openpilot v0.6.3 release

Merge opendbc subtree
Squashed 'opendbc/' changes from 7684440b..18321a29
2026-08-30 12:43:46 +08:00 · 2019-08-13 01:36:45 +00:00 · 2019-08-13 01:34:24 +00:00 · 2019-08-13 01:34:24 +00:00 · 2019-08-13 01:34:23 +00:00 · 2019-08-13 01:34:23 +00:00
1503 changed files with 107420 additions and 185273 deletions
@@ -1,3 +1,4 @@
+venv/
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -31,6 +32,9 @@ selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 selfdrive/test/tests/plant/out
 selfdrive/visiond/visiond
+selfdrive/loggerd/loggerd
+selfdrive/sensord/gpsd
+selfdrive/sensord/sensord
 /src/

 one
@@ -3,21 +3,5 @@ sudo: required
 services:
  - docker

-install:
-  - docker build -t tmppilot -f Dockerfile.openpilot .
-
 script:
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
-  - docker run
-      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
+  - ./run_docker_tests.sh
@@ -4,32 +4,45 @@ ENV PYTHONUNBUFFERED 1
 RUN apt-get update && apt-get install -y \
    autoconf \
    build-essential \
-    clang \
-    wget \
    bzip2 \
+    clang \
    git \
-    libglib2.0-0 \
-    libtool \
-    python-pip \
-    libzmq5-dev \
+    libarchive-dev \
+    libavcodec-dev \
+    libavdevice-dev \
+    libavfilter-dev \
+    libavresample-dev \
+    libavutil-dev \
    libffi-dev \
-    libusb-1.0-0 \
+    libglib2.0-0 \
    libssl-dev \
+    libswscale-dev \
+    libtool \
+    libusb-1.0-0 \
+    libzmq5-dev \
    ocl-icd-libopencl1 \
    ocl-icd-opencl-dev \
-    opencl-headers
+    opencl-headers \
+    pkg-config \
+    python-pip \
+    wget

 COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
 RUN /tmp/install_capnp.sh

 RUN pip install --upgrade pip==18.0
-RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
+RUN pip install pipenv==2018.11.26

-COPY requirements_openpilot.txt /tmp/
-RUN pip install -r /tmp/requirements_openpilot.txt
+COPY Pipfile /tmp/
+COPY Pipfile.lock /tmp/
+RUN cd /tmp && pipenv install --deploy --system

 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH

+RUN git clone --branch v0.6.2 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+RUN pip install -r /tmp/openpilot/tools/requirements.txt
+RUN pip install fastcluster==1.1.20 scipy==0.19.1 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0
+
 COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal
@@ -0,0 +1,145 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+ipython = "<6.0"
+aenum = "*"
+azure-batch = "==4.1.3"
+azure-common = "==1.1.16"
+azure-nspkg = "==3.0.1"
+azure-storage-blob = "==1.3.1"
+azure-storage-common = "==1.3.0"
+azure-storage-nspkg = "==3.0.0"
+bincopy = "*"
+bleach = "==1.5.0"
+boto = "*"
+"boto3" = "*"
+celery = "*"
+control = "*"
+datadog = "*"
+decorator = "*"
+dlib = "*"
+dominate = "*"
+elasticsearch = "*"
+entium = "==0.1.4"
+fasteners = "*"
+future = "*"
+futures = "*"
+gevent = "*"
+pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
+gunicorn = "*"
+"h5py" = "*"
+hexdump = "*"
+"html5lib" = "==0.9999999"
+imageio = "*"
+intervaltree = "*"
+ipykernel = "<5.0"
+joblib = "*"
+json-logging-py = "*"
+jupyter = "*"
+libarchive = "*"
+lru-dict = "*"
+lxml = "*"
+matplotlib = "==2.2.3"
+"mpld3" = "*"
+msgpack-python = "*"
+nbstripout = "*"
+nose-parameterized = "*"
+numpy = "==1.14.5"
+osmium = "==2.15.0"
+pbr = "==5.1.3"
+percache = "*"
+pprofile = "*"
+psutil = "*"
+pycurl = "*"
+git-pylint-commit-hook = "==2.5.1"
+pymongo = "*"
+"pynmea2" = "*"
+pypolyline = "==0.1.17"
+pysendfile = "*"
+python-logstash = "*"
+pyvcd = "*"
+redis = "*"
+redlock = "*"
+"s2sphere" = "*"
+scikit-image = "*"
+"subprocess32" = "*"
+supervisor = "*"
+tenacity = "*"
+tensorflow-gpu = "==1.13.0rc0"
+"transforms3d" = "*"
+utm = "*"
+"v4l2" = "*"
+visdom = "*"
+PyJWT = "==1.4.1"
+PyMySQL = "==0.9.2"
+Theano = "*"
+Werkzeug = "*"
+"backports.lzma" = "*"
+Flask-Cors = "*"
+Flask-SocketIO = "*"
+"GeoAlchemy2" = "*"
+Keras = ">=2.1.6"
+keras-maskrcnn = "*"
+keras-retinanet = "*"
+Pygments = "*"
+PyNaCl = "*"
+"PySDL2" = "*"
+reverse_geocoder = "*"
+Shapely = "*"
+SQLAlchemy = "==1.2.7"
+uWSGI = "*"
+scipy = "*"
+fastcluster = "==1.1.25"
+backports-abc = "*"
+pygame = "*"
+simplejson = "*"
+python-logstash-async = "*"
+pandas = "*"
+seaborn = "*"
+tensorflow-estimator = "==1.10.12"
+pyproj = "*"
+
+[packages]
+overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
+atomicwrites = "*"
+cffi = "*"
+crcmod = "*"
+hexdump = "*"
+libusb1 = "*"
+numpy = "*"
+psutil = "*"
+pycapnp = "*"
+cryptography = "*"
+pyserial = "*"
+python-dateutil = "*"
+pyzmq = "*"
+raven = "*"
+requests = "*"
+setproctitle = "*"
+six = "*"
+smbus2 = "*"
+sympy = "*"
+tqdm = "*"
+Cython = "*"
+PyYAML = "*"
+websocket_client = "*"
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
+urllib3 = "*"
+chardet = "*"
+idna = "*"
+gunicorn = "*"
+utm = "*"
+json-rpc = "*"
+Flask = "*"
+PyJWT = "*"
+"Jinja2" = "*"
+nose = "*"
+pyflakes = "*"
+pylint = "*"
+pycryptodome = "*"
+
+[requires]
+python_version = "2.7"
@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/xY2gdHv.png)](#)
+[![](https://i.imgur.com/UetIFyH.jpg)](#)

 Welcome to openpilot
 ======
@@ -60,60 +60,70 @@ Supported Cars

 | Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
 | ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Acura                | ILX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chrysler             | Pacifica 2018            | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica 2017-18         | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Chrysler             | Pacifica Hybrid 2019     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
 | GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Accord 2018-19           | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Accord Hybrid 2018-19    | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
 | Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
 | Honda                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
 | Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | CR-V 2017-19             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V Hybrid 2019         | All                  | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | CR-V Hybrid 2017-2019    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2018-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
 | Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Hyundai              | Elantra 2017             | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Elantra 2017-19          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
 | Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Jeep                 | Grand Cherokee 2017-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Jeep                 | Grand Cherokee 2016-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Jeep                 | Grand Cherokee 2019      | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
 | Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Lexus                | ES Hybrid 2019           | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
 | Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Avalon 2017-18           | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Camry 2018-19            | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | Camry Hybrid 2018-19     | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-19             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | C-HR Hybrid 2017-19      | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander 2017-19       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander Hybrid 2017-19| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius Prime 2017-19      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2016         | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Sienna 2018              | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |

-<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://zoneos.com/volt/).
-<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.
-<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).
+<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).*** <br />
+<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). <br />
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
+<sup>4</sup>Subaru Giraffe is DIY. <br />
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
+<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />

 Community Maintained Cars
 ------
@@ -1,3 +1,46 @@
+Version 0.6.3 (2019-08-12)
+========================
+ * Alert sounds from EON: requires NEOS update
+ * Improve driver monitoring: eye tracking and improved awareness logic
+ * Improve path prediction with new driving model
+ * Improve lane positioning with wide lanes and exits
+ * Improve lateral control on RAV4
+ * Slow down for turns using model
+ * Open sourced regression test to verify outputs against reference logs
+ * Open sourced regression test to sanity check all car models
+
+Version 0.6.2 (2019-07-29)
+========================
+ * New driving model!
+ * Improve lane tracking with double lines
+ * Strongly improve stationary vehicle detection
+ * Strongly reduce cases of braking due to false leads
+ * Better lead tracking around turns
+ * Improve cut-in prediction by using neural network
+ * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
+ * Fix unintended openpilot disengagements on Jeep thanks to adhintz!
+ * Fix delayed transition to offroad when car is turned off
+
+Version 0.6.1 (2019-07-21)
+========================
+ * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
+ * Panda code Misra-c2012 compliance, tested against cppcheck coverage
+ * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
+ * Toyota Sienna support thanks to wocsor!
+
+Version 0.6 (2019-07-01)
+========================
+ * New model, with double the pixels and ten times the temporal context!
+ * Car should not take exits when in the right lane
+ * openpilot uses only ~65% of the CPU (down from 75%)
+ * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
+ * loggerd and sensord are open source, every line of openpilot is now open
+ * Panda safety code is MISRA compliant and ships with a signed version on release2
+ * New NEOS is 500MB smaller and has a reproducible usr/pipenv
+ * Lexus ES Hybrid support thanks to wocsor!
+ * Improve tuning for supported Toyota with TSS2
+ * Various other stability improvements
+
 Version 0.5.13 (2019-05-31)
 ==========================
 * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
@@ -1,3 +1,6 @@
 gen
 node_modules
 package-lock.json
+*.pyc
+__pycache__
+
@@ -22,7 +22,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {

  enum EventName @0xbaa8c5d505f727de {
    # TODO: copy from error list
-    commIssue @0;
+    canError @0;
    steerUnavailable @1;
    brakeUnavailable @2;
    gasUnavailable @3;
@@ -37,7 +37,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    buttonEnable @12;
    pedalPressed @13;
    cruiseDisabled @14;
-    radarCommIssue @15;
+    radarCanError @15;
    dataNeeded @16;
    speedTooLow @17;
    outOfSpace @18;
@@ -49,7 +49,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    pcmDisable @24;
    noTarget @25;
    radarFault @26;
-    modelCommIssue @27;
+    modelCommIssueDEPRECATED @27;
    brakeHold @28;
    parkBrake @29;
    manualRestart @30;
@@ -75,6 +75,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    vehicleModelInvalid @50;
    controlsFailed @51;
    sensorDataInvalid @52;
+    commIssue @53;
+    tooDistracted @54;
+    posenetInvalid @55;
+    soundsUnavailable @56;
  }
 }

@@ -106,6 +110,7 @@ struct CarState {
  steeringAngle @7 :Float32;   # deg
  steeringRate @15 :Float32;   # deg/s
  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringTorqueEps @27 :Float32;  # TODO: standardize units
  steeringPressed @9 :Bool;    # if the user is using the steering wheel

  # cruise state
@@ -123,6 +128,7 @@ struct CarState {
  # lock info
  doorOpen @24 :Bool;
  seatbeltUnlatched @25 :Bool;
+  canValid @26 :Bool;

  # which packets this state came from
  canMonoTimes @12: List(UInt64);
@@ -184,7 +190,7 @@ struct RadarData @0x888ad6581cf0aacb {
  canMonoTimes @2 :List(UInt64);

  enum Error {
-    commIssue @0;
+    canError @0;
    fault @1;
    wrongConfig @2;
  }
@@ -293,7 +299,7 @@ struct CarParams {

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
-  safetyModel @9 :Int16;
+  safetyModel @9 :SafetyModel;
  safetyParam @10 :Int16;

  steerMaxBP @11 :List(Float32);
@@ -320,6 +326,7 @@ struct CarParams {
  lateralTuning :union {
    pid @26 :LateralPIDTuning;
    indi @27 :LateralINDITuning;
+    lqr @40 :LateralLQRTuning;
  }

  steerLimitAlert @28 :Bool;
@@ -335,6 +342,7 @@ struct CarParams {
  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
+  isPandaBlack @39: Bool;

  struct LateralPIDTuning {
    kpBP @0 :List(Float32);
@@ -361,8 +369,22 @@ struct CarParams {
    actuatorEffectiveness @3 :Float32;
  }

+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;

-  enum SafetyModels {
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
+
+  enum SafetyModel {
    # does NOT match board setting
    noOutput @0;
    honda @1;
@@ -0,0 +1,26 @@
+#!/bin/bash
+
+rm -r gen/ts
+rm -r gen/js
+
+mkdir gen/ts
+mkdir gen/js
+
+echo "Installing needed npm modules"
+npm i capnpc-ts capnp-ts
+
+capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
+capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
+
+cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
+do
+  TOKEN=`echo $line | sed 's/\./_/g'`
+  ROOT=`echo $line | sed 's/\..*$//g'`
+  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
+  if [[ "$?" == "1" ]]
+  then
+    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
+  fi
+done
+
+tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
@@ -0,0 +1,39 @@
+set -e
+echo "Installing capnp"
+
+cd /tmp
+VERSION=0.6.1
+wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
+tar xvf capnproto-c++-${VERSION}.tar.gz
+cd capnproto-c++-${VERSION}
+CXXFLAGS="-fPIC" ./configure
+
+make -j4
+
+# manually build binaries statically
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+cp .libs/capnp /usr/local/bin/
+ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
+cp .libs/capnpc-c++ /usr/local/bin/
+cp .libs/capnpc-capnp /usr/local/bin/
+cp .libs/*.a /usr/local/lib
+
+cd /tmp
+echo "Installing c-capnp"
+git clone https://github.com/commaai/c-capnproto.git
+cd c-capnproto
+git submodule update --init --recursive
+autoreconf -f -i -s
+CXXFLAGS="-fPIC" ./configure
+make -j4
+
+# manually build binaries statically
+gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
+
+cp .libs/capnpc-c /usr/local/bin/
+cp .libs/*.a /usr/local/lib
@@ -150,6 +150,12 @@ struct FrameData {
  }
 }

+struct Thumbnail {
+  frameId @0 :UInt32;
+  timestampEof @1 :UInt64;
+  thumbnail @2 :Data;
+}
+
 struct GPSNMEAData {
  timestamp @0 :Int64;
  localWallTime @1 :UInt64;
@@ -294,8 +300,20 @@ struct HealthData {
  started @2 :Bool;
  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
-  startedSignalDetected @5 :Bool;
-  isGreyPanda @6 :Bool;
+  startedSignalDetectedDeprecated @5 :Bool;
+  hasGps @6 :Bool;
+  canSendErrs @7 :UInt32;
+  canFwdErrs @8 :UInt32;
+  gmlanSendErrs @9 :UInt32;
+  hwType @10: HwType;
+
+  enum HwType {
+    unknown @0;
+    whitePanda @1;
+    greyPanda @2;
+    blackPanda @3;
+    pedal @4;
+  }
 }

 struct LiveUI {
@@ -337,6 +355,8 @@ struct RadarState @0x9a185389d6fdd05f {
    fcw @10 :Bool;
    status @11 :Bool;
    aLeadTau @12 :Float32;
+    modelProb @13 :Float32;
+    radar @14 :Bool;
  }
 }

@@ -353,6 +373,8 @@ struct LiveCalibrationData {
  # view_frame_from_road_frame
  # ui's is inversed needs new
  extrinsicMatrix @4 :List(Float32);
+  # the direction of travel vector in device frame
+  rpyCalib @7 :List(Float32);
 }

 struct LiveTracks {
@@ -417,7 +439,8 @@ struct ControlsState @0x97ff69c53601abf1 {
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
  alertType @44 :Text;
-  alertSound @45 :Text;
+  alertSoundDEPRECATED @45 :Text;
+  alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
  awarenessStatus @26 :Float32;
  angleModelBias @27 :Float32;
  gpsPlannerActive @40 :Bool;
@@ -428,9 +451,12 @@ struct ControlsState @0x97ff69c53601abf1 {
  vCurvature @46 :Float32;
  decelForTurn @47 :Bool;

+  decelForModel @54 :Bool;
+
  lateralControlState :union {
    indiState @52 :LateralINDIState;
    pidState @53 :LateralPIDState;
+    lqrState @55 :LateralLQRState;
  }

  enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -485,6 +511,13 @@ struct ControlsState @0x97ff69c53601abf1 {
    saturated @8 :Bool;
   }

+  struct LateralLQRState {
+    active @0 :Bool;
+    steerAngle @1 :Float32;
+    i @2 :Float32;
+    output @3 :Float32;
+   }
+
 }

 struct LiveEventData {
@@ -502,18 +535,27 @@ struct ModelData {
  freePath @6 :List(Float32);

  settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);

  struct PathData {
    points @0 :List(Float32);
    prob @1 :Float32;
    std @2 :Float32;
    stds @3 :List(Float32);
+    poly @4 :List(Float32);
  }

  struct LeadData {
    dist @0 :Float32;
    prob @1 :Float32;
    std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
  }

  struct ModelSettings {
@@ -576,6 +618,8 @@ struct LogRotate {
 struct Plan {
  mdMonoTime @9 :UInt64;
  radarStateMonoTime @10 :UInt64;
+  commIssue @31 :Bool;
+
  eventsDEPRECATED @13 :List(Car.CarEvent);

  # lateral, 3rd order polynomial
@@ -614,7 +658,7 @@ struct Plan {
  decelForTurn @22 :Bool;
  mapValid @25 :Bool;
  radarValid @28 :Bool;
-  radarCommIssue @30 :Bool;
+  radarCanError @30 :Bool;

  processingDelay @29 :Float32;

@@ -629,6 +673,7 @@ struct Plan {
    mpc1 @1;
    mpc2 @2;
    mpc3 @3;
+    model @4;
  }
 }

@@ -645,11 +690,13 @@ struct PathPlan {

  angleSteers @8 :Float32; # deg
  rateSteers @13 :Float32; # deg/s
-  valid @9 :Bool;
+  mpcSolutionValid @9 :Bool;
  paramsValid @10 :Bool;
-  modelValid @12 :Bool;
+  modelValidDEPRECATED @12 :Bool;
  angleOffset @11 :Float32;
  sensorValid @14 :Bool;
+  commIssue @15 :Bool;
+  posenetValid @16 :Bool;
 }

 struct LiveLocationData {
@@ -1628,8 +1675,15 @@ struct OrbKeyFrame {

 struct DriverMonitoring {
  frameId @0 :UInt32;
-  descriptor @1 :List(Float32);
-  std @2 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
 }

 struct Boot {
@@ -1646,6 +1700,9 @@ struct LiveParametersData {
  stiffnessFactor @4 :Float32;
  steerRatio @5 :Float32;
  sensorValid @6 :Bool;
+  yawRate @7 :Float32;
+  posenetSpeed @8 :Float32;
+  posenetValid @9 :Bool;
 }

 struct LiveMapData {
@@ -1685,6 +1742,7 @@ struct KalmanOdometry {
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
+  valid @67 :Bool = true;

  union {
    initData @1 :InitData;
@@ -1752,5 +1810,8 @@ struct Event {
    cameraOdometry @63 :CameraOdometry;
    pathPlan @64 :PathPlan;
    kalmanOdometry @65 :KalmanOdometry;
+    thumbnail @66: Thumbnail;
+    carEvents @68: List(Car.CarEvent);
+    carParams @69: Car.CarParams;
  }
 }
@@ -0,0 +1,53 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Map");
+
+@0xa086df597ef5d7a0;
+
+# Geometry
+struct Point {
+  x @0: Float64;
+  y @1: Float64;
+  z @2: Float64;
+}
+
+struct PolyLine {
+  points @0: List(Point);
+}
+
+# Map features
+struct Lane {
+  id @0 :Text;
+
+  leftBoundary @1 :LaneBoundary;
+  rightBoundary @2 :LaneBoundary;
+
+  leftAdjacentId @3 :Text;
+  rightAdjacentId @4 :Text;
+
+  inboundIds @5 :List(Text);
+  outboundIds @6 :List(Text);
+
+  struct LaneBoundary {
+    polyLine @0 :PolyLine;
+    startHeading @1 :Float32; # WRT north
+  }
+}
+
+# Map tiles
+struct TileSummary {
+  version @0 :Text;
+  updatedAt @1 :UInt64; # Millis since epoch
+
+  level @2 :UInt8;
+  x @3 :UInt16;
+  y @4 :UInt16;
+}
+
+struct MapTile {
+  summary @0 :TileSummary;
+  lanes @1 :List(Lane);
+}
@@ -1,7 +1,26 @@
+import jwt
 import requests
+from datetime import datetime, timedelta

 from selfdrive.version import version

+class Api(object):
+  def __init__(self, dongle_id, private_key):
+    self.dongle_id = dongle_id
+    self.private_key = private_key
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self):
+    return jwt.encode({'identity': self.dongle_id, 'exp': datetime.utcnow() + timedelta(hours=1)}, self.private_key, algorithm='RS256')
+
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"

@@ -28,7 +28,7 @@ def get_tmpdir_on_same_filesystem(path):
  normpath = os.path.normpath(path)
  parts = normpath.split("/")
  if len(parts) > 1:
-    if parts[1].startswith("raid"):
+    if parts[1].startswith("raid") or parts[1].startswith("datasets"):
      if len(parts) > 2 and parts[2] == "runner":
        return "/{}/runner/tmp".format(parts[1])
      elif len(parts) > 2 and parts[2] == "aws":
@@ -101,3 +101,18 @@ def atomic_write_in_dir(path, **kwargs):
  writer = AtomicWriter(path, **kwargs)
  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

+def atomic_write_in_dir_neos(path, contents, mode=None):
+  """
+  Atomically writes contents to path using a temporary file in the same directory
+  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
+  """
+
+  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
+  f.write(contents)
+  f.flush()
+  if mode is not None:
+    os.fchmod(f.fileno(), mode)
+  os.fsync(f.fileno())
+  f.close()
+
+  os.rename(f.name, path)
@@ -4,7 +4,7 @@ from common.basedir import BASEDIR
 def get_fingerprint_list():
  # read all the folders in selfdrive/car and return a dict where:
  # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique 
+  # - values are lists dicts of messages that constitute the unique
  #   CAN fingerprint of each car model and all its variants
  fingerprints = {}
  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
@@ -28,10 +28,8 @@ _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes

 def is_valid_for_fingerprint(msg, car_fingerprint):
  adr = msg.address
-  bus = msg.src
  # ignore addresses that are more than 11 bits
-  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or \
-         bus != 0 or adr >= 0x800
+  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800


 def eliminate_incompatible_cars(msg, candidate_cars):
@@ -1,7 +1,7 @@
 all: simple_kalman_impl.so

 simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
-	python simple_kalman_setup.py build_ext --inplace
+	python2 simple_kalman_setup.py build_ext --inplace
 	rm -rf build
 	rm simple_kalman_impl.c

