Merge pull request #470 from commaai/devel

0.5.7 release
hotfix: wait longer in CDP mode before switching to fast charge, so EON can boot (#469 )
2026-08-31 21:23:49 +08:00 · 2018-12-17 20:36:42 -07:00 · 2018-12-16 19:54:29 -07:00 · 2018-12-13 20:49:44 +01:00 · 2018-12-10 14:13:12 -08:00 · 2018-12-10 14:06:10 -08:00
55 changed files with 1537 additions and 514 deletions
@@ -35,7 +35,7 @@ Also, we have a several thousand people community on [slack](https://slack.comma

 <table>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=9TDi0BHgXyo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
@@ -51,53 +51,56 @@ Also, we have a several thousand people community on [slack](https://slack.comma
 Hardware
 ------

-Right now openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). We'd like to support other platforms as well.
+At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.

 Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.

 Supported Cars
 ------

-| 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             |
-| 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>|
-| Honda                | Accord 2018             | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
-| Honda                | Civic 2016-18           | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
-| Honda                | Civic 2017-18 *(Hatch)* | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V 2015-16            | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | CR-V 2017-18            | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Odyssey 2017-19         | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
-| Honda                | Pilot 2017-18           | 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 2017-18       | 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              | Genesis 2018            | All                  | Yes     | Stock          | 19mph            | 34mph          | 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                | RX Hybrid 2016-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 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            | 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               | Prius 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2017-18           | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius Prime 2017-18     | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
-| Toyota               | Rav4 2017-18            | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
-| Toyota               | Rav4 Hybrid 2017-18     | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| 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             |
+| 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>|
+| 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                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
+| Honda                | Civic Hatchback 2017-18  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | CR-V 2017-18             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | 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 2017-18        | 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              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | 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                | RX Hybrid 2016-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 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            | 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               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2017-18            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius Prime 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2017-18      | 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 ofor the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
-<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/) <br />
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais.  
+<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/).  

 Community Maintained Cars
 ------
@@ -1,3 +1,13 @@
+Version 0.5.7 (2018-12-06)
+========================
+ * Speed limit from OpenStreetMap added to UI
+ * Highlight speed limit when speed exceeds road speed limit plus a delta
+ * Option to limit openpilot max speed to road speed limit plus a delta
+ * Cadillac ATS support thanks to vntarasov!
+ * GMC Acadia support thanks to CryptoKylan!
+ * Decrease GPU power consumption
+ * NEOSv8 autoupdate
+
 Version 0.5.6 (2018-11-16)
 ========================
 * Refresh settings layout and add feature descriptions
@@ -7,6 +17,7 @@ Version 0.5.6 (2018-11-16)
 * More tuning to Honda positive accelerations
 * Reduce brake pump use on Hondas
 * Chevrolet Malibu support thanks to tylergets!
+ * Holden Astra support thanks to AlexHill!

 Version 0.5.5 (2018-10-20)
 ========================
@@ -6,13 +6,16 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
 JS := gen/js/car.capnp.js gen/js/log.capnp.js

 UNAME_M ?= $(shell uname -m)
-
 # only generate C++ for docker tests
 ifneq ($(OPTEST),1)
 	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h

 	ifeq ($(UNAME_M),x86_64)
-		GENS += gen/java/Car.java gen/java/Log.java
+		ifneq (, $(shell which capnpc-java))
+			GENS += gen/java/Car.java gen/java/Log.java
+    else
+      $(warning capnpc-java not found, skipping java build)
+		endif
 	endif

 endif
@@ -355,6 +355,7 @@ struct CarParams {
  radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN

  steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
+  openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?

  enum SteerControlType {
    torque @0;
@@ -276,7 +276,8 @@ struct ThermalData {
  startedTs @13 :UInt64;

  thermalStatus @14 :ThermalStatus;
-  chargerDisabled @17 :Bool;
+  chargingError @17 :Bool;
+  chargingDisabled @18 :Bool;

  enum ThermalStatus {
    green @0;   # all processes run
@@ -344,6 +345,7 @@ struct LiveCalibrationData {
  warpMatrix @0 :List(Float32);
  # camera_frame_from_model_frame
  warpMatrix2 @5 :List(Float32);
+  warpMatrixBig @6 :List(Float32);
  calStatus @1 :Int8;
  calCycle @2 :Int32;
  calPerc @3 :Int8;
@@ -562,6 +564,10 @@ struct Plan {

  gpsPlannerActive @19 :Bool;

