board and the software clip it to 1/4th of the max.
-    This is around .3g of braking.
+    braking, although the panda firmware and openpilot clip it to 1/4th of the max.
+    This is approximately 0.3g of braking.
 
   - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
     controller in the car limits the torque to a very small amount, so regardless of the 
     message, the controller cannot jerk the wheel.
 
   - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
-    either signal triggers a disengagement, which is enforced by the board and in software. The
-    green led on the board signifies if the board is allowing control messages.
+    either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
+    white led on the panda signifies if the panda is allowing control messages.
 
   - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
     replay of the same message.
@@ -45,29 +48,62 @@ Honda/Acura
 Toyota/Lexus
 ------
 
-  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
     the stock system.
 
-  - With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled 
-    by the stock system and is subject to the stock adaptive cruise control limits. Without the
-    stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
-    value is limited by the board and the software to between .3g of deceleration and .15g of
-    acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
-    cruise control system is disengaged.
+  - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
+    the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
+    control limits. Without the stock DSU connected, the acceleration command is controlled by the
+    0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
+    by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
+    Module (ECM) while the cruise control system is disengaged.
 
-  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
-    software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
-    commands outside these limits.  A steering torque rate limit is enforced by the board and in
-    software so that the commanded steering torque must rise from 0 to max value no faster than
-    1.5s. Commanded steering torque is limited by the board and in software to be no more than 350
+  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
     units above the actual EPS generated motor torque to ensure limited differences between
     commanded and actual torques.
 
   - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
-    respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
-    board and in software. Additionally, the cruise control system disengages on the rising edge of
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
     the brake pedal pressed signal.
 
   - The cruise control system state is contained in the 0x1D2 message. No control messages are
-    allowed if the cruise control system is not active. This is enforced by the software and the
-    board. The green led on the board signifies if the board is allowing control messages.
+    allowed if the cruise control system is not active. This is enforced by openpilot and the
+    panda firmware. The white led on the panda signifies if the panda is allowing control messages.
+
+GM/Chevrolet
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
+    openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
+    while 3072 correspond to approximately 0.18g of acceleration from stop.
+
+  - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
+    and openpilot to 350. This is approximately 0.3g of braking.
+
+  - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
+    regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
+
+  - GM CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+  not fully meeting the above requirements.

apk/external/.gitignore

@@ -1,2 +0,0 @@
-src/*
-out/*

apk/external/patcher.py

@@ -1,122 +0,0 @@
-#!/usr/bin/env python2.7
-
-import os
-import sys
-import glob
-import shutil
-import urllib2
-import hashlib
-import subprocess
-
-
-EXTERNAL_PATH = os.path.dirname(os.path.abspath(__file__))
-
-if os.path.exists("/init.qcom.rc"):
-  # android
-  APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch_android')
-  SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk_android')
-else:
-  APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch')
-  SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk')
-
-APKS = {
-  'com.waze': {
-    'src': 'https://apkcache.s3.amazonaws.com/com.waze_1021278.apk',
-    'src_sha256': 'f00957e93e2389f9e30502ac54994b98ac769314b0963c263d4e8baa625ab0c2',
-    'patch': 'com.waze.apkpatch',
-    'out_sha256': 'fee880a91a44c738442cd05fd1b6d9b5817cbf755aa61c86325ada2bc443d5cf'
-  },
-  'com.spotify.music': {
-    'src': 'https://apkcache.s3.amazonaws.com/com.spotify.music_24382006.apk',
-    'src_sha256': '0610fea68ee7ba5f8e4e0732ad429d729dd6cbb8bc21222c4c99db6cb09fbff4',
-    'patch': 'com.spotify.music.apkpatch',
-    'out_sha256': '5a3d6f478c7e40403a98ccc8906d7e0ae12b06543b41f5df52149dd09c647c11'
-  },
-}
-
-def sha256_path(path):
-  with open(path, 'rb') as f:
-    return hashlib.sha256(f.read()).hexdigest()
-
-def remove(path):
-  try:
-    os.remove(path)
-  except OSError:
-    pass
-
-def process(download, patch):
-  # clean up any junk apks
-  for out_apk in glob.glob(os.path.join(EXTERNAL_PATH, 'out/*.apk')):
-    app = os.path.basename(out_apk)[:-4]
-    if app not in APKS:
-      print "remove junk", out_apk
-      remove(out_apk)
-
-  complete = True
-  for k,v in APKS.iteritems():
-    apk_path = os.path.join(EXTERNAL_PATH, 'out', k+'.apk')
-    print "checking", apk_path
-    if os.path.exists(apk_path) and sha256_path(apk_path) == v['out_sha256']:
-      # nothing to do
-      continue
-
-    complete = False
-
-    remove(apk_path)
-
-    src_path = os.path.join(EXTERNAL_PATH, 'src', v['src_sha256'])
-    if not os.path.exists(src_path) or sha256_path(src_path) != v['src_sha256']:
-      if not download:
-        continue
-
-      print "downloading", v['src'], "to", src_path
-      # download it
-      resp = urllib2.urlopen(v['src'])
-      data = resp.read()
-      with open(src_path, 'wb') as src_f:
-        src_f.write(data)
-
-      if sha256_path(src_path) != v['src_sha256']:
-        print "download was corrupted..."
-        continue
-
-    if not patch:
-      continue
-
-    # ignoring lots of TOCTTOU here...
-
-    apk_temp = "/tmp/"+k+".patched"
-    remove(apk_temp)
-    apk_temp2 = "/tmp/"+k+".signed"
-    remove(apk_temp2)
-
-    try:
-      print "patching", v['patch']
-      subprocess.check_call([APKPATCH, 'apply', src_path, apk_temp, os.path.join(EXTERNAL_PATH, v['patch'])])
-      print "signing", apk_temp
-      subprocess.check_call([SIGNAPK,
-        os.path.join(EXTERNAL_PATH, 'tools/certificate.pem'), os.path.join(EXTERNAL_PATH, 'tools/key.pk8'),
-        apk_temp, apk_temp2])
-
-      out_sha256 = sha256_path(apk_temp2) if os.path.exists(apk_temp2) else None
-
-      if out_sha256 == v['out_sha256']:
-        print "done", apk_path
-        shutil.move(apk_temp2, apk_path)
-      else:
-        print "patch was corrupted", apk_temp2, out_sha256
-    finally:
-      remove(apk_temp)
-      remove(apk_temp2)
-
-  return complete
-
-if __name__ == "__main__":
-  ret = True
-  if len(sys.argv) == 2 and sys.argv[1] == "download":
-    ret = process(True, False)
-  elif len(sys.argv) == 2 and sys.argv[1] == "patch":
-    ret = process(False, True)
-  else:
-    ret = process(True, True)
-  sys.exit(0 if ret else 1)

apk/external/tools/apkpatch_android

@@ -1,7 +0,0 @@
-#!/system/bin/sh
-
-DIR="$(cd "$(dirname "$0")" && pwd)"
-
-export LD_LIBRARY_PATH=/system/lib64
-export CLASSPATH="$DIR"/ApkPatch.android.jar
-exec app_process "$DIR" ApkPatch "$@"

apk/external/tools/certificate.pem

@@ -1,17 +0,0 @@
------BEGIN CERTIFICATE-----
-MIICtTCCAh4CCQDm79UqF+Dc5zANBgkqhkiG9w0BAQUFADCBnjELMAkGA1UEBhMC
-SUQxEzARBgNVBAgTCkphd2EgQmFyYXQxEDAOBgNVBAcTB0JhbmR1bmcxEjAQBgNV
-BAoTCUxvbmRhdGlnYTETMBEGA1UECxMKQW5kcm9pZERldjEaMBgGA1UEAxMRTG9y
-ZW5zaXVzIFcuIEwuIFQxIzAhBgkqhkiG9w0BCQEWFGxvcmVuekBsb25kYXRpZ2Eu
-bmV0MB4XDTEwMDUwNTA5MjEzOFoXDTEzMDEyODA5MjEzOFowgZ4xCzAJBgNVBAYT
-AklEMRMwEQYDVQQIEwpKYXdhIEJhcmF0MRAwDgYDVQQHEwdCYW5kdW5nMRIwEAYD
-VQQKEwlMb25kYXRpZ2ExEzARBgNVBAsTCkFuZHJvaWREZXYxGjAYBgNVBAMTEUxv
-cmVuc2l1cyBXLiBMLiBUMSMwIQYJKoZIhvcNAQkBFhRsb3JlbnpAbG9uZGF0aWdh
-Lm5ldDCBnzANBgkqhkiG9w0BAQEFAAOBjQAwgYkCgYEAy2oWtbdVXMHGiS6cA3qi
-3VfZt5Vz9jTlux+TEcGx5h18ZKwclyo+z2B0L/p5bYdnrTdFEiD7IxvX+h3lu0JV
-B9rdXZdyrzXNOw5YFrsn2k7hKvB8KEBaga1gZEwodlc6N14H3FbZdZkIA9V716Pu
-e5CWBZ2VqU03lUJmKnpH8c8CAwEAATANBgkqhkiG9w0BAQUFAAOBgQBpNgXh8dw9
-uMjZxzLUXovV5ptHd61jAcZlQlffqPsz6/2QNfIShVdGH9jkm0IudfKkbvvOKive
-a77t9c4sDh2Sat2L/rx6BfTuS1+y9wFr1Ee8Rrr7wGHhRkx2qqGrXGVWqXn8aE3E
-P6e7BTPF0ibS+tG8cdDPEisqGFxw36nTNQ==
------END CERTIFICATE-----

apk/external/tools/signapk_android

@@ -1,7 +0,0 @@
-#!/system/bin/sh
-
-DIR="$(cd "$(dirname "$0")" && pwd)"
-
-export LD_LIBRARY_PATH=/system/lib64
-export CLASSPATH="$DIR"/signapk.android.jar
-exec app_process "$DIR" com.android.signapk.SignApk "$@"

cereal/car.capnp

@@ -59,6 +59,15 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     debugAlert @34;
     steerTempUnavailableMute @35;
     resumeRequired @36;
+    preDriverDistracted @37;
+    promptDriverDistracted @38;
+    driverDistracted @39;
+    geofence @40;
+    driverMonitorOn @41;
+    driverMonitorOff @42;
+    preDriverUnresponsive @43;
+    promptDriverUnresponsive @44;
+    driverUnresponsive @45;
   }
 }
 
@@ -170,6 +179,7 @@ struct RadarState {
   enum Error {
     commIssue @0;
     fault @1;
+    wrongConfig @2;
   }
 
   # similar to LiveTracks
@@ -297,6 +307,8 @@ struct CarParams {
     hondaBosch @5;
     ford @6;
     cadillac @7;
+    hyundai @8;
+    chrysler @9;
   }
 
   # things about the car in the manual

cereal/log.capnp

@@ -21,6 +21,8 @@ struct Map(Key, Value) {
 
 struct InitData {
   kernelArgs @0 :List(Text);
+  kernelVersion @15 :Text;
+
   gctx @1 :Text;
   dongleId @2 :Text;
 
@@ -32,6 +34,7 @@ struct InitData {
 
   androidBuildInfo @5 :AndroidBuildInfo;
   androidSensors @6 :List(AndroidSensor);
+  androidProperties @16 :Map(Text, Text);
   chffrAndroidExtra @7 :ChffrAndroidExtra;
   iosBuildInfo @14 :IosBuildInfo;
 
@@ -264,6 +267,15 @@ struct ThermalData {
   fanSpeed @10 :UInt16;
   started @11 :Bool;
   startedTs @13 :UInt64;
+
+  thermalStatus @14 :ThermalStatus;
+
+  enum ThermalStatus {
+    green @0;   # all processes run
+    yellow @1;  # critical processes run (kill uploader), engage still allowed
+    red @2;     # no engage, will disengage
+    danger @3;  # immediate process shutdown
+  }
 }
 
 struct HealthData {
@@ -274,6 +286,7 @@ struct HealthData {
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
   startedSignalDetected @5 :Bool;
+  isGreyPanda @6 :Bool;
 }
 
 struct LiveUI {
@@ -384,11 +397,12 @@ struct Live100Data {
   alertText2 @25 :Text;
   alertStatus @38 :AlertStatus;
   alertSize @39 :AlertSize;
+  alertBlinkingRate @42 :Float32;
   awarenessStatus @26 :Float32;
-
   angleOffset @27 :Float32;
-
   gpsPlannerActive @40 :Bool;
+  engageable @41 :Bool;  # can OP be engaged?
+  driverMonitoringOn @43 :Bool;
 
   enum ControlState {
     disabled @0;
@@ -591,6 +605,7 @@ struct LiveLocationData {
   poseQuatECEF @19 :List(Float32);
   pitchCalibration @20 :Float32;
   yawCalibration @21 :Float32;
+  imuFrame @22 :List(Float32);
 
   struct Accuracy {
     pNEDError @0 :List(Float32);
@@ -1519,6 +1534,18 @@ struct OrbKeyFrame {
   descriptors @3 :Data;
 }
 
+struct DriverMonitoring {
+  frameId @0 :UInt32;
+  descriptor @1 :List(Float32);
+  std @2 :Float32;
+}
+
+struct Boot {
+  wallTimeNanos @0 :UInt64;
+  lastKmsg @1 :Data;
+  lastPmsg @2 :Data;
+}
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -1582,5 +1609,7 @@ struct Event {
     orbKeyFrame @56 :OrbKeyFrame;
     uiLayoutState @57 :UiLayoutState;
     orbFeaturesSummary @58 :OrbFeaturesSummary;
+    driverMonitoring @59 :DriverMonitoring;
+    boot @60 :Boot;
   }
 }

common/fingerprints.py

@@ -15,7 +15,7 @@ def get_fingerprint_list():
         car_fingerprints = values.FINGERPRINTS
       else:
         continue
-      for f, v in car_fingerprints.iteritems():
+      for f, v in car_fingerprints.items():
         fingerprints[f] = v
     except (ImportError, IOError):
       pass

common/kalman/ekf.py

@@ -1,4 +1,5 @@
 # pylint: skip-file
+from __future__ import print_function
 import abc
 import numpy as np
 # The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
@@ -92,8 +93,8 @@ class EKF:
     innovation = reading.data - reading.obs_model * self.state
 
     if self.DEBUG:
-      print "reading:\n",reading.data
-      print "innovation:\n",innovation
+      print("reading:\n",reading.data)
+      print("innovation:\n",innovation)
 
     # S = H*P*H' + R
     innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
@@ -103,12 +104,12 @@ class EKF:
       innovation_covar)
 
     if self.DEBUG:
-      print "gain:\n", kalman_gain
-      print "innovation_covar:\n", innovation_covar
-      print "innovation: ", innovation
-      print "test: ", self.covar * reading.obs_model.T * (
+      print("gain:\n", kalman_gain)
+      print("innovation_covar:\n", innovation_covar)
+      print("innovation: ", innovation)
+      print("test: ", self.covar * reading.obs_model.T * (
         reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
-        0).I
+        0).I)
 
     # x = x + K*y
     self.state += kalman_gain*innovation
@@ -124,9 +125,9 @@ class EKF:
     self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
 
     if self.DEBUG:
-      print "After update"
-      print "state\n", self.state
-      print "covar:\n",self.covar
+      print("After update")
+      print("state\n", self.state)
+      print("covar:\n",self.covar)
 
   def update_scalar(self, reading):
     # like update but knowing that measurement is a scalar

common/logging_extra.py

@@ -78,7 +78,7 @@ class SwagLogger(logging.Logger):
     self.log_local = local()
     self.log_local.ctx = {}
 
-  def findCaller(self):
+  def findCaller(self, stack_info=None):
     """
       Find the stack frame of the caller so that we can note the source
       file name, line number and function name.
@@ -132,6 +132,9 @@ class SwagLogger(logging.Logger):
     if args:
       evt['args'] = args
     evt.update(kwargs)
+    ctx = self.get_ctx()
+    if ctx:
+      evt['ctx'] = self.get_ctx()
     if 'error' in kwargs:
       self.error(evt)
     else:

common/params.py

@@ -57,11 +57,12 @@ keys = {
 # written: baseui
 # read:    ui, controls
   "IsMetric": TxType.PERSISTENT,
-  "IsRearViewMirror": TxType.PERSISTENT,
   "IsFcwEnabled": TxType.PERSISTENT,
   "HasAcceptedTerms": TxType.PERSISTENT,
   "CompletedTrainingVersion": TxType.PERSISTENT,
   "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
+  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
+  "IsGeofenceEnabled": TxType.PERSISTENT,
 # written: visiond
 # read:    visiond, controlsd
   "CalibrationParams": TxType.PERSISTENT,
@@ -315,7 +316,6 @@ class Params(object):
 
     with self.env.begin(write=True) as txn:
       txn.put(key, dat)
-    print "set", key
 
 if __name__ == "__main__":
   params = Params()
@@ -325,11 +325,11 @@ if __name__ == "__main__":
     for k in keys:
       pp = params.get(k)
       if pp is None:
-        print k, "is None"
+        print("%s is None" % k)
       elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
-        print k, pp
+        print("%s = %s" % (k, pp))
       else:
-        print k, pp.encode("hex")
+        print("%s = %s" % (k, pp.encode("hex")))
 
   # Test multiprocess:
   # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05

common/profiler.py

@@ -36,11 +36,11 @@ class Profiler(object):
     if not self.enabled:
       return
     self.iter += 1
-    print "******* Profiling *******"
+    print("******* Profiling *******")
     for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
       if n in self.cp_ignored:
-        print "%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100), "  IGNORED"
+        print("%30s: %7.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
       else:
-        print "%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100)
-    print "Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot)
+        print("%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
 

common/realtime.py

@@ -106,5 +106,3 @@ class Ratekeeper(object):
     self._remaining = remaining
     return lagged
 
-if __name__ == "__main__":
-  print sec_since_boot()

common/transformations/coordinates.py

@@ -12,12 +12,14 @@ esq = 6.69437999014 * 0.001
 e1sq = 6.73949674228 * 0.001
 
 
-def geodetic2ecef(geodetic):
+def geodetic2ecef(geodetic, radians=False):
   geodetic = np.array(geodetic)
   input_shape = geodetic.shape
   geodetic = np.atleast_2d(geodetic)
-  lat = (np.pi/180)*geodetic[:,0]
-  lon = (np.pi/180)*geodetic[:,1]
+
+  ratio = 1.0 if radians else (np.pi / 180.0)
+  lat = ratio*geodetic[:,0]
+  lon = ratio*geodetic[:,1]
   alt = geodetic[:,2]
 
   xi = np.sqrt(1 - esq * np.sin(lat)**2)
@@ -28,41 +30,41 @@ def geodetic2ecef(geodetic):
   return ecef.reshape(input_shape)
 
 
-def ecef2geodetic(ecef):
+def ecef2geodetic(ecef, radians=False):
   """
   Convert ECEF coordinates to geodetic using ferrari's method
   """
-  def ferrari(x, y, z):
-    # ferrari's method
-    r = np.sqrt(x * x + y * y)
-    Esq = a * a - b * b
-    F = 54 * b * b * z * z
-    G = r * r + (1 - esq) * z * z - esq * Esq
-    C = (esq * esq * F * r * r) / (pow(G, 3))
-    S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
-    P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
-    Q = np.sqrt(1 + 2 * esq * esq * P)
-    r_0 =  -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
-          P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
-    U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
-    V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
-    Z_0 = b * b * z / (a * V)
-    h = U * (1 - b * b / (a * V))
-    lat = (180/np.pi)*np.arctan((z + e1sq * Z_0) / r)
-    lon = (180/np.pi)*np.arctan2(y, x)
-    return lat, lon, h
-
-  geodetic = []
-  ecef = np.array(ecef)
+  # Save shape and export column
+  ecef = np.atleast_1d(ecef)
   input_shape = ecef.shape
   ecef = np.atleast_2d(ecef)
-  for p in ecef:
-    geodetic.append(ferrari(*p))
-  geodetic = np.array(geodetic)
+  x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
+
+  ratio = 1.0 if radians else (180.0 / np.pi)
+
+  # Conver from ECEF to geodetic using Ferrari's methods
+  # https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
+  r = np.sqrt(x * x + y * y)
+  Esq = a * a - b * b
+  F = 54 * b * b * z * z
+  G = r * r + (1 - esq) * z * z - esq * Esq
+  C = (esq * esq * F * r * r) / (pow(G, 3))
+  S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
+  P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
+  Q = np.sqrt(1 + 2 * esq * esq * P)
+  r_0 =  -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
+        P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
+  U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
+  V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
+  Z_0 = b * b * z / (a * V)
+  h = U * (1 - b * b / (a * V))
+  lat = ratio*np.arctan((z + e1sq * Z_0) / r)
+  lon = ratio*np.arctan2(y, x)
+
+  # stack the new columns and return to the original shape
+  geodetic = np.column_stack((lat, lon, h))
   return geodetic.reshape(input_shape)
 