@@ -1,253 +0,0 @@
-# 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.
-# A subclass must implement:
-#   1) calc_transfer_fun(); see bottom of file for more info.
-#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
-
-# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
-
-# Sensor classes are optionally used to pass measurement information into the EKF, to keep
-#   sensor parameters and processing methods for a each sensor together.
-# Sensor classes have a read() method which takes raw sensor data and returns
-#   a SensorReading object, which can be passed to the EKF update() method.
-
-# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
-# ekf.predict(dt) should be called between update cycles with the time since it was last called.
-# Ideally, predict(dt) should be called at a relatively constant rate.
-# update() should be called once per sensor, and can be called multiple times between predict steps.
-# Access and set the state of the filter directly with ekf.state and ekf.covar.
-
-
-class SensorReading:
-  # Given a perfect model and no noise, data = obs_model * state
-  def __init__(self, data, covar, obs_model):
-    self.data = data
-    self.obs_model = obs_model
-    self.covar = covar
-
-  def __repr__(self):
-    return "SensorReading(data={}, covar={}, obs_model={})".format(
-      repr(self.data), repr(self.covar), repr(self.obs_model))
-
-
-# A generic sensor class that does no pre-processing of data
-class SimpleSensor:
-  # obs_model can be
-  #   a full observation model matrix, or
-  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
-  # covar can be
-  #   a full covariance matrix
-  #   a float or tuple of individual covars for each component of the sensor reading
-  # dims is the number of states in the EKF
-  def __init__(self, obs_model, covar, dims):
-    # Allow for integer covar/obs_model
-    if not hasattr(obs_model, "__len__"):
-      obs_model = (obs_model, )
-    if not hasattr(covar, "__len__"):
-      covar = (covar, )
-
-    # Full observation model passed
-    if dims in np.array(obs_model).shape:
-      self.obs_model = np.asmatrix(obs_model)
-      self.covar = np.asmatrix(covar)
-    # Indices of unit observations passed
-    else:
-      self.obs_model = np.matlib.zeros((len(obs_model), dims))
-      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
-      if np.asarray(covar).ndim == 2:
-        self.covar = np.asmatrix(covar)
-      elif len(covar) == len(obs_model):
-        self.covar = np.matlib.diag(covar)
-      else:
-        self.covar = np.matlib.identity(len(obs_model)) * covar
-
-  def read(self, data, covar=None):
-    if covar:
-      self.covar = covar
-    return SensorReading(data, self.covar, self.obs_model)
-
-
-class EKF:
-  __metaclass__ = abc.ABCMeta
-
-  def __init__(self, debug=False):
-    self.DEBUG = debug
-
-
-  def __str__(self):
-    return "EKF(state={}, covar={})".format(self.state, self.covar)
-
-  # Measurement update
-  # Reading should be a SensorReading object with data, covar, and obs_model attributes
-  def update(self, reading):
-    # Potential improvements:
-    # deal with negative covars
-    # add noise to really low covars to ensure stability
-    # use mahalanobis distance to reject outliers
-    # wrap angles after state updates and innovation
-
-    # y = z - H*x
-    innovation = reading.data - reading.obs_model * self.state
-
-    if self.DEBUG:
-      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
-
-    # K = P*H'*S^-1
-    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
-      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 * (
-        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
-        0).I)
-
-    # x = x + K*y
-    self.state += kalman_gain*innovation
-
-    # print "covar", np.diag(self.covar)
-    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
-
-    # Standard form: P = (I - K*H)*P
-    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
-
-    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
-    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
-    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)
-
-  def update_scalar(self, reading):
-    # like update but knowing that measurement is a scalar
-    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
-
-    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
-    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
-    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
-    # self.state += np.matmul(kalman_gain, innovation)
-    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
-    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
-
-    # written without np.matmul
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB_T = "ij,kj->ik"
-    AB = "ij,jk->ik"
-    innovation = reading.data - es(AB, reading.obs_model, self.state)
-    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
-                          reading.obs_model) + reading.covar
-    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
-
-    self.state += es(AB, kalman_gain, innovation)
-    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
-    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
-                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
-
-  # Prediction update
-  def predict(self, dt):
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB = "ij,jk->ik"
-
-    # State update
-    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
-
-    # self.state = np.matmul(transfer_fun, self.state)
-    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
-
-    # x = f(x, u), written in the form x = A(x, u)*x
-    self.state = es(AB, transfer_fun, self.state)
-
-    # P = J*P*J' + Q
-    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
-                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
-
-    #! Clip covariance to avoid explosions
-    self.covar = np.clip(self.covar,-1e10,1e10)
-
-  @abc.abstractmethod
-  def calc_transfer_fun(self, dt):
-    """Return a tuple with the transfer function and transfer function jacobian
-    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
-
-    The transfer function matrix A should satisfy the state-update equation
-      x_(k+1) = A * x_k
-
-    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
-
-    Current implementations calculate A and J as functions of state. Control input
-      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calculation of A and J
-    """
-
-
-class FastEKF1D(EKF):
-  """Fast version of EKF for 1D problems with scalar readings."""
-
-  def __init__(self, dt, var_init, Q):
-    super(FastEKF1D, self).__init__(False)
-    self.state = [0, 0]
-    self.covar = [var_init, var_init, 0]
-
-    # Process Noise
-    self.dtQ0 = dt * Q[0]
-    self.dtQ1 = dt * Q[1]
-
-  def update(self, reading):
-    raise NotImplementedError
-
-  def update_scalar(self, reading):
-    # TODO(mgraczyk): Delete this for speed.
-    # assert np.all(reading.obs_model == [1, 0])
-
-    rcov = reading.covar[0, 0]
-
-    x = self.state
-    S = self.covar
-
-    innovation = reading.data - x[0]
-    innovation_covar = S[0] + rcov
-
-    k0 = S[0] / innovation_covar
-    k1 = S[2] / innovation_covar
-
-    x[0] += k0 * innovation
-    x[1] += k1 * innovation
-
-    mk = 1 - k0
-    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
-    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
-    S[0] = mk * mk * S[0] + rcov * k0 * k0
-
-  def predict(self, dt):
-    # State update
-    x = self.state
-
-    x[0] += dt * x[1]
-
-    # P = J*P*J' + Q
-    S = self.covar
-    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
-    S[2] += dt * S[1]
-    S[1] += self.dtQ1
-
-    # Clip covariance to avoid explosions
-    S = max(-1e10, min(S, 1e10))
-
-  def calc_transfer_fun(self, dt):
-    tf = np.identity(2)
-    tf[0, 1] = dt
-    tfj = tf
-    return tf, tfj
@@ -1,116 +0,0 @@
-import numpy as np
-import numpy.matlib
-import unittest
-import timeit
-
-from common.kalman.ekf import EKF, SimpleSensor, FastEKF1D
-
-class TestEKF(EKF):
-  def __init__(self, var_init, Q):
-    super(TestEKF, self).__init__(False)
-    self.identity = numpy.matlib.identity(2)
-    self.state = numpy.matlib.zeros((2, 1))
-    self.covar = self.identity * var_init
-
-    self.process_noise = numpy.matlib.diag(Q)
-
-  def calc_transfer_fun(self, dt):
-    tf = numpy.matlib.identity(2)
-    tf[0, 1] = dt
-    return tf, tf
-
-
-class EKFTest(unittest.TestCase):
-  def test_update_scalar(self):
-    ekf = TestEKF(1e3, [0.1, 1])
-    dt = 1. / 100
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(100, 300))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[300], [100]], 1e-4)
-    np.testing.assert_allclose(
-      ekf.covar,
-      np.asarray([[0.0563, 0.10278], [0.10278, 0.55779]]),
-      atol=1e-4)
-
-  def test_unbiased(self):
-    ekf = TestEKF(1e3, [0., 0.])
-    dt = np.float64(1. / 100)
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(1000))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[1000.], [100.]], 1e-4)
-
-
-class FastEKF1DTest(unittest.TestCase):
-  def test_correctness(self):
-    dt = 1. / 100
-    reading = SimpleSensor(0, 1, 2).read(100)
-
-    ekf = TestEKF(1e3, [0.1, 1])
-    fast_ekf = FastEKF1D(dt, 1e3, [0.1, 1])
-
-    ekf.update_scalar(reading)
-    fast_ekf.update_scalar(reading)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-    ekf.predict(dt)
-    fast_ekf.predict(dt)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-  def test_speed(self):
-    setup = """
-import numpy as np
-from common.kalman.tests.test_ekf import TestEKF
-from common.kalman.ekf import SimpleSensor, FastEKF1D
-
-dt = 1. / 100
-reading = SimpleSensor(0, 1, 2).read(100)
-
-var_init, Q = 1e3, [0.1, 1]
-ekf = TestEKF(var_init, Q)
-fast_ekf = FastEKF1D(dt, var_init, Q)
-    """
-
-    timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    ekf_speed = timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    fast_ekf_speed = timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    assert fast_ekf_speed < ekf_speed / 4
-
-if __name__ == "__main__":
-  unittest.main()
@@ -50,12 +50,15 @@ class UnknownKeyName(Exception):

 keys = {
  "AccessToken": [TxType.PERSISTENT],
+  "AthenadPid": [TxType.PERSISTENT],
  "CalibrationParams": [TxType.PERSISTENT],
  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "CompletedTrainingVersion": [TxType.PERSISTENT],
  "ControlsParams": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
  "DongleId": [TxType.PERSISTENT],
+  "GithubSshKeys": [TxType.PERSISTENT],
  "GitBranch": [TxType.PERSISTENT],
  "GitCommit": [TxType.PERSISTENT],
  "GitRemote": [TxType.PERSISTENT],
@@ -65,8 +68,10 @@ keys = {
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
  "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUploadRawEnabled": [TxType.PERSISTENT],
  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
+  "LimitSetSpeedNeural": [TxType.PERSISTENT],
  "LiveParameters": [TxType.PERSISTENT],
  "LongitudinalControl": [TxType.PERSISTENT],
  "Passive": [TxType.PERSISTENT],
@@ -74,6 +79,7 @@ keys = {
  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
  "SpeedLimitOffset": [TxType.PERSISTENT],
  "SubscriberInfo": [TxType.PERSISTENT],
+  "TermsVersion": [TxType.PERSISTENT],
  "TrainingVersion": [TxType.PERSISTENT],
  "Version": [TxType.PERSISTENT],
 }
@@ -15,6 +15,14 @@ assert monotonic_time
 assert sec_since_boot


+# time step for each process
+DT_CTRL = 0.01  # controlsd
+DT_PLAN = 0.05  # mpc
+DT_MDL = 0.05  # model
+DT_DMON = 0.1  # driver monitoring
+DT_TRML = 0.5  # thermald and manager
+
+
 ffi = FFI()
 ffi.cdef("long syscall(long number, ...);")
 libc = ffi.dlopen(None)
@@ -1,6 +1,5 @@
 import numpy as np
 import common.transformations.orientation as orient
-import cv2
 import math

 FULL_FRAME_SIZE = (1164, 874)
@@ -126,6 +125,8 @@ def img_from_device(pt_device):

 #TODO please use generic img transform below
 def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
+  import cv2
+
  size = img.shape[:2]
  rot = orient.rot_from_euler(eulers)
  quadrangle = np.array([[0, 0],
@@ -162,6 +163,8 @@ def transform_img(base_img,
                 output_size=None,
                 pretransform=None,
                 top_hacks=True):
+  import cv2
+
  size = base_img.shape[:2]
  if not output_size:
    output_size = size[::-1]
@@ -204,10 +207,10 @@ def transform_img(base_img,
 def yuv_crop(frame, output_size, center=None):
  # output_size in camera coordinates so u,v
  # center in array coordinates so row, column
+  import cv2
  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
  if not center:
    center = (rgb.shape[0]/2, rgb.shape[1]/2)
  rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
                 center[1] - output_size[0]/2: center[1] + output_size[0]/2]
  return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
-
@@ -1,61 +1,8 @@
 #!/usr/bin/env python
-import time
-from common.realtime import sec_since_boot
 import selfdrive.messaging as messaging
 from selfdrive.boardd.boardd import can_list_to_can_capnp

-def get_vin(logcan, sendcan):
-
-  # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
-  # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
-  query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
-               [0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
-
-  cnts = [1, 2]  # Number of messages to wait for at each iteration
-  vin_valid = True
-
-  dat = []
-  for i in range(len(query_msg)):
-    cnt = 0
-    sendcan.send(can_list_to_can_capnp([query_msg[i]], msgtype='sendcan'))
-    got_response = False
-    t_start = sec_since_boot()
-    while sec_since_boot() - t_start < 0.05 and not got_response:
-      for a in messaging.drain_sock(logcan):
-        for can in a.can:
-          if can.src == 0 and can.address == 0x7e8:
-            vin_valid = vin_valid and is_vin_response_valid(can.dat, i, cnt)
-            dat += can.dat[2:] if i == 0 else can.dat[1:]
-            cnt += 1
-            if cnt == cnts[i]:
-              got_response = True
-      time.sleep(0.01)
-
-  return "".join(dat[3:]) if vin_valid else ""
-
-"""
-if 'vin' not in gctx:
-  print "getting vin"
-  gctx['vin'] = query_vin()[3:]
-  print "got VIN %s" % (gctx['vin'],)
-  cloudlog.info("got VIN %s" % (gctx['vin'],))
-
-# *** determine platform based on VIN ****
-if vin.startswith("19UDE2F36G"):
-  print "ACURA ILX 2016"
-  self.civic = False
-else:
-  # TODO: add Honda check explicitly
-  print "HONDA CIVIC 2016"
-  self.civic = True
-
-# *** special case VIN of Acura test platform
-if vin == "19UDE2F36GA001322":
-  print "comma.ai test platform detected"
-  # it has a gas interceptor and a torque mod
-  self.torque_mod = True
-"""
-
+VIN_UNKNOWN = "0" * 17

 # sanity checks on response messages from vin query
 def is_vin_response_valid(can_dat, step, cnt):
@@ -84,12 +31,71 @@ def is_vin_response_valid(can_dat, step, cnt):
  return True


-if __name__ == "__main__":
-  import zmq
-  from selfdrive.services import service_list
-  context = zmq.Context()
-  logcan = messaging.sub_sock(context, service_list['can'].port)
-  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
-  time.sleep(1.)   # give time to sendcan socket to start
+class VinQuery():
+  def __init__(self, bus):
+    self.bus = bus
+    # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
+    # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
+    self.query_ext_msgs = [[0x18DB33F1, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x18DA10f1, 0, '\x30'.ljust(8, "\x00"), bus]]
+    self.query_nor_msgs = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x7e0, 0, '\x30'.ljust(8, "\x00"), bus]]

-  print get_vin(logcan, sendcan)
+    self.cnts = [1, 2]  # number of messages to wait for at each iteration
+    self.step = 0
+    self.cnt = 0
+    self.responded = False
+    self.never_responded = True
+    self.dat = []
+    self.vin = VIN_UNKNOWN
+
+  def check_response(self, msg):
+    # have we got a VIN query response?
+    if msg.src == self.bus and msg.address in [0x18daf110, 0x7e8]:
+      self.never_responded = False
+      # basic sanity checks on ISO-TP response
+      if is_vin_response_valid(msg.dat, self.step, self.cnt):
+        self.dat += msg.dat[2:] if self.step == 0 else msg.dat[1:]
+        self.cnt += 1
+        if self.cnt == self.cnts[self.step]:
+          self.responded = True
+          self.step += 1
+
+  def send_query(self, sendcan):
+    # keep sending VIN qury if ECU isn't responsing.
+    # sendcan is probably not ready due to the zmq slow joiner syndrome
+    if self.never_responded or (self.responded and self.step < len(self.cnts)):
+      sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
+      sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
+      self.responded = False
+      self.cnt = 0
+
+  def get_vin(self):
+    # only report vin if procedure is finished
+    if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
+      self.vin = "".join(self.dat[3:])
+    return self.vin
+
+
+def get_vin(logcan, sendcan, bus, query_time=1.):
+  vin_query = VinQuery(bus)
+  frame = 0
+
+  # 1s max of VIN query time
+  while frame < query_time * 100:
+    a = messaging.recv_one(logcan)
+
+    for can in a.can:
+      vin_query.check_response(can)
+
+    vin_query.send_query(sendcan)
+    frame += 1
+
+  return vin_query.get_vin()
+
+
+if __name__ == "__main__":
+  from selfdrive.services import service_list
+  logcan = messaging.sub_sock(service_list['can'].port)
+  sendcan = messaging.pub_sock(service_list['sendcan'].port)
+  print get_vin(logcan, sendcan, 0)
@@ -0,0 +1,98 @@
+CC = clang
+CXX = clang++
+
+PHONELIBS = ../../phonelibs
+
+WARN_FLAGS = -Werror=implicit-function-declaration \
+             -Werror=incompatible-pointer-types \
+             -Werror=int-conversion \
+             -Werror=return-type \
+             -Werror=format-extra-args
+
+CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+
+CURL_FLAGS = -I$(PHONELIBS)/curl/include
+CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
+            $(PHONELIBS)/zlib/lib/libz.a
+
+BORINGSSL_FLAGS = -I$(PHONELIBS)/boringssl/include
+BORINGSSL_LIBS = $(PHONELIBS)/boringssl/lib/libssl_static.a \
+                 $(PHONELIBS)/boringssl/lib/libcrypto_static.a \
+
+NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
+
+JSON11_FLAGS = -I$(PHONELIBS)/json11
+
+OPENGL_LIBS = -lGLESv3
+
+FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
+
+.PHONY: all
+all: updater
+
+OBJS = opensans_regular.ttf.o \
+			 opensans_semibold.ttf.o \
+			 opensans_bold.ttf.o \
+       ../../selfdrive/common/touch.o \
+       ../../selfdrive/common/framebuffer.o \
+       $(PHONELIBS)/json11/json11.o \
+       $(PHONELIBS)/nanovg/nanovg.o
+
+DEPS := $(OBJS:.o=.d)
+
+updater: updater.o $(OBJS)
+	@echo "[ LINK ] $@"
+	$(CXX) $(CPPFLAGS) -fPIC -o 'updater' $^ \
+    $(FRAMEBUFFER_LIBS) \
+    $(CURL_LIBS) \
+    $(BORINGSSL_LIBS) \
+    -L/system/vendor/lib64 \
+    $(OPENGL_LIBS) \
+    -lcutils -lm -llog
+	strip updater
+
+opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+%.o: %.c
+	mkdir -p $(@D)
+	@echo "[ CC ] $@"
+	$(CC) $(CPPFLAGS) $(CFLAGS) \
+          -I../.. \
+          -I$(PHONELIBS)/android_frameworks_native/include \
+          -I$(PHONELIBS)/android_system_core/include \
+          -I$(PHONELIBS)/android_hardware_libhardware/include \
+          $(NANOVG_FLAGS) \
+          -c -o '$@' '$<'
+
+%.o: %.cc
+	mkdir -p $(@D)
+	@echo "[ CXX ] $@"
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) \
+           -I../../selfdrive \
+           -I../../ \
+           -I$(PHONELIBS)/android_frameworks_native/include \
+           -I$(PHONELIBS)/android_system_core/include \
+           -I$(PHONELIBS)/android_hardware_libhardware/include \
+           $(NANOVG_FLAGS) \
+           $(JSON11_FLAGS) \
+           $(CURL_FLAGS) \
+           $(BORINGSSL_FLAGS) \
+           -c -o '$@' '$<'
+
+
+.PHONY: clean
+clean:
+	rm -f $(OBJS) $(DEPS)
+
+-include $(DEPS)
@@ -0,0 +1,7 @@
+{
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip",
+  "ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img",
+  "recovery_len": 15136044,
+  "recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662"
+}
@@ -0,0 +1,708 @@
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <cassert>
+
+#include <unistd.h>
+#include <sys/stat.h>
+#include <sys/statvfs.h>
+
+#include <string>
+#include <sstream>
+#include <fstream>
+#include <mutex>
+#include <thread>
+
+#include <curl/curl.h>
+#include <openssl/sha.h>
+
+#include <GLES3/gl3.h>
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+
+#include "nanovg.h"
+#define NANOVG_GLES3_IMPLEMENTATION
+#include "nanovg_gl.h"
+#include "nanovg_gl_utils.h"
+
+#include "json11.hpp"
+
+#include "common/framebuffer.h"
+#include "common/touch.h"
+#include "common/utilpp.h"
+
+#define USER_AGENT "NEOSUpdater-0.2"
+
+#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
+#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
+#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
+const char *manifest_url = MANIFEST_URL_EON;
+
+#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
+#define RECOVERY_COMMAND "/cache/recovery/command"
+
+#define UPDATE_DIR "/data/neoupdate"
+
+extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
+extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
+extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
+extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
+extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
+extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
+
+namespace {
+
+std::string sha256_file(std::string fn, size_t limit=0) {
+  SHA256_CTX ctx;
+  SHA256_Init(&ctx);
+
+  FILE *file = fopen(fn.c_str(), "rb");
+  if (!file) return "";
+
+  const size_t buf_size = 8192;
+  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
+
+  bool read_limit = (limit != 0);
+  while (true) {
+    size_t read_size = buf_size;
+    if (read_limit) read_size = std::min(read_size, limit);
+    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
+    if (!bytes_read) break;
+
+    SHA256_Update(&ctx, buffer.get(), bytes_read);
+
+    if (read_limit) {
+      limit -= bytes_read;
+      if (limit == 0) break;
+    }
+  }
+
+  uint8_t hash[SHA256_DIGEST_LENGTH];
+  SHA256_Final(hash, &ctx);
+
+  fclose(file);
+
+  return util::tohex(hash, sizeof(hash));
+}
+
+size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
+  size_t sz = size * nmeb;
+  ((std::string*)up)->append((char*)ptr, sz);
+  return sz;
+}
+
+std::string download_string(CURL *curl, std::string url) {
+  std::string os;
+
+  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
+  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
+  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
+  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
+  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
+
+  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
+
+  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
+  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
+  CURLcode res = curl_easy_perform(curl);
+  if (res != CURLE_OK) {
+    return "";
+  }
+
+  return os;
+}
+
+size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
+  return fwrite(ptr, size, nmeb, (FILE*)up);
+}
+
+bool check_battery() {
+  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
+  int bat_cap = atoi(bat_cap_s.c_str());
+  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
+  int current_now = atoi(current_now_s.c_str());
+  return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
+}
+
+bool check_space() {
+  struct statvfs stat;
+  if (statvfs("/data/", &stat) != 0) {
+    return false;
+  }
+  size_t space = stat.f_bsize * stat.f_bavail;
+  return space > 2000000000ULL; // 2GB
+}
+
+static void start_settings_activity(const char* name) {
+  char launch_cmd[1024];
+  snprintf(launch_cmd, sizeof(launch_cmd),
+           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
+  system(launch_cmd);
+}
+
+struct Updater {
+  bool do_exit = false;
+
+  TouchState touch;
+
+  int fb_w, fb_h;
+  EGLDisplay display;
+  EGLSurface surface;
+
+  FramebufferState *fb = NULL;
+  NVGcontext *vg = NULL;
+  int font_regular;
+  int font_semibold;
+  int font_bold;
+
+  std::thread update_thread_handle;
+
+  std::mutex lock;
+
+  // i hate state machines give me coroutines already
+  enum UpdateState {
+    CONFIRMATION,
+    RUNNING,
+    ERROR,
+  };
+  UpdateState state;
+
+  std::string progress_text;
+  float progress_frac;
+
+  std::string error_text;
+
+  // button
+  int b_x, b_w, b_y, b_h;
+  int balt_x;
+
+  CURL *curl = NULL;
+
+  Updater() {
+    touch_init(&touch);
+
+    fb = framebuffer_init("updater", 0x00001000, false,
+                          &display, &surface, &fb_w, &fb_h);
+    assert(fb);
+
+    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
+    assert(vg);
+
+    font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
+    assert(font_regular >= 0);
+
+    font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
+    assert(font_semibold >= 0);
+
+    font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
+    assert(font_bold >= 0);
+
+    b_w = 640;
+    balt_x = 200;
+    b_x = fb_w-b_w-200;
+    b_y = 720;
+    b_h = 220;
+
+    state = CONFIRMATION;
+
+  }
+
+  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
+                             curl_off_t ultotal, curl_off_t ulnow) {
+    {
+      std::lock_guard<std::mutex> guard(lock);
+      if (dltotal != 0) {
+        progress_frac = (float) dlno / dltotal;
+      }
+    }
+    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
+    return 0;
+  }
+
+  bool download_file(std::string url, std::string out_fn) {
+    FILE *of = fopen(out_fn.c_str(), "ab");
+    assert(of);
+
+    CURLcode res;
+    long last_resume_from = 0;
+
+    fseek(of, 0, SEEK_END);
+
+    int tries = 4;
+
+    bool ret = false;
+
+    while (true) {
+      long resume_from = ftell(of);
+
+      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
+      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
+      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
+      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
+      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
+
+      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
+      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
+
+      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
+
+      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
+      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
+
+      CURLcode res = curl_easy_perform(curl);
+
+      long response_code = 0;
+      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
+
+      // double content_length = 0.0;
+      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
+
+      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
+      if (res == CURLE_OK) {
+        ret = true;
+        break;
+      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
+        // failed because the file is already complete?
+        ret = true;
+        break;
+      } else if (resume_from == last_resume_from) {
+        // failed and dind't make make forward progress. only retry a couple times
+        tries--;
+        if (tries <= 0) {
+          break;
+        }
+      }
+      last_resume_from = resume_from;
+    }
+    // printf("res %d\n", res);
+
+    // printf("- %ld %f\n", response_code, content_length);
+
+    fclose(of);
+
+    return ret;
+  }
+
+  void set_progress(std::string text) {
+    std::lock_guard<std::mutex> guard(lock);
+    progress_text = text;
+  }
+
+  void set_error(std::string text) {
+    std::lock_guard<std::mutex> guard(lock);
+    error_text = text;
+    state = ERROR;
+  }
+
+  std::string stage_download(std::string url, std::string hash, std::string name) {
+    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
+
+    set_progress("Downloading " + name + "...");
+    bool r = download_file(url, out_fn);
+    if (!r) {
+      set_error("failed to download " + name);
+      return "";
+    }
+
+    set_progress("Verifying " + name + "...");
+    std::string fn_hash = sha256_file(out_fn);
+    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
+    if (fn_hash != hash) {
+      set_error(name + " was corrupt");
+      unlink(out_fn.c_str());
+      return "";
+    }
+
+    return out_fn;
+  }
+
+  void run_stages() {
+    curl = curl_easy_init();
+    assert(curl);
+
+    if (!check_battery()) {
+      set_error("Please plug power in to your EON and wait for charge");
+      return;
+    }
+
+    if (!check_space()) {
+      set_error("2GB of free space required to update");
+      return;
+    }
+
+    mkdir(UPDATE_DIR, 0777);
+
+    const int EON = (access("/EON", F_OK) != -1);
+
+    set_progress("Finding latest version...");
+    std::string manifest_s;
+    if (EON) {
+      manifest_s = download_string(curl, manifest_url);
+    } else {
+      // don't update NEO
+      exit(0);
+    }
+
+    printf("manifest: %s\n", manifest_s.c_str());
+
+    std::string err;
+    auto manifest = json11::Json::parse(manifest_s, err);
+    if (manifest.is_null() || !err.empty()) {
+      set_error("failed to load update manifest");
+      return;
+    }
+
+    std::string ota_url = manifest["ota_url"].string_value();
+    std::string ota_hash = manifest["ota_hash"].string_value();
+
+    std::string recovery_url = manifest["recovery_url"].string_value();
+    std::string recovery_hash = manifest["recovery_hash"].string_value();
+    int recovery_len = manifest["recovery_len"].int_value();
+
+    // std::string installer_url = manifest["installer_url"].string_value();
+    // std::string installer_hash = manifest["installer_hash"].string_value();
+
+    if (ota_url.empty() || ota_hash.empty()) {
+      set_error("invalid update manifest");
+      return;
+    }
+
+    // std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
+    // if (installer_fn.empty()) {
+    //   //error'd
+    //   return;
+    // }
+
+    std::string recovery_fn;
+    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
+      set_progress("Skipping recovery flash...");
+    } else {
+      // only download the recovery if it differs from what's flashed
+      set_progress("Checking recovery...");
+      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
+      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
+
+      if (existing_recovery_hash != recovery_hash) {
+        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
+        if (recovery_fn.empty()) {
+          // error'd
+          return;
+        }
+      }
+    }
+
+    std::string ota_fn = stage_download(ota_url, ota_hash, "update");
+    if (ota_fn.empty()) {
+      //error'd
+      return;
+    }
+
+    if (!check_battery()) {
+      set_error("must have at least 35% battery to update");
+      return;
+    }
+
+    if (!recovery_fn.empty()) {
+      // flash recovery
+      set_progress("Flashing recovery...");
+
+      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
+      if (!flash_file) {
+        set_error("failed to flash recovery");
+        return;
+      }
+
+      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
+      if (!recovery_dev) {
+        fclose(flash_file);
+        set_error("failed to flash recovery");
+        return;
+      }
+
+      const size_t buf_size = 4096;
+      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
+
+      while (true) {
+        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
+        if (!bytes_read) break;
+
+        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
+        if (bytes_read != bytes_written) {
+          fclose(recovery_dev);
+          fclose(flash_file);
+          set_error("failed to flash recovery: write failed");
+          return;
+        }
+      }
+
+      fclose(recovery_dev);
+      fclose(flash_file);
+
+      set_progress("Verifying flash...");
+      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
+      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
+
+      if (new_recovery_hash != recovery_hash) {
+        set_error("recovery flash corrupted");
+        return;
+      }
+
+    }
+
+    // write arguments to recovery
+    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
+    if (!cmd_file) {
+      set_error("failed to reboot into recovery");
+      return;
+    }
+    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
+    fclose(cmd_file);
+
+    set_progress("Rebooting");
+
+    // remove the continue.sh so we come back into the setup.
+    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
+    //unlink("/data/data/com.termux/files/continue.sh");
+
+    // TODO: this should be generic between android versions
+    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
+    system("service call power 16 i32 0 s16 recovery i32 1");
+    while(1) pause();
+
+    // execl("/system/bin/reboot", "recovery");
+    // set_error("failed to reboot into recovery");
+  }
+
+  void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
+    nvgFillColor(vg, nvgRGBA(255,255,255,255));
+    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+
+    nvgFontFace(vg, "opensans_bold");
+    nvgFontSize(vg, 120.0f);
+    nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
+
+    nvgFontFace(vg, "opensans_regular");
+    nvgFontSize(vg, 86.0f);
+    nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
+
+    // draw button
+    if (button) {
+      nvgBeginPath(vg);
+      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
+      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
+      nvgFill(vg);
+
+      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgFontFace(vg, "opensans_semibold");
+      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
+      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
+
+      nvgBeginPath(vg);
+      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
+      nvgStrokeWidth(vg, 5);
+      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
+      nvgStroke(vg);
+    }
+
+    // draw button
+    if (altbutton) {
+      nvgBeginPath(vg);
+      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
+      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
+      nvgFill(vg);
+
+      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgFontFace(vg, "opensans_semibold");
+      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
+      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
+
+      nvgBeginPath(vg);
+      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
+      nvgStrokeWidth(vg, 5);
+      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
+      nvgStroke(vg);
+    }
+  }
+
+  void draw_progress_screen() {
+    // draw progress message
+    nvgFontSize(vg, 64.0f);
+    nvgFillColor(vg, nvgRGBA(255,255,255,255));
+    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+    nvgFontFace(vg, "opensans_bold");
+    nvgFontSize(vg, 86.0f);
+    nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
+
+    // draw progress bar
+    {
+      int progress_width = 1000;
+      int progress_x = fb_w/2-progress_width/2;
+      int progress_y = 520;
+      int progress_height = 50;
+
+      int powerprompt_y = 312;
+      nvgFontFace(vg, "opensans_regular");
+      nvgFontSize(vg, 64.0f);
+      nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
+
+      NVGpaint paint = nvgBoxGradient(
+          vg, progress_x + 1, progress_y + 1,
+          progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
+      nvgBeginPath(vg);
+      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
+      nvgFillPaint(vg, paint);
+      nvgFill(vg);
+
+      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
+      int bar_pos = ((progress_width - 2) * value);
+
+      paint = nvgBoxGradient(
+          vg, progress_x, progress_y,
+          bar_pos+1.5f, progress_height-1, 3, 4,
+          nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
+
+      nvgBeginPath(vg);
+      nvgRoundedRect(
+          vg, progress_x+1, progress_y+1,
+          bar_pos, progress_height-2, 12);
+      nvgFillPaint(vg, paint);
+      nvgFill(vg);
+    }
+  }
+
+  void ui_draw() {
+    std::lock_guard<std::mutex> guard(lock);
+
+    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
+
+    switch (state) {
+    case CONFIRMATION:
+      draw_ack_screen("An update to NEOS is required.",
+                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
+                      "Continue",
+                      "Connect to WiFi");
+      break;
+    case RUNNING:
+      draw_progress_screen();
+      break;
+    case ERROR:
+      draw_ack_screen("There was an error.", ("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
+      break;
+    }
+
+    nvgEndFrame(vg);
+  }
+
+  void ui_update() {
+    std::lock_guard<std::mutex> guard(lock);
+
+    switch (state) {
+    case ERROR:
+    case CONFIRMATION: {
+      int touch_x = -1, touch_y = -1;
+      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
+      if (res == 1 && !is_settings_active()) {
+        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
+          if (state == CONFIRMATION) {
+            state = RUNNING;
+            update_thread_handle = std::thread(&Updater::run_stages, this);
+          }
+        }
+        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
+          if (state == CONFIRMATION) {
+            start_settings_activity("Settings$WifiSettingsActivity");
+          } else if (state == ERROR) {
+            do_exit = 1;
+          }
+        }
+      }
+    }
+    default:
+      break;
+    }
+  }
+
+
+  void go() {
+    while (!do_exit) {
+      ui_update();
+
+      glClearColor(0.08, 0.08, 0.08, 1.0);
+      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+      // background
+      nvgBeginPath(vg);
+      NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
+        nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
+      nvgFillPaint(vg, bg);
+      nvgRect(vg, 0, 0, fb_w, fb_h);
+      nvgFill(vg);
+
+      glEnable(GL_BLEND);
+      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+      ui_draw();
+
+      glDisable(GL_BLEND);
+
+      eglSwapBuffers(display, surface);
+      assert(glGetError() == GL_NO_ERROR);
+
+      // no simple way to do 30fps vsync with surfaceflinger...
+      usleep(30000);
+    }
+
+    if (update_thread_handle.joinable()) {
+      update_thread_handle.join();
+    }
+
+    system("service call power 16 i32 0 i32 0 i32 1");
+  }
+
+  bool is_settings_active() {
+    FILE *fp;
+    char sys_output[4096];
+
+    fp = popen("/bin/dumpsys window windows", "r");
+    if (fp == NULL) {
+      return false;
+    }
+
+    bool active = false;
+    while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
+      if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
+        break;
+      }
+
+      if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
+        active = true;
+        break;
+      }
+    }
+
+    pclose(fp);
+
+    return active;
+  }
+
+};
+
+}
+int main(int argc, char *argv[]) {
+  if (argc > 1) {
+    if (strcmp(argv[1], "local") == 0) {
+      manifest_url = MANIFEST_URL_EON_LOCAL;
+    } else if (strcmp(argv[1], "staging") == 0) {
+      manifest_url = MANIFEST_URL_EON_STAGING;
+    } else {
+      manifest_url = argv[1];
+    }
+  }
+  printf("updating from %s\n", manifest_url);
+  Updater updater;
+  updater.go();
+
+  return 0;
+}
@@ -1,5 +1,11 @@
 #!/usr/bin/bash