+  # maps
+  vCurvature @21 :Float32;
+  decelForTurn @22 :Bool;
+
  struct GpsTrajectory {
    x @0 :List(Float32);
    y @1 :List(Float32);
@@ -1567,8 +1573,17 @@ struct LiveParametersData {
 }

 struct LiveMapData {
-  valid @0 :Bool;
+  speedLimitValid @0 :Bool;
  speedLimit @1 :Float32;
+  curvatureValid @2 :Bool;
+  curvature @3 :Float32;
+  wayId @4 :UInt64;
+  roadX @5 :List(Float32);
+  roadY @6 :List(Float32);
+  lastGps @7: GpsLocationData;
+  roadCurvatureX @8 :List(Float32);
+  roadCurvature @9 :List(Float32);
+  distToTurn @10 :Float32;
 }


@@ -63,6 +63,7 @@ keys = {
  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
  "IsGeofenceEnabled": TxType.PERSISTENT,
+  "SpeedLimitOffset": TxType.PERSISTENT,
 # written: visiond
 # read:    visiond, controlsd
  "CalibrationParams": TxType.PERSISTENT,
@@ -74,6 +75,8 @@ keys = {
  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
  "IsUpdateAvailable": TxType.PERSISTENT,
+  "LongitudinalControl": TxType.PERSISTENT,
+  "LimitSetSpeed": TxType.PERSISTENT,

  "RecordFront": TxType.PERSISTENT,
 }
@@ -83,7 +83,7 @@ def get_model_height_transform(camera_frame_from_road_frame, height):

 # camera_frame_from_model_frame aka 'warp matrix'
 # was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
  vp = vp_from_ke(camera_frame_from_road_frame)

  model_camera_from_model_frame = np.array([
@@ -0,0 +1,44 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+ VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
+ VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -248,9 +248,9 @@ 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" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 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" 65 "no overtake" 129 "no entry";
-VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";


 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
@@ -180,6 +180,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
 SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
 SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX

 BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
 SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
@@ -0,0 +1,311 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ 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_ 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_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ "honda_insight_ex_2019_can.dbc starts here"
+
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+ VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
+ VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -1 +1 @@
-v1.1.7
+v1.1.8
@@ -589,6 +589,8 @@ int main() {
    uint64_t marker = 0;
    #define CURRENT_THRESHOLD 0xF00
    #define CLICKS 8
+    // Enough clicks to ensure that enumeration happened. Should be longer than bootup time of the device connected to EON
+    #define CLICKS_BOOTUP 30
  #endif