-
-
 class LocalCoord(object):
   """
    Allows conversions to local frames. In this case NED.

launch_chffrplus.sh

@@ -5,14 +5,11 @@ if [ -z "$PASSIVE" ]; then
 fi
 
 function launch {
-  DO_UPDATE=$(cat /data/params/d/ShouldDoUpdate)
   # apply update
-  if [ "$DO_UPDATE" == "1" ] && [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
      git reset --hard @{u} &&
      git clean -xdf &&
      exec "${BASH_SOURCE[0]}"
-     echo -n 0 > /data/params/d/ShouldDoUpdate
-     echo -n 0 > /data/params/d/IsUpdateAvailable
   fi
 
   # no cpu rationing for now

opendbc/acura_ilx_2016_can_generated.dbc

@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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_ BRAKE_PUMP_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_ COMPUTER_BRAKE_REQUEST : 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

opendbc/acura_ilx_2016_nidec.dbc

@@ -182,4 +182,4 @@ BO_TX_BU_ 769 : NEO,ADAS;
 
 
 CM_ SG_ 1024 RADAR_STATE "need to find out more diagnostic values";
-VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted";
+VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted" 105 "wrong_config";

opendbc/acura_rdx_2018_can_generated.dbc

@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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_ BRAKE_PUMP_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_ COMPUTER_BRAKE_REQUEST : 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

opendbc/chrysler_pacifica_2017_hybrid.dbc

@@ -37,12 +37,15 @@ BU_: XXX
 
 
 BO_ 258 STEERING: 8 XXX
+ SG_ INCREMENTING_STEERING : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_STEERING : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_STEERING : 48|3@1+ (1,0) [0|15] "" XXX
+ SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
  SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
- SG_ STEERING_RATE : 20|13@0+ (1,-4096) [0|8191] "" XXX
 
-BO_ 514 SPEED: 4 XXX
- SG_ SPEED_LEFT : 7|16@0+ (0.07,0) [0|65535] "m/s" XXX
- SG_ SPEED_RIGHT : 23|16@0+ (0.07,0) [0|1023] "m/s" XXX
+BO_ 514 SPEED_1: 4 XXX
+ SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
+ SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX
 
 BO_ 653 BRAKE_MODULE: 2 XXX
  SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
@@ -59,49 +62,365 @@ BO_ 820 DOORS: 8 XXX
  SG_ HIGH_BEAM_DISPLAY : 58|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 746 GEAR: 5 XXX
- SG_ PRNDL : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR_INCREMENTING : 31|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 284 NEW_MSG_1: 8 XXX
- SG_ BRAKE_RELATED : 3|12@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_RELATED_2 : 17|10@0+ (1,0) [0|255] "" XXX
- SG_ SPEED : 37|14@0+ (1,0) [0|255] "" XXX
+BO_ 284 BRAKE_1: 8 XXX
+ SG_ SPEED_RELATED_1 : 37|14@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_RELATED_1_2 : 18|11@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_RELATED_1_1 : 3|12@0+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_BRAKE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_BRAKE : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 320 NEW_MSG_2: 8 XXX
- SG_ SPEED_RELATED : 47|8@0+ (1,0) [0|63] "" XXX
- SG_ BRAKE_PRESSED : 2|3@0+ (1,0) [0|7] "" XXX
+BO_ 320 BRAKE_2: 8 XXX
+ SG_ SPEED_RELATED_2 : 47|8@0+ (1,0) [0|63] "" XXX
+ SG_ INCREMENTING_140 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_140 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED_2 : 2|3@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 736 TRIP: 8 XXX
- SG_ DISTANCE_COUNTER : 7|16@0+ (0,0) [0|65535] "Meters" XXX
+ SG_ DISTANCE_COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
  SG_ DISTANCE_COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
 
 BO_ 344 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FL : 1|10@0+ (1,0) [0|65535] "" XXX
- SG_ WHEEL_SPEED_FR : 17|10@0+ (1,0) [0|255] "" XXX
- SG_ WHEEL_SPEED_RL : 33|10@0+ (1,0) [0|3] "" XXX
- SG_ WHEEL_SPEED_RR : 49|10@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_SPEED_FL : 3|12@0+ (0.0189408,0) [0|65535] "m/s" XXX
+ SG_ WHEEL_SPEED_RR : 51|12@0+ (0.0189408,0) [0|255] "m/s" XXX
+ SG_ WHEEL_SPEED_RL : 35|12@0+ (0.0189408,0) [0|3] "m/s" XXX
+ SG_ WHEEL_SPEED_FR : 19|12@0+ (0.0189408,0) [0|255] "m/s" XXX
 
 BO_ 792 STEERING_LEVERS: 8 XXX
+ SG_ HIGH_BEAM_PUSHED_IN : 2|1@0+ (1,0) [0|3] "" XXX
  SG_ TURN_SIGNALS : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ HIGH_BEAM_PUSHED_IN : 2|1@1+ (1,0) [0|3] "" XXX
- SG_ HIGH_BEAM_FLASH : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAM_FLASH : 3|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
- SG_ ACCEL_PEDAL : 32|4@1+ (1,-7) [0|15] "" XXX
+ SG_ INCREMENTING_ACCEL_PEDAL : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_ACCEL_PEDAL : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 464 SEATBELT_STATUS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 544 LKAS_INDICATOR_1: 8 XXX
+ SG_ LKAS_IS_GREEN : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_1 : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ INCREMENTING_220 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_220 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_220_2 : 34|11@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_220_1 : 19|12@0+ (1,0) [0|4095] "" XXX
+ SG_ UNKNOWN_220_0 : 2|11@0+ (1,0) [0|63] "" XXX
+
+BO_ 658 LKAS_INDICATOR_2: 6 XXX
+ SG_ LKAS_INCREMENTING : 39|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKAS_CHECKSUM_2 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ LKAS_STEERING_TORQUE_MAYBE : 3|12@0- (1,0) [0|63] "" XXX
+
+BO_ 678 LKAS_INDICATOR_3: 8 XXX
+ SG_ WARNING_PLACE_HANDS : 22|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_WHITE_OR_YELLOW : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_IS_YELLOW_2 : 19|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 705 AUTO_PARK_BUTTON: 8 XXX
+ SG_ AUTO_PARK_TOGGLE_2 : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ INCREASING_UNKNOWN : 32|7@1+ (1,0) [0|15] "" XXX
+
+BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
+ SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX
+
+BO_ 671 AUTO_PARK_SIGNALS_2: 8 XXX
+ SG_ AUTO_PARK_PARALLEL : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_PERPENDICULAR_1 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ INCREMENTING : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_PARK_MAYBE_TURNING : 3|12@0+ (1,0) [0|1023] "" XXX
+ SG_ AUTO_PARK_TURNING_STATUS : 7|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX
+ SG_ INCREASING_UNKNOWN : 48|8@1+ (1,0) [0|7] "" XXX
+ SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX
+ SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_PARK_GEAR_2 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_GEAR_3 : 48|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 332 STEERING_2: 8 XXX
+ SG_ INCREMENTING_14C : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
+
+BO_ 720 BLIND_SPOT_WARNINGS: 6 XXX
+ SG_ BLIND_SPOT_RIGHT : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ BLIND_SPOT_LEFT : 2|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 331 BRAKE_3: 8 XXX
+ SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ INCREMENTING_14B : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_14B : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 608 PARKSENSE_SIGNAL: 8 XXX
+ SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ INCREMENTING_260 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_260 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ IN_REVERSE : 10|1@1+ (1,0) [0|255] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@1+ (1,0) [0|255] "" XXX
+ SG_ HUMAN_HAS_CONTROL : 17|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 729 LKAS_STATUS_1: 5 XXX
+ SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 274 NEW_MSG_112: 2 XXX
+
+BO_ 290 NEW_MSG_122: 6 XXX
+
+BO_ 376 NEW_MSG_178: 3 XXX
+
+BO_ 288 ACCEL_RELATED_120: 7 XXX
+ SG_ UNKNOWN_INCREMENTING_120 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_CHECKSUM_120 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 257 ACCEL_RELATED_101: 5 XXX
+ SG_ ENERGY_OR_RPM : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 388 NEW_MSG_184: 4 XXX
+
+BO_ 448 NEW_MSG_1c0: 6 XXX
+
+BO_ 456 NEW_MSG_1c8: 4 XXX
+
+BO_ 560 NEW_MSG_230: 4 XXX
+
+BO_ 564 NEW_MSG_234: 4 XXX
+
+BO_ 571 WHEEL_BUTTONS: 3 XXX
+ SG_ CHECKSUM_23B : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_FOLLOW_DEC : 1|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_SPEED_INC : 2|1@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_SPEED_DEC : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_FOLLOW_INC : 8|1@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 669 NEW_MSG_29d: 3 XXX
+ SG_ INCREMENTING_29D : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_29D : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 825 NEW_MSG_339: 2 XXX
+
+BO_ 856 NEW_MSG_358: 4 XXX
+
+BO_ 860 NEW_MSG_35c: 6 XXX
+
+BO_ 924 NEW_MSG_39c: 3 XXX
+
+BO_ 969 NEW_MSG_3c9: 4 XXX
+
+BO_ 974 NEW_MSG_3ce: 5 XXX
+
+BO_ 993 NEW_MSG_3e1: 7 XXX
+
+BO_ 838 NEW_MSG_346: 2 XXX
+
+BO_ 926 NEW_MSG_39e: 3 XXX
+
+BO_ 168 ACCEL_RELATED_a8: 8 XXX
+ SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ INCREMENTING_A8 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_A8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 270 ACCEL_RELATED_10e: 8 XXX
+ SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_ACCEL : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_ACCEL : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 291 ENERGY_RELATED_123: 8 XXX
+ SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_123 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_123 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX
+
+BO_ 294 ENERGY_RELATED_126: 8 XXX
+ SG_ CHECKSUM_126 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX
+ SG_ INCREMENTING_126 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX
+ SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX
+
+BO_ 300 NEW_MSG_12C: 8 XXX
+
+BO_ 308 ACCEL_GAS_134: 8 XXX
+ SG_ INCREMENTING_134 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACCEL_134 : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 532 ENERGY_RELATED_214: 8 XXX
+ SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
+ SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX
+
+BO_ 559 ACCEL_GAS_22F: 8 XXX
+ SG_ ACCEL_22F : 0|4@1+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_22F : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_22F : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 655 CHARGING_MAYBE_28F: 8 XXX
+ SG_ CHARGING : 0|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 660 BRAKE_RELATED_294: 8 XXX
+ SG_ INCREMENTING_294 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_294 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PERHAPS_294 : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 764 ACCEL_RELATED_2FC: 8 XXX
+ SG_ ACCEL_2FC : 8|6@1+ (1,0) [0|255] "" XXX
+
+BO_ 816 TRACTION_BUTTON: 8 XXX
+ SG_ TRACTION_OFF : 19|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 878 ACCEL_RELATED_36E: 8 XXX
+ SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_OR_RPM_1 : 0|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 324 SPEED_2: 8 XXX
+ SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX
+
+BO_ 501 DASHBOARD: 8 XXX
+ SG_ ACC_SPEED_CONFIG_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
+ SG_ ACC_SPEED_CONFIG_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
+ SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 639 NEW_MSG_27f: 8 XXX
+ SG_ INCREASING : 40|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 701 NEW_MSG_2bd: 8 XXX
+ SG_ unknown_1 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 832 UNKNOWN_340: 8 XXX
+ SG_ SPEED_DIGITAL : 56|8@1+ (1,0) [0|255] "mph" XXX
+
+BO_ 848 UNKNOWN_350: 8 XXX
+ SG_ INCREASING_LSB : 0|6@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_MSB : 12|5@0+ (1,0) [0|31] "" XXX
+
+BO_ 908 NEW_MSG_38c: 8 XXX
+ SG_ INCREASING_MSB : 44|5@0+ (1,0) [0|31] "" XXX
+ SG_ INCREASING_LSB : 56|6@1+ (1,0) [0|255] "" XXX
+
+BO_ 938 NEW_MSG_3aa: 8 XXX
+ SG_ INCREASING_UNKNOWN_1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_UNKNOWN_2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 940 NEW_MSG_3ac: 8 XXX
+ SG_ INCREASING_1 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 941 NEW_MSG_3ad: 8 XXX
+ SG_ INCREASING_1 : 32|5@1+ (1,0) [0|31] "" XXX
+ SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 500 ACC_2: 8 XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACC_STATUS_1 : 7|3@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_STATUS_2 : 21|3@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 625 ACC_1: 8 XXX
+ SG_ SPEED : 24|8@1+ (1,0) [0|255] "km/h" XXX
+ SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 268 ACC_10c: 8 XXX
+ SG_ BRAKE_PERHAPS : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 384 NEW_MSG_180: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|3] "" XXX
+
+BO_ 853 NEW_MSG_355: 8 XXX
+
+BO_ 939 NEW_MSG_3ab: 8 XXX
+
+BO_ 512 NEW_MSG_200: 8 XXX
+ SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING : 27|12@0+ (1,0) [0|127] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 
 
 
+CM_ SG_ 258 UNKNOWN_STEERING "never goes above 4. see if human-applied torque";
 CM_ SG_ 258 STEER_ANGLE "positive is left (counter-clockwise)";
 CM_ SG_ 514 SPEED_LEFT "TODO find upper limit";
 CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
 CM_ SG_ 820 TURN_LIGHT_LEFT "oscillates with the light blinking";
 CM_ SG_ 820 TURN_LIGHT_RIGHT "hazard blinks both right and left lights";
 CM_ SG_ 746 PRNDL "4=D, 3=N, 2=R, 1=P";
-CM_ SG_ 284 BRAKE_RELATED "Correlates with braking";
-CM_ SG_ 284 SPEED "Another Speed Signal, Maybe RPMs?";
-CM_ SG_ 320 BRAKE_PRESSED "Value is 5 when brake is pressed";
+CM_ SG_ 746 GEAR_CHECKSUM "different than the LKAS checksum. unknown non-simple algorithm. just build a lookup table for it.";
+CM_ SG_ 284 SPEED_RELATED_1 "Another Speed Signal, Maybe RPMs?";
+CM_ SG_ 284 BRAKE_RELATED_1_1 "Correlates with braking";
+CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake";
+CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes";
 CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right";
 CM_ SG_ 792 HIGH_BEAM_FLASH "use this for genericToggle";
 CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed";
+CM_ SG_ 544 AUTO_PARK_HAS_CONTROL_1 "set when autopark has control";
+CM_ SG_ 658 LKAS_INCREMENTING "each message increments, 0..f";
+CM_ SG_ 658 LKAS_CHECKSUM_2 "checksum calculated with https://gist.github.com/adhintz/94bf8d19b9075539f50172ab0fb24ba1";
+CM_ SG_ 658 LKAS_STEERING_TORQUE_MAYBE "1024 is straight. most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s";
+CM_ SG_ 678 WARNING_PLACE_HANDS "set when warning displays place hands on steering wheel";
+CM_ SG_ 678 LKAS_WHITE_OR_YELLOW "set when indicator is yellow or white. could indicate lkas not on track.";
+CM_ SG_ 678 LKAS_IS_YELLOW_2 "set when indicator is yellow. could indicate lkas is steering.";
+CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking";
+CM_ SG_ 705 INCREASING_UNKNOWN "sometimes decreasing";
+CM_ SG_ 671 AUTO_PARK_PARALLEL "parallel parking mode";
+CM_ SG_ 671 AUTO_PARK_PERPENDICULAR_1 "perpendicular parking mode";
+CM_ SG_ 671 AUTO_PARK_MAYBE_TURNING "something with autopark turning the steering wheel maybe.";
+CM_ SG_ 671 AUTO_PARK_TURNING_STATUS "0 when not steering. when steering starts, 4 for two packets, and then 5 for the rest";
+CM_ SG_ 784 INCREASING_UNKNOWN "perhaps distance traveled";
+CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f";
+CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f";
+CM_ SG_ 826 AUTO_PARK_GEAR_3 "Reverse=0, Forward=f";
+CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more noisy.";
+CM_ SG_ 720 BLIND_SPOT_RIGHT "yellow triangle alert on side view mirror when a car is in your blind spot";
+CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled";
+CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in.";
+CM_ SG_ 288 UNKNOWN_CHECKSUM_120 "not the LKAS checksum";
+CM_ SG_ 288 GAS_ENGINE_RPM_MAYBE "lags acceleration, perhaps gas engine";
+CM_ SG_ 257 ENERGY_OR_RPM "perhaps energy consumption or RPMs";
+CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
+CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
+CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
+CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
+CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
+CM_ SG_ 324 SPEED_2 "signal is approx half other speeds";
+CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC";
+CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC";
+CM_ SG_ 639 INCREASING "perhaps number of seconds divided by two for this drive";
+CM_ SG_ 848 INCREASING_LSB "lower part of time counter";
+CM_ SG_ 848 INCREASING_MSB "upper part of time counter";
+CM_ SG_ 908 INCREASING_MSB "time based";
+CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help when ACC coming to a stop and at a stop";
+CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
+CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
+CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
+CM_ SG_ 625 SPEED "zero on non-acc drives";
+CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
+CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
+CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
 VAL_ 746 PRNDL 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc

@@ -0,0 +1,230 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 544 a_1: 8 XXX
+ SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
+ SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
+ SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
+ SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 576 b_1: 8 XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
+ SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 608 a_2: 8 XXX
+ SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
+ SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
+ SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
+ SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 640 b_2: 8 XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
+ SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 644 a_3: 8 XXX
+ SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
+ SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
+ SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
+ SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 648 b_3: 8 XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
+ SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 652 a_4: 8 XXX
+ SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
+ SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
+ SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
+ SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 656 b_4: 8 XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
+ SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 512 unknown_200: 8 XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ increasing : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros_0 : 3|12@0+ (1,0) [0|63] "" XXX
+ SG_ zeros_1 : 47|12@0+ (1,0) [0|63] "" XXX
+ SG_ status0 : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ unknown_0 : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 514 unknown_202: 8 XXX
+ SG_ COUNTER : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ sig3 : 31|8@0+ (1,0) [0|65535] "" XXX
+ SG_ increasing : 39|12@0+ (1,0) [0|15] "" XXX
+
+BO_ 706 c_1: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+
+BO_ 708 c_2: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 710 c_3: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 712 c_4: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 714 c_5: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 716 c_6: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 718 c_7: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 720 c_8: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 722 c_9: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 724 c_10: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 674 d_1: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 676 d_2: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 678 d_3: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 680 d_4: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 682 d_5: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 684 d_6: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 686 d_7: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 688 d_8: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 690 d_9: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 692 d_10: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 672 NEW_MSG_5: 8 XXX
+ SG_ NEW_SIGNAL_1 : 9|10@0+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_2 : 45|10@0+ (1,0) [0|1023] "" XXX
+
+
+
+
+CM_ SG_ 544 track_id "for message a_1 track_id is always 1, similar for other messages and track_id";
+CM_ SG_ 544 REL_ACCEL "perhaps REL_ACCEL because it responds faster and before REL_SPEED";
+CM_ SG_ 544 sig2 "perhaps distance to object. LONG_DIST or REL_ACCEL or REL_SPEED";
+CM_ SG_ 576 zeros "not always zero, sometimes has value when another car changes lanes";
+CM_ SG_ 706 LAT_DIST "positive is to the right, negative is to the left";

opendbc/generator/generator.py

@@ -4,34 +4,46 @@ import re
 
 cur_path = os.path.dirname(os.path.realpath(__file__))
 generator_path = os.path.join(cur_path, '../')
+include_pattern = re.compile(r'CM_ "IMPORT (.*?)"')
 