+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
 if [ -z "$PASSIVE" ]; then
  export PASSIVE="1"
 fi
@@ -7,9 +13,16 @@ fi
 function launch {
  # apply update
  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-     git reset --hard @{u} &&
-     git clean -xdf &&
-     exec "${BASH_SOURCE[0]}"
+    git reset --hard @{u} &&
+    git clean -xdf &&
+
+    # Touch all files on release2 after checkout to prevent rebuild
+    BRANCH=$(git rev-parse --abbrev-ref HEAD)
+    if [[ "$BRANCH" == "release2" ]]; then
+        touch **
+    fi
+
+    exec "${BASH_SOURCE[0]}"
  fi

  # no cpu rationing for now
@@ -107,21 +107,24 @@ 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_ SET_ME_X00 : 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_ SET_ME_X00_2 : 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_ SET_ME_X00_3 : 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_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 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_ SET_ME_X00_4 : 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_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 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

@@ -107,21 +107,24 @@ 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_ SET_ME_X00 : 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_ SET_ME_X00_2 : 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_ SET_ME_X00_3 : 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_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 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_ SET_ME_X00_4 : 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_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 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

@@ -262,7 +262,7 @@ BO_ 300 NEW_MSG_12C: 8 XXX

 BO_ 308 ACCEL_GAS_134: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ ACCEL_134 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX

 BO_ 532 ENERGY_RELATED_214: 8 XXX
 SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
@@ -413,6 +413,7 @@ CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 415
 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_ 308 ACCEL_134 "only set when human presses accel pedal";
 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_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense";
@@ -85,21 +85,24 @@ 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_ SET_ME_X00 : 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_ SET_ME_X00_2 : 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_ SET_ME_X00_3 : 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_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 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_ SET_ME_X00_4 : 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_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 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

@@ -33,7 +33,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -69,6 +69,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -94,7 +95,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -120,6 +130,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -152,6 +174,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -222,6 +267,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -245,6 +293,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -1,14 +1,13 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"

-BO_ 550 BRAKE_MODULE: 8 XXX
+BO_ 548 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_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+BO_ 581 GAS_PEDAL: 5 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
@@ -16,11 +15,11 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
+BO_ 610 EPS_STATUS: 5 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
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
 SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
@@ -29,9 +28,10 @@ BO_ 956 GEAR_PACKET: 8 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_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
@@ -11,7 +11,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 55|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_EPS : 47|16@0- (0.66,0) [-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
@@ -25,7 +25,7 @@ BO_ 610 EPS_STATUS: 5 EPS
 BO_ 956 GEAR_PACKET: 8 XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX

-BO_ 1009 PCM_CRUISE_3: 8 XXX
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
 SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
 SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
@@ -0,0 +1,37 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+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_ 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: 5 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 : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled" ;
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby" ;
+VAL_ 956 SPORT_ON 0 "off" 1 "on" ;
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P" ;
+VAL_ 956 ECON_ON 0 "off" 1 "on" ;
@@ -16,7 +16,7 @@ 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- (0.66,0) [-20000|20000] "" 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
@@ -20,6 +20,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -0,0 +1,49 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
+ SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT : 30|1@0+ (1,0) [0|1] "" 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_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|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
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" 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
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
@@ -107,21 +107,24 @@ 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_ SET_ME_X00 : 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_ SET_ME_X00_2 : 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_ SET_ME_X00_3 : 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_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 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_ SET_ME_X00_4 : 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_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 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

@@ -107,21 +107,24 @@ 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_ SET_ME_X00 : 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_ SET_ME_X00_2 : 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_ SET_ME_X00_3 : 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_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 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_ SET_ME_X00_4 : 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_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 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

@@ -107,21 +107,24 @@ 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_ SET_ME_X00 : 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_ SET_ME_X00_2 : 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_ SET_ME_X00_3 : 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_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 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_ SET_ME_X00_4 : 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_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 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

@@ -107,21 +107,24 @@ 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_ SET_ME_X00 : 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_ SET_ME_X00_2 : 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_ SET_ME_X00_3 : 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_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 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_ SET_ME_X00_4 : 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_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 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

@@ -150,14 +150,15 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
 SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
 SG_ 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_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" 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
@@ -107,21 +107,24 @@ 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_ SET_ME_X00 : 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_ SET_ME_X00_2 : 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_ SET_ME_X00_3 : 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_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 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_ SET_ME_X00_4 : 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_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 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

@@ -107,21 +107,24 @@ 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_ SET_ME_X00 : 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_ SET_ME_X00_2 : 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_ SET_ME_X00_3 : 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_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 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_ SET_ME_X00_4 : 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_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 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

@@ -961,7 +961,7 @@ BO_ 64 DATC14: 8 DATC
 SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU

 BO_ 832 LKAS11: 8 LDWS_LKAS
- SG_ CF_Lkas_Icon : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
+ SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
 SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX,PSB
 SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
 SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -295,18 +344,17 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

-CM_ "toyota_chr_2018_pt.dbc starts here"
+CM_ "lexus_ct200h_2018_pt.dbc starts here"



-BO_ 550 BRAKE_MODULE: 8 XXX
+BO_ 548 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_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+BO_ 581 GAS_PEDAL: 5 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
@@ -314,11 +362,11 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
+BO_ 610 EPS_STATUS: 5 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
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
 SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
@@ -327,9 +375,10 @@ BO_ 956 GEAR_PACKET: 8 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_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -309,7 +358,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 55|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_EPS : 47|16@0- (0.66,0) [-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
@@ -323,7 +372,7 @@ BO_ 610 EPS_STATUS: 5 EPS
 BO_ 956 GEAR_PACKET: 8 XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX

-BO_ 1009 PCM_CRUISE_3: 8 XXX
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
 SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
 SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -0,0 +1,384 @@
+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";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" 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 _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 CGW
+
+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_ 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_ 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_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" 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_ 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ 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_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|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
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" 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_ 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_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+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_ 560 BRAKE_PRESSED "another brake pressed?";
+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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+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";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+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 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_rx_350_2016_pt.dbc starts here"
+
+
+
+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_ 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: 5 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 : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled" ;
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby" ;
+VAL_ 956 SPORT_ON 0 "off" 1 "on" ;
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P" ;
+VAL_ 956 ECON_ON 0 "off" 1 "on" ;
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -0,0 +1,184 @@
+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_ 644 Speed_1: 8 XXX
+ SG_ Speed_FR : 7|16@0+ (0.0118,0) [0|65535] "" XXX
+ SG_ Speed_FL : 23|16@0+ (0.0118,0) [0|65535] "" XXX
+ SG_ Speed_Vehicle : 39|16@0+ (0.0245,0) [0|65535] "" XXX
+
+BO_ 645 WheelspeedRear: 8 XXX
+ SG_ RR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
+ SG_ RL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
+
+BO_ 768 STEER_TORQUE: 8 XXX
+ SG_ STEERING_TOURQUE : 0|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 459 Maybe_RegenBraking: 8 XXX
+
+BO_ 372 Maybe_Gear_Selector: 8 XXX
+ SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
+ SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 460 Maybe_Brake_Related: 8 XXX
+
+BO_ 2 SteeringWheel: 8 XXX
+ SG_ Steering_RateChange : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ Always_07 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
+
+BO_ 384 Maybe_PowerInfo: 8 XXX
+ SG_ Unknown_Timer_PowerInfo : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ EnginePower : 27|12@0- (1,0) [0|1] "" XXX
+ SG_ RequestedAccel : 23|12@0- (1,0) [0|4294967295] "" XXX
+
+BO_ 1107 Lights: 8 XXX
+ SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ _HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 666 WheelspeedFront: 8 XXX
+ SG_ _FL_WHEELSPEED : 39|16@0+ (0.01014,0) [0|65535] "" XXX
+ SG_ FR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
+ SG_ FL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
+
+BO_ 398 NEW_MSG_2: 8 XXX
+
+BO_ 389 NEW_MSG_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 22|6@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|127] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 30|8@0- (1,0) [0|255] "" XXX
+
+BO_ 397 NEW_MSG_4: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|31] "" XXX
+
+BO_ 658 NEW_MSG_5: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 855 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 773 NEW_MSG_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 851 SPEED_RELATED: 8 XXX
+ SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
+
+BO_ 386 Accelerator: 8 XXX
+ SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
+
+BO_ 347 ACCELSOMETHING: 8 XXX
+ SG_ PowerMaybe : 9|10@0+ (1,0) [0|1023] "" XXX
+ SG_ ACCELERATOR2 : 6|11@0+ (1,-800) [0|65535] "" XXX
+
+BO_ 346 ANOTHER_ACCEL: 8 XXX
+ SG_ ANOTHERACCEL : 23|10@0+ (1,0) [0|1023] "" XXX
+ SG_ Reverse_ACCEL : 25|10@0+ (1,0) [0|1023] "" XXX
+
+BO_ 348 FULLRANGEACCEL: 8 XXX
+ SG_ AccelFullRange : 47|10@0+ (1,0) [0|1023] "" XXX
+ SG_ Accel : 26|11@0+ (1,0) [0|2047] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 566 ANOTHERFULLRANGEACCEL: 8 XXX
+ SG_ ANOTHERFULLRANGEACCEL : 43|8@0+ (1,0) [0|1023] "" XXX
+ SG_ RPMORTORQUE : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 523 Yetyetanotheraccel: 8 XXX
+ SG_ ANOTHERREVERSEACCEL : 37|10@0+ (1,0) [0|1023] "" XXX
+ SG_ yetyetanotheraccel : 31|10@0+ (1,0) [0|255] "" XXX
+
+BO_ 779 ANOTHERRRFULLRANGEACCEL: 8 XXX
+ SG_ ANOTHERRRFULLRANGEACCEL : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1108 Doors: 8 XXX
+ SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
+ SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 403 LKAS_OLD: 8 XXX
+ SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ Angle_2 : 32|13@0+ (1,-4000) [0|63] "" XXX
+ SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Angle_1 : 10|13@0+ (0.12,-480) [0|65535] "" XXX
+ SG_ Steering_Torque : 7|13@0+ (-1,4000) [0|65535] "" XXX
+ SG_ Torque_Command : 29|13@0+ (1,-4000) [0|255] "" XXX
+
+BO_ 412 NEW_MSG_9: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 361 LKAS: 8 XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_X80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_Active : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ CRC : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ Des_Angle : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+
+BO_ 438 ProPilot: 8 XXX
+ SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|7] "" XXX
+ SG_ Counter : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_3 : 32|2@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|12@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|12@0- (-1,0) [0|255] "" XXX
+ SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_STATUS : 51|1@1+ (1,0) [0|3] "" XXX
+ 
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -314,7 +363,7 @@ 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- (0.66,0) [-20000|20000] "" 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
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -295,7 +344,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

-CM_ "toyota_chr_hybrid_2018_pt.dbc starts here"
+CM_ "toyota_nodsu_hybrid_pt.dbc starts here"



@@ -318,6 +367,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -0,0 +1,396 @@
+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";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" 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 _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 CGW
+
+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_ 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_ 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_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" 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_ 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_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ 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_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|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
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" 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_ 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_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+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_ 560 BRAKE_PRESSED "another brake pressed?";
+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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+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";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+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 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "toyota_nodsu_pt.dbc starts here"
+
+
+
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
+ SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT : 30|1@0+ (1,0) [0|1] "" 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_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|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
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" 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
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 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_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 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_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" 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
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 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_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 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_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ 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_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 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";
@@ -26,22 +26,12 @@ jobs:
          command: |
            mkdir /tmp/misra
            docker run -v /tmp/misra:/tmp/misra panda_misra /bin/bash -c "cd /panda/tests/misra; ./test_misra.sh"
+      - store_artifacts:
+          name: Store cppcheck test output
+          path: /tmp/misra/cppcheck_output.txt
      - store_artifacts:
          name: Store misra test output
-          path: /tmp/misra/output.txt
-
-  strict-compiler:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t panda_strict_compiler -f tests/build_strict/Dockerfile ."
-      - run:
-          name: Build Panda with strict compiler rules
-          command: |
-            docker run panda_strict_compiler /bin/bash -c "cd /panda/board; make -f Makefile.strict clean; make -f Makefile.strict bin"
+          path: /tmp/misra/misra_output.txt

  build:
    machine:
@@ -76,11 +66,38 @@ jobs:
          command: |
            docker run panda_build /bin/bash -c "cd /panda/boardesp; make user1.bin"

+  safety_replay:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_safety_replay -f tests/safety_replay/Dockerfile ."
+      - run:
+          name: Replay drives
+          command: |
+            docker run panda_safety_replay /bin/bash -c "cd /openpilot/panda/tests/safety_replay; PYTHONPATH=/openpilot ./test_safety_replay.py"
+
+  language_check:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t language_check -f tests/language/Dockerfile ."
+      - run:
+          name: Check code for bad language
+          command: |
+            docker run language_check /bin/bash -c "cd /panda/tests/language; ./test_language.py"
+
 workflows:
  version: 2
  main:
    jobs:
      - safety
      - misra-c2012
-      - strict-compiler
      - build
+      - safety_replay
+      - language_check
@@ -20,34 +20,54 @@ pipeline {
        }
      }
    }
-    stage('Test Dev Build') {
+    stage('Test Dev Build (no WIFI)') {
      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
+        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
          timeout(time: 60, unit: 'MINUTES') {
-            sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh '"
+            script {
+              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; SKIPWIFI=1 ./run_automated_tests.sh'"
+              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev_nowifi.xml"
+              sh "docker rm ${env.DOCKER_NAME}"
+            }
          }
        }
      }
    }
    stage('Test EON Build') {
      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
+        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
          timeout(time: 60, unit: 'MINUTES') {
-            sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
-            sh "touch EON && docker cp EON ${env.DOCKER_NAME}:/EON"
-            sh "docker start -a ${env.DOCKER_NAME}"
+            script {
+              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'touch /EON; cd /tmp/panda; ./run_automated_tests.sh'"
+              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_eon.xml"
+              sh "docker rm ${env.DOCKER_NAME}"
+            }
+          }
+        }
+      }
+    }
+    stage('Test Dev Build (WIFI)') {
+      steps {
+        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
+          timeout(time: 60, unit: 'MINUTES') {
+            script {
+              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh'"
+              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
+              sh "docker rm ${env.DOCKER_NAME}"
+            }
          }
        }
      }
    }
  }
  post {
-    always {
+    failure {
      script {
-        sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_EON.xml"
-        sh "docker rm ${env.DOCKER_NAME}"
+        sh "docker rm ${env.DOCKER_NAME} || true"
      }
+    }
+    always {
      junit "test_results*.xml"
    }
  }
-}
+}
@@ -1 +1 @@
-v1.3.1
+v1.4.3
@@ -1,5 +1,5 @@
 PROJ_NAME = panda
-CFLAGS = -g -Wall
+CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror

 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
 CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
@@ -1,8 +0,0 @@
-PROJ_NAME = panda
-CFLAGS = -g -Wall -Wextra -pedantic -Wstrict-prototypes
-
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
-CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
-STARTUP_FILE = startup_stm32f413xx
-
-include build.mk
@@ -0,0 +1,61 @@
+// ///////////////////////////////////////////////////////////// //
+// Hardware abstraction layer for all different supported boards //
+// ///////////////////////////////////////////////////////////// //
+#include "board_declarations.h"
+#include "boards/common.h"
+
+// ///// Board definition and detection ///// //
+#include "drivers/harness.h"
+#ifdef PANDA
+  #include "boards/white.h"
+  #include "boards/grey.h"
+  #include "boards/black.h"
+#else
+  #include "boards/pedal.h"
+#endif
+
+void detect_board_type(void) {
+  #ifdef PANDA
+    // SPI lines floating: white (TODO: is this reliable?)
+    if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
+      hw_type = HW_TYPE_WHITE_PANDA;
+      current_board = &board_white;
+    } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
+      hw_type = HW_TYPE_GREY_PANDA;
+      current_board = &board_grey;
+    } else {
+      hw_type = HW_TYPE_BLACK_PANDA;
+      current_board = &board_black;
+    }
+  #else
+    #ifdef PEDAL
+      hw_type = HW_TYPE_PEDAL;
+      current_board = &board_pedal;
+    #else 
+      hw_type = HW_TYPE_UNKNOWN;
+      puts("Hardware type is UNKNOWN!\n");
+    #endif
+  #endif
+}
+
+
+// ///// Configuration detection ///// //
+bool has_external_debug_serial = 0;
+bool is_entering_bootmode = 0;
+
+void detect_configuration(void) {
+  // detect if external serial debugging is present
+  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
+
+  #ifdef PANDA
+    // check if the ESP is trying to put me in boot mode
+    is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
+  #else
+    is_entering_bootmode = 0;
+  #endif
+}
+
+// ///// Board functions ///// //
+bool board_has_gps(void) {
+  return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA));
+}
@@ -0,0 +1,57 @@
+// ******************** Prototypes ********************
+typedef void (*board_init)(void);
+typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
+typedef void (*board_enable_can_transcievers)(bool enabled);
+typedef void (*board_set_led)(uint8_t color, bool enabled);
+typedef void (*board_set_usb_power_mode)(uint8_t mode);
+typedef void (*board_set_esp_gps_mode)(uint8_t mode);
+typedef void (*board_set_can_mode)(uint8_t mode);
+typedef void (*board_usb_power_mode_tick)(uint64_t tcnt);
+typedef bool (*board_check_ignition)(void);
+
+struct board {
+  const char *board_type;
+  const harness_configuration *harness_config;
+  board_init init;
+  board_enable_can_transciever enable_can_transciever;
+  board_enable_can_transcievers enable_can_transcievers;
+  board_set_led set_led;
+  board_set_usb_power_mode set_usb_power_mode;
+  board_set_esp_gps_mode set_esp_gps_mode;
+  board_set_can_mode set_can_mode;
+  board_usb_power_mode_tick usb_power_mode_tick;
+  board_check_ignition check_ignition;
+};
+
+// ******************* Definitions ********************
+// These should match the enum in cereal/log.capnp
+#define HW_TYPE_UNKNOWN 0U
+#define HW_TYPE_WHITE_PANDA 1U
+#define HW_TYPE_GREY_PANDA 2U
+#define HW_TYPE_BLACK_PANDA 3U
+#define HW_TYPE_PEDAL 4U
+
+// LED colors
+#define LED_RED 0U
+#define LED_GREEN 1U
+#define LED_BLUE 2U
+
+// USB power modes
+#define USB_POWER_NONE 0U
+#define USB_POWER_CLIENT 1U
+#define USB_POWER_CDP 2U
+#define USB_POWER_DCP 3U
+
+// ESP modes
+#define ESP_GPS_DISABLED 0U
+#define ESP_GPS_ENABLED 1U
+#define ESP_GPS_BOOTMODE 2U
+
+// CAN modes
+#define CAN_MODE_NORMAL 0U
+#define CAN_MODE_GMLAN_CAN2 1U
+#define CAN_MODE_GMLAN_CAN3 2U
+#define CAN_MODE_OBD_CAN2 3U
+
+// ********************* Globals **********************
+uint8_t usb_power_mode = USB_POWER_NONE;
@@ -0,0 +1,188 @@
+// ///////////////////// //
+// Black Panda + Harness //
+// ///////////////////// //
+
+void black_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    case 1U:
+      set_gpio_output(GPIOC, 1, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOC, 13, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOA, 0, !enabled);
+      break;
+    case 4U:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void black_enable_can_transcievers(bool enabled) {
+  for(uint8_t i=1; i<=4U; i++)
+    black_enable_can_transciever(i, enabled);
+}
+
+void black_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOC, 9, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOC, 7, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOC, 6, !enabled);
+      break;  
+    default:
+      break;
+  }
+}
+
+void black_set_usb_power_mode(uint8_t mode){
+  usb_power_mode = mode;
+  puts("Trying to set USB power mode on black panda. This is not supported.\n");
+}
+
+void black_set_esp_gps_mode(uint8_t mode) {
+  switch (mode) {
+    case ESP_GPS_DISABLED:
+      // ESP OFF
+      set_gpio_output(GPIOC, 14, 0);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    case ESP_GPS_ENABLED:
+      // ESP ON
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 1);
+      break;
+    case ESP_GPS_BOOTMODE:
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    default:
+      puts("Invalid ESP/GPS mode\n");
+      break;
+  }
+}
+
+void black_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+    case CAN_MODE_OBD_CAN2:
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
+        // B12,B13: disable OBD mode
+        set_gpio_mode(GPIOB, 12, MODE_INPUT);
+        set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+        // B5,B6: normal CAN2 mode
+        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+      } else {
+        // B5,B6: disable normal CAN2 mode
+        set_gpio_mode(GPIOB, 5, MODE_INPUT);
+        set_gpio_mode(GPIOB, 6, MODE_INPUT);
+
+        // B12,B13: OBD mode
+        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+      }      
+      break;
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+void black_usb_power_mode_tick(uint64_t tcnt){
+  UNUSED(tcnt);
+  // Not applicable
+}
+
+bool black_check_ignition(void){
+  // ignition is checked through harness
+  return harness_check_ignition();
+}
+
+void black_init(void) {
+  common_init_gpio();
+
+  // A8,A15: normal CAN3 mode
+  set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+  set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
+
+  // C0: OBD_SBU1 (orientation detection)
+  // C3: OBD_SBU2 (orientation detection)
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
+
+  // C10: OBD_SBU1_RELAY (harness relay driving output)
+  // C11: OBD_SBU2_RELAY (harness relay driving output)
+  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
+  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
+  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output(GPIOC, 10, 1);
+  set_gpio_output(GPIOC, 11, 1);
+
+  // C8: FAN aka TIM3_CH3
+  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
+
+  // C12: GPS load switch. Turn on permanently for now
+  set_gpio_output(GPIOC, 12, true);
+  //set_gpio_output(GPIOC, 12, false); //TODO: stupid inverted switch on prototype
+
+  // Initialize harness
+  harness_init();
+
+  // Enable CAN transcievers
+  black_enable_can_transcievers(true);
+
+  // Disable LEDs
+  black_set_led(LED_RED, false);
+  black_set_led(LED_GREEN, false);
+  black_set_led(LED_BLUE, false);
+
+  // Set normal CAN mode
+  black_set_can_mode(CAN_MODE_NORMAL);
+
+  // flip CAN0 and CAN2 if we are flipped
+  if (car_harness_status == HARNESS_STATUS_NORMAL) {
+    can_flip_buses(0, 2);
+  }
+
+  // init multiplexer
+  can_set_obd(car_harness_status, false);
+}
+
+const harness_configuration black_harness_config = {
+  .has_harness = true,
+  .GPIO_SBU1 = GPIOC,
+  .GPIO_SBU2 = GPIOC,
+  .GPIO_relay_normal = GPIOC,
+  .GPIO_relay_flipped = GPIOC,
+  .pin_SBU1 = 0,
+  .pin_SBU2 = 3,
+  .pin_relay_normal = 10,
+  .pin_relay_flipped = 11,
+  .adc_channel_SBU1 = 10,
+  .adc_channel_SBU2 = 13
+};
+
+const board board_black = {
+  .board_type = "Black",
+  .harness_config = &black_harness_config,
+  .init = black_init,
+  .enable_can_transciever = black_enable_can_transciever,
+  .enable_can_transcievers = black_enable_can_transcievers,
+  .set_led = black_set_led,
+  .set_usb_power_mode = black_set_usb_power_mode,
+  .set_esp_gps_mode = black_set_esp_gps_mode,
+  .set_can_mode = black_set_can_mode,
+  .usb_power_mode_tick = black_usb_power_mode_tick,
+  .check_ignition = black_check_ignition
+};
@@ -0,0 +1,82 @@
+#ifdef STM32F4
+  #include "stm32f4xx_hal_gpio_ex.h"
+#else
+  #include "stm32f2xx_hal_gpio_ex.h"
+#endif
+
+// Common GPIO initialization
+void common_init_gpio(void){
+  // TODO: Is this block actually doing something???
+  // pull low to hold ESP in reset??
+  // enable OTG out tied to ground
+  GPIOA->ODR = 0;
+  GPIOB->ODR = 0;
+  GPIOA->PUPDR = 0;
+  GPIOB->AFR[0] = 0;
+  GPIOB->AFR[1] = 0;
+
+  // C2: Voltage sense line
+  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
+
+  // A11,A12: USB
+  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
+  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
+  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
+
+  // A9,A10: USART 1 for talking to the ESP / GPS
+  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
+  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
+
+   // B8,B9: CAN 1
+  #ifdef STM32F4
+    set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
+    set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
+  #else
+    set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
+    set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
+  #endif
+}
+
+// Peripheral initialization
+void peripherals_init(void){
+  // enable GPIOB, UART2, CAN, USB clock
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
+
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
+  #ifdef PANDA
+    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
+  #ifdef CAN3
+    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
+  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
+  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
+  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
+  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
+  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
+}
+
+// Detection with internal pullup
+#define PULL_EFFECTIVE_DELAY 10
+bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
+  set_gpio_mode(GPIO, pin, MODE_INPUT);
+  set_gpio_pullup(GPIO, pin, mode);
+  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
+  bool ret = get_gpio_input(GPIO, pin);
+  set_gpio_pullup(GPIO, pin, PULL_NONE);
+  return ret;
+}
@@ -0,0 +1,18 @@
+// ////////// //
+// Grey Panda //
+// ////////// //
+
+// Most hardware functionality is similar to white panda
+const board board_grey = {
+  .board_type = "Grey",
+  .harness_config = &white_harness_config,
+  .init = white_init,
+  .enable_can_transciever = white_enable_can_transciever,
+  .enable_can_transcievers = white_enable_can_transcievers,
+  .set_led = white_set_led,
+  .set_usb_power_mode = white_set_usb_power_mode,
+  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_can_mode = white_set_can_mode,
+  .usb_power_mode_tick = white_usb_power_mode_tick,
+  .check_ignition = white_check_ignition
+};
@@ -0,0 +1,96 @@
+// ///// //
+// Pedal //
+// ///// //
+
+void pedal_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    case 1:
+      set_gpio_output(GPIOB, 3, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void pedal_enable_can_transcievers(bool enabled) {
+  pedal_enable_can_transciever(1U, enabled);
+}
+
+void pedal_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOB, 11, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void pedal_set_usb_power_mode(uint8_t mode){
+  usb_power_mode = mode;
+  puts("Trying to set USB power mode on pedal. This is not supported.\n");
+}
+
+void pedal_set_esp_gps_mode(uint8_t mode) {
+  UNUSED(mode);
+  puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
+}
+
+void pedal_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+      break;
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+void pedal_usb_power_mode_tick(uint64_t tcnt){
+  UNUSED(tcnt);
+  // Not applicable
+}
+
+bool pedal_check_ignition(void){
+  // not supported on pedal
+  return false;
+}
+
+void pedal_init(void) {
+  common_init_gpio();
+
+  // C0, C1: Throttle inputs
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 1, MODE_ANALOG);
+  // DAC outputs on A4 and A5
+  //   apparently they don't need GPIO setup
+
+  // Enable transciever
+  pedal_enable_can_transcievers(true);
+
+  // Disable LEDs
+  pedal_set_led(LED_RED, false);
+  pedal_set_led(LED_GREEN, false);
+}
+
+const harness_configuration pedal_harness_config = {
+  .has_harness = false
+};
+
+const board board_pedal = {
+  .board_type = "Pedal",
+  .harness_config = &pedal_harness_config,
+  .init = pedal_init,
+  .enable_can_transciever = pedal_enable_can_transciever,
+  .enable_can_transcievers = pedal_enable_can_transcievers,
+  .set_led = pedal_set_led,
+  .set_usb_power_mode = pedal_set_usb_power_mode,
+  .set_esp_gps_mode = pedal_set_esp_gps_mode,
+  .set_can_mode = pedal_set_can_mode,
+  .usb_power_mode_tick = pedal_usb_power_mode_tick,
+  .check_ignition = pedal_check_ignition,
+};
@@ -0,0 +1,306 @@
+// /////////// //
+// White Panda //
+// /////////// //
+
+void white_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    case 1U:
+      set_gpio_output(GPIOC, 1, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOC, 13, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOA, 0, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void white_enable_can_transcievers(bool enabled) {
+  for(uint8_t i=1; i<=3U; i++)
+    white_enable_can_transciever(i, enabled);
+}
+
+void white_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOC, 9, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOC, 7, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOC, 6, !enabled);
+      break;  
+    default:
+      break;
+  }
+}
+
+void white_set_usb_power_mode(uint8_t mode){
+  bool valid_mode = true;
+  switch (mode) {
+    case USB_POWER_CLIENT:
+      // B2,A13: set client mode
+      set_gpio_output(GPIOB, 2, 0);
+      set_gpio_output(GPIOA, 13, 1);
+      break;
+    case USB_POWER_CDP:
+      // B2,A13: set CDP mode
+      set_gpio_output(GPIOB, 2, 1);
+      set_gpio_output(GPIOA, 13, 1);
+      break;
+    case USB_POWER_DCP:
+      // B2,A13: set DCP mode on the charger (breaks USB!)
+      set_gpio_output(GPIOB, 2, 0);
+      set_gpio_output(GPIOA, 13, 0);
+      break;
+    default:
+      valid_mode = false;
+      puts("Invalid usb power mode\n");
+      break;
+  }
+
+  if (valid_mode) {
+    usb_power_mode = mode;
+  }
+}
+
+void white_set_esp_gps_mode(uint8_t mode) {
+  switch (mode) {
+    case ESP_GPS_DISABLED:
+      // ESP OFF
+      set_gpio_output(GPIOC, 14, 0);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    case ESP_GPS_ENABLED:
+      // ESP ON
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 1);
+      break;
+    case ESP_GPS_BOOTMODE:
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    default:
+      puts("Invalid ESP/GPS mode\n");
+      break;
+  }
+}
+
+void white_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+      // B12,B13: disable GMLAN mode
+      set_gpio_mode(GPIOB, 12, MODE_INPUT);
+      set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+      // B3,B4: disable GMLAN mode
+      set_gpio_mode(GPIOB, 3, MODE_INPUT);
+      set_gpio_mode(GPIOB, 4, MODE_INPUT);
+
+      // B5,B6: normal CAN2 mode
+      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+
+      // A8,A15: normal CAN3 mode
+      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
+      break;
+    case CAN_MODE_GMLAN_CAN2:
+      // B5,B6: disable CAN2 mode
+      set_gpio_mode(GPIOB, 5, MODE_INPUT);
+      set_gpio_mode(GPIOB, 6, MODE_INPUT);
+
+      // B3,B4: disable GMLAN mode
+      set_gpio_mode(GPIOB, 3, MODE_INPUT);
+      set_gpio_mode(GPIOB, 4, MODE_INPUT);
+
+      // B12,B13: GMLAN mode
+      set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+
+      // A8,A15: normal CAN3 mode
+      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);   
+      break;
+    case CAN_MODE_GMLAN_CAN3:
+      // A8,A15: disable CAN3 mode
+      set_gpio_mode(GPIOA, 8, MODE_INPUT);
+      set_gpio_mode(GPIOA, 15, MODE_INPUT);
+
+      // B12,B13: disable GMLAN mode
+      set_gpio_mode(GPIOB, 12, MODE_INPUT);
+      set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+      // B3,B4: GMLAN mode
+      set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
+
+      // B5,B6: normal CAN2 mode
+      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+      break;  
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+uint64_t marker = 0;
+void white_usb_power_mode_tick(uint64_t tcnt){
+  #ifndef BOOTSTUB
+  #define CURRENT_THRESHOLD 0xF00U
+  #define CLICKS 5U // 5 seconds to switch modes
+
+  uint32_t current = adc_get(ADCCHAN_CURRENT);
+
+  // ~0x9a = 500 ma
+  // puth(current); puts("\n");
+
+  switch (usb_power_mode) {
+    case USB_POWER_CLIENT:
+      if ((tcnt - marker) >= CLICKS) {
+        if (!is_enumerated) {
+          puts("USBP: didn't enumerate, switching to CDP mode\n");
+          // switch to CDP
+          white_set_usb_power_mode(USB_POWER_CDP);
+          marker = tcnt;
+        }
+      }
+      // keep resetting the timer if it's enumerated
+      if (is_enumerated) {
+        marker = tcnt;
+      }
+      break;
+    case USB_POWER_CDP:
+      // On the EON, if we get into CDP mode we stay here. No need to go to DCP.
+      #ifndef EON
+        // been CLICKS clicks since we switched to CDP
+        if ((tcnt-marker) >= CLICKS) {
+          // measure current draw, if positive and no enumeration, switch to DCP
+          if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
+            puts("USBP: no enumeration with current draw, switching to DCP mode\n");
+            white_set_usb_power_mode(USB_POWER_DCP);
+            marker = tcnt;
+          }
+        }
+        // keep resetting the timer if there's no current draw in CDP
+        if (current >= CURRENT_THRESHOLD) {
+          marker = tcnt;
+        }
+      #endif
+      break;
+    case USB_POWER_DCP:
+      // been at least CLICKS clicks since we switched to DCP
+      if ((tcnt-marker) >= CLICKS) {
+        // if no current draw, switch back to CDP
+        if (current >= CURRENT_THRESHOLD) {
+          puts("USBP: no current draw, switching back to CDP mode\n");
+          white_set_usb_power_mode(USB_POWER_CDP);
+          marker = tcnt;
+        }
+      }
+      // keep resetting the timer if there's current draw in DCP
+      if (current < CURRENT_THRESHOLD) {
+        marker = tcnt;
+      }
+      break;
+    default:
+      puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
+      break;
+  }
+  #else
+  UNUSED(tcnt);
+  #endif
+}
+
+bool white_check_ignition(void){
+  // ignition is on PA1
+  return !get_gpio_input(GPIOA, 1);
+}
+
+void white_init(void) {
+  common_init_gpio();
+
+  // C3: current sense
+  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
+
+  // A1: started_alt
+  set_gpio_pullup(GPIOA, 1, PULL_UP);
+
+  // A2, A3: USART 2 for debugging
+  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
+  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
+
+  // A4, A5, A6, A7: SPI
+  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
+
+  // Set USB power mode
+  white_set_usb_power_mode(USB_POWER_CLIENT);
+
+  // B12: GMLAN, ignition sense, pull up
+  set_gpio_pullup(GPIOB, 12, PULL_UP);
+
+  /* GMLAN mode pins:
+      M0(B15)  M1(B14)  mode
+      =======================
+      0        0        sleep
+      1        0        100kbit
+      0        1        high voltage wakeup
+      1        1        33kbit (normal)
+  */
+  set_gpio_output(GPIOB, 14, 1);
+  set_gpio_output(GPIOB, 15, 1);
+
+  // B7: K-line enable
+  set_gpio_output(GPIOB, 7, 1);
+
+  // C12, D2: Setup K-line (UART5)
+  set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
+  set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
+  set_gpio_pullup(GPIOD, 2, PULL_UP);
+
+  // L-line enable
+  set_gpio_output(GPIOA, 14, 1);
+
+  // C10, C11: L-Line setup (USART3)
+  set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+  set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
+  set_gpio_pullup(GPIOC, 11, PULL_UP);
+
+  // Enable CAN transcievers
+  white_enable_can_transcievers(true);
+
+  // Disable LEDs
+  white_set_led(LED_RED, false);
+  white_set_led(LED_GREEN, false);
+  white_set_led(LED_BLUE, false);
+
+  // Set normal CAN mode
+  white_set_can_mode(CAN_MODE_NORMAL);
+}
+
+const harness_configuration white_harness_config = {
+  .has_harness = false
+};
+
+const board board_white = {
+  .board_type = "White",
+  .harness_config = &white_harness_config,
+  .init = white_init,
+  .enable_can_transciever = white_enable_can_transciever,
+  .enable_can_transcievers = white_enable_can_transcievers,
+  .set_led = white_set_led,
+  .set_usb_power_mode = white_set_usb_power_mode,
+  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_can_mode = white_set_can_mode,
+  .usb_power_mode_tick = white_usb_power_mode_tick,
+  .check_ignition = white_check_ignition
+};
@@ -12,15 +12,29 @@
  #include "stm32f2xx_hal_gpio_ex.h"
 #endif

-// default since there's no serial
-int puts(const char *a) { return 0; }
-void puth(unsigned int i) {}
+// ******************** Prototypes ********************
+void puts(const char *a){ UNUSED(a); }
+void puth(unsigned int i){ UNUSED(i); }
+void puth2(unsigned int i){ UNUSED(i); }
+typedef struct board board;
+typedef struct harness_configuration harness_configuration;
+// No CAN support on bootloader
+void can_flip_buses(uint8_t bus1, uint8_t bus2){UNUSED(bus1); UNUSED(bus2);}
+void can_set_obd(int harness_orientation, bool obd){UNUSED(harness_orientation); UNUSED(obd);}

+// ********************* Globals **********************
+int hw_type = 0;
+const board *current_board;
+
+// ********************* Includes *********************
 #include "libc.h"
 #include "provision.h"

 #include "drivers/clock.h"
 #include "drivers/llgpio.h"
+
+#include "board.h"
+
 #include "gpio.h"

 #include "drivers/spi.h"
@@ -34,11 +48,11 @@ void puth(unsigned int i) {}

 #include "spi_flasher.h"

-void __initialize_hardware_early() {
+void __initialize_hardware_early(void) {
  early();
 }

-void fail() {
+void fail(void) {
  soft_flasher_start();
 }

@@ -48,14 +62,13 @@ extern void *_app_start[];
 // FIXME: sometimes your panda will fail flashing and will quickly blink a single Green LED
 // BOUNTY: $200 coupon on shop.comma.ai or $100 check.

-int main() {
+int main(void) {
  __disable_irq();
  clock_init();
-  detect();
+  detect_configuration();
+  detect_board_type();

-  if (revision == PANDA_REV_C) {
-    set_usb_power_mode(USB_POWER_CLIENT);
-  }
+  current_board->set_usb_power_mode(USB_POWER_CLIENT);

  if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
    enter_bootloader_mode = 0;
@@ -88,7 +101,7 @@ fail:
  return 0;
 good:
  // jump to flash
-  ((void(*)()) _app_start[1])();
+  ((void(*)(void)) _app_start[1])();
  return 0;
 }

@@ -2,12 +2,15 @@ CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os

 CFLAGS += -Tstm32_flash.ld

+DFU_UTIL = "dfu-util"
+
 # Compile fast charge (DCP) only not on EON
 ifeq (,$(wildcard /EON))
  BUILDER = DEV
 else
  CFLAGS += "-DEON"
  BUILDER = EON
+  DFU_UTIL = "tools/dfu-util-aarch64"
 endif

 CC = arm-none-eabi-gcc
@@ -22,7 +25,6 @@ else
  CFLAGS += "-DALLOW_DEBUG"
 endif

-DFU_UTIL = "dfu-util"

 DEPDIR = generated_dependencies
 $(shell mkdir -p -m 777 $(DEPDIR) >/dev/null)
@@ -66,7 +68,7 @@ obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
 	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
 	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
 	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; \
-	if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
+	if [ $$BINSIZE -ge 49152 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;

 obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
 	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
@@ -12,29 +12,29 @@
  #include "stm32f2xx.h"
 #endif

-#define USB_VID 0xbbaa
+#define USB_VID 0xbbaaU

 #ifdef BOOTSTUB
-#define USB_PID 0xddee
+#define USB_PID 0xddeeU
 #else
-#define USB_PID 0xddcc
+#define USB_PID 0xddccU
 #endif

 #include <stdbool.h>
 #define NULL ((void*)0)
-#define COMPILE_TIME_ASSERT(pred) switch(0){case 0:case pred:;}
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred)))]))

-#define min(a,b) \
+#define MIN(a,b) \
 ({ __typeof__ (a) _a = (a); \
     __typeof__ (b) _b = (b); \
-   _a < _b ? _a : _b; })
+   (_a < _b) ? _a : _b; })

-#define max(a,b) \
+#define MAX(a,b) \
 ({ __typeof__ (a) _a = (a); \
     __typeof__ (b) _b = (b); \
-   _a > _b ? _a : _b; })
+   (_a > _b) ? _a : _b; })

-#define MAX_RESP_LEN 0x40
+#define MAX_RESP_LEN 0x40U

 #endif

@@ -8,7 +8,7 @@
 #define ADCCHAN_VOLTAGE 12
 #define ADCCHAN_CURRENT 13

-void adc_init() {
+void adc_init(void) {
  // global setup
  ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
  //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
@@ -19,7 +19,7 @@ void adc_init() {
  ADC1->SMPR1 = ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
 }

-uint32_t adc_get(int channel) {
+uint32_t adc_get(unsigned int channel) {
  // includes length
  //ADC1->SQR1 = 0;

@@ -3,34 +3,36 @@
 //       CAN3_TX, CAN3_RX0, CAN3_SCE

 typedef struct {
-  uint32_t w_ptr;
-  uint32_t r_ptr;
+  volatile uint32_t w_ptr;
+  volatile uint32_t r_ptr;
  uint32_t fifo_size;
  CAN_FIFOMailBox_TypeDef *elems;
 } can_ring;

-#define CAN_BUS_RET_FLAG 0x80
-#define CAN_BUS_NUM_MASK 0x7F
+#define CAN_BUS_RET_FLAG 0x80U
+#define CAN_BUS_NUM_MASK 0x7FU

-#define BUS_MAX 4
+#define BUS_MAX 4U

+uint32_t can_send_errs = 0;
+uint32_t can_fwd_errs = 0;
+uint32_t gmlan_send_errs = 0;
 extern int can_live, pending_can_live;

 // must reinit after changing these
 extern int can_loopback, can_silent;
-extern uint32_t can_speed[];
+extern uint32_t can_speed[4];

 void can_set_forwarding(int from, int to);

 void can_init(uint8_t can_number);
-void can_init_all();
+void can_init_all(void);
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
-int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
+bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);

 // end API

 #define ALL_CAN_SILENT 0xFF
-#define ALL_CAN_BUT_MAIN_SILENT 0xFE
 #define ALL_CAN_LIVE 0

 int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
@@ -48,16 +50,26 @@ can_buffer(tx3_q, 0x100)
 can_buffer(txgmlan_q, 0x100)
 can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};

+// global CAN stats
+int can_rx_cnt = 0;
+int can_tx_cnt = 0;
+int can_txd_cnt = 0;
+int can_err_cnt = 0;
+int can_overflow_cnt = 0;
+
 // ********************* interrupt safe queue *********************

-int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  int ret = 0;
+bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = 0;

  enter_critical_section();
  if (q->w_ptr != q->r_ptr) {
    *elem = q->elems[q->r_ptr];
-    if ((q->r_ptr + 1) == q->fifo_size) q->r_ptr = 0;
-    else q->r_ptr += 1;
+    if ((q->r_ptr + 1U) == q->fifo_size) {
+      q->r_ptr = 0;
+    } else {
+      q->r_ptr += 1U;
+    }
    ret = 1;
  }
  exit_critical_section();
@@ -65,20 +77,28 @@ int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
  return ret;
 }

-int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  int ret = 0;
+bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  bool ret = false;
  uint32_t next_w_ptr;

  enter_critical_section();
-  if ((q->w_ptr + 1) == q->fifo_size) next_w_ptr = 0;
-  else next_w_ptr = q->w_ptr + 1;
+  if ((q->w_ptr + 1U) == q->fifo_size) {
+    next_w_ptr = 0;
+  } else {
+    next_w_ptr = q->w_ptr + 1U;
+  }
  if (next_w_ptr != q->r_ptr) {
    q->elems[q->w_ptr] = *elem;
    q->w_ptr = next_w_ptr;
-    ret = 1;
+    ret = true;
  }
  exit_critical_section();
-  if (ret == 0) puts("can_push failed!\n");
+  if (!ret) {
+    can_overflow_cnt++;
+    #ifdef DEBUG
+      puts("can_push failed!\n");
+    #endif
+  }
  return ret;
 }

@@ -98,11 +118,6 @@ void can_clear(can_ring *q) {
 // can_num_lookup: Translates from 'bus number' to 'can number'.
 // can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.