  for (cnt=0;;cnt++) {
@@ -615,8 +617,8 @@ int main() {
          }
          break;
        case USB_POWER_CDP:
-          // been CLICKS clicks since we switched to CDP
-          if ((cnt-marker) >= CLICKS) {
+          // been CLICKS_BOOTUP clicks since we switched to CDP
+          if ((cnt-marker) >= CLICKS_BOOTUP ) {
            // 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");
@@ -0,0 +1 @@
+libopenblas_armv8p-r0.2.19.so
@@ -1,123 +0,0 @@
-Metadata-Version: 1.1
-Name: overpy
-Version: 0.4
-Summary: Python Wrapper to access the OpenStreepMap Overpass API
-Home-page: https://github.com/DinoTools/python-overpy
-Author: PhiBo (DinoTools)
-Author-email: UNKNOWN
-License: MIT
-Description: Python Overpass Wrapper
-        =======================
-        
-        A Python Wrapper to access the Overpass API.
-        
-        Have a look at the `documentation`_ to find additional information.
-        
-        .. image:: https://pypip.in/version/overpy/badge.svg
-            :target: https://pypi.python.org/pypi/overpy/
-            :alt: Latest Version
-        
-        .. image:: https://pypip.in/license/overpy/badge.svg
-            :target: https://pypi.python.org/pypi/overpy/
-            :alt: License
-        
-        .. image:: https://travis-ci.org/DinoTools/python-overpy.svg?branch=master
-            :target: https://travis-ci.org/DinoTools/python-overpy
-        
-        .. image:: https://coveralls.io/repos/DinoTools/python-overpy/badge.png?branch=master
-            :target: https://coveralls.io/r/DinoTools/python-overpy?branch=master
-        
-        Features
-        --------
-        
-        * Query Overpass API
-        * Parse JSON and XML response data
-        * Additional helper functions
-        
-        Install
-        -------
-        
-        **Requirements:**
-        
-        Supported Python versions:
-        
-        * Python 2.7
-        * Python >= 3.2
-        * PyPy and PyPy3
-        
-        **Install:**
-        
-        .. code-block:: console
-        
-            $ pip install overpy
-        
-        Examples
-        --------
-        
-        Additional examples can be found in the `documentation`_ and in the *examples* directory.
-        
-        .. code-block:: python
-        
-            import overpy
-        
-            api = overpy.Overpass()
-        
-            # fetch all ways and nodes
-            result = api.query("""
-                way(50.746,7.154,50.748,7.157) ["highway"];
-                (._;>;);
-                out body;
-                """)
-        
-            for way in result.ways:
-                print("Name: %s" % way.tags.get("name", "n/a"))
-                print("  Highway: %s" % way.tags.get("highway", "n/a"))
-                print("  Nodes:")
-                for node in way.nodes:
-                    print("    Lat: %f, Lon: %f" % (node.lat, node.lon))
-        
-        
-        Helper
-        ~~~~~~
-        
-        Helper methods are available to provide easy access to often used requests.
-        
-        .. code-block:: python
-        
-            import overpy.helper
-        
-            # 3600062594 is the OSM id of Chemnitz and is the bounding box for the request
-            street = overpy.helper.get_street(
-                "Straße der Nationen",
-                "3600062594"
-            )
-        
-            # this finds an intersection between Straße der Nationen and Carolastraße in Chemnitz
-            intersection = overpy.helper.get_intersection(
-                "Straße der Nationen",
-                "Carolastraße",
-                "3600062594"
-            )
-        
-        
-        License
-        -------
-        
-        Published under the MIT (see LICENSE for more information)
-        
-        .. _`documentation`: http://python-overpy.readthedocs.org/
-        
-Keywords: OverPy Overpass OSM OpenStreetMap
-Platform: UNKNOWN
-Classifier: Development Status :: 4 - Beta
-Classifier: License :: OSI Approved :: MIT License
-Classifier: Operating System :: OS Independent
-Classifier: Programming Language :: Python
-Classifier: Programming Language :: Python :: 2.7
-Classifier: Programming Language :: Python :: 3
-Classifier: Programming Language :: Python :: 3.2
-Classifier: Programming Language :: Python :: 3.3
-Classifier: Programming Language :: Python :: 3.4
-Classifier: Programming Language :: Python :: 3.5
-Classifier: Programming Language :: Python :: Implementation :: CPython
-Classifier: Programming Language :: Python :: Implementation :: PyPy
@@ -1,61 +0,0 @@
-CHANGELOG.rst
-LICENSE
-MANIFEST.in
-README.rst
-setup.cfg
-setup.py
-docs/make.bat
-docs/source/api.rst
-docs/source/changelog.rst
-docs/source/conf.py
-docs/source/contributing.rst
-docs/source/example.rst
-docs/source/index.rst
-docs/source/introduction.rst
-examples/get_areas.py
-examples/get_nodes.py
-examples/get_ways.py
-overpy/__about__.py
-overpy/__init__.py
-overpy/exception.py
-overpy/helper.py
-overpy.egg-info/PKG-INFO
-overpy.egg-info/SOURCES.txt
-overpy.egg-info/dependency_links.txt
-overpy.egg-info/not-zip-safe
-overpy.egg-info/top_level.txt
-tests/__init__.py
-tests/base_class.py
-tests/test_exception.py
-tests/test_json.py