-for dir_name, _, _ in os.walk(cur_path):
+
+def read_dbc(dir_name, filename):
+    with open(os.path.join(dir_name, filename)) as file_in:
+        return file_in.read()
+
+
+def create_dbc(dir_name, filename):
+    dbc_file_in = read_dbc(dir_name, filename)
+
+    includes = include_pattern.findall(dbc_file_in)
+
+    output_filename = filename.replace('.dbc', '_generated.dbc')
+    output_file_location = os.path.join(generator_path, output_filename)
+
+    with open(output_file_location, 'w') as dbc_file_out:
+        dbc_file_out.write('CM_ "AUTOGENERATED FILE, DO NOT EDIT"\n')
+
+        for include_filename in reversed(includes):
+            include_file_header = '\n\nCM_ "Imported file %s starts here"\n' % include_filename
+            dbc_file_out.write(include_file_header)
+
+            include_file = read_dbc(dir_name, include_filename)
+            dbc_file_out.write(include_file)
+
+        dbc_file_out.write('\nCM_ "%s starts here"\n' % filename)
+
+        core_dbc = include_pattern.sub('', dbc_file_in)
+        dbc_file_out.write(core_dbc)
+
+
+for dir_name, _, filenames in os.walk(cur_path):
     if dir_name == cur_path:
         continue
 
     print dir_name
-
-    for filename in os.listdir(dir_name):
+    for filename in filenames:
         if filename.startswith('_'):
             continue
 
         print filename
-        dbc_file = open(os.path.join(dir_name, filename)).read()
-        dbc_file = '\nCM_ "%s starts here"\n' % filename + dbc_file
-
-        includes = re.finditer(r'CM_ "IMPORT (.*?)"', dbc_file)
-        for include in includes:
-            dbc_file = dbc_file.replace(include.group(0), '')
-            include_path = os.path.join(dir_name, include.group(1))
-
-            # Load included file
-            include_file = open(include_path).read()
-            include_file = '\n\nCM_ "Imported file %s starts here"\n' % include.group(1) + include_file
-            dbc_file = include_file + dbc_file
-
-        dbc_file = 'CM_ "AUTOGENERATED FILE, DO NOT EDIT"\n' + dbc_file
-
-        output_filename = filename.replace('.dbc', '_generated.dbc')
-        output_dbc_file = open(os.path.join(generator_path, output_filename), 'w')
-        output_dbc_file.write(dbc_file)
-        output_dbc_file.close()
+        create_dbc(dir_name, filename)

opendbc/generator/honda/_bosch_2018.dbc

@@ -100,13 +100,6 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
 BO_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/_honda_2017.dbc

@@ -77,13 +77,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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_ BRAKE_PUMP_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_ COMPUTER_BRAKE_REQUEST : 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

opendbc/generator/honda/honda_accord_s2t_2018_can.dbc

@@ -6,6 +6,12 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
 BO_ 446 BRAKE_MODULE: 3 VSA
  SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX

opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc

@@ -9,6 +9,13 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
 BO_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_crv_ex_2017_can.dbc

@@ -9,6 +9,13 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
 BO_ 446 BRAKE_MODULE: 3 VSA
  SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX

opendbc/generator/honda/honda_fit_ex_2018_can.dbc

@@ -0,0 +1,97 @@
+CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 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" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/generator/toyota/toyota_chr_hybrid_2018_pt.dbc

@@ -0,0 +1,36 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 295 GEAR_PACKET: 8 XXX
+ SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 8 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -104,13 +104,6 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
 BO_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
@@ -280,6 +273,12 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
 BO_ 446 BRAKE_MODULE: 3 VSA
  SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -104,13 +104,6 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
 BO_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
@@ -283,6 +276,13 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
 BO_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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_ BRAKE_PUMP_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_ COMPUTER_BRAKE_REQUEST : 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

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -104,13 +104,6 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
 BO_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
@@ -283,6 +276,13 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
 BO_ 446 BRAKE_MODULE: 3 VSA
  SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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_ BRAKE_PUMP_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_ COMPUTER_BRAKE_REQUEST : 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

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -0,0 +1,326 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_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 : 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|2@0+ (1,0) [0|3] "" 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|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" 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_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" 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|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+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_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_fit_ex_2018_can.dbc starts here"
+
+
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 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" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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_ BRAKE_PUMP_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_ COMPUTER_BRAKE_REQUEST : 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

opendbc/honda_pilot_touring_2017_can_generated.dbc

@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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_ BRAKE_PUMP_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_ COMPUTER_BRAKE_REQUEST : 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

opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc

@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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_ BRAKE_PUMP_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_ COMPUTER_BRAKE_REQUEST : 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

opendbc/toyota_chr_hybrid_2018_pt_generated.dbc

@@ -0,0 +1,247 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "toyota_chr_hybrid_2018_pt.dbc starts here"
+
+
+
+BO_ 295 GEAR_PACKET: 8 XXX
+ SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 8 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";

panda/README.md

@@ -3,7 +3,7 @@ Welcome to panda
 
 [panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
 
-<a href="https://panda.comma.ai"><img src="https://github.com/commaai/panda/blob/master/panda.png">
+<a href="https://www.amazon.com/chffr-panda-OBD-II-Interface/dp/B07D6Y3GN2/"><img src="https://github.com/commaai/panda/blob/master/panda.png">
 
 <img src="https://github.com/commaai/panda/blob/master/buy.png"></a>
 
@@ -48,10 +48,10 @@ Software interface support
 
 As a universal car interface, it should support every reasonable software interface.
 
-- User space ([done](https://github.com/commaai/panda/tree/master/python))
-- socketcan in kernel ([alpha](https://github.com/commaai/panda/tree/master/drivers/linux))
-- ELM327 ([done](https://github.com/commaai/panda/blob/master/boardesp/elm327.c))
-- Windows J2534 ([done](https://github.com/commaai/panda/tree/master/drivers/windows))
+- [User space](https://github.com/commaai/panda/tree/master/python)
+- [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
+- [ELM327](https://github.com/commaai/panda/blob/master/boardesp/elm327.c)
+- [Windows J2534](https://github.com/commaai/panda/tree/master/drivers/windows)
 
 Directory structure
 ------

panda/VERSION

@@ -1 +1 @@
-v1.1.2
+v1.1.3

panda/board/safety.h

@@ -12,7 +12,7 @@ int safety_ignition_hook();
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
 int to_signed(int d, int bits);
 void update_sample(struct sample_t *sample, int sample_new);
-int max_limit_check(int val, const int MAX);
+int max_limit_check(int val, const int MAX, const int MIN);
 int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
 int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
@@ -149,8 +149,8 @@ void update_sample(struct sample_t *sample, int sample_new) {
   }
 }
 
-int max_limit_check(int val, const int MAX) {
-  return (val > MAX) | (val < -MAX);
+int max_limit_check(int val, const int MAX, const int MIN) {
+  return (val > MAX) || (val < MIN);
 }
 
 // check that commanded value isn't too far from measured
@@ -158,8 +158,8 @@ int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
 
   // *** val rate limit check ***
-  int16_t highest_allowed_val = max(val_last, 0) + MAX_RATE_UP;
-  int16_t lowest_allowed_val = min(val_last, 0) - MAX_RATE_UP;
+  int highest_allowed_val = max(val_last, 0) + MAX_RATE_UP;
+  int lowest_allowed_val = min(val_last, 0) - MAX_RATE_UP;
 
   // if we've exceeded the meas val, we must start moving toward 0
   highest_allowed_val = min(highest_allowed_val, max(val_last - MAX_RATE_DOWN, max(val_meas->max, 0) + MAX_ERROR));
@@ -195,8 +195,8 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
 
   // *** torque real time rate limit check ***
-  int16_t highest_val = max(val_last, 0) + MAX_RT_DELTA;
-  int16_t lowest_val = min(val_last, 0) - MAX_RT_DELTA;
+  int highest_val = max(val_last, 0) + MAX_RT_DELTA;
+  int lowest_val = min(val_last, 0) - MAX_RT_DELTA;
 
   // check for violation
   return (val < lowest_val) || (val > highest_val);

panda/board/safety/safety_cadillac.h

@@ -70,7 +70,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if (controls_allowed) {
 
       // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER);
+      violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER, -CADILLAC_MAX_STEER);
 
       // *** torque rate limit check ***
       int desired_torque_last = cadillac_desired_torque_last[idx];

panda/board/safety/safety_gm.h

@@ -163,7 +163,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if (current_controls_allowed) {
 
       // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, GM_MAX_STEER);
+      violation |= max_limit_check(desired_torque, GM_MAX_STEER, -GM_MAX_STEER);
 
       // *** torque rate limit check ***
       violation |= driver_limit_check(desired_torque, gm_desired_torque_last, &gm_torque_driver,

panda/board/safety/safety_toyota.h

@@ -1,32 +1,34 @@
-struct sample_t torque_meas;           // last 3 motor torques produced by the eps
+int toyota_no_dsu_car = 0;                // ch-r and camry don't have the DSU
+int toyota_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
 
 // global torque limit
-const int MAX_TORQUE = 1500;       // max torque cmd allowed ever
+const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 
 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
-const int MAX_RATE_UP = 10;        // ramp up slow
-const int MAX_RATE_DOWN = 25;      // ramp down fast
-const int MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
+const int TOYOTA_MAX_RATE_UP = 10;        // ramp up slow
+const int TOYOTA_MAX_RATE_DOWN = 25;      // ramp down fast
+const int TOYOTA_MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
 
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
-const int MAX_RT_DELTA = 375;      // max delta torque allowed for real time checks
-const int RT_INTERVAL = 250000;    // 250ms between real time checks
+const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real time checks
+const int TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
-const int MAX_ACCEL = 1500;        // 1.5 m/s2
-const int MIN_ACCEL = -3000;       // 3.0 m/s2
+const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
+const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2
 
 // global actuation limit state
-int actuation_limits = 1;              // by default steer limits are imposed
-int dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
+int toyota_actuation_limits = 1;          // by default steer limits are imposed
+int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
 
 // state of torque limits
-int desired_torque_last = 0;       // last desired steer torque
-int rt_torque_last = 0;            // last desired torque for real time check
-uint32_t ts_last = 0;
-int cruise_engaged_last = 0;           // cruise state
+int toyota_desired_torque_last = 0;       // last desired steer torque
+int toyota_rt_torque_last = 0;            // last desired torque for real time check
+uint32_t toyota_ts_last = 0;
+int toyota_cruise_engaged_last = 0;       // cruise state
+struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -36,26 +38,38 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     torque_meas_new = to_signed(torque_meas_new, 16);
 
     // scale by dbc_factor
-    torque_meas_new = (torque_meas_new * dbc_eps_torque_factor) / 100;
+    torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
 
     // increase torque_meas by 1 to be conservative on rounding
     torque_meas_new += (torque_meas_new > 0 ? 1 : -1);
 
     // update array of sample
-    update_sample(&torque_meas, torque_meas_new);
+    update_sample(&toyota_torque_meas, torque_meas_new);
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == 0x1D2) {
     // 4 bits: 55-52
     int cruise_engaged = to_push->RDHR & 0xF00000;
-    if (cruise_engaged && !cruise_engaged_last) {
+    if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     } else if (!cruise_engaged) {
       controls_allowed = 0;
     }
-    cruise_engaged_last = cruise_engaged;
+    toyota_cruise_engaged_last = cruise_engaged;
   }
+
+  int bus = (to_push->RDTR >> 4) & 0xF;
+  // 0x680 is a radar msg only found in dsu-less cars
+  if ((to_push->RIR>>21) == 0x680 && (bus == 1)) {
+    toyota_no_dsu_car = 1;
+  }
+
+  // 0x2E4 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high
+  if ((to_push->RIR>>21) == 0x2E4 && (bus == 0)) {
+    toyota_giraffe_switch_1 = 1;
+  }
+
 }
 
 static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -70,10 +84,9 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if ((to_send->RIR>>21) == 0x343) {
       int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
       desired_accel = to_signed(desired_accel, 16);
-      if (controls_allowed && actuation_limits) {
-        if ((desired_accel > MAX_ACCEL) || (desired_accel < MIN_ACCEL)) {
-          return 0;
-        }
+      if (controls_allowed && toyota_actuation_limits) {
+        int violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
+        if (violation) return 0;
       } else if (!controls_allowed && (desired_accel != 0)) {
         return 0;
       }
@@ -88,25 +101,26 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       uint32_t ts = TIM2->CNT;
 
       // only check if controls are allowed and actuation_limits are imposed
-      if (controls_allowed && actuation_limits) {
+      if (controls_allowed && toyota_actuation_limits) {
 
         // *** global torque limit check ***
-        violation |= max_limit_check(desired_torque, MAX_TORQUE);
+        violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);
 
         // *** torque rate limit check ***
-        violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, MAX_RATE_UP, MAX_RATE_DOWN, MAX_TORQUE_ERROR);
+        violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last, 
+          &toyota_torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);
 
         // used next time
-        desired_torque_last = desired_torque;
+        toyota_desired_torque_last = desired_torque;
 
         // *** torque real time rate limit check ***
-        violation |= rt_rate_limit_check(desired_torque, rt_torque_last, MAX_RT_DELTA);
+        violation |= rt_rate_limit_check(desired_torque, toyota_rt_torque_last, TOYOTA_MAX_RT_DELTA);
 
         // every RT_INTERVAL set the new limits
-        uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
-        if (ts_elapsed > RT_INTERVAL) {
-          rt_torque_last = desired_torque;
-          ts_last = ts;
+        uint32_t ts_elapsed = get_ts_elapsed(ts, toyota_ts_last);
+        if (ts_elapsed > TOYOTA_RT_INTERVAL) {
+          toyota_rt_torque_last = desired_torque;
+          toyota_ts_last = ts;
         }
       }
       
@@ -117,9 +131,9 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
       // reset to 0 if either controls is not allowed or there's a violation
       if (violation || !controls_allowed) {
-        desired_torque_last = 0;
-        rt_torque_last = 0;
-        ts_last = ts;
+        toyota_desired_torque_last = 0;
+        toyota_rt_torque_last = 0;
+        toyota_ts_last = ts;
       }
 
       if (violation) {
@@ -139,11 +153,19 @@ static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
 
 static void toyota_init(int16_t param) {
   controls_allowed = 0;
-  actuation_limits = 1;
-  dbc_eps_torque_factor = param;
+  toyota_actuation_limits = 1;
+  toyota_giraffe_switch_1 = 0;
+  toyota_dbc_eps_torque_factor = param;
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+
+  // forward cam to radar and viceversa if car is dsu-less, except lkas cmd and hud
+  if ((bus_num == 0 || bus_num == 2) && toyota_no_dsu_car && !toyota_giraffe_switch_1) {
+    int addr = to_fwd->RIR>>21;
+    bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412) && bus_num == 2;
+    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
+  }
   return -1;
 }
 
@@ -158,8 +180,9 @@ const safety_hooks toyota_hooks = {
 
 static void toyota_nolimits_init(int16_t param) {
   controls_allowed = 0;
-  actuation_limits = 0;
-  dbc_eps_torque_factor = param;
+  toyota_actuation_limits = 0;
+  toyota_giraffe_switch_1 = 0;
+  toyota_dbc_eps_torque_factor = param;
 }
 
 const safety_hooks toyota_nolimits_hooks = {

panda/board/safety/safety_toyota_ipas.h

@@ -2,7 +2,7 @@
 // TODO: refactor to repeat less code
 
 // IPAS override
-const int32_t IPAS_OVERRIDE_THRESHOLD = 200;  // disallow controls when user torque exceeds this value
+const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200;  // disallow controls when user torque exceeds this value
 
 struct lookup_t {
   float x[3];
@@ -92,7 +92,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // every RT_INTERVAL or when controls are turned on, set the new limits
     uint32_t ts_elapsed = get_ts_elapsed(ts, ts_angle_last);
-    if ((ts_elapsed > RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
+    if ((ts_elapsed > TOYOTA_RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
       rt_angle_last = angle_meas_new;
       ts_angle_last = ts;
     }
@@ -118,8 +118,8 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // exit controls on high steering override
-  if (angle_control && ((torque_driver.min > IPAS_OVERRIDE_THRESHOLD) ||
-                        (torque_driver.max < -IPAS_OVERRIDE_THRESHOLD) ||
+  if (angle_control && ((torque_driver.min > TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
+                        (torque_driver.max < -TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
                         (ipas_state==5))) {
     controls_allowed = 0;
   }