-int can_rx_cnt = 0;
-int can_tx_cnt = 0;
-int can_txd_cnt = 0;
-int can_err_cnt = 0;
-
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
 CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
 uint8_t bus_lookup[] = {0,1,2};
@@ -112,8 +127,8 @@ uint32_t can_speed[] = {5000, 5000, 5000, 333};
 #define CAN_MAX 3

 #define CANIF_FROM_CAN_NUM(num) (cans[num])
-#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : (CAN==CAN2 ? 1 : 2))
-#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : (CAN==CAN2 ? "CAN2" : "CAN3"))
+#define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
+#define CAN_NAME_FROM_CANIF(CAN) ((CAN)==CAN1 ? "CAN1" : ((CAN) == CAN2 ? "CAN2" : "CAN3"))
 #define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
 #define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])

@@ -123,76 +138,111 @@ void can_set_speed(uint8_t can_number) {
  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);

-  while (true) {
-    if (llcan_set_speed(CAN, can_speed[bus_number], can_loopback, can_silent & (1 << can_number))) {
-      return;
-    }
-
+  if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number))) {
    puts("CAN init FAILED!!!!!\n");
    puth(can_number); puts(" ");
    puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
-    return;
  }
 }

 void can_init(uint8_t can_number) {
-  if (can_number == 0xff) return;
+  if (can_number != 0xffU) {
+    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    can_set_speed(can_number);

-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  set_can_enable(CAN, 1);
-  can_set_speed(can_number);
+    llcan_init(CAN);

-  llcan_init(CAN);
-
-  // in case there are queued up messages
-  process_can(can_number);
+    // in case there are queued up messages
+    process_can(can_number);
+  }
 }

-void can_init_all() {
+void can_init_all(void) {
  for (int i=0; i < CAN_MAX; i++) {
    can_init(i);
  }
 }

-void can_set_gmlan(int bus) {
-  if (bus == -1 || bus != can_num_lookup[3]) {
-    // GMLAN OFF
-    switch (can_num_lookup[3]) {
+void can_flip_buses(uint8_t bus1, uint8_t bus2){
+  bus_lookup[bus1] = bus2;
+  bus_lookup[bus2] = bus1;
+  can_num_lookup[bus1] = bus2;
+  can_num_lookup[bus2] = bus1;
+}
+
+// TODO: Cleanup with new abstraction
+void can_set_gmlan(uint8_t bus) {
+  if(hw_type != HW_TYPE_BLACK_PANDA){
+    // first, disable GMLAN on prev bus
+    uint8_t prev_bus = can_num_lookup[3];
+    if (bus != prev_bus) {
+      switch (prev_bus) {
+        case 1:
+        case 2:
+          puts("Disable GMLAN on CAN");
+          puth(prev_bus + 1U);
+          puts("\n");
+          current_board->set_can_mode(CAN_MODE_NORMAL);
+          bus_lookup[prev_bus] = prev_bus;
+          can_num_lookup[prev_bus] = prev_bus;
+          can_num_lookup[3] = -1;
+          can_init(prev_bus);
+          break;
+        default:
+          // GMLAN was not set on either BUS 1 or 2
+          break;
+      }
+    }
+
+    // now enable GMLAN on the new bus
+    switch (bus) {
      case 1:
-        puts("disable GMLAN on CAN2\n");
-        set_can_mode(1, 0);
-        bus_lookup[1] = 1;
-        can_num_lookup[1] = 1;
-        can_num_lookup[3] = -1;
-        can_init(1);
-        break;
      case 2:
-        puts("disable GMLAN on CAN3\n");
-        set_can_mode(2, 0);
-        bus_lookup[2] = 2;
-        can_num_lookup[2] = 2;
-        can_num_lookup[3] = -1;
-        can_init(2);
+        puts("Enable GMLAN on CAN");
+        puth(bus + 1U);
+        puts("\n");
+        current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
+        bus_lookup[bus] = 3;
+        can_num_lookup[bus] = -1;
+        can_num_lookup[3] = bus;
+        can_init(bus);
+        break;
+      case 0xFF:  //-1 unsigned
+        break;
+      default:
+        puts("GMLAN can only be set on CAN2 or CAN3\n");
        break;
    }
+  } else {
+    puts("GMLAN not available on black panda\n");
  }
+}

-  if (bus == 1) {
-    puts("GMLAN on CAN2\n");
-    // GMLAN on CAN2
-    set_can_mode(1, 1);
-    bus_lookup[1] = 3;
-    can_num_lookup[1] = -1;
-    can_num_lookup[3] = 1;
-    can_init(1);
-  } else if (bus == 2) {
-    puts("GMLAN on CAN3\n");
-    // GMLAN on CAN3
-    set_can_mode(2, 1);
-    bus_lookup[2] = 3;
-    can_num_lookup[2] = -1;
-    can_num_lookup[3] = 2;
-    can_init(2);
+// TODO: remove
+void can_set_obd(uint8_t harness_orientation, bool obd){
+  if(obd){
+    puts("setting CAN2 to be OBD\n");
+  } else {
+    puts("setting CAN2 to be normal\n");
+  }
+  if(hw_type == HW_TYPE_BLACK_PANDA){
+    if(obd != (bool)(harness_orientation == HARNESS_STATUS_NORMAL)){
+        // B5,B6: disable normal mode
+        set_gpio_mode(GPIOB, 5, MODE_INPUT);
+        set_gpio_mode(GPIOB, 6, MODE_INPUT);
+        // B12,B13: CAN2 mode
+        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+    } else {
+        // B5,B6: CAN2 mode
+        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+        // B12,B13: disable normal mode
+        set_gpio_mode(GPIOB, 12, MODE_INPUT);
+        set_gpio_mode(GPIOB, 13, MODE_INPUT);
+    }
+  } else {
+    puts("OBD CAN not available on non-black panda\n");
  }
 }

@@ -227,67 +277,58 @@ void can_sce(CAN_TypeDef *CAN) {
 // ***************************** CAN *****************************

 void process_can(uint8_t can_number) {
-  if (can_number == 0xff) return;
+  if (can_number != 0xffU) {

-  enter_critical_section();
+    enter_critical_section();

-  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  #ifdef DEBUG
-    puts("process CAN TX\n");
-  #endif
+    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+    uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);

-  // check for empty mailbox
-  CAN_FIFOMailBox_TypeDef to_send;
-  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
-    // add successfully transmitted message to my fifo
-    if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
-      can_txd_cnt += 1;
+    // check for empty mailbox
+    CAN_FIFOMailBox_TypeDef to_send;
+    if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+      // add successfully transmitted message to my fifo
+      if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
+        can_txd_cnt += 1;

-      if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
-        CAN_FIFOMailBox_TypeDef to_push;
-        to_push.RIR = CAN->sTxMailBox[0].TIR;
-        to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
-        to_push.RDLR = CAN->sTxMailBox[0].TDLR;
-        to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-        can_push(&can_rx_q, &to_push);
+        if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
+          CAN_FIFOMailBox_TypeDef to_push;
+          to_push.RIR = CAN->sTxMailBox[0].TIR;
+          to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
+          to_push.RDLR = CAN->sTxMailBox[0].TDLR;
+          to_push.RDHR = CAN->sTxMailBox[0].TDHR;
+          can_send_errs += !can_push(&can_rx_q, &to_push);
+        }
+
+        if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
+          #ifdef DEBUG
+            puts("CAN TX ERROR!\n");
+          #endif
+        }
+
+        if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
+          #ifdef DEBUG
+            puts("CAN TX ARBITRATION LOST!\n");
+          #endif
+        }
+
+        // clear interrupt
+        // careful, this can also be cleared by requesting a transmission
+        CAN->TSR |= CAN_TSR_RQCP0;
      }

-      if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
-        #ifdef DEBUG
-          puts("CAN TX ERROR!\n");
-        #endif
+      if (can_pop(can_queues[bus_number], &to_send)) {
+        can_tx_cnt += 1;
+        // only send if we have received a packet
+        CAN->sTxMailBox[0].TDLR = to_send.RDLR;
+        CAN->sTxMailBox[0].TDHR = to_send.RDHR;
+        CAN->sTxMailBox[0].TDTR = to_send.RDTR;
+        CAN->sTxMailBox[0].TIR = to_send.RIR;
      }
-
-      if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
-        #ifdef DEBUG
-          puts("CAN TX ARBITRATION LOST!\n");
-        #endif
-      }
-
-      // clear interrupt
-      // careful, this can also be cleared by requesting a transmission
-      CAN->TSR |= CAN_TSR_RQCP0;
    }

-    if (can_pop(can_queues[bus_number], &to_send)) {
-      if (CAN->MCR & CAN_MCR_SLEEP) {
-        set_can_enable(CAN, 1);
-        CAN->MCR &= ~(CAN_MCR_SLEEP);
-        CAN->MCR |= CAN_MCR_INRQ;
-        while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-        CAN->MCR &= ~(CAN_MCR_INRQ);
-      }
-      can_tx_cnt += 1;
-      // only send if we have received a packet
-      CAN->sTxMailBox[0].TDLR = to_send.RDLR;
-      CAN->sTxMailBox[0].TDHR = to_send.RDHR;
-      CAN->sTxMailBox[0].TDTR = to_send.RDTR;
-      CAN->sTxMailBox[0].TIR = to_send.RIR;
-    }
+    exit_critical_section();
  }
-
-  exit_critical_section();
 }

 // CAN receive handlers
@@ -295,7 +336,7 @@ void process_can(uint8_t can_number) {
 void can_rx(uint8_t can_number) {
  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  while (CAN->RF0R & CAN_RF0R_FMP0) {
+  while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
    can_rx_cnt += 1;

    // can is live
@@ -312,7 +353,7 @@ void can_rx(uint8_t can_number) {
    to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);

    // forwarding (panda only)
-    int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+    int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
    if (bus_fwd_num != -1) {
      CAN_FIFOMailBox_TypeDef to_send;
      to_send.RIR = to_push.RIR | 1; // TXRQ
@@ -324,37 +365,37 @@ void can_rx(uint8_t can_number) {

    safety_rx_hook(&to_push);

-    set_led(LED_BLUE, 1);
-    can_push(&can_rx_q, &to_push);
+    current_board->set_led(LED_BLUE, true);
+    can_send_errs += !can_push(&can_rx_q, &to_push);

    // next
    CAN->RF0R |= CAN_RF0R_RFOM0;
  }
 }

-void CAN1_TX_IRQHandler() { process_can(0); }
-void CAN1_RX0_IRQHandler() { can_rx(0); }
-void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
+void CAN1_TX_IRQHandler(void) { process_can(0); }
+void CAN1_RX0_IRQHandler(void) { can_rx(0); }
+void CAN1_SCE_IRQHandler(void) { can_sce(CAN1); }

-void CAN2_TX_IRQHandler() { process_can(1); }
-void CAN2_RX0_IRQHandler() { can_rx(1); }
-void CAN2_SCE_IRQHandler() { can_sce(CAN2); }
+void CAN2_TX_IRQHandler(void) { process_can(1); }
+void CAN2_RX0_IRQHandler(void) { can_rx(1); }
+void CAN2_SCE_IRQHandler(void) { can_sce(CAN2); }

-void CAN3_TX_IRQHandler() { process_can(2); }
-void CAN3_RX0_IRQHandler() { can_rx(2); }
-void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
+void CAN3_TX_IRQHandler(void) { process_can(2); }
+void CAN3_RX0_IRQHandler(void) { can_rx(2); }
+void CAN3_SCE_IRQHandler(void) { can_sce(CAN3); }

 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
-  if (safety_tx_hook(to_push)) {
+  if (safety_tx_hook(to_push) != 0) {
    if (bus_number < BUS_MAX) {
      // add CAN packet to send queue
      // bus number isn't passed through
      to_push->RDTR &= 0xF;
-      if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
+      if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
        // TODO: why uint8 bro? only int8?
-        bitbang_gmlan(to_push);
+        gmlan_send_errs += !bitbang_gmlan(to_push);
      } else {
-        can_push(can_queues[bus_number], to_push);
+        can_fwd_errs += !can_push(can_queues[bus_number], to_push);
        process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
      }
    }
@@ -1,9 +1,9 @@
-void clock_init() {
+void clock_init(void) {
  // enable external oscillator
  RCC->CR |= RCC_CR_HSEON;
  while ((RCC->CR & RCC_CR_HSERDY) == 0);

-  // divide shit
+  // divide things
  RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;

  // 16mhz crystal
@@ -25,7 +25,7 @@ void clock_init() {
  // *** running on PLL ***
 }

-void watchdog_init() {
+void watchdog_init(void) {
  // setup watchdog
  IWDG->KR = 0x5555;
  IWDG->PR = 0;          // divider /4
@@ -34,7 +34,7 @@ void watchdog_init() {
  IWDG->KR = 0xCCCC;
 }

-void watchdog_feed() {
+void watchdog_feed(void) {
  IWDG->KR = 0xAAAA;
 }

@@ -1,4 +1,7 @@
-void dac_init() {
+void puth(unsigned int i);
+void puts(const char *a);
+
+void dac_init(void) {
  // no buffers required since we have an opamp
  //DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
  DAC->DHR12R1 = 0;
@@ -11,6 +14,10 @@ void dac_set(int channel, uint32_t value) {
    DAC->DHR12R1 = value;
  } else if (channel == 1) {
    DAC->DHR12R2 = value;
+  } else {
+    puts("Failed to set DAC: invalid channel value: ");
+    puth(value);
+    puts("\n");
  }
 }

@@ -9,7 +9,7 @@

 #define MAX_BITS_CAN_PACKET (200)

-int gmlan_alt_mode = DISABLED; 
+int gmlan_alt_mode = DISABLED;

 // returns out_len
 int do_bitstuff(char *out, char *in, int in_len) {
@@ -18,7 +18,8 @@ int do_bitstuff(char *out, char *in, int in_len) {
  int j = 0;
  for (int i = 0; i < in_len; i++) {
    char bit = in[i];
-    out[j++] = bit;
+    out[j] = bit;
+    j++;

    // do the stuffing
    if (bit == last_bit) {
@@ -26,7 +27,8 @@ int do_bitstuff(char *out, char *in, int in_len) {
      if (bit_cnt == 5) {
        // 5 in a row the same, do stuff
        last_bit = !bit;
-        out[j++] = last_bit;
+        out[j] = last_bit;
+        j++;
        bit_cnt = 1;
      }
    } else {
@@ -39,32 +41,38 @@ int do_bitstuff(char *out, char *in, int in_len) {
 }

 int append_crc(char *in, int in_len) {
-  int crc = 0;
+  unsigned int crc = 0;
  for (int i = 0; i < in_len; i++) {
    crc <<= 1;
-    if (in[i] ^ ((crc>>15)&1)) {
-      crc = crc ^ 0x4599;
+    if (((unsigned int)(in[i]) ^ ((crc >> 15) & 1U)) != 0U) {
+      crc = crc ^ 0x4599U;
    }
-    crc &= 0x7fff;
+    crc &= 0x7fffU;
  }
+  int in_len_copy = in_len;
  for (int i = 14; i >= 0; i--) {
-    in[in_len++] = (crc>>i)&1;
+    in[in_len_copy] = (crc >> (unsigned int)(i)) & 1U;
+    in_len_copy++;
  }
-  return in_len;
+  return in_len_copy;
 }

 int append_bits(char *in, int in_len, char *app, int app_len) {
+  int in_len_copy = in_len;
  for (int i = 0; i < app_len; i++) {
-    in[in_len++] = app[i];
+    in[in_len_copy] = app[i];
+    in_len_copy++;
  }
-  return in_len;
+  return in_len_copy;
 }

 int append_int(char *in, int in_len, int val, int val_len) {
-  for (int i = val_len-1; i >= 0; i--) {
-    in[in_len++] = (val&(1<<i)) != 0;
+  int in_len_copy = in_len;
+  for (int i = val_len - 1; i >= 0; i--) {
+    in[in_len_copy] = ((unsigned int)(val) & (1U << (unsigned int)(i))) != 0U;
+    in_len_copy++;
  }
-  return in_len;
+  return in_len_copy;
 }

 int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
@@ -82,12 +90,12 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
  // test packet
  int dlc_len = to_bang->RDTR & 0xF;
  len = append_int(pkt, len, 0, 1);    // Start-of-frame
-  
-  if (to_bang->RIR & 4) {
+
+  if ((to_bang->RIR & 4) != 0) {
    // extended identifier
    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
    len = append_int(pkt, len, 3, 2);    // SRR+IDE
-    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
+    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1U << 18) - 1U), 18);  // Identifier
    len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
  } else {
    // standard identifier
@@ -114,7 +122,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
  return len;
 }

-void setup_timer4() {
+void setup_timer4(void) {
  // setup
  TIM4->PSC = 48-1;          // tick on 1 us
  TIM4->CR1 = TIM_CR1_CEN;   // enable
@@ -131,7 +139,7 @@ void setup_timer4() {
 int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
 int can_timeout_counter = GMLAN_TICKS_PER_SECOND; //1 second

-int inverted_bit_to_send = GMLAN_HIGH; 
+int inverted_bit_to_send = GMLAN_HIGH;
 int gmlan_switch_below_timeout = -1;
 int gmlan_switch_timeout_enable = 0;

@@ -140,9 +148,9 @@ void gmlan_switch_init(int timeout_enable) {
  gmlan_alt_mode = GPIO_SWITCH;
  gmlan_switch_below_timeout = 1;
  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-  
+
  setup_timer4();
-  
+
  inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
 }

@@ -162,16 +170,17 @@ void reset_gmlan_switch_timeout(void) {
 }

 void set_bitbanged_gmlan(int val) {
-  if (val) {
-    GPIOB->ODR |= (1 << 13);
+  if (val != 0) {
+    GPIOB->ODR |= (1U << 13);
  } else {
-    GPIOB->ODR &= ~(1 << 13);
+    GPIOB->ODR &= ~(1U << 13);
  }
 }

 char pkt_stuffed[MAX_BITS_CAN_PACKET];
 int gmlan_sending = -1;
 int gmlan_sendmax = -1;
+bool gmlan_send_ok = true;

 int gmlan_silent_count = 0;
 int gmlan_fail_count = 0;
@@ -180,7 +189,7 @@ int gmlan_fail_count = 0;

 void TIM4_IRQHandler(void) {
  if (gmlan_alt_mode == BITBANG) {
-    if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
+    if ((TIM4->SR & TIM_SR_UIF) && (gmlan_sendmax != -1)) {
      int read = get_gpio_input(GPIOB, 12);
      if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
        if (read == 0) {
@@ -188,19 +197,21 @@ void TIM4_IRQHandler(void) {
        } else {
          gmlan_silent_count++;
        }
-      } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
-        int retry = 0;
+      } else {
+        bool retry = 0;
        // in send loop
-        if (gmlan_sending > 0 &&  // not first bit
-           (read == 0 && pkt_stuffed[gmlan_sending-1] == 1) &&  // bus wrongly dominant
-           gmlan_sending != (gmlan_sendmax-11)) {    //not ack bit
+        if ((gmlan_sending > 0) &&  // not first bit
+           ((read == 0) && (pkt_stuffed[gmlan_sending-1] == 1)) &&  // bus wrongly dominant
+           (gmlan_sending != (gmlan_sendmax - 11))) {    //not ack bit
          puts("GMLAN ERR: bus driven at ");
          puth(gmlan_sending);
          puts("\n");
          retry = 1;
-        } else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) {    // recessive during ACK
+        } else if ((read == 1) && (gmlan_sending == (gmlan_sendmax - 11))) {    // recessive during ACK
          puts("GMLAN ERR: didn't recv ACK\n");
          retry = 1;
+        } else {
+          // do not retry
        }
        if (retry) {
          // reset sender (retry after 7 silent)
@@ -210,13 +221,14 @@ void TIM4_IRQHandler(void) {
          gmlan_fail_count++;
          if (gmlan_fail_count == MAX_FAIL_COUNT) {
            puts("GMLAN ERR: giving up send\n");
+            gmlan_send_ok = false;
          }
        } else {
          set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
          gmlan_sending++;
        }
      }
-      if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
+      if ((gmlan_sending == gmlan_sendmax) || (gmlan_fail_count == MAX_FAIL_COUNT)) {
        set_bitbanged_gmlan(1); // recessive
        set_gpio_mode(GPIOB, 13, MODE_INPUT);
        TIM4->DIER = 0;  // no update interrupt
@@ -225,11 +237,9 @@ void TIM4_IRQHandler(void) {
      }
    }
    TIM4->SR = 0;
-  } //bit bang mode
-
-  else if (gmlan_alt_mode == GPIO_SWITCH) {
-    if (TIM4->SR & TIM_SR_UIF && gmlan_switch_below_timeout != -1) {
-      if (can_timeout_counter == 0 && gmlan_switch_timeout_enable) {
+  } else if (gmlan_alt_mode == GPIO_SWITCH) {
+    if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
+      if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
        //it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
        set_gpio_output(GPIOB, 13, GMLAN_LOW);
        gmlan_switch_below_timeout = -1;
@@ -250,24 +260,27 @@ void TIM4_IRQHandler(void) {
      }
    }
    TIM4->SR = 0;
-  } //gmlan switch mode
+  } else {
+    puts("invalid gmlan_alt_mode\n");
+  }
 }

-void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+  gmlan_send_ok = true;
  gmlan_alt_mode = BITBANG;
-  // TODO: make failure less silent
-  if (gmlan_sendmax != -1) return;

-  int len = get_bit_message(pkt_stuffed, to_bang);
-  gmlan_fail_count = 0;
-  gmlan_silent_count = 0;
-  gmlan_sending = 0;
-  gmlan_sendmax = len;
+  if (gmlan_sendmax == -1) {
+    int len = get_bit_message(pkt_stuffed, to_bang);
+    gmlan_fail_count = 0;
+    gmlan_silent_count = 0;
+    gmlan_sending = 0;
+    gmlan_sendmax = len;
+    // setup for bitbang loop
+    set_bitbanged_gmlan(1); // recessive
+    set_gpio_mode(GPIOB, 13, MODE_OUTPUT);