-tests/test_request.py
-tests/test_result.py
-tests/test_result_way.py
-tests/test_xml.py
-tests/json/area-01.json
-tests/json/node-01.json
-tests/json/relation-01.json
-tests/json/relation-02.json
-tests/json/relation-03.json
-tests/json/relation-04.json
-tests/json/result-expand-01.json
-tests/json/result-expand-02.json
-tests/json/result-way-01.json
-tests/json/result-way-02.json
-tests/json/result-way-03.json
-tests/json/way-01.json
-tests/json/way-02.json
-tests/json/way-03.json
-tests/json/way-04.json
-tests/response/bad-request-encoding.html
-tests/response/bad-request.html
-tests/xml/area-01.xml
-tests/xml/node-01.xml
-tests/xml/relation-01.xml
-tests/xml/relation-02.xml
-tests/xml/relation-03.xml
-tests/xml/relation-04.xml
-tests/xml/way-01.xml
-tests/xml/way-02.xml
-tests/xml/way-03.xml
-tests/xml/way-04.xml
@@ -1 +0,0 @@
-
@@ -1,56 +0,0 @@
-../overpy/__about__.py
-../overpy/__about__.pyc
-../overpy/__init__.py
-../overpy/__init__.pyc
-../overpy/exception.py
-../overpy/exception.pyc
-../overpy/helper.py
-../overpy/helper.pyc
-../tests/__init__.py
-../tests/__init__.pyc
-../tests/base_class.py
-../tests/base_class.pyc
-../tests/json/area-01.json
-../tests/json/node-01.json
-../tests/json/relation-01.json
-../tests/json/relation-02.json
-../tests/json/relation-03.json
-../tests/json/relation-04.json
-../tests/json/result-expand-01.json
-../tests/json/result-expand-02.json
-../tests/json/result-way-01.json
-../tests/json/result-way-02.json
-../tests/json/result-way-03.json
-../tests/json/way-01.json
-../tests/json/way-02.json
-../tests/json/way-03.json
-../tests/json/way-04.json
-../tests/response/bad-request-encoding.html
-../tests/response/bad-request.html
-../tests/test_exception.py
-../tests/test_exception.pyc
-../tests/test_json.py
-../tests/test_json.pyc
-../tests/test_request.py
-../tests/test_request.pyc
-../tests/test_result.py
-../tests/test_result.pyc
-../tests/test_result_way.py
-../tests/test_result_way.pyc
-../tests/test_xml.py
-../tests/test_xml.pyc
-../tests/xml/area-01.xml
-../tests/xml/node-01.xml
-../tests/xml/relation-01.xml
-../tests/xml/relation-02.xml
-../tests/xml/relation-03.xml
-../tests/xml/relation-04.xml
-../tests/xml/way-01.xml
-../tests/xml/way-02.xml
-../tests/xml/way-03.xml
-../tests/xml/way-04.xml
-PKG-INFO
-SOURCES.txt
-dependency_links.txt
-not-zip-safe
-top_level.txt
@@ -1 +0,0 @@
-
@@ -1,2 +0,0 @@
-overpy
-tests
@@ -5,6 +5,8 @@ from xml.sax import handler, make_parser
 import json
 import re
 import sys
+import time
+import requests

 from overpy import exception
 from overpy.__about__ import (
@@ -18,12 +20,15 @@ PY3 = sys.version_info[0] == 3
 XML_PARSER_DOM = 1
 XML_PARSER_SAX = 2

-if PY2:
-    from urllib2 import urlopen
-    from urllib2 import HTTPError
-elif PY3:
-    from urllib.request import urlopen
-    from urllib.error import HTTPError
+# Try to convert some common attributes
+# http://wiki.openstreetmap.org/wiki/Elements#Common_attributes
+GLOBAL_ATTRIBUTE_MODIFIERS = {
+    "changeset": int,
+    "timestamp": lambda ts: datetime.strptime(ts, "%Y-%m-%dT%H:%M:%SZ"),
+    "uid": int,
+    "version": int,
+    "visible": lambda v: v.lower() == "true"
+}


 def is_valid_type(element, cls):
@@ -41,11 +46,16 @@ def is_valid_type(element, cls):
 class Overpass(object):
    """
    Class to access the Overpass API
+
+    :cvar default_max_retry_count: Global max number of retries (Default: 0)
+    :cvar default_retry_timeout: Global time to wait between tries (Default: 1.0s)
    """
+    default_max_retry_count = 0
    default_read_chunk_size = 4096
+    default_retry_timeout = 1.0
    default_url = "http://overpass-api.de/api/interpreter"

-    def __init__(self, read_chunk_size=None, url=None, xml_parser=XML_PARSER_SAX):
+    def __init__(self, read_chunk_size=None, url=None, xml_parser=XML_PARSER_SAX, max_retry_count=None, retry_timeout=None, timeout=5.0, headers=None):
        """
        :param read_chunk_size: Max size of each chunk read from the server response
        :type read_chunk_size: Integer
@@ -53,6 +63,14 @@ class Overpass(object):
        :type url: str
        :param xml_parser: The xml parser to use
        :type xml_parser: Integer
+        :param max_retry_count: Max number of retries (Default: default_max_retry_count)
+        :type max_retry_count: Integer
+        :param retry_timeout: Time to wait between tries (Default: default_retry_timeout)
+        :type retry_timeout: float
+        :param timeout: HTTP request timeout
+        :type timeout: float
+        :param headers: HTTP request headers
+        :type headers: dict
        """
        self.url = self.default_url
        if url is not None:
@@ -63,7 +81,34 @@ class Overpass(object):
        if read_chunk_size is None:
            read_chunk_size = self.default_read_chunk_size
        self.read_chunk_size = read_chunk_size
+
+        if max_retry_count is None:
+            max_retry_count = self.default_max_retry_count
+        self.max_retry_count = max_retry_count
+
+        if retry_timeout is None:
+            retry_timeout = self.default_retry_timeout
+        self.retry_timeout = retry_timeout
+
        self.xml_parser = xml_parser
+        self.timeout = timeout
+        self.headers = headers
+
+    def _handle_remark_msg(self, msg):