panda/drivers/windows/README.md

@@ -18,6 +18,35 @@ ______/\\\\\\\\\\\____/\\\\\\\\\_______/\\\\\\\\\\\\\\\______/\\\\\\\\\\________
 ```
 
 
+# Installing J2534 driver:
+
+[Download](https://github.com/commaai/panda/files/1742802/panda.J2534.driver.install.zip)
+
+Depending on what version of windows you are on, you may need to separately install the WinUSB driver (see next section).
+
+# Installing WinUSB driver:
+
+Installation automatically happens for Windows 8 and Windows 10 because the panda
+firmware contains the USB descriptors necessary to auto-install the WinUSB driver.
+
+Windows 7 will not auto-install the WinUSB driver. You can use Zadig to install
+the WinUSB driver. This software is not tested on anything before 7.
+
+More details here:
+[WinUSB (Winusb.sys) Installation](https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/winusb-installation)
+[WCID Devices](https://github.com/pbatard/libwdi/wiki/WCID-Devices)
+[Zadig for installing libusb compatible driver](https://github.com/pbatard/libwdi/wiki/Zadig)
+
+# Using J2534:
+
+After installing the J2534 drivers for the panda, you can do... nothing.
+You first need to get a J2534 client that can load the drivers and talk to
+the panda for you.
+
+A simple tool for testing J2534 drivers is DrewTech's 'J2534-1 Bus Analysis
+Tool' available in the 'Other Support Applications' section of their
+[Download Page](http://www.drewtech.com/downloads/).
+
 # What is J2534?
 
 J2534 is an API that tries to provide a consistent way to send/receive
@@ -78,41 +107,6 @@ vscruntimeinfo.nsh and follow the instructions to bundle in the Visual Studio C
 Runtime required by your version of Visual Studio. Without this runtime, the panda
 code will not work, so without this file, the installer will refuse to build.
 
-# Installing:
-
-Either build the software yourself by following the steps in the
-'Developing' section, or get the panda_installer.exe file and run
-it. The wizard should correctly set up the drivers.
-
-Since this driver is still in development, there are some issues
-that may occur. If after you install the driver and then plug in your
-panda (unplug it first if it was already plugged in), Windows says
-the driver is missing, refer to the section below 'Dealing with self
-signed drivers.'
-
-# Using J2534:
-
-After installing the J2534 drivers for the panda, you can do... nothing.
-You first need to get a J2534 client that can load the drivers and talk to
-the panda for you.
-
-A simple tool for testing J2534 drivers is DrewTech's 'J2534-1 Bus Analysis
-Tool' available in the 'Other Support Applications' section of their
-[Download Page](http://www.drewtech.com/downloads/).
-
-# Installing WinUSB driver:
-
-Installation automatically happens for Windows 8 and Windows 10 because the panda
-firmware contains the USB descriptors necessary to auto-install the WinUSB driver.
-
-Windows 7 will not auto-install the WinUSB driver. You can use Zadig to install
-the WinUSB driver. This software is not tested on anything before 7.
-
-More details here:
-[WinUSB (Winusb.sys) Installation](https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/winusb-installation)
-[WCID Devices](https://github.com/pbatard/libwdi/wiki/WCID-Devices)
-[Zadig for installing libusb compatible driver](https://github.com/pbatard/libwdi/wiki/Zadig)
-
 # Developing:
 
 - Edit and merge pandaJ2534DLL\J2534register_x64.reg to register your development J2534 DLL.

panda/examples/tesla_tester.py

@@ -29,11 +29,11 @@ def tesla_tester():
   
   # BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more. For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
   print("Unlocking Tesla...")
-  p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", bus_num)
+  p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)
 
   #Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both)
   print("Opening Frunk...")
-  p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", bus_num)
+  p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
   
   #Back to safety...
   print("Disabling output on Panda...")
@@ -41,7 +41,6 @@ def tesla_tester():
   
   print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...")
   
-  cnt = 0
   vin = {}
   while True:
     #Read the VIN
@@ -53,11 +52,10 @@ def tesla_tester():
           vin_string = binascii.hexlify(dat)[2:] #rest of the string is the actual VIN data
           vin[vin_index] = vin_string.decode("hex")
           print("Got VIN index " + str(vin_index) + " data " + vin[vin_index])
-          cnt += 1
     #if we have all 3 parts of the VIN, print it and break out of our while loop
-    if cnt == 3:
+    if 0 in vin and 1 in vin and 2 in vin:
       print("VIN: " + vin[0] + vin[1] + vin[2][:3])
       break
 
 if __name__ == "__main__":
-  tesla_tester()
+  tesla_tester()

panda/python/isotp.py

@@ -44,7 +44,7 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
     idx = 1
     for mm in recv(panda, (tlen-len(dat) + 5)/6, addr, bus):
       assert ord(mm[0]) == subaddr
-      assert ord(mm[1]) == (0x20 | idx)
+      assert ord(mm[1]) == (0x20 | (idx&0xF))
       dat += mm[2:]
       idx += 1
   elif ord(msg[1])&0xf0 == 0x00:
@@ -117,7 +117,7 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
 
       idx = 1
       for mm in recv(panda, (tlen-len(dat) + 6)/7, addr, bus):
-        assert ord(mm[0]) == (0x20 | idx)
+        assert ord(mm[0]) == (0x20 | (idx&0xF))
         dat += mm[1:]
         idx += 1
     elif ord(msg[0])&0xf0 == 0x00:

panda/tests/safety/libpandasafety_py.py

@@ -38,13 +38,13 @@ void reset_angle_control(void);
 int get_controls_allowed(void);
 void init_tests_toyota(void);
 void set_timer(int t);
-void set_torque_meas(int min, int max);
+void set_toyota_torque_meas(int min, int max);
 void set_cadillac_torque_driver(int min, int max);
 void set_gm_torque_driver(int min, int max);
-void set_rt_torque_last(int t);
-void set_desired_torque_last(int t);
-int get_torque_meas_min(void);
-int get_torque_meas_max(void);
+void set_toyota_rt_torque_last(int t);
+void set_toyota_desired_torque_last(int t);
+int get_toyota_torque_meas_min(void);
+int get_toyota_torque_meas_max(void);
 
 void init_tests_honda(void);
 int get_ego_speed(void);

panda/tests/safety/test.c

@@ -22,7 +22,7 @@ typedef struct
   uint32_t CNT;
 } TIM_TypeDef;
 
-struct sample_t torque_meas;
+struct sample_t toyota_torque_meas;
 struct sample_t cadillac_torque_driver;
 struct sample_t gm_torque_driver;
 
@@ -60,9 +60,9 @@ void set_timer(int t){
   timer.CNT = t;
 }
 
-void set_torque_meas(int min, int max){
-  torque_meas.min = min;
-  torque_meas.max = max;
+void set_toyota_torque_meas(int min, int max){
+  toyota_torque_meas.min = min;
+  toyota_torque_meas.max = max;
 }
 
 void set_cadillac_torque_driver(int min, int max){
@@ -75,16 +75,16 @@ void set_gm_torque_driver(int min, int max){
   gm_torque_driver.max = max;
 }
 
-int get_torque_meas_min(void){
-  return torque_meas.min;
+int get_toyota_torque_meas_min(void){
+  return toyota_torque_meas.min;
 }
 
-int get_torque_meas_max(void){
-  return torque_meas.max;
+int get_toyota_torque_meas_max(void){
+  return toyota_torque_meas.max;
 }
 
-void set_rt_torque_last(int t){
-  rt_torque_last = t;
+void set_toyota_rt_torque_last(int t){
+  toyota_rt_torque_last = t;
 }
 
 void set_cadillac_rt_torque_last(int t){
@@ -95,8 +95,8 @@ void set_gm_rt_torque_last(int t){
   gm_rt_torque_last = t;
 }
 
-void set_desired_torque_last(int t){
-  desired_torque_last = t;
+void set_toyota_desired_torque_last(int t){
+  toyota_desired_torque_last = t;
 }
 
 void set_cadillac_desired_torque_last(int t){
@@ -129,11 +129,11 @@ void set_bosch_hardware(bool c){
 }
 
 void init_tests_toyota(void){
-  torque_meas.min = 0;
-  torque_meas.max = 0;
-  desired_torque_last = 0;
-  rt_torque_last = 0;
-  ts_last = 0;
+  toyota_torque_meas.min = 0;
+  toyota_torque_meas.max = 0;
+  toyota_desired_torque_last = 0;
+  toyota_rt_torque_last = 0;
+  toyota_ts_last = 0;
   set_timer(0);
 }
 

panda/tests/safety/test_toyota.py

@@ -41,9 +41,9 @@ class TestToyotaSafety(unittest.TestCase):
     cls.safety.init_tests_toyota()
 
   def _set_prev_torque(self, t):
-    self.safety.set_desired_torque_last(t)
-    self.safety.set_rt_torque_last(t)
-    self.safety.set_torque_meas(t, t)
+    self.safety.set_toyota_desired_torque_last(t)
+    self.safety.set_toyota_rt_torque_last(t)
+    self.safety.set_toyota_torque_meas(t, t)
 
   def _torque_meas_msg(self, torque):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
@@ -158,9 +158,9 @@ class TestToyotaSafety(unittest.TestCase):
     for controls_allowed in [True, False]:
       for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
           self.safety.set_controls_allowed(controls_allowed)
-          self.safety.set_rt_torque_last(torque)
-          self.safety.set_torque_meas(torque, torque)
-          self.safety.set_desired_torque_last(torque - MAX_RATE_UP)
+          self.safety.set_toyota_rt_torque_last(torque)
+          self.safety.set_toyota_torque_meas(torque, torque)
+          self.safety.set_toyota_desired_torque_last(torque - MAX_RATE_UP)
 
           if controls_allowed:
             send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
@@ -181,14 +181,14 @@ class TestToyotaSafety(unittest.TestCase):
   def test_non_realtime_limit_down(self):
     self.safety.set_controls_allowed(True)
 
-    self.safety.set_rt_torque_last(1000)
-    self.safety.set_torque_meas(500, 500)
-    self.safety.set_desired_torque_last(1000)
+    self.safety.set_toyota_rt_torque_last(1000)
+    self.safety.set_toyota_torque_meas(500, 500)
+    self.safety.set_toyota_desired_torque_last(1000)
     self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN)))
 
-    self.safety.set_rt_torque_last(1000)
-    self.safety.set_torque_meas(500, 500)
-    self.safety.set_desired_torque_last(1000)
+    self.safety.set_toyota_rt_torque_last(1000)
+    self.safety.set_toyota_torque_meas(500, 500)
+    self.safety.set_toyota_desired_torque_last(1000)
     self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN + 1)))
 
   def test_exceed_torque_sensor(self):
@@ -210,14 +210,14 @@ class TestToyotaSafety(unittest.TestCase):
       self._set_prev_torque(0)
       for t in np.arange(0, 380, 10):
         t *= sign
-        self.safety.set_torque_meas(t, t)
+        self.safety.set_toyota_torque_meas(t, t)
         self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))
       self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(sign * 380)))
 
       self._set_prev_torque(0)
       for t in np.arange(0, 370, 10):
         t *= sign
-        self.safety.set_torque_meas(t, t)
+        self.safety.set_toyota_torque_meas(t, t)
         self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))
 
       # Increase timer to update rt_torque_last
@@ -233,16 +233,16 @@ class TestToyotaSafety(unittest.TestCase):
     self.safety.toyota_rx_hook(self._torque_meas_msg(0))
     self.safety.toyota_rx_hook(self._torque_meas_msg(0))
 
-    self.assertEqual(-51, self.safety.get_torque_meas_min())
-    self.assertEqual(51, self.safety.get_torque_meas_max())
+    self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
+    self.assertEqual(51, self.safety.get_toyota_torque_meas_max())
 
     self.safety.toyota_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(-1, self.safety.get_torque_meas_max())
-    self.assertEqual(-51, self.safety.get_torque_meas_min())
+    self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
+    self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
 
     self.safety.toyota_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(-1, self.safety.get_torque_meas_max())
-    self.assertEqual(-1, self.safety.get_torque_meas_min())
+    self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
+    self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())
 
   def test_ipas_override(self):
 

phonelibs/libgralloc/include/gralloc_priv.h

@@ -0,0 +1,296 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ * Copyright (c) 2011-2015, The Linux Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef GRALLOC_PRIV_H_
+#define GRALLOC_PRIV_H_
+
+#include <stdint.h>
+#include <limits.h>
+#include <sys/cdefs.h>
+#include <hardware/gralloc.h>
+#include <pthread.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <cutils/native_handle.h>
+
+#include <cutils/log.h>
+
+#define ROUND_UP_PAGESIZE(x) ( (((unsigned long)(x)) + PAGE_SIZE-1)  & \
+                               (~(PAGE_SIZE-1)) )
+
+/* Gralloc usage bits indicating the type of allocation that should be used */
+/* SYSTEM heap comes from kernel vmalloc (ION_SYSTEM_HEAP_ID)
+ * is cached by default and
+ * is not secured */
+
+/* GRALLOC_USAGE_PRIVATE_0 is unused */
+
+/* Non linear, Universal Bandwidth Compression */
+#define GRALLOC_USAGE_PRIVATE_ALLOC_UBWC      GRALLOC_USAGE_PRIVATE_1
+
+/* IOMMU heap comes from manually allocated pages, can be cached/uncached,
+ * is not secured */
+#define GRALLOC_USAGE_PRIVATE_IOMMU_HEAP      GRALLOC_USAGE_PRIVATE_2
+
+/* MM heap is a carveout heap for video, can be secured */
+#define GRALLOC_USAGE_PRIVATE_MM_HEAP         GRALLOC_USAGE_PRIVATE_3
+
+/* ADSP heap is a carveout heap, is not secured */
+#define GRALLOC_USAGE_PRIVATE_ADSP_HEAP       0x01000000
+
+/* Set this for allocating uncached memory (using O_DSYNC),
+ * cannot be used with noncontiguous heaps */
+#define GRALLOC_USAGE_PRIVATE_UNCACHED        0x02000000
+
+/* Buffer content should be displayed on an primary display only */
+#define GRALLOC_USAGE_PRIVATE_INTERNAL_ONLY   0x04000000
+
+/* Buffer content should be displayed on an external display only */
+#define GRALLOC_USAGE_PRIVATE_EXTERNAL_ONLY   0x08000000
+
+/* This flag is set for WFD usecase */
+#define GRALLOC_USAGE_PRIVATE_WFD             0x00200000
+
+/* CAMERA heap is a carveout heap for camera, is not secured */
+#define GRALLOC_USAGE_PRIVATE_CAMERA_HEAP     0x00400000
+
+/* This flag is used for SECURE display usecase */
+#define GRALLOC_USAGE_PRIVATE_SECURE_DISPLAY  0x00800000
+
+/* define Gralloc perform */
+#define GRALLOC_MODULE_PERFORM_CREATE_HANDLE_FROM_BUFFER 1
+// This will be used by the graphics drivers to know if certain features
+// are defined in this display HAL.
+// Ex: Newer GFX libraries + Older Display HAL
+#define GRALLOC_MODULE_PERFORM_GET_STRIDE 2
+#define GRALLOC_MODULE_PERFORM_GET_CUSTOM_STRIDE_FROM_HANDLE 3
+#define GRALLOC_MODULE_PERFORM_GET_CUSTOM_STRIDE_AND_HEIGHT_FROM_HANDLE 4
+#define GRALLOC_MODULE_PERFORM_GET_ATTRIBUTES 5
+#define GRALLOC_MODULE_PERFORM_GET_COLOR_SPACE_FROM_HANDLE 6
+#define GRALLOC_MODULE_PERFORM_GET_YUV_PLANE_INFO 7
+#define GRALLOC_MODULE_PERFORM_GET_MAP_SECURE_BUFFER_INFO 8
+#define GRALLOC_MODULE_PERFORM_GET_UBWC_FLAG 9
+#define GRALLOC_MODULE_PERFORM_GET_RGB_DATA_ADDRESS 10
+#define GRALLOC_MODULE_PERFORM_GET_IGC 11
+#define GRALLOC_MODULE_PERFORM_SET_IGC 12
+#define GRALLOC_MODULE_PERFORM_SET_SINGLE_BUFFER_MODE 13
+
+/* OEM specific HAL formats */
+
+#define HAL_PIXEL_FORMAT_RGBA_5551               6
+#define HAL_PIXEL_FORMAT_RGBA_4444               7
+#define HAL_PIXEL_FORMAT_NV12_ENCODEABLE         0x102
+#define HAL_PIXEL_FORMAT_YCbCr_420_SP_VENUS      0x7FA30C04
+#define HAL_PIXEL_FORMAT_YCbCr_420_SP_TILED      0x7FA30C03
+#define HAL_PIXEL_FORMAT_YCbCr_420_SP            0x109
+#define HAL_PIXEL_FORMAT_YCrCb_420_SP_ADRENO     0x7FA30C01
+#define HAL_PIXEL_FORMAT_YCrCb_422_SP            0x10B
+#define HAL_PIXEL_FORMAT_R_8                     0x10D
+#define HAL_PIXEL_FORMAT_RG_88                   0x10E
+#define HAL_PIXEL_FORMAT_YCbCr_444_SP            0x10F
+#define HAL_PIXEL_FORMAT_YCrCb_444_SP            0x110
+#define HAL_PIXEL_FORMAT_YCrCb_422_I             0x111
+#define HAL_PIXEL_FORMAT_BGRX_8888               0x112
+#define HAL_PIXEL_FORMAT_NV21_ZSL                0x113
+#define HAL_PIXEL_FORMAT_YCrCb_420_SP_VENUS      0x114
+#define HAL_PIXEL_FORMAT_BGR_565                 0x115
+#define HAL_PIXEL_FORMAT_INTERLACE               0x180
+
+//v4l2_fourcc('Y', 'U', 'Y', 'L'). 24 bpp YUYV 4:2:2 10 bit per component
+#define HAL_PIXEL_FORMAT_YCbCr_422_I_10BIT       0x4C595559
+
+//v4l2_fourcc('Y', 'B', 'W', 'C'). 10 bit per component. This compressed
+//format reduces the memory access bandwidth
+#define HAL_PIXEL_FORMAT_YCbCr_422_I_10BIT_COMPRESSED  0x43574259
+
+// UBWC aligned Venus format
+#define HAL_PIXEL_FORMAT_YCbCr_420_SP_VENUS_UBWC 0x7FA30C06
+
+//Khronos ASTC formats
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_4x4_KHR             0x93B0
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_5x4_KHR             0x93B1
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_5x5_KHR             0x93B2
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_6x5_KHR             0x93B3
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_6x6_KHR             0x93B4
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_8x5_KHR             0x93B5
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_8x6_KHR             0x93B6
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_8x8_KHR             0x93B7
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x5_KHR            0x93B8
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x6_KHR            0x93B9
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x8_KHR            0x93BA
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x10_KHR           0x93BB
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_12x10_KHR           0x93BC
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_12x12_KHR           0x93BD
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR     0x93D0
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR     0x93D1
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR     0x93D2
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR     0x93D3
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR     0x93D4
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR     0x93D5
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR     0x93D6
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR     0x93D7
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR    0x93D8
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR    0x93D9
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR    0x93DA
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR   0x93DB
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR   0x93DC
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR   0x93DD
+
+/* possible values for inverse gamma correction */
+#define HAL_IGC_NOT_SPECIFIED     0
+#define HAL_IGC_s_RGB             1
+
+/* possible formats for 3D content*/
+enum {
+    HAL_NO_3D                      = 0x0,
+    HAL_3D_SIDE_BY_SIDE_L_R        = 0x1,
+    HAL_3D_SIDE_BY_SIDE_R_L        = 0x2,
+    HAL_3D_TOP_BOTTOM              = 0x4,
+    HAL_3D_IN_SIDE_BY_SIDE_L_R     = 0x10000, //unused legacy format
+};
+
+enum {
+    BUFFER_TYPE_UI = 0,
+    BUFFER_TYPE_VIDEO
+};
+
+#ifdef __cplusplus
+struct private_handle_t : public native_handle {
+#else
+    struct private_handle_t {
+        native_handle_t nativeHandle;
+#endif
+        enum {
+            PRIV_FLAGS_FRAMEBUFFER        = 0x00000001,
+            PRIV_FLAGS_USES_ION           = 0x00000008,
+            PRIV_FLAGS_USES_ASHMEM        = 0x00000010,
+            PRIV_FLAGS_NEEDS_FLUSH        = 0x00000020,
+            PRIV_FLAGS_INTERNAL_ONLY      = 0x00000040,
+            PRIV_FLAGS_NON_CPU_WRITER     = 0x00000080,
+            PRIV_FLAGS_NONCONTIGUOUS_MEM  = 0x00000100,
+            PRIV_FLAGS_CACHED             = 0x00000200,
+            PRIV_FLAGS_SECURE_BUFFER      = 0x00000400,
+            // Display on external only
+            PRIV_FLAGS_EXTERNAL_ONLY      = 0x00002000,
+            // Set by HWC for protected non secure buffers
+            PRIV_FLAGS_PROTECTED_BUFFER   = 0x00004000,
+            PRIV_FLAGS_VIDEO_ENCODER      = 0x00010000,
+            PRIV_FLAGS_CAMERA_WRITE       = 0x00020000,
+            PRIV_FLAGS_CAMERA_READ        = 0x00040000,
+            PRIV_FLAGS_HW_COMPOSER        = 0x00080000,
+            PRIV_FLAGS_HW_TEXTURE         = 0x00100000,
+            PRIV_FLAGS_ITU_R_601          = 0x00200000, //Unused from display
+            PRIV_FLAGS_ITU_R_601_FR       = 0x00400000, //Unused from display
+            PRIV_FLAGS_ITU_R_709          = 0x00800000, //Unused from display
+            PRIV_FLAGS_SECURE_DISPLAY     = 0x01000000,
+            // Buffer is rendered in Tile Format
+            PRIV_FLAGS_TILE_RENDERED      = 0x02000000,
+            // Buffer rendered using CPU/SW renderer
+            PRIV_FLAGS_CPU_RENDERED       = 0x04000000,
+            // Buffer is allocated with UBWC alignment
+            PRIV_FLAGS_UBWC_ALIGNED       = 0x08000000,
+            // Buffer allocated will be consumed by SF/HWC
+            PRIV_FLAGS_DISP_CONSUMER      = 0x10000000
+        };
+
+        // file-descriptors
+        int     fd;
+        int     fd_metadata;          // fd for the meta-data
+        // ints
+        int     magic;
+        int     flags;
+        unsigned int  size;
+        unsigned int  offset;
+        int     bufferType;
+        uint64_t base __attribute__((aligned(8)));
+        unsigned int  offset_metadata;
+        // The gpu address mapped into the mmu.
+        uint64_t gpuaddr __attribute__((aligned(8)));
+        int     format;
+        int     width;              // specifies aligned width
+        int     height;             // specifies aligned height
+        int     real_width;
+        int     real_height;
+        uint64_t base_metadata __attribute__((aligned(8)));
+
+#ifdef __cplusplus
+        static const int sNumFds = 2;
+        static inline int sNumInts() {
+            return ((sizeof(private_handle_t) - sizeof(native_handle_t)) /