-  // setup for bitbang loop
-  set_bitbanged_gmlan(1); // recessive
-  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-
-  setup_timer4();
+    setup_timer4();
+  }
+  return gmlan_send_ok;
 }

@@ -0,0 +1,130 @@
+uint8_t car_harness_status = 0U;
+#define HARNESS_STATUS_NC 0U
+#define HARNESS_STATUS_NORMAL 1U
+#define HARNESS_STATUS_FLIPPED 2U
+
+// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
+#define HARNESS_CONNECTED_THRESHOLD 2500U
+
+struct harness_configuration {
+  const bool has_harness;
+  GPIO_TypeDef *GPIO_SBU1;  
+  GPIO_TypeDef *GPIO_SBU2;
+  GPIO_TypeDef *GPIO_relay_normal;
+  GPIO_TypeDef *GPIO_relay_flipped;
+  uint8_t pin_SBU1;
+  uint8_t pin_SBU2;
+  uint8_t pin_relay_normal;
+  uint8_t pin_relay_flipped;
+  uint8_t adc_channel_SBU1;
+  uint8_t adc_channel_SBU2;
+};
+
+// this function will be the API for tici
+void set_intercept_relay(bool intercept) {
+  if (car_harness_status != HARNESS_STATUS_NC) {
+    if (intercept) {
+      puts("switching harness to intercept (relay on)\n");
+    } else {
+      puts("switching harness to passthrough (relay off)\n");
+    }
+
+    if(car_harness_status == HARNESS_STATUS_NORMAL){
+      set_gpio_output(current_board->harness_config->GPIO_relay_normal, current_board->harness_config->pin_relay_normal, !intercept);
+    } else {
+      set_gpio_output(current_board->harness_config->GPIO_relay_flipped, current_board->harness_config->pin_relay_flipped, !intercept);
+    }
+  }
+}
+
+bool harness_check_ignition(void) {
+  bool ret = false;
+  switch(car_harness_status){
+    case HARNESS_STATUS_NORMAL:
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
+      break;
+    case HARNESS_STATUS_FLIPPED:
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
+      break;
+    default:
+      break;
+  }
+  return ret;
+}
+
+// TODO: refactor to use harness config
+void harness_setup_ignition_interrupts(void){
+  if(car_harness_status == HARNESS_STATUS_NORMAL){
+    SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI3_PC;
+    EXTI->IMR |= (1U << 3);
+    EXTI->RTSR |= (1U << 3);
+    EXTI->FTSR |= (1U << 3);
+    puts("setup interrupts: normal\n");
+  } else if(car_harness_status == HARNESS_STATUS_FLIPPED) {
+    SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI0_PC;
+    EXTI->IMR |= (1U << 0);
+    EXTI->RTSR |= (1U << 0);
+    EXTI->FTSR |= (1U << 0);
+    NVIC_EnableIRQ(EXTI1_IRQn);
+    puts("setup interrupts: flipped\n");
+  } else {
+    puts("tried to setup ignition interrupts without harness connected\n");
+  }
+  NVIC_EnableIRQ(EXTI0_IRQn);
+  NVIC_EnableIRQ(EXTI3_IRQn);
+}
+
+uint8_t harness_detect_orientation(void) {
+  uint8_t ret = HARNESS_STATUS_NC;
+
+  #ifndef BOOTSTUB
+  uint32_t sbu1_voltage = adc_get(current_board->harness_config->adc_channel_SBU1);
+  uint32_t sbu2_voltage = adc_get(current_board->harness_config->adc_channel_SBU2);
+
+  // Detect connection and orientation
+  if((sbu1_voltage < HARNESS_CONNECTED_THRESHOLD) || (sbu2_voltage < HARNESS_CONNECTED_THRESHOLD)){
+    if (sbu1_voltage < sbu2_voltage) {
+      // orientation normal
+      ret = HARNESS_STATUS_NORMAL;
+    } else {
+      // orientation flipped
+      ret = HARNESS_STATUS_FLIPPED;
+    }
+  }
+  #endif
+
+  return ret;
+}
+
+void harness_init(void) {
+  // delay such that the connection is fully made before trying orientation detection
+  current_board->set_led(LED_BLUE, true);
+  delay(10000000);
+  current_board->set_led(LED_BLUE, false);
+
+  // try to detect orientation
+  uint8_t ret = harness_detect_orientation();
+  if (ret != HARNESS_STATUS_NC) {
+    puts("detected car harness with orientation "); puth2(ret); puts("\n");
+    car_harness_status = ret;
+
+    // set the SBU lines to be inputs before using the relay. The lines are not 5V tolerant in ADC mode!
+    set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
+    set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
+
+    // now we have orientation, set pin ignition detection
+    if(car_harness_status == HARNESS_STATUS_NORMAL){
+      set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
+    } else {
+      set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
+    }      
+
+    // keep busses connected by default
+    set_intercept_relay(false);
+
+    // setup ignition interrupts
+    harness_setup_ignition_interrupts();
+  } else {
+    puts("failed to detect car harness!\n");
+  }
+}
@@ -1,80 +1,94 @@
 // this is needed for 1 mbps support
-#define CAN_QUANTA 8
+#define CAN_QUANTA 8U
 #define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
 #define CAN_SEQ2 1 // roundf(quanta * 0.125f);

-#define CAN_PCLK 24000
+#define CAN_PCLK 24000U
 // 333 = 33.3 kbps
 // 5000 = 500 kbps
-#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))

-bool llcan_set_speed(CAN_TypeDef *CAN, uint32_t speed, bool loopback, bool silent) {
+#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
+#define GET_LEN(msg) ((msg)->RDTR & 0xF)
+#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
+#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_BYTES_04(msg) ((msg)->RDLR)
+#define GET_BYTES_48(msg) ((msg)->RDHR)
+
+void puts(const char *a);
+
+bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
  // initialization mode
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
-  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+  CAN_obj->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+  while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);

  // set time quanta from defines
-  CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+  CAN_obj->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
            (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
-            (can_speed_to_prescaler(speed) - 1);
+            (can_speed_to_prescaler(speed) - 1U);

  // silent loopback mode for debugging
  if (loopback) {
-    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+    CAN_obj->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
  }
  if (silent) {
-    CAN->BTR |= CAN_BTR_SILM;
+    CAN_obj->BTR |= CAN_BTR_SILM;
  }

  // reset
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
+  // cppcheck-suppress redundantAssignment ; it's a register
+  CAN_obj->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;

  #define CAN_TIMEOUT 1000000
  int tmp = 0;
-  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
+  bool ret = false;
+  while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
  if (tmp < CAN_TIMEOUT) {
-    return true;
+    ret = true;
  }

-  return false;
+  return ret;
 }

-void llcan_init(CAN_TypeDef *CAN) {
+void llcan_init(CAN_TypeDef *CAN_obj) {
  // accept all filter
-  CAN->FMR |= CAN_FMR_FINIT;
+  CAN_obj->FMR |= CAN_FMR_FINIT;

  // no mask
-  CAN->sFilterRegister[0].FR1 = 0;
-  CAN->sFilterRegister[0].FR2 = 0;
-  CAN->sFilterRegister[14].FR1 = 0;
-  CAN->sFilterRegister[14].FR2 = 0;
-  CAN->FA1R |= 1 | (1 << 14);
+  CAN_obj->sFilterRegister[0].FR1 = 0;
+  CAN_obj->sFilterRegister[0].FR2 = 0;
+  CAN_obj->sFilterRegister[14].FR1 = 0;
+  CAN_obj->sFilterRegister[14].FR2 = 0;
+  CAN_obj->FA1R |= 1U | (1U << 14);

-  CAN->FMR &= ~(CAN_FMR_FINIT);
+  CAN_obj->FMR &= ~(CAN_FMR_FINIT);

  // enable certain CAN interrupts
-  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
+  CAN_obj->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;

-  if (CAN == CAN1) {
+  if (CAN_obj == CAN1) {
    NVIC_EnableIRQ(CAN1_TX_IRQn);
    NVIC_EnableIRQ(CAN1_RX0_IRQn);
    NVIC_EnableIRQ(CAN1_SCE_IRQn);
-  } else if (CAN == CAN2) {
+  } else if (CAN_obj == CAN2) {
    NVIC_EnableIRQ(CAN2_TX_IRQn);
    NVIC_EnableIRQ(CAN2_RX0_IRQn);
    NVIC_EnableIRQ(CAN2_SCE_IRQn);
 #ifdef CAN3
-  } else if (CAN == CAN3) {
+  } else if (CAN_obj == CAN3) {
    NVIC_EnableIRQ(CAN3_TX_IRQn);
    NVIC_EnableIRQ(CAN3_RX0_IRQn);
    NVIC_EnableIRQ(CAN3_SCE_IRQn);
 #endif
+  } else {
+    puts("Invalid CAN: initialization failed\n");
  }
 }

-void llcan_clear_send(CAN_TypeDef *CAN) {
-  CAN->TSR |= CAN_TSR_ABRQ0;
-  CAN->MSR &= ~(CAN_MSR_ERRI);
-  CAN->MSR = CAN->MSR;
+void llcan_clear_send(CAN_TypeDef *CAN_obj) {
+  CAN_obj->TSR |= CAN_TSR_ABRQ0;
+  CAN_obj->MSR &= ~(CAN_MSR_ERRI);
+  // cppcheck-suppress selfAssignment ; needed to clear the register
+  CAN_obj->MSR = CAN_obj->MSR;
 }

@@ -7,38 +7,49 @@
 #define PULL_UP 1
 #define PULL_DOWN 2

-void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
+#define OUTPUT_TYPE_PUSH_PULL 0U
+#define OUTPUT_TYPE_OPEN_DRAIN 1U
+
+void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
  uint32_t tmp = GPIO->MODER;
-  tmp &= ~(3 << (pin*2));
-  tmp |= (mode << (pin*2));
+  tmp &= ~(3U << (pin * 2U));
+  tmp |= (mode << (pin * 2U));
  GPIO->MODER = tmp;
 }

-void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val) {
-  if (val) {
-    GPIO->ODR |= (1 << pin);
+void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
+  if (enabled) {
+    GPIO->ODR |= (1U << pin);
  } else {
-    GPIO->ODR &= ~(1 << pin);
+    GPIO->ODR &= ~(1U << pin);
  }
  set_gpio_mode(GPIO, pin, MODE_OUTPUT);
 }

-void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode) {
-  uint32_t tmp = GPIO->AFR[pin>>3];
-  tmp &= ~(0xF << ((pin&7)*4));
-  tmp |= mode << ((pin&7)*4);
-  GPIO->AFR[pin>>3] = tmp;
+void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
+  if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
+    GPIO->OTYPER |= (1U << pin);
+  } else {
+    GPIO->OTYPER &= ~(1U << pin);
+  }
+}
+
+void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  uint32_t tmp = GPIO->AFR[pin >> 3U];
+  tmp &= ~(0xFU << ((pin & 7U) * 4U));
+  tmp |= mode << ((pin & 7U) * 4U);
+  GPIO->AFR[pin >> 3] = tmp;
  set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
 }

-void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
+void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
  uint32_t tmp = GPIO->PUPDR;
-  tmp &= ~(3 << (pin*2));
-  tmp |= (mode << (pin*2));
+  tmp &= ~(3U << (pin * 2U));
+  tmp |= (mode << (pin * 2U));
  GPIO->PUPDR = tmp;
 }

-int get_gpio_input(GPIO_TypeDef *GPIO, int pin) {
-  return (GPIO->IDR & (1 << pin)) == (1 << pin);
+int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
+  return (GPIO->IDR & (1U << pin)) == (1U << pin);
 }

@@ -1,6 +1,6 @@
 // IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4

-void spi_init();
+void spi_init(void);
 int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);

 // end API
@@ -10,7 +10,7 @@ uint8_t spi_buf[SPI_BUF_SIZE];
 int spi_buf_count = 0;
 int spi_total_count = 0;

-void spi_init() {
+void spi_init(void) {
  //puts("SPI init\n");
  SPI1->CR1 = SPI_CR1_SPE;

@@ -28,8 +28,8 @@ void spi_init() {

  // setup interrupt on falling edge of SPI enable (on PA4)
  SYSCFG->EXTICR[2] = SYSCFG_EXTICR2_EXTI4_PA;
-  EXTI->IMR |= (1 << 4);
-  EXTI->FTSR |= (1 << 4);
+  EXTI->IMR |= (1U << 4);
+  EXTI->FTSR |= (1U << 4);
  NVIC_EnableIRQ(EXTI4_IRQn);
 }

@@ -85,7 +85,7 @@ uint8_t spi_tx_buf[0x44];
 // SPI RX
 void DMA2_Stream2_IRQHandler(void) {
  int *resp_len = (int*)spi_tx_buf;
-  memset(spi_tx_buf, 0xaa, 0x44);
+  (void)memset(spi_tx_buf, 0xaa, 0x44);
  *resp_len = spi_cb_rx(spi_buf, 0x14, spi_tx_buf+4);
  #ifdef DEBUG_SPI
    puts("SPI write: ");
@@ -113,12 +113,12 @@ void DMA2_Stream3_IRQHandler(void) {
 }

 void EXTI4_IRQHandler(void) {
-  volatile int pr = EXTI->PR & (1 << 4);
+  volatile unsigned int pr = EXTI->PR & (1U << 4);
  #ifdef DEBUG_SPI
    puts("exti4\n");
  #endif
  // SPI CS falling
-  if (pr & (1 << 4)) {
+  if ((pr & (1U << 4)) != 0U) {
    spi_total_count = 0;
    spi_rx_dma(spi_buf, 0x14);
  }
@@ -1,12 +1,12 @@
 // IRQs: USART1, USART2, USART3, UART5

-#define FIFO_SIZE 0x400
+#define FIFO_SIZE 0x400U
 typedef struct uart_ring {
-  uint16_t w_ptr_tx;
-  uint16_t r_ptr_tx;
+  volatile uint16_t w_ptr_tx;
+  volatile uint16_t r_ptr_tx;
  uint8_t elems_tx[FIFO_SIZE];
-  uint16_t w_ptr_rx;
-  uint16_t r_ptr_rx;
+  volatile uint16_t w_ptr_rx;
+  volatile uint16_t r_ptr_rx;
  uint8_t elems_rx[FIFO_SIZE];
  USART_TypeDef *uart;
  void (*callback)(struct uart_ring*);
@@ -14,10 +14,10 @@ typedef struct uart_ring {

 void uart_init(USART_TypeDef *u, int baud);

-int getc(uart_ring *q, char *elem);
-int putc(uart_ring *q, char elem);
+bool getc(uart_ring *q, char *elem);
+bool putc(uart_ring *q, char elem);

-int puts(const char *a);
+void puts(const char *a);
 void puth(unsigned int i);
 void hexdump(const void *a, int l);

@@ -50,18 +50,25 @@ uart_ring debug_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,


 uart_ring *get_ring_by_number(int a) {
+  uart_ring *ring = NULL;
  switch(a) {
    case 0:
-      return &debug_ring;
+      ring = &debug_ring;
+      break;
    case 1:
-      return &esp_ring;
+      ring = &esp_ring;
+      break;
    case 2:
-      return &lin1_ring;
+      ring = &lin1_ring;
+      break;
    case 3:
-      return &lin2_ring;
+      ring = &lin2_ring;
+      break;
    default:
-      return NULL;
+      ring = NULL;
+      break;
  }
+  return ring;
 }

 // ***************************** serial port *****************************
@@ -72,31 +79,32 @@ void uart_ring_process(uart_ring *q) {
  int sr = q->uart->SR;

  if (q->w_ptr_tx != q->r_ptr_tx) {
-    if (sr & USART_SR_TXE) {
+    if ((sr & USART_SR_TXE) != 0) {
      q->uart->DR = q->elems_tx[q->r_ptr_tx];
-      q->r_ptr_tx = (q->r_ptr_tx + 1) % FIFO_SIZE;
-    } else {
-      // push on interrupt later
-      q->uart->CR1 |= USART_CR1_TXEIE;
+      q->r_ptr_tx = (q->r_ptr_tx + 1U) % FIFO_SIZE;
    }
+    // there could be more to send
+    q->uart->CR1 |= USART_CR1_TXEIE;
  } else {
    // nothing to send
    q->uart->CR1 &= ~USART_CR1_TXEIE;
  }

-  if (sr & USART_SR_RXNE || sr & USART_SR_ORE) {
+  if ((sr & USART_SR_RXNE) || (sr & USART_SR_ORE)) {
    uint8_t c = q->uart->DR;  // TODO: can drop packets
    if (q != &esp_ring) {
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
      if (next_w_ptr != q->r_ptr_rx) {
        q->elems_rx[q->w_ptr_rx] = c;
        q->w_ptr_rx = next_w_ptr;
-        if (q->callback) q->callback(q);
+        if (q->callback != NULL) {
+          q->callback(q);
+        }
      }
    }
  }

-  if (sr & USART_SR_ORE) {
+  if ((sr & USART_SR_ORE) != 0) {
    // set dropped packet flag?
  }

@@ -110,46 +118,46 @@ void USART2_IRQHandler(void) { uart_ring_process(&debug_ring); }
 void USART3_IRQHandler(void) { uart_ring_process(&lin2_ring); }
 void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }

-int getc(uart_ring *q, char *elem) {
-  int ret = 0;
+bool getc(uart_ring *q, char *elem) {
+  bool ret = false;

  enter_critical_section();
  if (q->w_ptr_rx != q->r_ptr_rx) {
-    *elem = q->elems_rx[q->r_ptr_rx];
-    q->r_ptr_rx = (q->r_ptr_rx + 1) % FIFO_SIZE;
-    ret = 1;
+    if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
+    ret = true;
  }
  exit_critical_section();

  return ret;
 }

-int injectc(uart_ring *q, char elem) {
-  int ret = 0;
+bool injectc(uart_ring *q, char elem) {
+  int ret = false;
  uint16_t next_w_ptr;

  enter_critical_section();
-  next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
  if (next_w_ptr != q->r_ptr_rx) {
    q->elems_rx[q->w_ptr_rx] = elem;
    q->w_ptr_rx = next_w_ptr;
-    ret = 1;
+    ret = true;
  }
  exit_critical_section();

  return ret;
 }

-int putc(uart_ring *q, char elem) {
-  int ret = 0;
+bool putc(uart_ring *q, char elem) {
+  bool ret = false;
  uint16_t next_w_ptr;

  enter_critical_section();
-  next_w_ptr = (q->w_ptr_tx + 1) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
  if (next_w_ptr != q->r_ptr_tx) {
    q->elems_tx[q->w_ptr_tx] = elem;
    q->w_ptr_tx = next_w_ptr;
-    ret = 1;
+    ret = true;
  }
  exit_critical_section();

@@ -158,6 +166,24 @@ int putc(uart_ring *q, char elem) {
  return ret;
 }

+void uart_flush(uart_ring *q) {
+  while (q->w_ptr_tx != q->r_ptr_tx) {
+    __WFI();
+  }
+}
+
+void uart_flush_sync(uart_ring *q) {
+  // empty the TX buffer
+  while (q->w_ptr_tx != q->r_ptr_tx) {
+    uart_ring_process(q);
+  }
+}
+
+void uart_send_break(uart_ring *u) {
+  while ((u->uart->CR1 & USART_CR1_SBK) != 0);
+  u->uart->CR1 |= USART_CR1_SBK;
+}
+
 void clear_uart_buff(uart_ring *q) {
  enter_critical_section();
  q->w_ptr_tx = 0;
@@ -169,38 +195,38 @@ void clear_uart_buff(uart_ring *q) {

 // ***************************** start UART code *****************************

-#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_)*25)/(4*(_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_))/100)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
+#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_) * 25U) / (4U * (_BAUD_)))
+#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_)) / 100U)
+#define __DIVFRAQ(_PCLK_, _BAUD_)                    ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
+#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))

-void uart_set_baud(USART_TypeDef *u, int baud) {
+void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
  if (u == USART1) {
    // USART1 is on APB2
-    u->BRR = __USART_BRR(48000000, baud);
+    u->BRR = __USART_BRR(48000000U, baud);
  } else {
-    u->BRR = __USART_BRR(24000000, baud);
+    u->BRR = __USART_BRR(24000000U, baud);
  }
 }

 #define USART1_DMA_LEN 0x20
 char usart1_dma[USART1_DMA_LEN];

-void uart_dma_drain() {
+void uart_dma_drain(void) {
  uart_ring *q = &esp_ring;

  enter_critical_section();

-  if (DMA2->HISR & DMA_HISR_TCIF5 || DMA2->HISR & DMA_HISR_HTIF5 || DMA2_Stream5->NDTR != USART1_DMA_LEN) {
+  if ((DMA2->HISR & DMA_HISR_TCIF5) || (DMA2->HISR & DMA_HISR_HTIF5) || (DMA2_Stream5->NDTR != USART1_DMA_LEN)) {
    // disable DMA
    q->uart->CR3 &= ~USART_CR3_DMAR;
    DMA2_Stream5->CR &= ~DMA_SxCR_EN;
-    while (DMA2_Stream5->CR & DMA_SxCR_EN);
+    while ((DMA2_Stream5->CR & DMA_SxCR_EN) != 0);

-    int i;
-    for (i = 0; i < USART1_DMA_LEN - DMA2_Stream5->NDTR; i++) {
+    unsigned int i;
+    for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
      char c = usart1_dma[i];
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
      if (next_w_ptr != q->r_ptr_rx) {
        q->elems_rx[q->w_ptr_rx] = c;
        q->w_ptr_rx = next_w_ptr;
@@ -263,6 +289,8 @@ void uart_init(USART_TypeDef *u, int baud) {
    NVIC_EnableIRQ(USART3_IRQn);
  } else if (u == UART5) {
    NVIC_EnableIRQ(UART5_IRQn);
+  } else {
+    // USART type undefined, skip
  }
 }

@@ -276,49 +304,49 @@ void putch(const char a) {

    //putc(&debug_ring, a);
  } else {
-    injectc(&debug_ring, a);
+    // misra-c2012-17.7: serial debug function, ok to ignore output
+    (void)injectc(&debug_ring, a);
  }
 }

-int puts(const char *a) {
-  for (;*a;a++) {
-    if (*a == '\n') putch('\r');
-    putch(*a);
+void puts(const char *a) {
+  for (const char *in = a; *in; in++) {
+    if (*in == '\n') putch('\r');
+    putch(*in);
  }
-  return 0;
 }

 void putui(uint32_t i) {
+  uint32_t i_copy = i;
  char str[11];
  uint8_t idx = 10;
-  str[idx--] = '\0';
+  str[idx] = '\0';
+  idx--;
  do {
-    str[idx--] = (i % 10) + 0x30;
-    i /= 10;
-  } while (i);
-  puts(str + idx + 1);
+    str[idx] = (i_copy % 10U) + 0x30U;
+    idx--;
+    i_copy /= 10;
+  } while (i_copy != 0U);
+  puts(str + idx + 1U);
 }

 void puth(unsigned int i) {
-  int pos;
  char c[] = "0123456789abcdef";
-  for (pos = 28; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
+  for (int pos = 28; pos != -4; pos -= 4) {
+    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
  }
 }

 void puth2(unsigned int i) {
-  int pos;
  char c[] = "0123456789abcdef";
-  for (pos = 4; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
+  for (int pos = 4; pos != -4; pos -= 4) {
+    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
  }
 }

 void hexdump(const void *a, int l) {
-  int i;
-  for (i=0;i<l;i++) {
-    if (i != 0 && (i&0xf) == 0) puts("\n");
+  for (int i=0; i < l; i++) {
+    if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
    puth2(((const unsigned char*)a)[i]);
    puts(" ");
  }
@@ -23,12 +23,12 @@ typedef union _USB_Setup {
 }
 USB_Setup_TypeDef;

-void usb_init();
-int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired);
-int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
-void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
-void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
-void usb_cb_enumeration_complete();
+void usb_init(void);
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
+void usb_cb_enumeration_complete(void);

 // **** supporting defines ****

@@ -43,9 +43,9 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
 #define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
 #define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
-#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
-#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
-#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
+#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
+#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE))
 #define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)

 #define  USB_REQ_GET_STATUS                             0x00
@@ -96,7 +96,7 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #define STS_SETUP_COMP                         4
 #define STS_SETUP_UPDT                         6

-#define USBD_FS_TRDT_VALUE           5
+#define USBD_FS_TRDT_VALUE           5U

 #define USB_OTG_SPEED_FULL 3

@@ -125,11 +125,11 @@ uint8_t resp[MAX_RESP_LEN];

 // Convert machine byte order to USB byte order
 #define TOUSBORDER(num)\
-  (num&0xFF), ((num>>8)&0xFF)
+  ((num) & 0xFFU), (((num) >> 8) & 0xFFU)