+        """
+        Try to parse the message provided with the remark tag or element.
+
+        :param str msg: The message
+        :raises overpy.exception.OverpassRuntimeError: If message starts with 'runtime error:'
+        :raises overpy.exception.OverpassRuntimeRemark: If message starts with 'runtime remark:'
+        :raises overpy.exception.OverpassUnknownError: If we are unable to identify the error
+        """
+        msg = msg.strip()
+        if msg.startswith("runtime error:"):
+            raise exception.OverpassRuntimeError(msg=msg)
+        elif msg.startswith("runtime remark:"):
+            raise exception.OverpassRuntimeRemark(msg=msg)
+        raise exception.OverpassUnknownError(msg=msg)

    def query(self, query):
        """
@@ -76,56 +121,79 @@ class Overpass(object):
        if not isinstance(query, bytes):
            query = query.encode("utf-8")

-        try:
-            f = urlopen(self.url, query)
-        except HTTPError as e:
-            f = e
+        retry_num = 0
+        retry_exceptions = []
+        do_retry = True if self.max_retry_count > 0 else False
+        while retry_num <= self.max_retry_count:
+            if retry_num > 0:
+                time.sleep(self.retry_timeout)
+            retry_num += 1

-        response = f.read(self.read_chunk_size)
-        while True:
-            data = f.read(self.read_chunk_size)
-            if len(data) == 0:
-                break
-            response = response + data
-        f.close()
+            try:
+                if self.headers is not None:
+                    r = requests.post(self.url, query, timeout=self.timeout, headers=self.headers)
+                else:
+                    r = requests.post(self.url, query, timeout=self.timeout)
+                response = r.content
+            except (requests.exceptions.BaseHTTPError, requests.exceptions.RequestException) as e:
+                if not do_retry:
+                    raise e
+                retry_exceptions.append(e)
+                continue

-        if f.code == 200:
-            if PY2:
-                http_info = f.info()
-                content_type = http_info.getheader("content-type")
-            else:
-                content_type = f.getheader("Content-Type")
+            if r.status_code == 200:
+                content_type = r.headers["Content-Type"]

-            if content_type == "application/json":
-                return self.parse_json(response)
+                if content_type == "application/json":
+                    return self.parse_json(response)

-            if content_type == "application/osm3s+xml":
-                return self.parse_xml(response)
+                if content_type == "application/osm3s+xml":
+                    return self.parse_xml(response)

-            raise exception.OverpassUnknownContentType(content_type)
+                e = exception.OverpassUnknownContentType(content_type)
+                if not do_retry:
+                    raise e
+                retry_exceptions.append(e)
+                continue
+            elif r.status_code == 400:
+                msgs = []
+                for msg in self._regex_extract_error_msg.finditer(response):
+                    tmp = self._regex_remove_tag.sub(b"", msg.group("msg"))
+                    try:
+                        tmp = tmp.decode("utf-8")
+                    except UnicodeDecodeError:
+                        tmp = repr(tmp)
+                    msgs.append(tmp)

-        if f.code == 400:
-            msgs = []
-            for msg in self._regex_extract_error_msg.finditer(response):
-                tmp = self._regex_remove_tag.sub(b"", msg.group("msg"))
-                try:
-                    tmp = tmp.decode("utf-8")
-                except UnicodeDecodeError:
-                    tmp = repr(tmp)
-                msgs.append(tmp)
+                e = exception.OverpassBadRequest(
+                    query,
+                    msgs=msgs
+                )
+                if not do_retry:
+                    raise e
+                retry_exceptions.append(e)
+                continue
+            elif r.status_code == 429:
+                e = exception.OverpassTooManyRequests
+                if not do_retry:
+                    raise e
+                retry_exceptions.append(e)
+                continue
+            elif r.status_code == 504:
+                e = exception.OverpassGatewayTimeout
+                if not do_retry:
+                    raise e
+                retry_exceptions.append(e)
+                continue

-            raise exception.OverpassBadRequest(
-                query,
-                msgs=msgs
-            )
+            # No valid response code
+            e = exception.OverpassUnknownHTTPStatusCode(r.status_code)
+            if not do_retry:
+                raise e
+            retry_exceptions.append(e)
+            continue

-        if f.code == 429:
-            raise exception.OverpassTooManyRequests
-
-        if f.code == 504:
-            raise exception.OverpassGatewayTimeout
-
-        raise exception.OverpassUnknownHTTPStatusCode(f.code)
+        raise exception.MaxRetriesReached(retry_count=retry_num, exceptions=retry_exceptions)