+                    sizeof(int)) - sNumFds;
+        }
+        static const int sMagic = 'gmsm';
+
+        private_handle_t(int fd, unsigned int size, int flags, int bufferType,
+                         int format, int aligned_width, int aligned_height,
+                         int width, int height, int eFd = -1,
+                         unsigned int eOffset = 0, uint64_t eBase = 0) :
+            fd(fd), fd_metadata(eFd), magic(sMagic),
+            flags(flags), size(size), offset(0), bufferType(bufferType),
+            base(0), offset_metadata(eOffset), gpuaddr(0),
+            format(format), width(aligned_width), height(aligned_height),
+            real_width(width), real_height(height), base_metadata(eBase)
+        {
+            version = (int) sizeof(native_handle);
+            numInts = sNumInts();
+            numFds = sNumFds;
+        }
+        ~private_handle_t() {
+            magic = 0;
+        }
+
+        static int validate(const native_handle* h) {
+            const private_handle_t* hnd = (const private_handle_t*)h;
+            if (!h || h->version != sizeof(native_handle) ||
+                h->numInts != sNumInts() || h->numFds != sNumFds ||
+                hnd->magic != sMagic)
+            {
+                ALOGD("Invalid gralloc handle (at %p): "
+                      "ver(%d/%zu) ints(%d/%d) fds(%d/%d)"
+                      "magic(%c%c%c%c/%c%c%c%c)",
+                      h,
+                      h ? h->version : -1, sizeof(native_handle),
+                      h ? h->numInts : -1, sNumInts(),
+                      h ? h->numFds : -1, sNumFds,
+                      hnd ? (((hnd->magic >> 24) & 0xFF)?
+                             ((hnd->magic >> 24) & 0xFF) : '-') : '?',
+                      hnd ? (((hnd->magic >> 16) & 0xFF)?
+                             ((hnd->magic >> 16) & 0xFF) : '-') : '?',
+                      hnd ? (((hnd->magic >> 8) & 0xFF)?
+                             ((hnd->magic >> 8) & 0xFF) : '-') : '?',
+                      hnd ? (((hnd->magic >> 0) & 0xFF)?
+                             ((hnd->magic >> 0) & 0xFF) : '-') : '?',
+                      (sMagic >> 24) & 0xFF,
+                      (sMagic >> 16) & 0xFF,
+                      (sMagic >> 8) & 0xFF,
+                      (sMagic >> 0) & 0xFF);
+                return -EINVAL;
+            }
+            return 0;
+        }
+
+        static private_handle_t* dynamicCast(const native_handle* in) {
+            if (validate(in) == 0) {
+                return (private_handle_t*) in;
+            }
+            return NULL;
+        }
+#endif
+    };
+
+#endif /* GRALLOC_PRIV_H_ */

phonelibs/linux/include/msm_ion.h

@@ -0,0 +1,211 @@
+#ifndef _UAPI_MSM_ION_H
+#define _UAPI_MSM_ION_H
+
+#include <linux/ion.h>
+
+enum msm_ion_heap_types {
+	ION_HEAP_TYPE_MSM_START = ION_HEAP_TYPE_CUSTOM + 1,
+	ION_HEAP_TYPE_SECURE_DMA = ION_HEAP_TYPE_MSM_START,
+	ION_HEAP_TYPE_SYSTEM_SECURE,
+	ION_HEAP_TYPE_HYP_CMA,
+	/*
+	 * if you add a heap type here you should also add it to
+	 * heap_types_info[] in msm_ion.c
+	 */
+};
+
+/**
+ * These are the only ids that should be used for Ion heap ids.
+ * The ids listed are the order in which allocation will be attempted
+ * if specified. Don't swap the order of heap ids unless you know what
+ * you are doing!
+ * Id's are spaced by purpose to allow new Id's to be inserted in-between (for
+ * possible fallbacks)
+ */
+
+enum ion_heap_ids {
+	INVALID_HEAP_ID = -1,
+	ION_CP_MM_HEAP_ID = 8,
+	ION_SECURE_HEAP_ID = 9,
+	ION_SECURE_DISPLAY_HEAP_ID = 10,
+	ION_CP_MFC_HEAP_ID = 12,
+	ION_CP_WB_HEAP_ID = 16, /* 8660 only */
+	ION_CAMERA_HEAP_ID = 20, /* 8660 only */
+	ION_SYSTEM_CONTIG_HEAP_ID = 21,
+	ION_ADSP_HEAP_ID = 22,
+	ION_PIL1_HEAP_ID = 23, /* Currently used for other PIL images */
+	ION_SF_HEAP_ID = 24,
+	ION_SYSTEM_HEAP_ID = 25,
+	ION_PIL2_HEAP_ID = 26, /* Currently used for modem firmware images */
+	ION_QSECOM_HEAP_ID = 27,
+	ION_AUDIO_HEAP_ID = 28,
+
+	ION_MM_FIRMWARE_HEAP_ID = 29,
+
+	ION_HEAP_ID_RESERVED = 31 /** Bit reserved for ION_FLAG_SECURE flag */
+};
+
+/*
+ * The IOMMU heap is deprecated! Here are some aliases for backwards
+ * compatibility:
+ */
+#define ION_IOMMU_HEAP_ID ION_SYSTEM_HEAP_ID
+#define ION_HEAP_TYPE_IOMMU ION_HEAP_TYPE_SYSTEM
+
+enum ion_fixed_position {
+	NOT_FIXED,
+	FIXED_LOW,
+	FIXED_MIDDLE,
+	FIXED_HIGH,
+};
+
+enum cp_mem_usage {
+	VIDEO_BITSTREAM = 0x1,
+	VIDEO_PIXEL = 0x2,
+	VIDEO_NONPIXEL = 0x3,
+	DISPLAY_SECURE_CP_USAGE = 0x4,
+	CAMERA_SECURE_CP_USAGE = 0x5,
+	MAX_USAGE = 0x6,
+	UNKNOWN = 0x7FFFFFFF,
+};
+
+/**
+ * Flags to be used when allocating from the secure heap for
+ * content protection
+ */
+#define ION_FLAG_CP_TOUCH (1 << 17)
+#define ION_FLAG_CP_BITSTREAM (1 << 18)
+#define ION_FLAG_CP_PIXEL  (1 << 19)
+#define ION_FLAG_CP_NON_PIXEL (1 << 20)
+#define ION_FLAG_CP_CAMERA (1 << 21)
+#define ION_FLAG_CP_HLOS (1 << 22)
+#define ION_FLAG_CP_HLOS_FREE (1 << 23)
+#define ION_FLAG_CP_SEC_DISPLAY (1 << 25)
+#define ION_FLAG_CP_APP (1 << 26)
+
+/**
+ * Flag to allow non continguous allocation of memory from secure
+ * heap
+ */
+#define ION_FLAG_ALLOW_NON_CONTIG (1 << 24)
+
+/**
+ * Flag to use when allocating to indicate that a heap is secure.
+ */
+#define ION_FLAG_SECURE (1 << ION_HEAP_ID_RESERVED)
+
+/**
+ * Flag for clients to force contiguous memort allocation
+ *
+ * Use of this flag is carefully monitored!
+ */
+#define ION_FLAG_FORCE_CONTIGUOUS (1 << 30)
+
+/*
+ * Used in conjunction with heap which pool memory to force an allocation
+ * to come from the page allocator directly instead of from the pool allocation
+ */
+#define ION_FLAG_POOL_FORCE_ALLOC (1 << 16)
+
+
+#define ION_FLAG_POOL_PREFETCH (1 << 27)
+
+/**
+* Deprecated! Please use the corresponding ION_FLAG_*
+*/
+#define ION_SECURE ION_FLAG_SECURE
+#define ION_FORCE_CONTIGUOUS ION_FLAG_FORCE_CONTIGUOUS
+
+/**
+ * Macro should be used with ion_heap_ids defined above.
+ */
+#define ION_HEAP(bit) (1 << (bit))
+
+#define ION_ADSP_HEAP_NAME	"adsp"
+#define ION_SYSTEM_HEAP_NAME	"system"
+#define ION_VMALLOC_HEAP_NAME	ION_SYSTEM_HEAP_NAME
+#define ION_KMALLOC_HEAP_NAME	"kmalloc"
+#define ION_AUDIO_HEAP_NAME	"audio"
+#define ION_SF_HEAP_NAME	"sf"
+#define ION_MM_HEAP_NAME	"mm"
+#define ION_CAMERA_HEAP_NAME	"camera_preview"
+#define ION_IOMMU_HEAP_NAME	"iommu"
+#define ION_MFC_HEAP_NAME	"mfc"
+#define ION_WB_HEAP_NAME	"wb"
+#define ION_MM_FIRMWARE_HEAP_NAME	"mm_fw"
+#define ION_PIL1_HEAP_NAME  "pil_1"
+#define ION_PIL2_HEAP_NAME  "pil_2"
+#define ION_QSECOM_HEAP_NAME	"qsecom"
+#define ION_SECURE_HEAP_NAME	"secure_heap"
+#define ION_SECURE_DISPLAY_HEAP_NAME "secure_display"
+
+#define ION_SET_CACHED(__cache)		(__cache | ION_FLAG_CACHED)
+#define ION_SET_UNCACHED(__cache)	(__cache & ~ION_FLAG_CACHED)
+
+#define ION_IS_CACHED(__flags)	((__flags) & ION_FLAG_CACHED)
+
+/* struct ion_flush_data - data passed to ion for flushing caches
+ *
+ * @handle:	handle with data to flush
+ * @fd:		fd to flush
+ * @vaddr:	userspace virtual address mapped with mmap
+ * @offset:	offset into the handle to flush
+ * @length:	length of handle to flush
+ *
+ * Performs cache operations on the handle. If p is the start address
+ * of the handle, p + offset through p + offset + length will have
+ * the cache operations performed
+ */
+struct ion_flush_data {
+	ion_user_handle_t handle;
+	int fd;
+	void *vaddr;
+	unsigned int offset;
+	unsigned int length;
+};
+
+struct ion_prefetch_regions {
+	unsigned int vmid;
+	size_t __user *sizes;
+	unsigned int nr_sizes;
+};
+
+struct ion_prefetch_data {
+	int heap_id;
+	unsigned long len;
+	/* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/
+	struct ion_prefetch_regions __user *regions;
+	unsigned int nr_regions;
+};
+
+#define ION_IOC_MSM_MAGIC 'M'
+
+/**
+ * DOC: ION_IOC_CLEAN_CACHES - clean the caches
+ *
+ * Clean the caches of the handle specified.
+ */
+#define ION_IOC_CLEAN_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 0, \
+						struct ion_flush_data)
+/**
+ * DOC: ION_IOC_INV_CACHES - invalidate the caches
+ *
+ * Invalidate the caches of the handle specified.
+ */
+#define ION_IOC_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 1, \
+						struct ion_flush_data)
+/**
+ * DOC: ION_IOC_CLEAN_INV_CACHES - clean and invalidate the caches
+ *
+ * Clean and invalidate the caches of the handle specified.
+ */
+#define ION_IOC_CLEAN_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 2, \
+						struct ion_flush_data)
+
+#define ION_IOC_PREFETCH		_IOWR(ION_IOC_MSM_MAGIC, 3, \
+						struct ion_prefetch_data)
+
+#define ION_IOC_DRAIN			_IOWR(ION_IOC_MSM_MAGIC, 4, \
+						struct ion_prefetch_data)
+
+#endif

phonelibs/opencl/include/CL/cl_d3d10.h

@@ -0,0 +1,131 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_CL_D3D10_H
+#define __OPENCL_CL_D3D10_H
+
+#include <d3d10.h>
+#include <CL/cl.h>
+#include <CL/cl_platform.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+ * cl_khr_d3d10_sharing                                                       */
+#define cl_khr_d3d10_sharing 1
+
+typedef cl_uint cl_d3d10_device_source_khr;
+typedef cl_uint cl_d3d10_device_set_khr;
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_INVALID_D3D10_DEVICE_KHR                  -1002
+#define CL_INVALID_D3D10_RESOURCE_KHR                -1003
+#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR       -1004
+#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR           -1005
+
+/* cl_d3d10_device_source_nv */
+#define CL_D3D10_DEVICE_KHR                          0x4010
+#define CL_D3D10_DXGI_ADAPTER_KHR                    0x4011
+
+/* cl_d3d10_device_set_nv */
+#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR           0x4012
+#define CL_ALL_DEVICES_FOR_D3D10_KHR                 0x4013
+
+/* cl_context_info */
+#define CL_CONTEXT_D3D10_DEVICE_KHR                  0x4014
+#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C
+
+/* cl_mem_info */
+#define CL_MEM_D3D10_RESOURCE_KHR                    0x4015
+
+/* cl_image_info */
+#define CL_IMAGE_D3D10_SUBRESOURCE_KHR               0x4016
+
+/* cl_command_type */
+#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR         0x4017
+#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR         0x4018
+
+/******************************************************************************/
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)(
+    cl_platform_id             platform,
+    cl_d3d10_device_source_khr d3d_device_source,
+    void *                     d3d_object,
+    cl_d3d10_device_set_khr    d3d_device_set,
+    cl_uint                    num_entries,
+    cl_device_id *             devices,
+    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)(
+    cl_context     context,
+    cl_mem_flags   flags,
+    ID3D10Buffer * resource,
+    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)(
+    cl_context        context,
+    cl_mem_flags      flags,
+    ID3D10Texture2D * resource,
+    UINT              subresource,
+    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)(
+    cl_context        context,
+    cl_mem_flags      flags,
+    ID3D10Texture3D * resource,
+    UINT              subresource,
+    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_CL_D3D10_H */
+

phonelibs/opencl/include/CL/cl_d3d11.h

@@ -0,0 +1,131 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_CL_D3D11_H
+#define __OPENCL_CL_D3D11_H
+
+#include <d3d11.h>
+#include <CL/cl.h>
+#include <CL/cl_platform.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+ * cl_khr_d3d11_sharing                                                       */
+#define cl_khr_d3d11_sharing 1
+
+typedef cl_uint cl_d3d11_device_source_khr;
+typedef cl_uint cl_d3d11_device_set_khr;
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_INVALID_D3D11_DEVICE_KHR                  -1006
+#define CL_INVALID_D3D11_RESOURCE_KHR                -1007
+#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR       -1008
+#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR           -1009
+
+/* cl_d3d11_device_source */
+#define CL_D3D11_DEVICE_KHR                          0x4019
+#define CL_D3D11_DXGI_ADAPTER_KHR                    0x401A
+
+/* cl_d3d11_device_set */
+#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR           0x401B
+#define CL_ALL_DEVICES_FOR_D3D11_KHR                 0x401C
+
+/* cl_context_info */
+#define CL_CONTEXT_D3D11_DEVICE_KHR                  0x401D
+#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D
+
+/* cl_mem_info */
+#define CL_MEM_D3D11_RESOURCE_KHR                    0x401E
+
+/* cl_image_info */
+#define CL_IMAGE_D3D11_SUBRESOURCE_KHR               0x401F
+
+/* cl_command_type */
+#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR         0x4020
+#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR         0x4021
+
+/******************************************************************************/
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)(
+    cl_platform_id             platform,
+    cl_d3d11_device_source_khr d3d_device_source,
+    void *                     d3d_object,
+    cl_d3d11_device_set_khr    d3d_device_set,
+    cl_uint                    num_entries,
+    cl_device_id *             devices,
+    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)(
+    cl_context     context,
+    cl_mem_flags   flags,
+    ID3D11Buffer * resource,
+    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)(
+    cl_context        context,
+    cl_mem_flags      flags,
+    ID3D11Texture2D * resource,
+    UINT              subresource,
+    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)(
+    cl_context        context,
+    cl_mem_flags      flags,
+    ID3D11Texture3D * resource,
+    UINT              subresource,
+    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_CL_D3D11_H */
+

phonelibs/opencl/include/CL/cl_dx9_media_sharing.h

@@ -0,0 +1,132 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H
+#define __OPENCL_CL_DX9_MEDIA_SHARING_H
+
+#include <CL/cl.h>
+#include <CL/cl_platform.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************/
+/* cl_khr_dx9_media_sharing                                                   */
+#define cl_khr_dx9_media_sharing 1
+
+typedef cl_uint             cl_dx9_media_adapter_type_khr;
+typedef cl_uint             cl_dx9_media_adapter_set_khr;
+    
+#if defined(_WIN32)
+#include <d3d9.h>
+typedef struct _cl_dx9_surface_info_khr
+{
+    IDirect3DSurface9 *resource;
+    HANDLE shared_handle;
+} cl_dx9_surface_info_khr;
+#endif
+
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR                -1010
+#define CL_INVALID_DX9_MEDIA_SURFACE_KHR                -1011
+#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR       -1012
+#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR           -1013
+
+/* cl_media_adapter_type_khr */
+#define CL_ADAPTER_D3D9_KHR                              0x2020
+#define CL_ADAPTER_D3D9EX_KHR                            0x2021
+#define CL_ADAPTER_DXVA_KHR                              0x2022
+
+/* cl_media_adapter_set_khr */
+#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR   0x2023
+#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR         0x2024
+
+/* cl_context_info */
+#define CL_CONTEXT_ADAPTER_D3D9_KHR                      0x2025
+#define CL_CONTEXT_ADAPTER_D3D9EX_KHR                    0x2026
+#define CL_CONTEXT_ADAPTER_DXVA_KHR                      0x2027
+
+/* cl_mem_info */
+#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR                0x2028
+#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR                0x2029
+
+/* cl_image_info */
+#define CL_IMAGE_DX9_MEDIA_PLANE_KHR                     0x202A
+
+/* cl_command_type */
+#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR        0x202B
+#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR        0x202C
+
+/******************************************************************************/
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)(
+    cl_platform_id                   platform,
+    cl_uint                          num_media_adapters,
+    cl_dx9_media_adapter_type_khr *  media_adapter_type,
+    void *                           media_adapters,
+    cl_dx9_media_adapter_set_khr     media_adapter_set,
+    cl_uint                          num_entries,
+    cl_device_id *                   devices,
+    cl_uint *                        num_devices) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)(
+    cl_context                    context,
+    cl_mem_flags                  flags,
+    cl_dx9_media_adapter_type_khr adapter_type,
+    void *                        surface_info,
+    cl_uint                       plane,                                                                          
+    cl_int *                      errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_CL_DX9_MEDIA_SHARING_H */
+

phonelibs/opencl/include/CL/cl_egl.h

@@ -0,0 +1,136 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+#ifndef __OPENCL_CL_EGL_H
+#define __OPENCL_CL_EGL_H
+
+#ifdef __APPLE__
+
+#else
+#include <CL/cl.h>
+#endif  
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */
+#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR  0x202F
+#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR    0x202D
+#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR    0x202E
+
+/* Error type for clCreateFromEGLImageKHR */
+#define CL_INVALID_EGL_OBJECT_KHR             -1093
+#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR      -1092
+
+/* CLeglImageKHR is an opaque handle to an EGLImage */
+typedef void* CLeglImageKHR;
+
+/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */
+typedef void* CLeglDisplayKHR;
+
+/* CLeglSyncKHR is an opaque handle to an EGLSync object */
+typedef void* CLeglSyncKHR;
+
+/* properties passed to clCreateFromEGLImageKHR */
+typedef intptr_t cl_egl_image_properties_khr;
+
+
+#define cl_khr_egl_image 1
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromEGLImageKHR(cl_context                  /* context */,
+                        CLeglDisplayKHR             /* egldisplay */,
+                        CLeglImageKHR               /* eglimage */,
+                        cl_mem_flags                /* flags */,
+                        const cl_egl_image_properties_khr * /* properties */,
+                        cl_int *                    /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)(
+	cl_context                  context,
+	CLeglDisplayKHR             egldisplay,
+	CLeglImageKHR               eglimage,
+	cl_mem_flags                flags,
+	const cl_egl_image_properties_khr * properties,
+	cl_int *                    errcode_ret);
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */,
+                              cl_uint          /* num_objects */,
+                              const cl_mem *   /* mem_objects */,
+                              cl_uint          /* num_events_in_wait_list */,
+                              const cl_event * /* event_wait_list */,
+                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)(
+	cl_command_queue command_queue,
+	cl_uint          num_objects,
+	const cl_mem *   mem_objects,
+	cl_uint          num_events_in_wait_list,
+	const cl_event * event_wait_list,
+	cl_event *       event);
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */,
+                              cl_uint          /* num_objects */,
+                              const cl_mem *   /* mem_objects */,
+                              cl_uint          /* num_events_in_wait_list */,
+                              const cl_event * /* event_wait_list */,
+                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)(
+	cl_command_queue command_queue,
+	cl_uint          num_objects,
+	const cl_mem *   mem_objects,
+	cl_uint          num_events_in_wait_list,
+	const cl_event * event_wait_list,
+	cl_event *       event);
+
+
+#define cl_khr_egl_event 1
+
+extern CL_API_ENTRY cl_event CL_API_CALL
+clCreateEventFromEGLSyncKHR(cl_context      /* context */,
+                            CLeglSyncKHR    /* sync */,
+                            CLeglDisplayKHR /* display */,
+                            cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)(
+	cl_context      context,
+	CLeglSyncKHR    sync,
+	CLeglDisplayKHR display,
+	cl_int *        errcode_ret);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_EGL_H */

phonelibs/opencl/include/CL/cl_ext.h

@@ -0,0 +1,391 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */
+
+/* cl_ext.h contains OpenCL extensions which don't have external */
+/* (OpenGL, D3D) dependencies.                                   */
+
+#ifndef __CL_EXT_H
+#define __CL_EXT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __APPLE__
+        #include <OpenCL/cl.h>
+    #include <AvailabilityMacros.h>
+#else
+        #include <CL/cl.h>
+#endif
+
+/* cl_khr_fp16 extension - no extension #define since it has no functions  */
+#define CL_DEVICE_HALF_FP_CONFIG                    0x1033
+
+/* Memory object destruction
+ *
+ * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR
+ *
+ * Registers a user callback function that will be called when the memory object is deleted and its resources 
+ * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback 
+ * stack associated with memobj. The registered user callback functions are called in the reverse order in 
+ * which they were registered. The user callback functions are called and then the memory object is deleted 
+ * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be 
+ * notified when the memory referenced by host_ptr, specified when the memory object is created and used as 
+ * the storage bits for the memory object, can be reused or freed.
+ *