 // take in string length and return the first 2 bytes of a string descriptor
 #define STRING_DESCRIPTOR_HEADER(size)\
-  (((size * 2 + 2)&0xFF) | 0x0300)
+  (((((size) * 2) + 2) & 0xFF) | 0x0300)

 uint8_t device_desc[] = {
  DSCR_DEVICE_LEN, USB_DESC_TYPE_DEVICE, //Length, Type
@@ -158,7 +158,7 @@ uint8_t device_qualifier[] = {

 uint8_t configuration_desc[] = {
  DSCR_CONFIG_LEN, USB_DESC_TYPE_CONFIGURATION, // Length, Type,
-  TOUSBORDER(0x0045), // Total Len (uint16)
+  TOUSBORDER(0x0045U), // Total Len (uint16)
  0x01, 0x01, STRING_OFFSET_ICONFIGURATION, // Num Interface, Config Value, Configuration
  0xc0, 0x32, // Attributes, Max Power
  // interface 0 ALT 0
@@ -169,17 +169,17 @@ uint8_t configuration_desc[] = {
    // endpoint 1, read CAN
    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
    0x00, // Polling Interval (NA)
    // endpoint 2, send serial
    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
    0x00, // Polling Interval
    // endpoint 3, send CAN
    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
    0x00, // Polling Interval
  // interface 0 ALT 1
  DSCR_INTERFACE_LEN, USB_DESC_TYPE_INTERFACE, // Length, Type
@@ -189,17 +189,17 @@ uint8_t configuration_desc[] = {
    // endpoint 1, read CAN
    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
    0x05, // Polling Interval (5 frames)
    // endpoint 2, send serial
    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
    0x00, // Polling Interval
    // endpoint 3, send CAN
    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
-    TOUSBORDER(0x0040), // Max Packet (0x0040)
+    TOUSBORDER(0x0040U), // Max Packet (0x0040)
    0x00, // Polling Interval
 };

@@ -394,34 +394,36 @@ int current_int0_alt_setting = 0;
 // packet read and write

 void *USB_ReadPacket(void *dest, uint16_t len) {
-  uint32_t i=0;
-  uint32_t count32b = (len + 3) / 4;
+  uint32_t *dest_copy = (uint32_t *)dest;
+  uint32_t count32b = (len + 3U) / 4U;

-  for ( i = 0; i < count32b; i++, dest += 4 ) {
-    // packed?
-    *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
+  for (uint32_t i = 0; i < count32b; i++) {
+    *dest_copy = USBx_DFIFO(0);
+    dest_copy++;
  }
-  return ((void *)dest);
+  return ((void *)dest_copy);
 }

-void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
+void USB_WritePacket(const void *src, uint16_t len, uint32_t ep) {
  #ifdef DEBUG_USB
  puts("writing ");
  hexdump(src, len);
  #endif

-  uint8_t numpacket = (len+(MAX_RESP_LEN-1))/MAX_RESP_LEN;
-  uint32_t count32b = 0, i = 0;
-  count32b = (len + 3) / 4;
+  uint8_t numpacket = (len + (MAX_RESP_LEN - 1U)) / MAX_RESP_LEN;
+  uint32_t count32b = 0;
+  count32b = (len + 3U) / 4U;

-  // bullshit
+  // TODO: revisit this
  USBx_INEP(ep)->DIEPTSIZ = ((numpacket << 19) & USB_OTG_DIEPTSIZ_PKTCNT) |
                            (len               & USB_OTG_DIEPTSIZ_XFRSIZ);
  USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);

  // load the FIFO
-  for (i = 0; i < count32b; i++, src += 4) {
-    USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
+  const uint32_t *src_copy = (const uint32_t *)src;
+  for (uint32_t i = 0; i < count32b; i++) {
+    USBx_DFIFO(ep) = *src_copy;
+    src_copy++;
  }
 }

@@ -433,7 +435,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
  hexdump(src, len);
  #endif

-  uint16_t wplen = min(len, 0x40);
+  uint16_t wplen = MIN(len, 0x40);
  USB_WritePacket(src, wplen, 0);

  if (wplen < len) {
@@ -445,7 +447,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
  }
 }

-void usb_reset() {
+void usb_reset(void) {
  // unmask endpoint interrupts, so many sets
  USBx_DEVICE->DAINT = 0xFFFFFFFF;
  USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
@@ -469,10 +471,10 @@ void usb_reset() {
  USBx->GRXFSIZ = 0x40;

  // 0x100 to offset past GRXFSIZ
-  USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
+  USBx->DIEPTXF0_HNPTXFSIZ = (0x40U << 16) | 0x40U;

  // EP1, massive
-  USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
+  USBx->DIEPTXF[0] = (0x40U << 16) | 0x80U;

  // flush TX fifo
  USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
@@ -485,34 +487,36 @@ void usb_reset() {
  USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;

  // ready to receive setup packets
-  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
+  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)) | (3U << 3);
 }

 char to_hex_char(int a) {
+  char ret;
  if (a < 10) {
-    return '0' + a;
+    ret = '0' + a;
  } else {
-    return 'a' + (a-10);
+    ret = 'a' + (a - 10);
  }
+  return ret;
 }

-void usb_setup() {
+void usb_setup(void) {
  int resp_len;
  // setup packet is ready
  switch (setup.b.bRequest) {
    case USB_REQ_SET_CONFIGURATION:
      // enable other endpoints, has to be here?
-      USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
+      USBx_INEP(1)->DIEPCTL = (0x40U & USB_OTG_DIEPCTL_MPSIZ) | (2U << 18) | (1U << 22) |
                              USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
      USBx_INEP(1)->DIEPINT = 0xFF;

-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(2)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+      USBx_OUTEP(2)->DOEPTSIZ = (1U << 19) | 0x40U;
+      USBx_OUTEP(2)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
      USBx_OUTEP(2)->DOEPINT = 0xFF;

-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+      USBx_OUTEP(3)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
      USBx_OUTEP(3)->DOEPINT = 0xFF;

@@ -525,7 +529,7 @@ void usb_setup() {
      break;
    case USB_REQ_SET_ADDRESS:
      // set now?
-      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
+      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7fU) << 4);

      #ifdef DEBUG_USB
        puts(" set address\n");
@@ -545,54 +549,54 @@ void usb_setup() {
          //puts("    writing device descriptor\n");

          // setup transfer
-          USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
+          USB_WritePacket(device_desc, MIN(sizeof(device_desc), setup.b.wLength.w), 0);
          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;

          //puts("D");
          break;
        case USB_DESC_TYPE_CONFIGURATION:
-          USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
+          USB_WritePacket(configuration_desc, MIN(sizeof(configuration_desc), setup.b.wLength.w), 0);
          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
          break;
        case USB_DESC_TYPE_DEVICE_QUALIFIER:
-          USB_WritePacket(device_qualifier, min(sizeof(device_qualifier), setup.b.wLength.w), 0);
+          USB_WritePacket(device_qualifier, MIN(sizeof(device_qualifier), setup.b.wLength.w), 0);
          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
          break;
        case USB_DESC_TYPE_STRING:
          switch (setup.b.wValue.bw.msb) {
            case STRING_OFFSET_LANGID:
-              USB_WritePacket((uint8_t*)string_language_desc, min(sizeof(string_language_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_language_desc, MIN(sizeof(string_language_desc), setup.b.wLength.w), 0);
              break;
            case STRING_OFFSET_IMANUFACTURER:
-              USB_WritePacket((uint8_t*)string_manufacturer_desc, min(sizeof(string_manufacturer_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_manufacturer_desc, MIN(sizeof(string_manufacturer_desc), setup.b.wLength.w), 0);
              break;
            case STRING_OFFSET_IPRODUCT:
-              USB_WritePacket((uint8_t*)string_product_desc, min(sizeof(string_product_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_product_desc, MIN(sizeof(string_product_desc), setup.b.wLength.w), 0);
              break;
            case STRING_OFFSET_ISERIAL:
              #ifdef UID_BASE
-                resp[0] = 0x02 + 12*4;
+                resp[0] = 0x02 + (12 * 4);
                resp[1] = 0x03;

                // 96 bits = 12 bytes
                for (int i = 0; i < 12; i++){
                  uint8_t cc = ((uint8_t *)UID_BASE)[i];
-                  resp[2 + i*4 + 0] = to_hex_char((cc>>4)&0xF);
-                  resp[2 + i*4 + 1] = '\0';
-                  resp[2 + i*4 + 2] = to_hex_char((cc>>0)&0xF);
-                  resp[2 + i*4 + 3] = '\0';
+                  resp[2 + (i * 4) + 0] = to_hex_char((cc >> 4) & 0xFU);
+                  resp[2 + (i * 4) + 1] = '\0';
+                  resp[2 + (i * 4) + 2] = to_hex_char((cc >> 0) & 0xFU);
+                  resp[2 + (i * 4) + 3] = '\0';
                }

-                USB_WritePacket(resp, min(resp[0], setup.b.wLength.w), 0);
+                USB_WritePacket(resp, MIN(resp[0], setup.b.wLength.w), 0);
              #else
-                USB_WritePacket((const uint8_t *)string_serial_desc, min(sizeof(string_serial_desc), setup.b.wLength.w), 0);
+                USB_WritePacket((const uint8_t *)string_serial_desc, MIN(sizeof(string_serial_desc), setup.b.wLength.w), 0);
              #endif
              break;
            case STRING_OFFSET_ICONFIGURATION:
-              USB_WritePacket((uint8_t*)string_configuration_desc, min(sizeof(string_configuration_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_configuration_desc, MIN(sizeof(string_configuration_desc), setup.b.wLength.w), 0);
              break;
            case 238:
-              USB_WritePacket((uint8_t*)string_238_desc, min(sizeof(string_238_desc), setup.b.wLength.w), 0);
+              USB_WritePacket((uint8_t*)string_238_desc, MIN(sizeof(string_238_desc), setup.b.wLength.w), 0);
              break;
            default:
              // nothing
@@ -602,7 +606,7 @@ void usb_setup() {
          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
          break;
        case USB_DESC_TYPE_BINARY_OBJECT_STORE:
-          USB_WritePacket(binary_object_store_desc, min(sizeof(binary_object_store_desc), setup.b.wLength.w), 0);
+          USB_WritePacket(binary_object_store_desc, MIN(sizeof(binary_object_store_desc), setup.b.wLength.w), 0);
          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
          break;
        default:
@@ -628,7 +632,7 @@ void usb_setup() {
    case WEBUSB_VENDOR_CODE:
      switch (setup.b.wIndex.w) {
        case WEBUSB_REQ_GET_URL:
-          USB_WritePacket(webusb_url_descriptor, min(sizeof(webusb_url_descriptor), setup.b.wLength.w), 0);
+          USB_WritePacket(webusb_url_descriptor, MIN(sizeof(webusb_url_descriptor), setup.b.wLength.w), 0);
          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
          break;
        default:
@@ -642,15 +646,15 @@ void usb_setup() {
      switch (setup.b.wIndex.w) {
        // winusb 2.0 descriptor from BOS
        case WINUSB_REQ_GET_DESCRIPTOR:
-          USB_WritePacket_EP0((uint8_t*)winusb_20_desc, min(sizeof(winusb_20_desc), setup.b.wLength.w));
+          USB_WritePacket_EP0((uint8_t*)winusb_20_desc, MIN(sizeof(winusb_20_desc), setup.b.wLength.w));
          break;
        // Extended Compat ID OS Descriptor
        case WINUSB_REQ_GET_COMPATID_DESCRIPTOR:
-          USB_WritePacket_EP0((uint8_t*)winusb_ext_compatid_os_desc, min(sizeof(winusb_ext_compatid_os_desc), setup.b.wLength.w));
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_compatid_os_desc, MIN(sizeof(winusb_ext_compatid_os_desc), setup.b.wLength.w));
          break;
        // Extended Properties OS Descriptor
        case WINUSB_REQ_GET_EXT_PROPS_OS:
-          USB_WritePacket_EP0((uint8_t*)winusb_ext_prop_os_desc, min(sizeof(winusb_ext_prop_os_desc), setup.b.wLength.w));
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_prop_os_desc, MIN(sizeof(winusb_ext_prop_os_desc), setup.b.wLength.w));
          break;
        default:
          USB_WritePacket_EP0(0, 0);
@@ -658,12 +662,12 @@ void usb_setup() {
      break;
    default:
      resp_len = usb_cb_control_msg(&setup, resp, 1);
-      USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
+      USB_WritePacket(resp, MIN(resp_len, setup.b.wLength.w), 0);
      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
  }
 }

-void usb_init() {
+void usb_init(void) {
  // full speed PHY, do reset and remove power down
  /*puth(USBx->GRSTCTL);
  puts(" resetting PHY\n");*/
@@ -679,7 +683,7 @@ void usb_init() {
  USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_FDMOD;

  // slowest timings
-  USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
+  USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);

  // power up the PHY
 #ifdef STM32F4
@@ -728,7 +732,6 @@ void usb_init() {
  USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;

  // DCTL startup value is 2 on new chip, 0 on old chip
-  // THIS IS FUCKING BULLSHIT
  USBx_DEVICE->DCTL = 0;

  // enable the IRQ
@@ -756,27 +759,27 @@ void usb_irqhandler(void) {
    puts(" USB interrupt!\n");
  #endif

-  if (gintsts & USB_OTG_GINTSTS_CIDSCHG) {
+  if ((gintsts & USB_OTG_GINTSTS_CIDSCHG) != 0) {
    puts("connector ID status change\n");
  }

-  if (gintsts & USB_OTG_GINTSTS_ESUSP) {
+  if ((gintsts & USB_OTG_GINTSTS_ESUSP) != 0) {
    puts("ESUSP detected\n");
  }

-  if (gintsts & USB_OTG_GINTSTS_USBRST) {
+  if ((gintsts & USB_OTG_GINTSTS_USBRST) != 0) {
    puts("USB reset\n");
    usb_reset();
  }

-  if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
+  if ((gintsts & USB_OTG_GINTSTS_ENUMDNE) != 0) {
    puts("enumeration done");
    // Full speed, ENUMSPD
    //puth(USBx_DEVICE->DSTS);
    puts("\n");
  }

-  if (gintsts & USB_OTG_GINTSTS_OTGINT) {
+  if ((gintsts & USB_OTG_GINTSTS_OTGINT) != 0) {
    puts("OTG int:");
    puth(USBx->GOTGINT);
    puts("\n");
@@ -786,24 +789,25 @@ void usb_irqhandler(void) {
  }

  // RX FIFO first
-  if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
+  if ((gintsts & USB_OTG_GINTSTS_RXFLVL) != 0) {
    // 1. Read the Receive status pop register
    volatile unsigned int rxst = USBx->GRXSTSP;
+    int status = (rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17;

    #ifdef DEBUG_USB
      puts(" RX FIFO:");
      puth(rxst);
      puts(" status: ");
-      puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
+      puth(status);
      puts(" len: ");
      puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
      puts("\n");
    #endif

-    if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
+    if (status == STS_DATA_UPDT) {
      int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
      int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
-      USB_ReadPacket(&usbdata, len);
+      (void)USB_ReadPacket(&usbdata, len);
      #ifdef DEBUG_USB
        puts("  data ");
        puth(len);
@@ -818,13 +822,15 @@ void usb_irqhandler(void) {
      if (endpoint == 3) {
        usb_cb_ep3_out(usbdata, len, 1);
      }
-    } else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
-      USB_ReadPacket(&setup, 8);
+    } else if (status == STS_SETUP_UPDT) {
+      (void)USB_ReadPacket(&setup, 8);
      #ifdef DEBUG_USB
        puts("  setup ");
        hexdump(&setup, 8);
        puts("\n");
      #endif
+    } else {
+      // status is neither STS_DATA_UPDT or STS_SETUP_UPDT, skip
    }
  }

@@ -848,7 +854,7 @@ void usb_irqhandler(void) {
    USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
  }

-  if (gintsts & USB_OTG_GINTSTS_SRQINT) {
+  if ((gintsts & USB_OTG_GINTSTS_SRQINT) != 0) {
    // we want to do "A-device host negotiation protocol" since we are the A-device
    /*puts("start request\n");
    puth(USBx->GOTGCTL);
@@ -859,7 +865,7 @@ void usb_irqhandler(void) {
  }

  // out endpoint hit
-  if (gintsts & USB_OTG_GINTSTS_OEPINT) {
+  if ((gintsts & USB_OTG_GINTSTS_OEPINT) != 0) {
    #ifdef DEBUG_USB
      puts("  0:");
      puth(USBx_OUTEP(0)->DOEPINT);
@@ -874,40 +880,42 @@ void usb_irqhandler(void) {
      puts(" OUT ENDPOINT\n");
    #endif

-    if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+    if ((USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) != 0) {
      #ifdef DEBUG_USB
        puts("  OUT2 PACKET XFRC\n");
      #endif
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(2)->DOEPTSIZ = (1U << 19) | 0x40U;
      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
    }

-    if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+    if ((USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) != 0) {
      #ifdef DEBUG_USB
        puts("  OUT3 PACKET XFRC\n");
      #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
+    } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
      #ifdef DEBUG_USB
        puts("  OUT3 PACKET WTF\n");
      #endif
      // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT) {
+    } else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
      puts("OUTEP3 error ");
      puth(USBx_OUTEP(3)->DOEPINT);
      puts("\n");
+    } else {
+      // USBx_OUTEP(3)->DOEPINT is 0, ok to skip
    }

-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
+    if ((USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) != 0) {
      // ready for next packet
-      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
+      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)) | (1U << 3);
    }

    // respond to setup packets
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
+    if ((USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) != 0) {
      usb_setup();
    }

@@ -917,7 +925,7 @@ void usb_irqhandler(void) {
  }

  // interrupt endpoint hit (Page 1221)
-  if (gintsts & USB_OTG_GINTSTS_IEPINT) {
+  if ((gintsts & USB_OTG_GINTSTS_IEPINT) != 0) {
    #ifdef DEBUG_USB
      puts("  ");
      puth(USBx_INEP(0)->DIEPINT);
@@ -932,8 +940,8 @@ void usb_irqhandler(void) {
    // No need to set NAK in OTG_DIEPCTL0 when nothing to send,
    // Appears USB core automatically sets NAK. WritePacket clears it.

-    // Handle the two interface alternate settings. Setting 0 is has
-    // EP1 as bulk. Setting 1 has EP1 as interrupt. The code to handle
+    // Handle the two interface alternate settings. Setting 0 has EP1
+    // as bulk. Setting 1 has EP1 as interrupt. The code to handle
    // these two EP variations are very similar and can be
    // restructured for smaller code footprint. Keeping split out for
    // now for clarity.
@@ -942,7 +950,7 @@ void usb_irqhandler(void) {
    switch (current_int0_alt_setting) {
      case 0: ////// Bulk config
        // *** IN token received when TxFIFO is empty
-        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+        if ((USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
          #ifdef DEBUG_USB
          puts("  IN PACKET QUEUE\n");
          #endif
@@ -953,7 +961,7 @@ void usb_irqhandler(void) {

      case 1: ////// Interrupt config
        // *** IN token received when TxFIFO is empty
-        if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+        if ((USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
          #ifdef DEBUG_USB
          puts("  IN PACKET QUEUE\n");
          #endif
@@ -964,19 +972,22 @@ void usb_irqhandler(void) {
          }
        }
        break;
+      default:
+        puts("current_int0_alt_setting value invalid\n");
+        break;
    }

-    if (USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+    if ((USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0) {
      #ifdef DEBUG_USB
      puts("  IN PACKET QUEUE\n");
      #endif

-      if (ep0_txlen != 0 && (USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40) {
-        uint16_t len = min(ep0_txlen, 0x40);
+      if ((ep0_txlen != 0U) && ((USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40U)) {
+        uint16_t len = MIN(ep0_txlen, 0x40);
        USB_WritePacket(ep0_txdata, len, 0);
        ep0_txdata += len;
        ep0_txlen -= len;
-        if (ep0_txlen == 0) {
+        if (ep0_txlen == 0U) {
          ep0_txdata = NULL;
          USBx_DEVICE->DIEPEMPMSK &= ~1;
          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
@@ -1,364 +1,4 @@
-// this is last place with ifdef PANDA
-
-#ifdef STM32F4
-  #include "stm32f4xx_hal_gpio_ex.h"
-#else
-  #include "stm32f2xx_hal_gpio_ex.h"
-#endif
-
-// ********************* dynamic configuration detection *********************
-
-#define PANDA_REV_AB 0
-#define PANDA_REV_C 1
-
-#define PULL_EFFECTIVE_DELAY 10
-
-int has_external_debug_serial = 0;
-int is_giant_panda = 0;
-int is_entering_bootmode = 0;
-int revision = PANDA_REV_AB;
-int is_grey_panda = 0;
-
-int detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
-  set_gpio_mode(GPIO, pin, MODE_INPUT);
-  set_gpio_pullup(GPIO, pin, mode);
-  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
-  int ret = get_gpio_input(GPIO, pin);
-  set_gpio_pullup(GPIO, pin, PULL_NONE);
-  return ret;
-}
-
-// must call again from main because BSS is zeroed
-void detect() {
-  // detect has_external_debug_serial
-  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
-
-#ifdef PANDA
-  // detect is_giant_panda
-  is_giant_panda = detect_with_pull(GPIOB, 1, PULL_DOWN);
-
-  // detect panda REV C.
-  // A13 floats in REV AB. In REV C, A13 is pulled up to 5V with a 10K
-  // resistor and attached to the USB power control chip CTRL
-  // line. Pulling A13 down with an internal 50k resistor in REV C
-  // will produce a voltage divider that results in a high logic
-  // level. Checking if this pin reads high with a pull down should
-  // differentiate REV AB from C.
-  revision = detect_with_pull(GPIOA, 13, PULL_DOWN) ? PANDA_REV_C : PANDA_REV_AB;
-
-  // check if the ESP is trying to put me in boot mode
-  is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
-
-  // check if it's a grey panda by seeing if the SPI lines are floating
-  // TODO: is this reliable?
-  is_grey_panda = !(detect_with_pull(GPIOA, 4, PULL_DOWN) | detect_with_pull(GPIOA, 5, PULL_DOWN) | detect_with_pull(GPIOA, 6, PULL_DOWN) | detect_with_pull(GPIOA, 7, PULL_DOWN));
-#else
-  // need to do this for early detect
-  is_giant_panda = 0;
-  is_grey_panda = 0;
-  revision = PANDA_REV_AB;
-  is_entering_bootmode = 0;
-#endif
-}
-
-// ********************* bringup *********************
-
-void periph_init() {
-  // enable GPIOB, UART2, CAN, USB clock
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
-
-  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
-  #ifdef PANDA
-    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
-  #ifdef CAN3
-    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
-  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
-  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
-  //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
-  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
-  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
-}
-
-// ********************* setters *********************
-
-void set_can_enable(CAN_TypeDef *CAN, int enabled) {
-  // enable CAN busses
-  if (CAN == CAN1) {
-    #ifdef PANDA
-      // CAN1_EN
-      set_gpio_output(GPIOC, 1, !enabled);
-    #else
-      #ifdef PEDAL
-        // CAN1_EN (not flipped)
-        set_gpio_output(GPIOB, 3, !enabled);
-      #else
-        // CAN1_EN
-        set_gpio_output(GPIOB, 3, enabled);
-      #endif
-    #endif
-  } else if (CAN == CAN2) {
-    #ifdef PANDA
-      // CAN2_EN
-      set_gpio_output(GPIOC, 13, !enabled);
-    #else
-      // CAN2_EN
-      set_gpio_output(GPIOB, 4, enabled);
-    #endif
-  #ifdef CAN3
-  } else if (CAN == CAN3) {
-    // CAN3_EN
-    set_gpio_output(GPIOA, 0, !enabled);
-  #endif
-  }
-}
-
-#ifdef PANDA
-  #define LED_RED 9
-  #define LED_GREEN 7
-  #define LED_BLUE 6
-#else
-  #define LED_RED 10
-  #define LED_GREEN 11
-  #define LED_BLUE -1
-#endif
-
-void set_led(int led_num, int on) {
-  if (led_num == -1) return;
-
-  #ifdef PANDA
-    set_gpio_output(GPIOC, led_num, !on);
-  #else
-    set_gpio_output(GPIOB, led_num, !on);
-  #endif
-}
-
-void set_can_mode(int can, int use_gmlan) {
-  // connects to CAN2 xcvr or GMLAN xcvr
-  if (use_gmlan) {
-    if (can == 1) {
-      // B5,B6: disable normal mode
-      set_gpio_mode(GPIOB, 5, MODE_INPUT);
-      set_gpio_mode(GPIOB, 6, MODE_INPUT);
-
-      // B12,B13: gmlan mode
-      set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-#ifdef CAN3
-    } else if (can == 2) {
-      // A8,A15: disable normal mode
-      set_gpio_mode(GPIOA, 8, MODE_INPUT);
-      set_gpio_mode(GPIOA, 15, MODE_INPUT);
-
-      // B3,B4: enable gmlan mode
-      set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
-#endif
-    }
-  } else {
-    if (can == 1) {
-      // B12,B13: disable gmlan mode
-      set_gpio_mode(GPIOB, 12, MODE_INPUT);
-      set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-      // B5,B6: normal mode
-      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-#ifdef CAN3
-    } else if (can == 2) {
-      // B3,B4: disable gmlan mode
-      set_gpio_mode(GPIOB, 3, MODE_INPUT);
-      set_gpio_mode(GPIOB, 4, MODE_INPUT);
-      // A8,A15: normal mode
-      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
-#endif
-    }
-  }
-}
-
-#define USB_POWER_NONE 0
-#define USB_POWER_CLIENT 1
-#define USB_POWER_CDP 2
-#define USB_POWER_DCP 3
-
-int usb_power_mode = USB_POWER_NONE;
-
-void set_usb_power_mode(int mode) {
-  switch (mode) {
-    case USB_POWER_CLIENT:
-      // B2,A13: set client mode
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_CDP:
-      // B2,A13: set CDP mode
-      set_gpio_output(GPIOB, 2, 1);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_DCP:
-      // B2,A13: set DCP mode on the charger (breaks USB!)
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 0);
-      break;
-  }
-  usb_power_mode = mode;
-}
-
-#define ESP_DISABLED 0
-#define ESP_ENABLED 1
-#define ESP_BOOTMODE 2
-
-void set_esp_mode(int mode) {
-  switch (mode) {
-    case ESP_DISABLED:
-      // ESP OFF
-      set_gpio_output(GPIOC, 14, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case ESP_ENABLED:
-      // ESP ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-    case ESP_BOOTMODE:
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-  }
-}
-
-// ********************* big init function *********************
-
-// board specific
-void gpio_init() {
-  // pull low to hold ESP in reset??
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOB->ODR = 0;
-  GPIOA->PUPDR = 0;
-  //GPIOC->ODR = 0;
-  GPIOB->AFR[0] = 0;
-  GPIOB->AFR[1] = 0;
-
-  // C2,C3: analog mode, voltage and current sense
-  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
-
-#ifdef PEDAL
-  // comma pedal has inputs on C0 and C1
-  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 1, MODE_ANALOG);
-  // DAC outputs on A4 and A5
-  //   apparently they don't need GPIO setup
-#endif
-
-  // C8: FAN aka TIM3_CH4
-  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
-
-  // turn off LEDs and set mode
-  set_led(LED_RED, 0);
-  set_led(LED_GREEN, 0);
-  set_led(LED_BLUE, 0);
-
-  // A11,A12: USB
-  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
-  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
-  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
-
-#ifdef PANDA
-  // enable started_alt on the panda
-  set_gpio_pullup(GPIOA, 1, PULL_UP);
-
-  // A2,A3: USART 2 for debugging
-  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
-  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
-
-  // A9,A10: USART 1 for talking to the ESP
-  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
-  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
-
-  // B12: GMLAN, ignition sense, pull up
-  set_gpio_pullup(GPIOB, 12, PULL_UP);
-
-  // A4,A5,A6,A7: setup SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-#endif
-
-  // B8,B9: CAN 1
-#ifdef STM32F4
-  set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
-  set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
-#else
-  set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
-  set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
-#endif
-  set_can_enable(CAN1, 1);
-
-  // B5,B6: CAN 2
-  set_can_mode(1, 0);
-  set_can_enable(CAN2, 1);
-
-  // A8,A15: CAN 3
-  #ifdef CAN3
-    set_can_mode(2, 0);
-    set_can_enable(CAN3, 1);
-  #endif
-
-  /* GMLAN mode pins:
-  M0(B15)  M1(B14)  mode
-  =======================
-  0        0        sleep
-  1        0        100kbit
-  0        1        high voltage wakeup
-  1        1        33kbit (normal)
-  */
-
-  // put gmlan transceiver in normal mode
-  set_gpio_output(GPIOB, 14, 1);
-  set_gpio_output(GPIOB, 15, 1);
-
-  #ifdef PANDA
-    // K-line enable moved from B4->B7 to make room for GMLAN on CAN3
-    set_gpio_output(GPIOB, 7, 1); // REV C
-
-    // C12,D2: K-Line setup on UART 5
-    set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
-    set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
-    set_gpio_pullup(GPIOD, 2, PULL_UP);
-
-    // L-line enable
-    set_gpio_output(GPIOA, 14, 1);
-
-    // C10,C11: L-Line setup on USART 3
-    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
-    set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
-    set_gpio_pullup(GPIOC, 11, PULL_UP);
-  #endif
-
-  set_usb_power_mode(USB_POWER_CLIENT);
-}
-
-// ********************* early bringup *********************
-
+// Early bringup
 #define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
 #define ENTER_SOFTLOADER_MAGIC 0xdeadc0de
 #define BOOT_NORMAL 0xdeadb111
@@ -366,7 +6,7 @@ void gpio_init() {
 extern void *g_pfnVectors;
 extern uint32_t enter_bootloader_mode;