    def parse_json(self, data, encoding="utf-8"):
        """
@@ -139,8 +207,11 @@ class Overpass(object):
        :rtype: overpy.Result
        """
        if isinstance(data, bytes):
-            data = data.decode(encoding)
+          data = data.decode(encoding)
+
        data = json.loads(data, parse_float=Decimal)
+        if "remark" in data:
+            self._handle_remark_msg(msg=data.get("remark"))
        return Result.from_json(data, api=self)

    def parse_xml(self, data, encoding="utf-8", parser=None):
@@ -155,13 +226,16 @@ class Overpass(object):
        """
        if parser is None:
            parser = self.xml_parser
-
        if isinstance(data, bytes):
            data = data.decode(encoding)
        if PY2 and not isinstance(data, str):
            # Python 2.x: Convert unicode strings
            data = data.encode(encoding)

+        m = re.compile("<remark>(?P<msg>[^<>]*)</remark>").search(data)
+        if m:
+            self._handle_remark_msg(m.group("msg"))
+
        return Result.from_xml(data, api=self, parser=parser)


@@ -279,23 +353,39 @@ class Result(object):
        return result

    @classmethod
-    def from_xml(cls, data, api=None, parser=XML_PARSER_SAX):
+    def from_xml(cls, data, api=None, parser=None):
        """
-        Create a new instance and load data from xml object.
+        Create a new instance and load data from xml data or object.
+
+        .. note::
+            If parser is set to None, the functions tries to find the best parse.
+            By default the SAX parser is chosen if a string is provided as data.
+            The parser is set to DOM if an xml.etree.ElementTree.Element is provided as data value.

        :param data: Root element
-        :type data: xml.etree.ElementTree.Element
-        :param api:
+        :type data: str | xml.etree.ElementTree.Element
+        :param api: The instance to query additional information if required.
        :type api: Overpass
-        :param parser: Specify the parser to use(DOM or SAX)
-        :type parser: Integer
+        :param parser: Specify the parser to use(DOM or SAX)(Default: None = autodetect, defaults to SAX)
+        :type parser: Integer | None
        :return: New instance of Result object
        :rtype: Result
        """
+        if parser is None:
+            if isinstance(data, str):
+                parser = XML_PARSER_SAX
+            else:
+                parser = XML_PARSER_DOM
+
        result = cls(api=api)
        if parser == XML_PARSER_DOM:
            import xml.etree.ElementTree as ET
-            root = ET.fromstring(data)
+            if isinstance(data, str):
+                root = ET.fromstring(data)
+            elif isinstance(data, ET.Element):
+                root = data
+            else:
+                raise exception.OverPyException("Unable to detect data type.")

            for elem_cls in [Node, Way, Relation, Area]:
                for child in root:
@@ -522,17 +612,10 @@ class Element(object):
        """

        self._result = result
-        # Try to convert some common attributes
-        # http://wiki.openstreetmap.org/wiki/Elements#Common_attributes
-        self._attribute_modifiers = {
-            "changeset": int,
-            "timestamp": lambda ts: datetime.strptime(ts, "%Y-%m-%dT%H:%M:%SZ"),
-            "uid": int,
-            "version": int,
-            "visible": lambda v: v.lower() == "true"
-        }
        self.attributes = attributes
-        for n, m in self._attribute_modifiers.items():
+        # ToDo: Add option to modify attribute modifiers
+        attribute_modifiers = dict(GLOBAL_ATTRIBUTE_MODIFIERS.items())
+        for n, m in attribute_modifiers.items():
            if n in self.attributes:
                self.attributes[n] = m(self.attributes[n])
        self.id = None
@@ -37,6 +37,18 @@ class ElementDataWrongType(OverPyException):
        )


+class MaxRetriesReached(OverPyException):
+    """
+    Raised if max retries reached and the Overpass server didn't respond with a result.
+    """
+    def __init__(self, retry_count, exceptions):
+        self.exceptions = exceptions
+        self.retry_count = retry_count
+
+    def __str__(self):
+        return "Unable get any result from the Overpass API server after %d retries." % self.retry_count
+
+
 class OverpassBadRequest(OverPyException):
    """
    Raised if the Overpass API service returns a syntax error.
@@ -62,6 +74,29 @@ class OverpassBadRequest(OverPyException):
        return "\n".join(tmp_msgs)


+class OverpassError(OverPyException):
+    """
+    Base exception to report errors if the response returns a remark tag or element.
+    
+    .. note::
+        If you are not sure which of the subexceptions you should use, use this one and try to parse the message.
+
+        For more information have a look at https://github.com/DinoTools/python-overpy/issues/62
+    
+    :param str msg: The message from the remark tag or element
+    """
+    def __init__(self, msg=None):
+        #: The message from the remark tag or element
+        self.msg = msg
+
+    def __str__(self):
+        if self.msg is None:
+            return "No error message provided"
+        if not isinstance(self.msg, str):