+ * The application may not call CL api's with the cl_mem object passed to the pfn_notify.
+ *
+ * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
+ * before using.
+ */
+#define cl_APPLE_SetMemObjectDestructor 1
+cl_int  CL_API_ENTRY clSetMemObjectDestructorAPPLE(  cl_mem /* memobj */, 
+                                        void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), 
+                                        void * /*user_data */ )             CL_EXT_SUFFIX__VERSION_1_0;  
+
+
+/* Context Logging Functions
+ *
+ * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext().
+ * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
+ * before using.
+ *
+ * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger 
+ */
+#define cl_APPLE_ContextLoggingFunctions 1
+extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE(  const char * /* errstr */, 
+                                            const void * /* private_info */, 
+                                            size_t       /* cb */, 
+                                            void *       /* user_data */ )  CL_EXT_SUFFIX__VERSION_1_0;
+
+/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */
+extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE(   const char * /* errstr */, 
+                                          const void * /* private_info */, 
+                                          size_t       /* cb */, 
+                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
+
+/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */
+extern void CL_API_ENTRY clLogMessagesToStderrAPPLE(   const char * /* errstr */, 
+                                          const void * /* private_info */, 
+                                          size_t       /* cb */, 
+                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
+
+
+/************************ 
+* cl_khr_icd extension *                                                  
+************************/
+#define cl_khr_icd 1
+
+/* cl_platform_info                                                        */
+#define CL_PLATFORM_ICD_SUFFIX_KHR                  0x0920
+
+/* Additional Error Codes                                                  */
+#define CL_PLATFORM_NOT_FOUND_KHR                   -1001
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clIcdGetPlatformIDsKHR(cl_uint          /* num_entries */,
+                       cl_platform_id * /* platforms */,
+                       cl_uint *        /* num_platforms */);
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)(
+    cl_uint          /* num_entries */,
+    cl_platform_id * /* platforms */,
+    cl_uint *        /* num_platforms */);
+
+
+/* Extension: cl_khr_image2D_buffer
+ *
+ * This extension allows a 2D image to be created from a cl_mem buffer without a copy.
+ * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t.
+ * Both the sampler and sampler-less read_image built-in functions are supported for 2D images
+ * and 2D images created from a buffer.  Similarly, the write_image built-ins are also supported
+ * for 2D images created from a buffer.
+ *
+ * When the 2D image from buffer is created, the client must specify the width,
+ * height, image format (i.e. channel order and channel data type) and optionally the row pitch
+ *
+ * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels.
+ * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels.
+ */
+    
+/*************************************
+ * cl_khr_initalize_memory extension *
+ *************************************/
+    
+#define CL_CONTEXT_MEMORY_INITIALIZE_KHR            0x2030
+    
+    
+/**************************************
+ * cl_khr_terminate_context extension *
+ **************************************/
+    
+#define CL_DEVICE_TERMINATE_CAPABILITY_KHR          0x2031
+#define CL_CONTEXT_TERMINATE_KHR                    0x2032
+
+#define cl_khr_terminate_context 1
+extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
+    
+    
+/*
+ * Extension: cl_khr_spir
+ *
+ * This extension adds support to create an OpenCL program object from a 
+ * Standard Portable Intermediate Representation (SPIR) instance
+ */
+
+#define CL_DEVICE_SPIR_VERSIONS                     0x40E0
+#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE         0x40E1
+
+
+/******************************************
+* cl_nv_device_attribute_query extension *
+******************************************/
+/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */
+#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV       0x4000
+#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV       0x4001
+#define CL_DEVICE_REGISTERS_PER_BLOCK_NV            0x4002
+#define CL_DEVICE_WARP_SIZE_NV                      0x4003
+#define CL_DEVICE_GPU_OVERLAP_NV                    0x4004
+#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV            0x4005
+#define CL_DEVICE_INTEGRATED_MEMORY_NV              0x4006
+
+/*********************************
+* cl_amd_device_attribute_query *
+*********************************/
+#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD        0x4036
+
+/*********************************
+* cl_arm_printf extension
+*********************************/
+#define CL_PRINTF_CALLBACK_ARM                      0x40B0
+#define CL_PRINTF_BUFFERSIZE_ARM                    0x40B1
+
+#ifdef CL_VERSION_1_1
+   /***********************************
+    * cl_ext_device_fission extension *
+    ***********************************/
+    #define cl_ext_device_fission   1
+    
+    extern CL_API_ENTRY cl_int CL_API_CALL
+    clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
+    
+    typedef CL_API_ENTRY cl_int 
+    (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+    extern CL_API_ENTRY cl_int CL_API_CALL
+    clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
+    
+    typedef CL_API_ENTRY cl_int 
+    (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+    typedef cl_ulong  cl_device_partition_property_ext;
+    extern CL_API_ENTRY cl_int CL_API_CALL
+    clCreateSubDevicesEXT(  cl_device_id /*in_device*/,
+                            const cl_device_partition_property_ext * /* properties */,
+                            cl_uint /*num_entries*/,
+                            cl_device_id * /*out_devices*/,
+                            cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+    typedef CL_API_ENTRY cl_int 
+    ( CL_API_CALL * clCreateSubDevicesEXT_fn)(  cl_device_id /*in_device*/,
+                                                const cl_device_partition_property_ext * /* properties */,
+                                                cl_uint /*num_entries*/,
+                                                cl_device_id * /*out_devices*/,
+                                                cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+    /* cl_device_partition_property_ext */
+    #define CL_DEVICE_PARTITION_EQUALLY_EXT             0x4050
+    #define CL_DEVICE_PARTITION_BY_COUNTS_EXT           0x4051
+    #define CL_DEVICE_PARTITION_BY_NAMES_EXT            0x4052
+    #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT  0x4053
+    
+    /* clDeviceGetInfo selectors */
+    #define CL_DEVICE_PARENT_DEVICE_EXT                 0x4054
+    #define CL_DEVICE_PARTITION_TYPES_EXT               0x4055
+    #define CL_DEVICE_AFFINITY_DOMAINS_EXT              0x4056
+    #define CL_DEVICE_REFERENCE_COUNT_EXT               0x4057
+    #define CL_DEVICE_PARTITION_STYLE_EXT               0x4058
+    
+    /* error codes */
+    #define CL_DEVICE_PARTITION_FAILED_EXT              -1057
+    #define CL_INVALID_PARTITION_COUNT_EXT              -1058
+    #define CL_INVALID_PARTITION_NAME_EXT               -1059
+    
+    /* CL_AFFINITY_DOMAINs */
+    #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT             0x1
+    #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT             0x2
+    #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT             0x3
+    #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT             0x4
+    #define CL_AFFINITY_DOMAIN_NUMA_EXT                 0x10
+    #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT     0x100
+    
+    /* cl_device_partition_property_ext list terminators */
+    #define CL_PROPERTIES_LIST_END_EXT                  ((cl_device_partition_property_ext) 0)
+    #define CL_PARTITION_BY_COUNTS_LIST_END_EXT         ((cl_device_partition_property_ext) 0)
+    #define CL_PARTITION_BY_NAMES_LIST_END_EXT          ((cl_device_partition_property_ext) 0 - 1)
+
+/*********************************
+* cl_qcom_ext_host_ptr extension
+*********************************/
+
+#define CL_MEM_EXT_HOST_PTR_QCOM                  (1 << 29)
+
+#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM   0x40A0      
+#define CL_DEVICE_PAGE_SIZE_QCOM                  0x40A1
+#define CL_IMAGE_ROW_ALIGNMENT_QCOM               0x40A2
+#define CL_IMAGE_SLICE_ALIGNMENT_QCOM             0x40A3
+#define CL_MEM_HOST_UNCACHED_QCOM                 0x40A4
+#define CL_MEM_HOST_WRITEBACK_QCOM                0x40A5
+#define CL_MEM_HOST_WRITETHROUGH_QCOM             0x40A6
+#define CL_MEM_HOST_WRITE_COMBINING_QCOM          0x40A7
+
+typedef cl_uint                                   cl_image_pitch_info_qcom;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceImageInfoQCOM(cl_device_id             device,
+                         size_t                   image_width,
+                         size_t                   image_height,
+                         const cl_image_format   *image_format,
+                         cl_image_pitch_info_qcom param_name,
+                         size_t                   param_value_size,
+                         void                    *param_value,
+                         size_t                  *param_value_size_ret);
+
+typedef struct _cl_mem_ext_host_ptr
+{
+    /* Type of external memory allocation. */
+    /* Legal values will be defined in layered extensions. */
+    cl_uint  allocation_type;
+            
+    /* Host cache policy for this external memory allocation. */
+    cl_uint  host_cache_policy;
+
+} cl_mem_ext_host_ptr;
+
+/*********************************
+* cl_qcom_ion_host_ptr extension
+*********************************/
+
+#define CL_MEM_ION_HOST_PTR_QCOM                  0x40A8
+
+typedef struct _cl_mem_ion_host_ptr
+{
+    /* Type of external memory allocation. */
+    /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */
+    cl_mem_ext_host_ptr  ext_host_ptr;
+
+    /* ION file descriptor */
+    int                  ion_filedesc;
+            
+    /* Host pointer to the ION allocated memory */
+    void*                ion_hostptr;
+
+} cl_mem_ion_host_ptr;
+
+#endif /* CL_VERSION_1_1 */
+
+
+#ifdef CL_VERSION_2_0
+/*********************************
+* cl_khr_sub_groups extension
+*********************************/
+#define cl_khr_sub_groups 1
+
+typedef cl_uint  cl_kernel_sub_group_info_khr;
+
+/* cl_khr_sub_group_info */
+#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR	0x2033
+#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR		0x2034
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */,
+						   cl_device_id /*in_device*/,
+						   cl_kernel_sub_group_info_khr /* param_name */,
+						   size_t /*input_value_size*/,
+						   const void * /*input_value*/,
+						   size_t /*param_value_size*/,
+						   void* /*param_value*/,
+						   size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
+						   
+typedef CL_API_ENTRY cl_int
+     ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */,
+						      cl_device_id /*in_device*/,
+						      cl_kernel_sub_group_info_khr /* param_name */,
+						      size_t /*input_value_size*/,
+						      const void * /*input_value*/,
+						      size_t /*param_value_size*/,
+						      void* /*param_value*/,
+						      size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
+#endif /* CL_VERSION_2_0 */
+
+#ifdef CL_VERSION_2_1
+/*********************************
+* cl_khr_priority_hints extension
+*********************************/
+#define cl_khr_priority_hints 1
+
+typedef cl_uint  cl_queue_priority_khr;
+
+/* cl_command_queue_properties */
+#define CL_QUEUE_PRIORITY_KHR 0x1096
+
+/* cl_queue_priority_khr */
+#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0)
+#define CL_QUEUE_PRIORITY_MED_KHR (1<<1)
+#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2)
+
+#endif /* CL_VERSION_2_1 */
+
+#ifdef CL_VERSION_2_1
+/*********************************
+* cl_khr_throttle_hints extension
+*********************************/
+#define cl_khr_throttle_hints 1
+
+typedef cl_uint  cl_queue_throttle_khr;
+
+/* cl_command_queue_properties */
+#define CL_QUEUE_THROTTLE_KHR 0x1097
+
+/* cl_queue_throttle_khr */
+#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0)
+#define CL_QUEUE_THROTTLE_MED_KHR (1<<1)
+#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2)
+
+#endif /* CL_VERSION_2_1 */
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* __CL_EXT_H */

phonelibs/opencl/include/CL/cl_gl.h

@@ -0,0 +1,167 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+#ifndef __OPENCL_CL_GL_H
+#define __OPENCL_CL_GL_H
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif	
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef cl_uint     cl_gl_object_type;
+typedef cl_uint     cl_gl_texture_info;
+typedef cl_uint     cl_gl_platform_info;
+typedef struct __GLsync *cl_GLsync;
+
+/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken           */
+#define CL_GL_OBJECT_BUFFER                     0x2000
+#define CL_GL_OBJECT_TEXTURE2D                  0x2001
+#define CL_GL_OBJECT_TEXTURE3D                  0x2002
+#define CL_GL_OBJECT_RENDERBUFFER               0x2003
+#define CL_GL_OBJECT_TEXTURE2D_ARRAY            0x200E
+#define CL_GL_OBJECT_TEXTURE1D                  0x200F
+#define CL_GL_OBJECT_TEXTURE1D_ARRAY            0x2010
+#define CL_GL_OBJECT_TEXTURE_BUFFER             0x2011
+
+/* cl_gl_texture_info           */
+#define CL_GL_TEXTURE_TARGET                    0x2004
+#define CL_GL_MIPMAP_LEVEL                      0x2005
+#define CL_GL_NUM_SAMPLES                       0x2012
+
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLBuffer(cl_context     /* context */,
+                     cl_mem_flags   /* flags */,
+                     cl_GLuint      /* bufobj */,
+                     int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLTexture(cl_context      /* context */,
+                      cl_mem_flags    /* flags */,
+                      cl_GLenum       /* target */,
+                      cl_GLint        /* miplevel */,
+                      cl_GLuint       /* texture */,
+                      cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
+    
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLRenderbuffer(cl_context   /* context */,
+                           cl_mem_flags /* flags */,
+                           cl_GLuint    /* renderbuffer */,
+                           cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLObjectInfo(cl_mem                /* memobj */,
+                  cl_gl_object_type *   /* gl_object_type */,
+                  cl_GLuint *           /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0;
+                  
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLTextureInfo(cl_mem               /* memobj */,
+                   cl_gl_texture_info   /* param_name */,
+                   size_t               /* param_value_size */,
+                   void *               /* param_value */,
+                   size_t *             /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueAcquireGLObjects(cl_command_queue      /* command_queue */,
+                          cl_uint               /* num_objects */,
+                          const cl_mem *        /* mem_objects */,
+                          cl_uint               /* num_events_in_wait_list */,
+                          const cl_event *      /* event_wait_list */,
+                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReleaseGLObjects(cl_command_queue      /* command_queue */,
+                          cl_uint               /* num_objects */,
+                          const cl_mem *        /* mem_objects */,
+                          cl_uint               /* num_events_in_wait_list */,
+                          const cl_event *      /* event_wait_list */,
+                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+
+/* Deprecated OpenCL 1.1 APIs */
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateFromGLTexture2D(cl_context      /* context */,
+                        cl_mem_flags    /* flags */,
+                        cl_GLenum       /* target */,
+                        cl_GLint        /* miplevel */,
+                        cl_GLuint       /* texture */,
+                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateFromGLTexture3D(cl_context      /* context */,
+                        cl_mem_flags    /* flags */,
+                        cl_GLenum       /* target */,
+                        cl_GLint        /* miplevel */,
+                        cl_GLuint       /* texture */,
+                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+/* cl_khr_gl_sharing extension  */
+    
+#define cl_khr_gl_sharing 1
+    
+typedef cl_uint     cl_gl_context_info;
+    
+/* Additional Error Codes  */
+#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR  -1000
+    
+/* cl_gl_context_info  */
+#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR    0x2006
+#define CL_DEVICES_FOR_GL_CONTEXT_KHR           0x2007
+    
+/* Additional cl_context_properties  */
+#define CL_GL_CONTEXT_KHR                       0x2008
+#define CL_EGL_DISPLAY_KHR                      0x2009
+#define CL_GLX_DISPLAY_KHR                      0x200A
+#define CL_WGL_HDC_KHR                          0x200B
+#define CL_CGL_SHAREGROUP_KHR                   0x200C
+    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLContextInfoKHR(const cl_context_properties * /* properties */,
+                      cl_gl_context_info            /* param_name */,
+                      size_t                        /* param_value_size */,
+                      void *                        /* param_value */,
+                      size_t *                      /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+    
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)(
+    const cl_context_properties * properties,
+    cl_gl_context_info            param_name,
+    size_t                        param_value_size,
+    void *                        param_value,
+    size_t *                      param_value_size_ret);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_CL_GL_H */

phonelibs/opencl/include/CL/cl_gl_ext.h

@@ -0,0 +1,74 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have           */
+/* OpenGL dependencies.                                                         */
+
+#ifndef __OPENCL_CL_GL_EXT_H
+#define __OPENCL_CL_GL_EXT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __APPLE__
+    #include <OpenCL/cl_gl.h>
+#else
+    #include <CL/cl_gl.h>
+#endif
+
+/*
+ * For each extension, follow this template
+ *  cl_VEN_extname extension  */
+/* #define cl_VEN_extname 1
+ * ... define new types, if any
+ * ... define new tokens, if any
+ * ... define new APIs, if any
+ *
+ *  If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header
+ *  This allows us to avoid having to decide whether to include GL headers or GLES here.
+ */
+
+/* 
+ *  cl_khr_gl_event  extension
+ *  See section 9.9 in the OpenCL 1.1 spec for more information
+ */
+#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR     0x200D
+
+extern CL_API_ENTRY cl_event CL_API_CALL
+clCreateEventFromGLsyncKHR(cl_context           /* context */,
+                           cl_GLsync            /* cl_GLsync */,
+                           cl_int *             /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* __OPENCL_CL_GL_EXT_H  */

phonelibs/opencl/include/CL/opencl.h

@@ -0,0 +1,59 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_H
+#define __OPENCL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __APPLE__
+
+#include <OpenCL/cl.h>
+#include <OpenCL/cl_gl.h>
+#include <OpenCL/cl_gl_ext.h>
+#include <OpenCL/cl_ext.h>
+
+#else
+
+#include <CL/cl.h>
+#include <CL/cl_gl.h>
+#include <CL/cl_gl_ext.h>
+#include <CL/cl_ext.h>
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_H   */
+

requirements_openpilot.txt

@@ -15,5 +15,5 @@ sympy==1.1.1
 filterpy==1.0.0
 smbus2==0.2.0
 pyflakes==1.5.0
--e git+https://github.com/commaai/le_python.git#egg=Logentries
+-e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
 Flask==1.0.1

selfdrive/boardd/boardd.cc

@@ -53,7 +53,7 @@ pthread_mutex_t usb_lock;
 bool spoofing_started = false;
 bool fake_send = false;
 bool loopback_can = false;
-bool has_pigeon = false;
+bool is_grey_panda = false;
 
 pthread_t safety_setter_thread_handle = -1;
 pthread_t pigeon_thread_handle = -1;
@@ -173,6 +173,7 @@ bool usb_connect() {
 
   if (is_pigeon[0]) {
     LOGW("grey panda detected");
+    is_grey_panda = true;
     pigeon_needs_init = true;
     if (pigeon_thread_handle == -1) {
       err = pthread_create(&pigeon_thread_handle, NULL, pigeon_thread, NULL);
@@ -295,6 +296,7 @@ void can_health(void *s) {
   healthData.setControlsAllowed(health.controls_allowed);
   healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
   healthData.setStartedSignalDetected(health.started_signal_detected);
+  healthData.setIsGreyPanda(is_grey_panda);
 
   // send to health
   auto words = capnp::messageToFlatArray(msg);

selfdrive/boardd/boardd.py