-void jump_to_bootloader() {
+void jump_to_bootloader(void) {
  // do enter bootloader
  enter_bootloader_mode = 0;
  void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
@@ -379,11 +19,11 @@ void jump_to_bootloader() {
  NVIC_SystemReset();
 }

-void early() {
+void early(void) {
  // after it's been in the bootloader, things are initted differently, so we reset
-  if (enter_bootloader_mode != BOOT_NORMAL &&
-      enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC &&
-      enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC) {
+  if ((enter_bootloader_mode != BOOT_NORMAL) &&
+      (enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
+      (enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) {
    enter_bootloader_mode = BOOT_NORMAL;
    NVIC_SystemReset();
  }
@@ -391,9 +31,13 @@ void early() {
  // if wrong chip, reboot
  volatile unsigned int id = DBGMCU->IDCODE;
  #ifdef STM32F4
-    if ((id&0xFFF) != 0x463) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    if ((id & 0xFFFU) != 0x463U) {
+      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    }
  #else
-    if ((id&0xFFF) != 0x411) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    if ((id & 0xFFFU) != 0x411U) {
+      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+    }
  #endif

  // setup interrupt table
@@ -406,29 +50,25 @@ void early() {
  GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
  GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;

-  detect();
+  detect_configuration();
+  detect_board_type();

  #ifdef PANDA
    // enable the ESP, disable ESP boot mode
-    // unless we are on a giant panda, then there's no ESP
    // dont disable on grey panda
-    if (is_giant_panda) {
-      set_esp_mode(ESP_DISABLED);
-    } else {
-      set_esp_mode(ESP_ENABLED);
-    }
+    current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
  #endif


  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
  #ifdef PANDA
-    set_esp_mode(ESP_DISABLED);
+    current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
  #endif
-    set_led(LED_GREEN, 1);
+    current_board->set_led(LED_GREEN, 1);
    jump_to_bootloader();
  }

  if (is_entering_bootmode) {
    enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
  }
-}
+}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	d5f9caa82d	openpilot v0.6.3 release	2019-08-13 01:36:45 +00:00
Vehicle Researcher	6a61788682	Merge opendbc subtree	2019-08-13 01:34:24 +00:00
Vehicle Researcher	cb0ee932c4	Squashed 'opendbc/' changes from 7684440b..18321a29 18321a29 toyota DSU cruise message fa22ebff better VIN msg name 3bf82da1 VIN signal for toyota 5b466dbc Forgot to run generator 01321106 Reverse engineer AEB in Honda ca71b77a rename c9cf65d3 toyota pre collision 3835d30d reference toyota DBC 255c16bd Lexus CT200 needed one more run of generator d6c8eca8 Add Lexus CT200h 2018 (#176) 5d46c294 toyota pre-collision signals 65ace376 fix typo 18968ce0 pre-collision signals 9b8ae163 add another toyota cancel request signal a956deec Correct Message ID on LKAS11 (#172) bce0ec6b typo a452ac3b Toyota: added 0x283 message description for PRE_COLLISION msg. Data from https://ioactive.com/pdfs/IOActive_Adventures_in_Automotive_Networks_and_Control_Units.pdf git-subtree-dir: opendbc git-subtree-split: 18321a2946f0567ea368b543f4fec44a863a7d6e	2019-08-13 01:34:24 +00:00
Vehicle Researcher	ead59a5a61	Merge panda subtree	2019-08-13 01:34:23 +00:00
Vehicle Researcher	9955b3c806	Squashed 'panda/' changes from 519e39e4..8843af7d 8843af7d bump panda version 6da979e0 remove chffr link git-subtree-dir: panda git-subtree-split: 8843af7de9b39c430147dd08b79dd33ea2879a93	2019-08-13 01:34:23 +00:00
Vehicle Researcher	a1f069c6d8	Merge cereal subtree	2019-08-13 01:34:22 +00:00
Vehicle Researcher	a1ec1c089e	Squashed 'cereal/' changes from 748002c1..bb94ed98 bb94ed98 add eps torque to carstate 291319a6 add soundsUnavailable event 9b0b0ee4 add blink msg 072b2e21 use enum for alert sounds git-subtree-dir: cereal git-subtree-split: bb94ed98ac9cb5c3448117e28b4fea000e8225ee	2019-08-13 01:34:22 +00:00
Riccardo	095ef5f9f6	Revert "Revert "Update hyundaican for Correct Message ID on LKAS11 (#746 )" (#775 )" This reverts commit `d5242c5b82`.	2019-08-01 12:44:41 -07:00
TK211X	fd71fe698c	Correct Message ID on LKAS11 under Openpilot .dbc (#747 ) https://github.com/commaai/opendbc/pull/172	2019-08-01 12:43:49 -07:00
rbiasini	d5242c5b82	Revert "Update hyundaican for Correct Message ID on LKAS11 (#746 )" (#775 ) This reverts commit `1f1893a170`.	2019-08-01 12:35:24 -07:00
TK211X	1f1893a170	Update hyundaican for Correct Message ID on LKAS11 (#746 ) This is the only trace of CF_Lkas_Icon found under /car/hyundai relative to open .dbc https://github.com/commaai/opendbc/pull/172	2019-08-01 12:34:19 -07:00
Willem Melching	5808958fb2	Fix timeout in longitudinal test (#772 ) * Fix timeout in longitudinal test	2019-07-31 18:17:19 -07:00
Vehicle Researcher	e90c41c576	openpilot v0.6.2 release	2019-07-30 02:27:48 +00:00
Vehicle Researcher	f448d357e0	Squashed 'opendbc/' changes from e1955ba06..7684440b1 7684440b1 chrysler: increase size of ACCEL_134 (#174) git-subtree-dir: opendbc git-subtree-split: 7684440b14253f03b7420c4b24da5fbdeb0b9954	2019-07-30 02:25:29 +00:00
Vehicle Researcher	aa1b61eb8e	Merge opendbc subtree	2019-07-30 02:25:29 +00:00
Vehicle Researcher	30bb73d527	Squashed 'panda/' changes from 45d0d286f..519e39e49 519e39e49 Changed heartbeat timeout to be 2 seconds on no ignition 996dc4049 Added heartbeat to black loopback testing 79b44cb7e bump version 59f581317 Black (#254) 096486693 no need to store safety only misra output anymore git-subtree-dir: panda git-subtree-split: 519e39e494c0b3dd0cf38581302788b779a03c7b	2019-07-30 02:25:28 +00:00
Vehicle Researcher	98cd6147c3	Merge panda subtree	2019-07-30 02:25:28 +00:00
Vehicle Researcher	d22636b194	Merge cereal subtree	2019-07-30 02:25:27 +00:00
Vehicle Researcher	4808de10d6	Squashed 'cereal/' changes from 4ea03bacb..748002c19 748002c19 angle calib desc 27db4a74e add camera rpy angle msg a71c4fa7f deprecate old dm model output 6c6ab965f remove hwType from ThermalData. Decided to have health at higher freq instead. This will make last 24H of collected data unreadable. Sorry. f27249ea9 Add fields for LQR lateral control 654860c8b add decelForModel 995b558d4 add longitudinal plan source 222f2de17 add eye stuff eebf268ea hasGps is a better name than hasGpsAntenna 12da45fda Blackpanda (#4) git-subtree-dir: cereal git-subtree-split: 748002c1900700a3df93edf26071510225038ee6	2019-07-30 02:25:26 +00:00
Chris Souers	a440425ef8	Update README.md (#766 )	2019-07-29 15:06:34 -07:00
Gernby	61bbb52172	Remove offset from curvature (#761 )	2019-07-25 15:00:50 -07:00
Arne Schwarck	cf5c4aeacb	self.poller not used (#759 ) I do not see the need for zmq and the poller being initialized and not used.	2019-07-24 11:45:53 -07:00
Vehicle Researcher	94053536b4	openpilot v0.6.1 release	2019-07-22 19:17:47 +00:00
Vehicle Researcher	b539ae3e2d	Squashed 'opendbc/' changes from 38650f842..e1955ba06 e1955ba06 Nissan: Added nissan_2017.dbc (#173) c89eb71df properly generate Lexus 350 dbc file d08059c77 Lexus RX 350 DBC (#170) git-subtree-dir: opendbc git-subtree-split: e1955ba06e3308dbbfb4bcda78d0e6495bc9ff7e	2019-07-22 19:15:28 +00:00
Vehicle Researcher	cd98235644	Merge opendbc subtree	2019-07-22 19:15:28 +00:00
Vehicle Researcher	1ff59baea7	Squashed 'panda/' changes from ae816c104..45d0d286f 45d0d286f remove whitespace (#255) e49d0dbbd Pedal: use avg between tracks (#253) c597dcc89 VERSION update after health packet changes and minor misra test change 01072bec0 Misra 11.x: pointer usage. (#250) fd68c26ab Propagate can_push errors (#249) ce1daf206 Misra check only done for EON config 70d4fd7f6 cleanup docker container on failure 04756a037 Turning back Misra check: unvoluntarily change fcb1208e1 fix weird code in USB_ReadPacket b983cc8fe Re-wrote test_misra.sh 0b1920636 Misra 17.7: The value returned by a function having non-void return type shall be used. We should hang on initial failed safety_set_mode 06ee8bd2d Ignore Misra 5.4 until cppcheck bug (?) is fixed 4be858224 Update cppcheck commit and pass predefined params to avoid impossible combinations of configs f45dd04c6 cppcheck: ignore redundantAssignment and selfAssignment for registers in llcan.h 9ce631155 Misra 12.1 (operator order) and 10.4 (incompatible essential types) fixes, arised after properly checking UID_BASE config 1cd34e564 Explicitly set the define and undefine for unknown configs in misra checks 5a024999d remove esp flash from run_automated_tests.sh 23e3684d7 Cppcheck unused functions (#247) c97d60be6 Removed bad language b031480a7 Missed adding Dockerfile 91ff6bb21 Run language checker in CI 205ec342a Improved language checker f7bbab072 Language checker test d9d0a62f2 Misra 5.5: missed this change from previous PR 85fa3c02a Misra 5.5: Identifiers shall be distinct from macro names (#246) 190d604a0 Pedal: 2 minor fixes to Misra 15.7 (else needed) and 17.7 (non-void output must be used) 8ea01ff12 Pedal: no built-in functions to avoid puts and putc re-definitions 1f40d1e6a Misra pedal (#245) a4554e3e6 Ignore advisory Misra 19.2: the union keyword should not be used e6dc4172b Minor indent error 247e128b4 Fix strict compiler on bootstub build ba6856921 Removed build strict test and enabled -Werror flag da11f0fa0 safety replay: update openpilot-tools after logreader fix fc8b9e49b Cppcheck: also check pedal f7bd2c2f3 Misra 10.4: fix last 2 violations (#242) 9be5fdead finished misra 17.8 (#241) 3c3aba3db Misra 10.4: Both operands of an operator in which the usual arithmetic conversions are performed shall have the same essential type category (#240) f2a3a177b Misra 15_7: fix what seems to be a false positive of cppcheck 812ace538 Misra 15_7: if … else if constructs should be terminated with an else clause (#230) 79e9735ae rename 5_wifi_udp.py 3c3ff0c03 Update Jenkinsfile (#239) 1bd928437 Misra 17.7: the value returned by a function having non-void return shall be used (#237) 18c9e88bc Merge pull request #238 from commaai/misra_17_8 7ac321de4 Merge pull request #235 from commaai/memxxx 004e543cc Jenkins: run EON test first 4bff28620 Merge branch 'memxxx' of github.com:commaai/panda into memxxx 7cd80de23 typo 385e33b32 12.1 regression 955842bae WIP ea908cbb7 10_1 violations: Operands shall not be of an inappropriate essential type (#233) fa3303805 Fix Misra 5.3: An identifier declared in an inner scope shall not hide an identifier declared in an outer scope (#236) ebfe1c512 Merge branch 'master' of github.com:commaai/panda into memxxx 8c11470ef Fix EON test case 64e18e841 fix inverted logic to differentiate between dev and EON panda builds 36755a0fd Merge branch 'master' of github.com:commaai/panda into memxxx e2981d612 skip wifi tests for EON panda build db2eec98c Merge branch 'master' of github.com:commaai/panda into memxxx 11257e79a Ignore test 5_wifi_udp.py_ignore: too unreliable for now 6973c2a81 fix wifi tests cf6985ad1 memxxx function changes to be Misra compliant 3a6cd2930 wifi threshold perc back to 20%. Problem wasn't this. d92a03528 faster docker build for safety replay 3e9469b3e Fixing tests after min->MIN change ecb9b6c01 Revert "Misra 10 1: Operands shall not be of an inappropriate essential type (#232)" 8732e4faf Misra 10 1: Operands shall not be of an inappropriate essential type (#232) git-subtree-dir: panda git-subtree-split: 45d0d286f4b5c893590a98ec1438b8a143b9605d	2019-07-22 19:15:27 +00:00
Vehicle Researcher	c8b4633cd1	Merge panda subtree	2019-07-22 19:15:27 +00:00
Vehicle Researcher	813d5b9982	Squashed 'cereal/' changes from 9f2076eef..4ea03bacb 4ea03bacb add speed 2198ad240 add alert for invalid posenet 9c18b3b21 rename to posenetValid 42669a812 add posenet debug fields to LiveParameters 852846f17 add whether point is detected by radar 1684698e5 add model prob fb87dba0b added HW type to support various panda versions 820bf7b4c added tooDistracted event 1105dc1e8 different name 45c424989 add second model lead f8c557fa3 Log can errors from panda 04f105a22 back ff9332035 add lead stuff git-subtree-dir: cereal git-subtree-split: 4ea03bacbfad1f086caa458de7788771b0c7c515	2019-07-22 19:15:25 +00:00
Vehicle Researcher	53413fa019	Merge cereal subtree	2019-07-22 19:15:25 +00:00
rbiasini	63da1abe2c	Use standard steer angle sensor in DSU-less pre-TSS2 Toyota. (#751 )	2019-07-20 23:21:50 -07:00
ErichMoraga	be28530ee4	Added 2019 Toyota Highlander (#739 ) Tested latest commit on ICE version, and it worked flawlessly out of box. Fantastic experience.	2019-07-15 09:55:51 -07:00
Riccardo	13bdfcdd95	Improve Toyota Highlander tuning from https://github.com/commaai/openpilot/pull/690	2019-07-12 19:24:35 -07:00
eFini	9675794969	add loggered, gpsd, sensord to gitignore (#735 )	2019-07-12 11:02:23 -07:00
Gernby	151a504507	Fix lane centering with single lane line (#737 )	2019-07-12 10:55:34 -07:00
eFini	03e764bcb3	fix spacing in toyota/carstate.py (#736 )	2019-07-11 21:22:02 -07:00
Nick Brown	16eb74250c	2019 Rav4 Limited AWD (#732 ) * Fingerprint * Merge Limited and XLE fingerprint because they're the same	2019-07-08 17:02:59 -07:00
dekerr	4a48ef8dbc	Refactor default Civic params (#720 ) * move civic params out * fix variable name * simplify ford scaling * cleanup * remove import dependency * requested changes * keep hyundai	2019-07-08 16:59:32 -07:00
Willem Melching	76ab558ca6	Fix run_docker_tests.sh (#730 )	2019-07-03 15:53:49 -07:00
Willem Melching	60a20537c5	Make build deterministic and do not rebuild on release2 (#729 ) * sort dbc files to make linking deterministic * touch all files on release2 checkout to prevent rebuild	2019-07-03 12:25:35 -07:00
Riccardo	be020bdedb	Chrysler Pacifica 2018 Hybrid: fix fingerprint	2019-07-02 15:24:51 -07:00
Riccardo	1e77f2482c	Chrysler Pacifica 2018 Hybrid: add fingerprint	2019-07-02 11:45:24 -07:00
George Hotz	d8da18ed54	Merge pull request #716 from dekerr/readme Update README	2019-07-01 14:15:34 -07:00
Willem Melching	6abd80f116	Exclude tools from linter (#718 ) * exclude tools from linter * Exclude tools from pylint too	2019-07-01 13:14:16 -07:00
Willem Melching	f4b258a082	Install fastcluster in CI for controls tests	2019-07-01 12:16:16 -07:00
Vehicle Researcher	8a9ed94f5f	openpilot v0.6 release	2019-06-28 21:11:30 +00:00
Vehicle Researcher	ae44a57565	Merge pyextra subtree	2019-06-28 21:09:14 +00:00
Vehicle Researcher	78e4e4ea23	Squashed 'pyextra/' changes from 4348db7e8..d54ef825d d54ef825d Merge pull request #1 from commaai/new-usr e3e0520e4 put back logentries and overpy c3ad0b3dd remove everything git-subtree-dir: pyextra git-subtree-split: d54ef825db8d96de8c960ac57a33ac11fa7728bf	2019-06-28 21:09:14 +00:00
Vehicle Researcher	1c6164e11c	Squashed 'opendbc/' changes from 34bd4c4dc..38650f842 38650f842 Toyota: STEERING_LTA actually has an angle interface a0394d4a7 Toyota LTA: back to unit factor 0a03d0889 Honda: fix China model. Toyota: add STEERING_LTA message for nodsu cars f1c17ae92 Toyota dsu-less: more precise steering angle conversion 0e94a296f Toyota: better pt dbc file naming for all dsuless cars 9199a5582 Toyota: better name for adas bdc files f5ddc1c38 Toyota DSU-less: added better measurement of steer angle c60b91ff6 Toyota Camry: using the same conversion factor for STEER_TORQUE_EPS as in the CHR git-subtree-dir: opendbc git-subtree-split: 38650f842ba919b1cf67bde601052fed38003a89	2019-06-28 21:09:13 +00:00
Vehicle Researcher	b93f77ea0e	Merge opendbc subtree	2019-06-28 21:09:13 +00:00
Vehicle Researcher	dba8e01e54	Squashed 'panda/' content from commit ae816c104 git-subtree-dir: panda git-subtree-split: ae816c104a99a8cd4d508ccd6abdc7b93053529c	2019-06-28 21:09:12 +00:00
Vehicle Researcher	983120bfed	Merge commit 'dba8e01e540f8b6b231be082ee6d36304aa1997d' as 'panda'	2019-06-28 21:09:12 +00:00
Vehicle Researcher	27803e787b	Remove old panda subtree	2019-06-28 21:09:11 +00:00
Vehicle Researcher	24e096d9f0	Squashed 'cereal/' content from commit 9f2076eef git-subtree-dir: cereal git-subtree-split: 9f2076eefd6f71c9b640d26d29ed33a6bbcbf4ca	2019-06-28 21:09:10 +00:00
Vehicle Researcher	6651d50c81	Merge commit '24e096d9f0f424c22b616b43957a5fd310f4ee83' as 'cereal'	2019-06-28 21:09:10 +00:00
Vehicle Researcher	f64c4df8c8	Remove old cereal subtree	2019-06-28 21:09:09 +00:00
dekerr	1883bd6135	remove 17 odyssey	2019-06-26 15:20:11 -04:00
eFini	1ba6b0004d	Updating existing fingerprint to support both China 2017 & 2019 CRV-H (#689 ) * Fingerprint works on both China 2017 & 2019 CRV-H * update readme	2019-06-25 14:15:38 -07:00
TrackZero	68b86c7ca8	Added fingerprint for 2019 Toyota Prius LE (#694 ) * Adding fingerprint for 2019 Prius LE	2019-06-25 14:04:39 -07:00
dekerr	36881b6410	update vals (#705 )	2019-06-20 12:22:30 -07:00
Willem Melching	fe7e5cf5df	Deterministic boardd build (#702 )	2019-06-17 15:23:03 -07:00
rbiasini	d8b1588937	Reconcile panda pedal cancel logic for Toyota with controls (#698 )	2019-06-13 17:51:12 -07:00
rbiasini	a2f4d6b5ad	Subaru re-added to the list of supported cars with with DIY giraffe (#691 ) * Subaru re-added to the list of supported cars with with DIY giraffe * Minor line break fixes	2019-06-07 18:09:29 -07:00
George Hotz	16d0c4a3e7	Merge pull request #679 from njbrown09/entunehotspot Add Toyota Entune Wifi hotspot to hotspot check.	2019-06-06 23:11:43 -07:00
Nick Brown	c0a3e48d94	Detect toyota connected car wifi as a hotspot and not a normal home wifi network.	2019-06-02 00:18:00 -04:00