+            return str(self.msg)
+        return self.msg
+
+
 class OverpassGatewayTimeout(OverPyException):
    """
    Raised if load of the Overpass API service is too high and it can't handle the request.
@@ -70,6 +105,22 @@ class OverpassGatewayTimeout(OverPyException):
        OverPyException.__init__(self, "Server load too high")


+class OverpassRuntimeError(OverpassError):
+    """
+    Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with
+    'runtime error:'.
+    """
+    pass
+
+
+class OverpassRuntimeRemark(OverpassError):
+    """
+    Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with
+    'runtime remark:'.
+    """
+    pass
+
+
 class OverpassTooManyRequests(OverPyException):
    """
    Raised if the Overpass API service returns a 429 status code.
@@ -94,6 +145,13 @@ class OverpassUnknownContentType(OverPyException):
        return "Unknown content type: %s" % self.content_type


+class OverpassUnknownError(OverpassError):
+    """
+    Raised if the server returns a remark-tag(xml) or remark element(json) and we are unable to find any reason.
+    """
+    pass
+
+
 class OverpassUnknownHTTPStatusCode(OverPyException):
    """
    Raised if the returned HTTP status code isn't handled by OverPy.
@@ -5,7 +5,7 @@ libusb1==1.5.0
 pycapnp==0.6.3
 pyzmq==15.4.0
 raven==5.23.0
-requests==2.10.0
+requests==2.20.0
 setproctitle==1.1.10
 simplejson==3.8.2
 pyyaml==3.12
@@ -16,4 +16,5 @@ filterpy==1.2.4
 smbus2==0.2.0
 pyflakes==1.6.0
 -e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
+-e git+https://github.com/commaai/python-overpy.git@f86529af402d4642e1faeb146671c40284007323#egg=overpy
 Flask==1.0.2
@@ -71,9 +71,10 @@ def __parse_can_buffer(dat):
 def can_send_many(arr):
  snds = []
  for addr, _, dat, alt in arr:
-    snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
-    snd = snd.ljust(0x10, '\x00')
-    snds.append(snd)
+    if addr < 0x800:  # only support 11 bit addr
+      snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
+      snd = snd.ljust(0x10, '\x00')
+      snds.append(snd)
  while 1:
    try:
      handle.bulkWrite(3, ''.join(snds))
@@ -119,6 +119,7 @@ class CarInterface(object):
    ret.brakeMaxV = [1., 0.8]

    ret.enableCamera = not any(x for x in [970, 973, 984] if x in fingerprint)
+    ret.openpilotLongitudinalControl = False
    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)

    ret.steerLimitAlert = False
@@ -10,7 +10,7 @@ from selfdrive.can.packer import CANPacker

 class CarControllerParams():
  def __init__(self, car_fingerprint):
-    if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+    if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
      self.STEER_MAX = 300
      self.STEER_STEP = 2              # how often we update the steer cmd
      self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
@@ -104,7 +104,7 @@ class CarController(object):
      self.apply_steer_last = apply_steer
      idx = (frame / P.STEER_STEP) % 4

-      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
        can_sends.append(gmcan.create_steering_control(self.packer_pt,
          canbus.powertrain, apply_steer, idx, lkas_enabled))
      if self.car_fingerprint == CAR.CADILLAC_CT6:
@@ -113,7 +113,7 @@ class CarController(object):

    ### GAS/BRAKE ###

-    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
      # no output if not enabled, but keep sending keepalive messages
      # treat pedals as one
      final_pedal = actuators.gas - actuators.brake
@@ -31,15 +31,18 @@ def get_powertrain_can_parser(CP, canbus):
    ("LKATorqueDeliveredStatus", "PSCMStatus", 0),
  ]

-  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU):
+  if CP.carFingerprint == CAR.VOLT:
    signals += [
      ("RegenPaddle", "EBCMRegenPaddle", 0),
+    ]
+  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
+    signals += [
      ("TractionControlOn", "ESPStatus", 0),
      ("EPBClosed", "EPBStatus", 0),
      ("CruiseMainOn", "ECMEngineStatus", 0),
      ("CruiseState", "AcceleratorPedal2", 0),
    ]
-  elif CP.carFingerprint == CAR.CADILLAC_CT6:
+  if CP.carFingerprint == CAR.CADILLAC_CT6:
    signals += [
      ("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
    ]
@@ -117,14 +120,17 @@ class CarState(object):
    self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
    self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2

-    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
      self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
      self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
      self.acc_active = False
      self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
-      self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
      self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
-    else:
+      if self.car_fingerprint == CAR.VOLT:
+        self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
+      else:
+        self.regen_pressed = False
+    if self.car_fingerprint == CAR.CADILLAC_CT6:
      self.park_brake = False
      self.main_on = False
      self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']
@@ -12,15 +12,6 @@ try:
 except ImportError:
  CarController = None

-# Car chimes, beeps, blinker sounds etc
-class CM:
-  TOCK = 0x81