@@ -104,10 +104,10 @@ def can_init():
       handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'')
 
   if handle is None:
-    print "CAN NOT FOUND"
+    cloudlog.warn("CAN NOT FOUND")
     exit(-1)
 
-  print "got handle"
+  cloudlog.info("got handle")
   cloudlog.info("can init done")
 
 def boardd_mock_loop():
@@ -129,7 +129,7 @@ def boardd_mock_loop():
 
     # recv @ 100hz
     can_msgs = can_recv()
-    print "sent %d got %d" % (len(snd), len(can_msgs))
+    print("sent %d got %d" % (len(snd), len(can_msgs)))
     m = can_list_to_can_capnp(can_msgs)
     sendcan.send(m.to_bytes())
 
@@ -142,7 +142,7 @@ def boardd_test_loop():
     #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]])
     # recv @ 100hz
     can_msgs = can_recv()
-    print "got %d" % (len(can_msgs))
+    print("got %d" % (len(can_msgs)))
     time.sleep(0.01)
     cnt += 1
 

selfdrive/can/packer.py

@@ -1,6 +1,4 @@
 import struct
-import numbers
-
 from selfdrive.can.libdbc_py import libdbc, ffi
 
 
@@ -10,7 +8,6 @@ class CANPacker(object):
     self.dbc = libdbc.dbc_lookup(dbc_name)
     self.sig_names = {}
     self.name_to_address_and_size = {}
-    self.address_to_size = {}
 
     num_msgs = self.dbc[0].num_msgs
     for i in range(num_msgs):
@@ -19,16 +16,11 @@ class CANPacker(object):
       name = ffi.string(msg.name)
       address = msg.address
       self.name_to_address_and_size[name] = (address, msg.size)
-      self.address_to_size[address] = msg.size
+      self.name_to_address_and_size[address] = (address, msg.size)
 
   def pack(self, addr, values, counter):
-    # values: [(signal_name, signal_value)]
-
     values_thing = []
-    if isinstance(values, dict):
-      values = values.items()
-
-    for name, value in values:
+    for name, value in values.iteritems():
       if name not in self.sig_names:
         self.sig_names[name] = ffi.new("char[]", name)
 
@@ -42,10 +34,7 @@ class CANPacker(object):
     return libdbc.canpack_pack(self.packer, addr, len(values_thing), values_c, counter)
 
   def pack_bytes(self, addr, values, counter=-1):
-    if isinstance(addr, numbers.Number):
-      size = self.address_to_size[addr]
-    else:
-      addr, size = self.name_to_address_and_size[addr]
+    addr, size = self.name_to_address_and_size[addr]
 
     val = self.pack(addr, values, counter)
     r = struct.pack(">Q", val)
@@ -62,4 +51,4 @@ if __name__ == "__main__":
     ("PCM_SPEED", 123),
     ("PCM_GAS", 10),
   ])
-  print s[1].encode("hex")
+  print(s[1].encode("hex"))

selfdrive/can/parser.py

@@ -25,7 +25,7 @@ class CANParser(object):
       self.msg_name_to_addres[name] = address
       self.address_to_msg_name[address] = name
 
-    # Convert message names into adresses
+    # Convert message names into addresses
     for i in range(len(signals)):
       s = signals[i]
       if not isinstance(s[1], numbers.Number):
@@ -203,6 +203,6 @@ if __name__ == "__main__":
   while True:
     cp.update(int(sec_since_boot()*1e9), True)
     # print cp.vl
-    print cp.ts
-    print cp.can_valid
+    print(cp.ts)
+    print(cp.can_valid)
     time.sleep(0.01)

selfdrive/can/process_dbc.py

@@ -49,7 +49,7 @@ for address, msg_name, msg_size, sigs in msgs:
         sys.exit("COUNTER starts at wrong bit %s" % msg_name)
 
 
-# Fail on duplicate messgae names
+# Fail on duplicate message names
 c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
 for name, count in c.items():
   if count > 1:

selfdrive/car/car_helpers.py

@@ -1,4 +1,5 @@
 import os
+import time
 from common.basedir import BASEDIR
 from common.realtime import sec_since_boot
 from common.fingerprints import eliminate_incompatible_cars, all_known_cars
@@ -49,18 +50,20 @@ def fingerprint(logcan, timeout):
   candidate_cars = all_known_cars()
   finger = {}
   st = None
+  st_passive = sec_since_boot()  # only relevant when passive
+  can_seen = False
   while 1:
-    for a in messaging.drain_sock(logcan, wait_for_one=True):
+    for a in messaging.drain_sock(logcan):
       for can in a.can:
+        can_seen = True
         # ignore everything not on bus 0 and with more than 11 bits,
         # which are ussually sporadic and hard to include in fingerprints
         if can.src == 0 and can.address < 0x800:
           finger[can.address] = len(can.dat)
           candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
 
-    if st is None:
+    if st is None and can_seen:
       st = sec_since_boot()          # start time
-      st_passive = sec_since_boot()  # only relevant when passive
     ts = sec_since_boot()
     # if we only have one car choice and the time_fingerprint since we got our first
     # message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
@@ -75,13 +78,15 @@ def fingerprint(logcan, timeout):
     elif len(candidate_cars) == 0 or (timeout and (ts - st_passive) > timeout):
       return None, finger
 
+    time.sleep(0.01)
+
   cloudlog.warning("fingerprinted %s", candidate_cars[0])
   return (candidate_cars[0], finger)
 
 
 def get_car(logcan, sendcan=None, passive=True):
   # TODO: timeout only useful for replays so controlsd can start before unlogger
-  timeout = 1. if passive else None
+  timeout = 2. if passive else None
   candidate, fingerprints = fingerprint(logcan, timeout)
 
   if candidate is None:
@@ -93,7 +98,7 @@ def get_car(logcan, sendcan=None, passive=True):
 
   interface_cls = interfaces[candidate]
   if interface_cls is None:
-    cloudlog.warning("car matched %s, but interface wasn't available" % candidate)
+    cloudlog.warning("car matched %s, but interface wasn't available or failed to import" % candidate)
     return None, None
 
   params = interface_cls.get_params(candidate, fingerprints)

selfdrive/car/ford/carstate.py

@@ -80,7 +80,7 @@ class CarState(object):
     self.v_wheel_fr = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
     self.v_wheel_rl = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
     self.v_wheel_rr = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
-    self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
+    self.v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
 
     # Kalman filter
     if abs(self.v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed

selfdrive/car/ford/interface.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 from common.realtime import sec_since_boot
-from cereal import car
+from cereal import car, log
+from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -60,7 +61,7 @@ class CarInterface(object):
 
     # FIXME: hardcoding honda civic 2016 touring params so they can be used to
     # scale unknown params for other cars
-    mass_civic = 2923./2.205 + std_cargo
+    mass_civic = 2923. * CV.LB_TO_KG + std_cargo
     wheelbase_civic = 2.70
     centerToFront_civic = wheelbase_civic * 0.4
     centerToRear_civic = wheelbase_civic - centerToFront_civic
@@ -71,11 +72,11 @@ class CarInterface(object):
     ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
     ret.wheelbase = 2.85
     ret.steerRatio = 14.8
-    ret.mass = 3045./2.205 + std_cargo
+    ret.mass = 3045. * CV.LB_TO_KG + std_cargo
     ret.steerKpV, ret.steerKiV = [[0.01], [0.005]]     # TODO: tune this
     ret.steerKf = 1. / MAX_ANGLE   # MAX Steer angle to normalize FF
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.steerRateCost = 0.5
+    ret.steerRateCost = 1.0
 
     f = 1.2
     tireStiffnessFront_civic *= f
@@ -118,7 +119,7 @@ class CarInterface(object):
     ret.brakeMaxV = [1., 0.8]
 
     ret.enableCamera = not any(x for x in [970, 973, 984] if x in fingerprint)
-    print "ECU Camera Simulated: ", ret.enableCamera
+    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
 
     ret.steerLimitAlert = False
     ret.stoppingControl = False
@@ -208,7 +209,7 @@ class CarInterface(object):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c):
+  def apply(self, c, perception_state=log.Live20Data.new_message()):
 
     self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators,
                    c.hudControl.visualAlert, c.cruiseControl.cancel)

selfdrive/car/gm/carstate.py

@@ -4,7 +4,8 @@ from common.kalman.simple_kalman import KF1D
 from selfdrive.config import Conversions as CV
 from selfdrive.can.parser import CANParser
 from selfdrive.car.gm.values import DBC, CAR, parse_gear_shifter, \
-                                    CruiseButtons, is_eps_status_ok
+                                    CruiseButtons, is_eps_status_ok, \
+                                    STEER_THRESHOLD
 
 def get_powertrain_can_parser(CP, canbus):
   # this function generates lists for signal, messages and initial values
@@ -74,8 +75,7 @@ class CarState(object):
     self.v_wheel_fr = pt_cp.vl["EBCMWheelSpdFront"]['FRWheelSpd'] * CV.KPH_TO_MS
     self.v_wheel_rl = pt_cp.vl["EBCMWheelSpdRear"]['RLWheelSpd'] * CV.KPH_TO_MS
     self.v_wheel_rr = pt_cp.vl["EBCMWheelSpdRear"]['RRWheelSpd'] * CV.KPH_TO_MS
-    speed_estimate = (self.v_wheel_fl + self.v_wheel_fr +
-      self.v_wheel_rl + self.v_wheel_rr) / 4.0
+    speed_estimate = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
 
     self.v_ego_raw = speed_estimate
     v_ego_x = self.v_ego_kf.update(speed_estimate)
@@ -92,7 +92,7 @@ class CarState(object):
     self.user_gas_pressed = self.pedal_gas > 0
 
     self.steer_torque_driver = pt_cp.vl["PSCMStatus"]['LKADriverAppldTrq']
-    self.steer_override = abs(self.steer_torque_driver) > 1.0
+    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
 
     # 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
     self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']

selfdrive/car/gm/interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-from cereal import car
+from cereal import car, log
 from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
@@ -92,7 +92,7 @@ class CarInterface(object):
       # engage speed is decided by pcm
       ret.minEnableSpeed = -1
       # kg of standard extra cargo to count for drive, gas, etc...
-      ret.mass = 4016/2.205 + std_cargo
+      ret.mass = 4016. * CV.LB_TO_KG + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.cadillac
       ret.wheelbase = 3.11
       ret.steerRatio = 14.6   # it's 16.3 without rear active steering
@@ -102,7 +102,7 @@ class CarInterface(object):
 
     # hardcoding honda civic 2016 touring params so they can be used to
     # scale unknown params for other cars
-    mass_civic = 2923./2.205 + std_cargo
+    mass_civic = 2923. * CV.LB_TO_KG + std_cargo
     wheelbase_civic = 2.70
     centerToFront_civic = wheelbase_civic * 0.4
     centerToRear_civic = wheelbase_civic - centerToFront_civic
@@ -151,7 +151,7 @@ class CarInterface(object):
     ret.startAccel = 0.8
 
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.steerRateCost = 0.5
+    ret.steerRateCost = 1.0
     ret.steerControlType = car.CarParams.SteerControlType.torque
 
     return ret
@@ -308,7 +308,7 @@ class CarInterface(object):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c):
+  def apply(self, c, perception_state=log.Live20Data.new_message()):
     hud_v_cruise = c.hudControl.setSpeed
     if hud_v_cruise > 70:
       hud_v_cruise = 0

selfdrive/car/gm/values.py

@@ -33,14 +33,21 @@ def parse_gear_shifter(can_gear):
     return car.CarState.GearShifter.unknown
 
 FINGERPRINTS = {
-  CAR.VOLT: [{
+  CAR.VOLT: [
+  # Volt Premier w/ ACC 2017
+  {
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Volt Premier w/ ACC 2018
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
   }],
   CAR.CADILLAC_CT6: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
   }],
 }
 
+STEER_THRESHOLD = 1.0
 
 DBC = {
   CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),

selfdrive/car/honda/carcontroller.py

@@ -1,4 +1,4 @@
-import os
+from cereal import car
 from collections import namedtuple
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.controls.lib.drive_helpers import rate_limit
@@ -7,14 +7,13 @@ from selfdrive.car.honda import hondacan
 from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker
 
-
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params... TODO: move these to VehicleParams
   brake_hyst_on = 0.02     # to activate brakes exceed this value
   brake_hyst_off = 0.005                     # to deactivate brakes below this value
   brake_hyst_gap = 0.01                      # don't change brake command for small ocilalitons within this value
 
-  #*** histeresys logic to avoid brake blinking. go above 0.1 to trigger
+  #*** histeresis logic to avoid brake blinking. go above 0.1 to trigger
   if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
     brake = 0.
   braking = brake > 0.
@@ -63,11 +62,12 @@ class CarController(object):
     self.brake_last = 0.
     self.enable_camera = enable_camera
     self.packer = CANPacker(dbc_name)
+    self.new_radar_config = False
 
   def update(self, sendcan, enabled, CS, frame, actuators, \
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
-             hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, \
-             snd_beep, snd_chime):
+             radar_error, hud_v_cruise, hud_show_lanes, hud_show_car, \
+             hud_alert, snd_beep, snd_chime):
 
     """ Controls thread """
 
@@ -91,7 +91,6 @@ class CarController(object):
     else:
       hud_lanes = 0
 
-    # TODO: factor this out better
     if enabled:
       if hud_show_car:
         hud_car = 2
@@ -111,7 +110,6 @@ class CarController(object):
                   0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)
 
     if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
-      print "INVALID HUD", hud
       hud = HUDData(0xc6, 255, 64, 0xc0, 209, 0x40, 0, 0, 0, 0)
 
     # **** process the car messages ****
@@ -123,8 +121,7 @@ class CarController(object):
     elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
       STEER_MAX = 0x3e8  # CR-V only uses 12-bits and requires a lower value (max value from energee)
     else:
-      is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
-      STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
+      STEER_MAX = 0x1000
 
     # steer torque is converted back to CAN reference (positive when steering right)
     apply_gas = clip(actuators.gas, 0., 1.)
@@ -132,15 +129,14 @@ class CarController(object):
     apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
 
     # any other cp.vl[0x18F]['STEER_STATUS'] is common and can happen during user override. sending 0 torque to avoid EPS sending error 5
-    if CS.steer_not_allowed:
-      apply_steer = 0
+    lkas_active = enabled and not CS.steer_not_allowed
 
     # Send CAN commands.
     can_sends = []
 
     # Send steering command.
     idx = frame % 4
-    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, enabled, CS.CP.carFingerprint, idx))
+    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, lkas_active, CS.CP.carFingerprint, idx))
 
     # Send dashboard UI commands.
     if (frame % 10) == 0:
@@ -173,6 +169,8 @@ class CarController(object):
 
       if (frame % radar_send_step) == 0:
         idx = (frame/radar_send_step) % 4
-        can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, idx))
+        if not self.new_radar_config:  # only change state once
+          self.new_radar_config = car.RadarState.Error.wrongConfig in radar_error
+        can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, self.new_radar_config, idx))
 
     sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())

selfdrive/car/honda/carstate.py

@@ -2,9 +2,7 @@ from common.numpy_fast import interp
 from common.kalman.simple_kalman import KF1D
 from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, DBC
-import numpy as np
-
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD
 
 def parse_gear_shifter(can_gear_shifter, car_fingerprint):
 
@@ -73,7 +71,6 @@ def get_can_signals(CP):
       ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
       ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
       ("GEAR", "GEARBOX", 0),
-      ("WHEELS_MOVING", "STANDSTILL", 1),
       ("BRAKE_ERROR_1", "STANDSTILL", 1),
       ("BRAKE_ERROR_2", "STANDSTILL", 1),
       ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
@@ -128,8 +125,10 @@ def get_can_signals(CP):
     signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
                 ("DOOR_OPEN_FR", "DOORS_STATUS", 1),
                 ("DOOR_OPEN_RL", "DOORS_STATUS", 1),
-                ("DOOR_OPEN_RR", "DOORS_STATUS", 1)]
+                ("DOOR_OPEN_RR", "DOORS_STATUS", 1),
+                ("WHEELS_MOVING", "STANDSTILL", 1)]
     checks += [("DOORS_STATUS", 3)]
+
   if CP.carFingerprint == CAR.CIVIC:
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
                 ("MAIN_ON", "SCM_FEEDBACK", 0),
@@ -188,10 +187,10 @@ class CarState(object):
     dt = 0.01
     # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
     # R = 1e3
-    self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
-                         A=np.matrix([[1.0, dt], [0.0, 1.0]]),
-                         C=np.matrix([1.0, 0.0]),
-                         K=np.matrix([[0.12287673], [0.29666309]]))
+    self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
+                         A=[[1.0, dt], [0.0, 1.0]],
+                         C=[[1.0, 0.0]],
+                         K=[[0.12287673], [0.29666309]])
     self.v_ego = 0.0
 
   def update(self, cp):
@@ -212,14 +211,17 @@ class CarState(object):
     self.prev_right_blinker_on = self.right_blinker_on
 
     # ******************* parse out can *******************
-    if self.CP.carFingerprint in (CAR.ACCORD):
+
+    if self.CP.carFingerprint == CAR.ACCORD: # TODO: find wheels moving bit in dbc
+      self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
     else:
+      self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
       self.door_all_closed = not any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],
                                       cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
     self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
 
-    # 2 = temporary 3= TBD 4 = temporary, hit a bump 5 (permanent) 6 = temporary 7 (permanent)
+    # 2 = temporary; 3 = TBD; 4 = temporary, hit a bump; 5 = (permanent); 6 = temporary; 7 = (permanent)
     # TODO: Use values from DBC to parse this field
     self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
     self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
@@ -232,14 +234,14 @@ class CarState(object):
     self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
     self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
     self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
-    self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
+    self.v_wheel = (self.v_wheel_fl+self.v_wheel_fr+self.v_wheel_rl+self.v_wheel_rr)/4.
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
     speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS + self.v_weight * self.v_wheel
 
     if abs(speed - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
-      self.v_ego_x = np.matrix([[speed], [0.0]])
+      self.v_ego_x = [[speed], [0.0]]
 
     self.v_ego_raw = speed
     v_ego_x = self.v_ego_kf.update(speed)
@@ -282,12 +284,8 @@ class CarState(object):
     else:
       self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
 
-    #rdx has different steer override threshold
-    if self.CP.carFingerprint in (CAR.ACURA_RDX):
-      self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > 400
-    else:
-      self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > 1200
     self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
+    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
 
     self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
 
@@ -319,7 +317,6 @@ class CarState(object):
       self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
 
     self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
-    self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
     self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
     self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
 

selfdrive/car/honda/hondacan.py

@@ -37,11 +37,11 @@ def create_brake_command(packer, apply_brake, pcm_override, pcm_cancel_cmd, chim
 
   values = {
     "COMPUTER_BRAKE": apply_brake,
-    "COMPUTER_BRAKE_REQUEST": pump_on,
+    "BRAKE_PUMP_REQUEST": pump_on,
     "CRUISE_OVERRIDE": pcm_override,
     "CRUISE_FAULT_CMD": pcm_fault_cmd,
     "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
-    "COMPUTER_BRAKE_REQUEST_2": brake_rq,
+    "COMPUTER_BRAKE_REQUEST": brake_rq,
     "SET_ME_0X80": 0x80,
     "BRAKE_LIGHTS": brakelights,
     "CHIME": chime,
@@ -63,11 +63,11 @@ def create_gas_command(packer, gas_amount, idx):
   return packer.make_can_msg("GAS_COMMAND", 0, values, idx)
 
 
-def create_steering_control(packer, apply_steer, enabled, car_fingerprint, idx):
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx):
   """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
   values = {
-    "STEER_TORQUE": apply_steer,
-    "STEER_TORQUE_REQUEST": enabled,
+    "STEER_TORQUE": apply_steer if lkas_active else 0,
+    "STEER_TORQUE_REQUEST": lkas_active,
   }
   # Set bus 2 for accord and new crv.
   bus = 2 if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH) else 0
@@ -117,7 +117,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
   return commands
 
 
-def create_radar_commands(v_ego, car_fingerprint, idx):
+def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
   """Creates an iterable of CAN messages for the radar system."""
   commands = []
   v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
@@ -129,7 +129,8 @@ def create_radar_commands(v_ego, car_fingerprint, idx):
 
   if car_fingerprint == CAR.CIVIC:
     msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
-    commands.append(make_can_msg(0x300, msg_0x300, idx + 8, 1))  # add 8 on idx.
+    idx_offset = 0xc if new_radar_config else 0x8   # radar in civic 2018 requires 0xc
+    commands.append(make_can_msg(0x300, msg_0x300, idx + idx_offset, 1))
   else:
     if car_fingerprint == CAR.CRV:
       msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"

selfdrive/car/honda/interface.py

@@ -1,14 +1,15 @@
 #!/usr/bin/env python
 import os
 import numpy as np
-from cereal import car
+from cereal import car, log
 from common.numpy_fast import clip, interp
 from common.realtime import sec_since_boot
+from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.honda.carstate import CarState, get_can_parser
-from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH, CAR
+from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH, CAR, HONDA_BOSCH
 from selfdrive.controls.lib.planner import A_ACC_MAX
 
 try:
@@ -132,18 +133,11 @@ class CarInterface(object):
   @staticmethod
   def get_params(candidate, fingerprint):
 
-    # kg of standard extra cargo to count for drive, gas, etc...
-    std_cargo = 136
-
-    # Ridgeline reqires scaled tire stiffness
-    ts_factor = 1
-
     ret = car.CarParams.new_message()
-
     ret.carName = "honda"
     ret.carFingerprint = candidate
 
-    if 0x1ef in fingerprint:
+    if candidate in HONDA_BOSCH:
       ret.safetyModel = car.CarParams.SafetyModels.hondaBosch
       ret.enableCamera = True
       ret.radarOffCan = True
@@ -151,11 +145,14 @@ class CarInterface(object):
       ret.safetyModel = car.CarParams.SafetyModels.honda
       ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
       ret.enableGasInterceptor = 0x201 in fingerprint
-    print "ECU Camera Simulated: ", ret.enableCamera
-    print "ECU Gas Interceptor: ", ret.enableGasInterceptor
+    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
+    cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
 
     ret.enableCruise = not ret.enableGasInterceptor
 
+    # kg of standard extra cargo to count for drive, gas, etc...
+    std_cargo = 136
+
     # FIXME: hardcoding honda civic 2016 touring params so they can be used to
     # scale unknown params for other cars
     mass_civic = 2923 * CV.LB_TO_KG + std_cargo
@@ -163,141 +160,163 @@ class CarInterface(object):
     centerToFront_civic = wheelbase_civic * 0.4
     centerToRear_civic = wheelbase_civic - centerToFront_civic
     rotationalInertia_civic = 2500
-    tireStiffnessFront_civic = 85400
-    tireStiffnessRear_civic = 90000
+    tireStiffnessFront_civic = 192150
+    tireStiffnessRear_civic = 202500
+
+    # Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
+    # model optimization process. Certain Hondas have an extra steering sensor at the bottom
+    # of the steering rack, which improves controls quality as it removes the steering column
+    # torsion from feedback.
+    # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
+    # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
 
     ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+
+    ret.steerKf = 0.00006 # conservative feed-forward
+
     if candidate == CAR.CIVIC:
       stop_and_go = True
       ret.mass = mass_civic
       ret.wheelbase = wheelbase_civic
       ret.centerToFront = centerToFront_civic
-      ret.steerRatio = 13.0
+      ret.steerRatio = 14.63  # 10.93 is end-to-end spec
+      tire_stiffness_factor = 1.
       # Civic at comma has modified steering FW, so different tuning for the Neo in that car
       is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
-      ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
-
+      ret.steerKpV, ret.steerKiV = [[0.33], [0.10]] if is_fw_modified else [[0.8], [0.24]]
+      if is_fw_modified:
+        ret.steerKf = 0.00003
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [3.6, 2.4, 1.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.54, 0.36]
+
     elif candidate == CAR.CIVIC_HATCH:
       stop_and_go = True
       ret.mass = 2916. * CV.LB_TO_KG + std_cargo
       ret.wheelbase = wheelbase_civic
       ret.centerToFront = centerToFront_civic
-      ret.steerRatio = 10.93
+      ret.steerRatio = 14.63  # 10.93 is spec end-to-end
+      tire_stiffness_factor = 1.
       ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
-
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+
     elif candidate == CAR.ACCORD:
       stop_and_go = True
       ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
       ret.mass = 3279. * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 2.83
       ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 11.82
-      ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
-
+      ret.steerRatio = 15.96  # 11.82 is spec end-to-end
+      tire_stiffness_factor = 0.8467
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+
     elif candidate == CAR.ACURA_ILX:
       stop_and_go = False
       ret.mass = 3095 * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.37
-      ret.steerRatio = 15.3
+      ret.steerRatio = 18.61  # 15.3 is spec end-to-end
+      tire_stiffness_factor = 0.72
       # Acura at comma has modified steering FW, so different tuning for the Neo in that car
       is_fw_modified = os.getenv("DONGLE_ID") in ['ff83f397542ab647']
-      ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
-
+      ret.steerKpV, ret.steerKiV = [[0.45], [0.00]] if is_fw_modified else [[0.8], [0.24]]
+      if is_fw_modified:
+        ret.steerKf = 0.00003
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+
     elif candidate == CAR.CRV:
       stop_and_go = False
       ret.mass = 3572 * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 2.62
       ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 15.3
+      ret.steerRatio = 15.3         # as spec
+      tire_stiffness_factor = 0.444 # not optimized yet
       ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
-
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+
     elif candidate == CAR.CRV_5G:
       stop_and_go = True
       ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
       ret.mass = 3410. * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 12.30
-      ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
-
+      ret.steerRatio = 16.0   # 12.3 is spec end-to-end
+      tire_stiffness_factor = 0.677
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+
     elif candidate == CAR.ACURA_RDX:
       stop_and_go = False
       ret.mass = 3935 * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 2.68
       ret.centerToFront = ret.wheelbase * 0.38
-      ret.steerRatio = 15.0
+      ret.steerRatio = 15.0         # as spec
+      tire_stiffness_factor = 0.444 # not optimized yet
       ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
-
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+
     elif candidate == CAR.ODYSSEY:
       stop_and_go = False
       ret.mass = 4354 * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 14.35
+      ret.steerRatio = 14.35        # as spec
+      tire_stiffness_factor = 0.444 # not optimized yet
       ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
-
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+
     elif candidate == CAR.PILOT:
       stop_and_go = False
       ret.mass = 4303 * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 2.81
       ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 16.0
+      ret.steerRatio = 16.0         # as spec
+      tire_stiffness_factor = 0.444 # not optimized yet
       ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
-
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+
     elif candidate == CAR.RIDGELINE:
       stop_and_go = False
-      ts_factor = 1.4
       ret.mass = 4515 * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 3.18
       ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 15.59
+      ret.steerRatio = 15.59        # as spec
+      tire_stiffness_factor = 0.444 # not optimized yet
       ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
-
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+
     else:
       raise ValueError("unsupported car %s" % candidate)
 
-    ret.steerKf = 0. # TODO: investigate FF steer control for Honda
     ret.steerControlType = car.CarParams.SteerControlType.torque
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
@@ -313,10 +332,10 @@ class CarInterface(object):
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront = (tireStiffnessFront_civic * ts_factor) * \
+    ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
                              ret.mass / mass_civic * \
                              (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
-    ret.tireStiffnessRear = (tireStiffnessRear_civic * ts_factor) * \
+    ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
                             ret.mass / mass_civic * \
                             (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
 
@@ -339,7 +358,7 @@ class CarInterface(object):
     ret.steerLimitAlert = True
     ret.startAccel = 0.5
 
-    ret.steerActuatorDelay = 0.09
+    ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 0.5
 
     return ret
@@ -466,7 +485,7 @@ class CarInterface(object):
     if self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif self.CS.steer_warning:
-      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
+      events.append(create_event('steerTempUnavailable', [ET.WARNING]))
     if self.CS.brake_error:
       events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     if not ret.gearShifter == 'drive':
@@ -515,7 +534,6 @@ class CarInterface(object):
 
       # do enable on both accel and decel buttons
       if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
-        print "enabled pressed at", cur_time
         self.last_enable_pressed = cur_time
         enable_pressed = True
 
@@ -549,7 +567,7 @@ class CarInterface(object):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c):
+  def apply(self, c, perception_state=log.Live20Data.new_message()):
     if c.hudControl.speedVisible:
       hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
     else:
@@ -582,6 +600,7 @@ class CarInterface(object):
       c.cruiseControl.override, \
       c.cruiseControl.cancel, \
       pcm_accel, \
+      perception_state.radarErrors, \
       hud_v_cruise, c.hudControl.lanesVisible, \
       hud_show_car = c.hudControl.leadVisible, \
       hud_alert = hud_alert, \

selfdrive/car/honda/radar_interface.py

@@ -28,6 +28,7 @@ class RadarInterface(object):
     self.pts = {}
     self.track_id = 0
     self.radar_fault = False
+    self.radar_wrong_config = False
     self.radar_off_can = CP.radarOffCan
 
     self.delay = 0.1  # Delay of radar
@@ -61,6 +62,7 @@ class RadarInterface(object):
       if ii == 0x400:
         # check for radar faults
         self.radar_fault = cpt['RADAR_STATE'] != 0x79
+        self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
       elif cpt['LONG_DIST'] < 255:
         if ii not in self.pts or cpt['NEW_TRACK']:
           self.pts[ii] = car.RadarState.RadarPoint.new_message()
@@ -81,6 +83,8 @@ class RadarInterface(object):
       errors.append("commIssue")
     if self.radar_fault:
       errors.append("fault")
+    if self.radar_wrong_config:
+      errors.append("wrongConfig")
     ret.errors = errors
     ret.canMonoTimes = canMonoTimes
 

selfdrive/car/honda/values.py

@@ -51,45 +51,42 @@ class CAR:
 
 FINGERPRINTS = {
   CAR.ACCORD: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8 
-  }], 
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
+  }],
   CAR.ACURA_ILX: [{
-    1024L: 5, 513L: 6, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
-    # sent messages
-    0xe4: 5, 0x1fa: 8, 0x200: 6, 0x30c: 8, 0x33d: 5,
-  }], 
+    57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
+  }],
+  # Acura RDX w/ Added Comma Pedal Support (512L & 513L)
   CAR.ACURA_RDX: [{
-    57L: 3, 145L: 8, 229L: 4, 308L: 5, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 392L: 6, 398L: 3, 399L: 6, 404L: 4, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 773L: 7, 777L: 8, 780L: 8, 800L: 8, 804L: 8, 808L: 8, 819L: 7, 821L: 5, 829L: 5, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 892L: 8, 923L: 2, 929L: 4, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1034L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1365L: 5, 1424L: 5, 1729L: 1 
+    57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
   }], 
   CAR.CIVIC: [{
-    1024L: 5, 513L: 6, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
-    # sent messages
-    0xe4: 5, 0x1fa: 8, 0x200: 6, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
-  }], 
+    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
+  }],
   CAR.CIVIC_HATCH: [{
-    57L: 3, 148L: 8, 228L: 5, 304L: 8, 330L: 8, 344L: 8, 380L: 8, 399L: 7, 401L: 8, 420L: 8, 427L: 3, 428L: 8, 432L: 7, 441L: 5, 450L: 8, 464L: 8, 470L: 2, 476L: 7, 477L: 8, 479L: 8, 490L: 8, 493L: 5, 495L: 8, 506L: 8, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 829L: 5, 862L: 8, 884L: 8, 891L: 8, 892L: 8, 927L: 8, 929L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1036L: 8, 1039L: 8, 1108L: 8, 1302L: 8, 1322L: 5, 1361L: 5, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8, 1633L: 8 
-  }], 
+    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
+  }],
   CAR.CRV: [{
-    57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
-    # sent messages
-    0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
-  }], 
+    57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
+  }],
   CAR.CRV_5G: [{
-    57L: 3, 148L: 8, 199L: 4, 228L: 5, 231L: 5, 232L: 7, 304L: 8, 330L: 8, 340L: 8, 344L: 8, 380L: 8, 399L: 7, 401L: 8, 420L: 8, 423L: 2, 427L: 3, 428L: 8, 432L: 7, 441L: 5, 446L: 3, 450L: 8, 464L: 8, 467L: 2, 469L: 3, 470L: 2, 474L: 8, 476L: 7, 477L: 8, 479L: 8, 490L: 8, 493L: 5, 495L: 8, 507L: 1, 545L: 6, 597L: 8, 661L: 4, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 814L: 4, 815L: 8, 817L: 4, 825L: 4, 829L: 5, 862L: 8, 881L: 8, 882L: 4, 884L: 8, 888L: 8, 891L: 8, 927L: 8, 918L: 7, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1036L: 8, 1039L: 8, 1064L: 7, 1108L: 8, 1092L: 1, 1115L: 4, 1125L: 8, 1127L: 2, 1296L: 8, 1302L: 8, 1322L: 5, 1361L: 5, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8, 1618L: 5, 1633L: 8, 1670L: 5
-  }], 
+    57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 4, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
+  }],
+  # 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
   CAR.ODYSSEY: [{
-    57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
-  },  
-  # Odyssey Elite
+    57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
+  },
+  # 2018 Odyssey Elite w/ Added Comma Pedal Support (512L & 513L)
   {
-    57L: 3, 148L: 8, 228L: 5, 229L: 4, 304L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 440L: 8, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 507L: 1, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
-  }], 
-  # Includes 2017 Touring and 2016 EX-L messaging.
+    57: 3, 148: 8, 228: 5, 229: 4, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 440: 8, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1616: 5, 1619: 5, 1623: 5, 1668: 5
+  }],
+  # 2017 Pilot Touring AND 2016 Pilot EX-L w/ Added Comma Pedal Support (512L & 513L)
   CAR.PILOT: [{
-    57L: 3, 145L: 8, 228L: 5, 229L: 4, 308L: 5, 316L: 8, 334L: 8, 339L: 7, 342L: 6, 344L: 8, 379L: 8, 380L: 8, 392L: 6, 399L: 7, 419L: 8, 420L: 8, 422L: 8, 425L: 8, 426L: 8, 427L: 3, 432L: 7, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 507L: 1, 538L: 3, 542L: 7, 545L: 5, 546L: 3, 597L: 8, 660L: 8, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 808L: 8, 819L: 7, 821L: 5, 829L: 5, 837L: 5, 856L: 7, 871L: 8, 882L: 2, 884L: 7, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1027L: 5, 1029L: 8, 1036L: 8, 1039L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1108L: 8, 1125L: 8, 1296L: 8, 1424L: 5, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1616L: 5, 1618L: 5, 1668L: 5
-  }], 
+    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
+  }],
+  # Ridgeline w/ Added Comma Pedal Support (512L & 513L)
   CAR.RIDGELINE: [{
-    57L: 3, 145L: 8, 228L: 5, 229L: 4, 308L: 5, 316L: 8, 339L: 7, 342L: 6, 344L: 8, 380L: 8, 392L: 6, 399L: 7, 419L: 8, 420L: 8, 422L: 8, 425L: 8, 426L: 8, 427L: 3, 432L: 7, 464L: 8, 471L: 3, 476L: 4, 490L: 8, 506L: 8, 545L: 5, 546L: 3, 597L: 8, 660L: 8, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 808L: 8, 819L: 7, 821L: 5, 829L: 5, 871L: 8, 882L: 2, 884L: 7, 892L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1027L: 5, 1029L: 8, 1036L: 8, 1039L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8, 1613L: 5, 1616L: 5, 1618L: 5, 1668L: 5, 2015L: 3
+    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 471: 3, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1613: 5, 1616: 5, 1618: 5, 1668: 5, 2015: 3
   }]
 }
 
@@ -106,3 +103,20 @@ DBC = {
   CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
   CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
 }
+
+
+STEER_THRESHOLD = {
+  CAR.ACCORD: 1200,
+  CAR.ACURA_ILX: 1200,
+  CAR.ACURA_RDX: 400,
+  CAR.CIVIC: 1200,
+  CAR.CIVIC_HATCH: 1200,
+  CAR.CRV: 1200,
+  CAR.CRV_5G: 1200,
+  CAR.ODYSSEY: 1200,
+  CAR.PILOT: 1200,
+  CAR.RIDGELINE: 1200,
+}
+
+# TODO: get these from dbc file
+HONDA_BOSCH = [CAR.ACCORD, CAR.CIVIC_HATCH, CAR.CRV_5G]

selfdrive/car/mock/interface.py

@@ -1,8 +1,9 @@
 #!/usr/bin/env python
 import zmq
-from cereal import car
+from cereal import car, log
 from selfdrive.config import Conversions as CV
 from selfdrive.services import service_list
+from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
 
 # mocked car interface to work with chffrplus
@@ -17,7 +18,7 @@ class CarInterface(object):
 
     self.CP = CP
 
-    print "Using Mock Car Interface"
+    cloudlog.debug("Using Mock Car Interface")
     context = zmq.Context()
 
     # TODO: subscribe to phone sensor
@@ -116,6 +117,6 @@ class CarInterface(object):
 
     return ret.as_reader()
 
-  def apply(self, c):
+  def apply(self, c, perception_state=log.Live20Data.new_message()):
     # in mock no carcontrols
     return False

selfdrive/car/mock/radar_interface.py

@@ -4,7 +4,7 @@ import time
 
 
 class RadarInterface(object):
-  def __init__(self):
+  def __init__(self, CP):
     # radar
     self.pts = {}
     self.delay = 0.1
@@ -17,7 +17,7 @@ class RadarInterface(object):
     return ret
 
 if __name__ == "__main__":
-  RI = RadarInterface()
+  RI = RadarInterface(None)
   while 1:
     ret = RI.update()
     print(chr(27) + "[2J")

selfdrive/car/toyota/carcontroller.py

@@ -4,7 +4,7 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                            create_steer_command, create_ui_command, \
                                            create_ipas_steer_command, create_accel_command, \
                                            create_fcw_command
-from selfdrive.car.toyota.values import ECU, STATIC_MSGS
+from selfdrive.car.toyota.values import ECU, STATIC_MSGS, NO_DSU_CAR
 from selfdrive.can.packer import CANPacker
 
 # Accel limits
@@ -209,7 +209,7 @@ class CarController(object):
       else:
         can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False))
 
-    if frame % 10 == 0 and ECU.CAM in self.fake_ecus:
+    if frame % 10 == 0 and ECU.CAM in self.fake_ecus and self.car_fingerprint not in NO_DSU_CAR:
       for addr in TARGET_IDS:
         can_sends.append(create_video_target(frame/10, addr))
 

selfdrive/car/toyota/carstate.py

@@ -1,4 +1,4 @@
-from selfdrive.car.toyota.values import CAR, DBC
+from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD
 from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from common.kalman.simple_kalman import KF1D
@@ -7,7 +7,7 @@ import numpy as np
 
 def parse_gear_shifter(can_gear, car_fingerprint):
   # TODO: Use values from DBC to parse this field
-  if car_fingerprint == CAR.PRIUS:
+  if car_fingerprint in [CAR.PRIUS, CAR.CHRH, CAR.CAMRYH]:
     if can_gear == 0x0:
       return "park"
     elif can_gear == 0x1:
@@ -19,7 +19,7 @@ def parse_gear_shifter(can_gear, car_fingerprint):
     elif can_gear == 0x4:
       return "brake"
   elif car_fingerprint in [CAR.RAV4, CAR.RAV4H, 
-                           CAR.LEXUS_RXH, CAR.COROLLA]:
+                           CAR.LEXUS_RXH, CAR.COROLLA, CAR.CHR, CAR.CAMRY]:
     if can_gear == 0x20:
       return "park"
     elif can_gear == 0x10:
@@ -128,7 +128,7 @@ class CarState(object):
     self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
     self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
     self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
-    self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
+    self.v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
 
     # Kalman filter
     if abs(self.v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
@@ -147,8 +147,6 @@ class CarState(object):
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
     self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
 
-    # we could use the override bit from dbc, but it's triggered at too high torque values
-    self.steer_override = abs(cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']) > 100
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
@@ -156,6 +154,8 @@ class CarState(object):
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
+    # we could use the override bit from dbc, but it's triggered at too high torque values
+    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
 
     self.user_brake = 0
     self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']