-  TICK = 0x82
-  LOW_BEEP = 0x84
-  HIGH_BEEP = 0x85
-  LOW_CHIME = 0x86
-  HIGH_CHIME = 0x87
-
 class CanBus(object):
  def __init__(self):
    self.powertrain = 0
@@ -71,13 +62,14 @@ class CarInterface(object):
    # Have to go passive if ASCM is online (ACC-enabled cars),
    # or camera is on powertrain bus (LKA cars without ACC).
    ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
+    ret.openpilotLongitudinalControl = ret.enableCamera

    std_cargo = 136

    if candidate == CAR.VOLT:
      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-      # kg of standard extra cargo to count for drive, gas, etc...
+      # kg of standard extra cargo to count for driver, gas, etc...
      ret.mass = 1607 + std_cargo
      ret.safetyModel = car.CarParams.SafetyModels.gm
      ret.wheelbase = 2.69
@@ -95,10 +87,39 @@ class CarInterface(object):
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.4 # wild guess

+    elif candidate == CAR.HOLDEN_ASTRA:
+      # kg of standard extra cargo to count for driver, gas, etc...
+      ret.mass = 1363 + std_cargo
+      ret.wheelbase = 2.662
+      # Remaining parameters copied from Volt for now
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.steerRatio = 15.7
+      ret.steerRatioRear = 0.
+
+    elif candidate == CAR.ACADIA:
+      ret.minEnableSpeed = -1 # engage speed is decided by pcm
+      ret.mass = 4353. * CV.LB_TO_KG + std_cargo
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.wheelbase = 2.86
+      ret.steerRatio = 14.4  #end to end is 13.46
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.4
+
+    elif candidate == CAR.CADILLAC_ATS:
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.mass = 1601 + std_cargo
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.wheelbase = 2.78
+      ret.steerRatio = 15.3
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.49
+
    elif candidate == CAR.CADILLAC_CT6:
      # engage speed is decided by pcm
      ret.minEnableSpeed = -1
-      # kg of standard extra cargo to count for drive, gas, etc...
+      # kg of standard extra cargo to count for driver, gas, etc...
      ret.mass = 4016. * CV.LB_TO_KG + std_cargo
      ret.safetyModel = car.CarParams.SafetyModels.cadillac
      ret.wheelbase = 3.11
@@ -264,8 +285,7 @@ class CarInterface(object):
    if ret.seatbeltUnlatched:
      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

-    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
-
+    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
      if self.CS.brake_error:
        events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
      if not self.CS.gear_shifter_valid:
@@ -22,7 +22,7 @@ LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
 def create_radard_can_parser(canbus, car_fingerprint):

  dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
    # C1A-ARS3-A by Continental
    radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
    signals = zip(['FLRRNumValidTargets',
@@ -4,9 +4,12 @@ from selfdrive.car import dbc_dict
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert

 class CAR:
+  HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
  VOLT = "CHEVROLET VOLT PREMIER 2017"
+  CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
  CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
  MALIBU = "CHEVROLET MALIBU PREMIER 2017"
+  ACADIA = "GMC ACADIA DENALI 2018"

 class CruiseButtons:
  UNPRESS     = 1
@@ -36,7 +39,7 @@ AUDIO_HUD = {

 def is_eps_status_ok(eps_status, car_fingerprint):
  valid_eps_status = []
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
    valid_eps_status += [0, 1]
  elif car_fingerprint == CAR.CADILLAC_CT6:
    valid_eps_status += [0, 1, 4, 5, 6]
@@ -55,6 +58,10 @@ def parse_gear_shifter(can_gear):
    return car.CarState.GearShifter.unknown

 FINGERPRINTS = {
+  # Astra BK MY17, ASCM unplugged
+  CAR.HOLDEN_ASTRA: [{
+    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
+  }],
  CAR.VOLT: [
  # Volt Premier w/ ACC 2017
  {
@@ -64,6 +71,11 @@ FINGERPRINTS = {
  {
    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
  }],
+  CAR.CADILLAC_ATS: [
+  # Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
  CAR.CADILLAC_CT6: [{
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
  }],
@@ -72,18 +84,29 @@ FINGERPRINTS = {
  {
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
  }],
+  CAR.ACADIA: [
+  # Acadia Denali w/ /ACC 2018
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
 }

 STEER_THRESHOLD = 1.0

 STOCK_CONTROL_MSGS = {
+  CAR.HOLDEN_ASTRA: [384, 715],
  CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
  CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
-  CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
+  CAR.ACADIA: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.CADILLAC_ATS: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.CADILLAC_CT6: [], # CT6 does not require ASCMs to be disconnected
 }

 DBC = {
+  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
 }
@@ -40,8 +40,6 @@ def get_can_signals(CP):
      ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
      ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
      ("GEAR", "GEARBOX", 0),
-      ("BRAKE_ERROR_1", "STANDSTILL", 1),
-      ("BRAKE_ERROR_2", "STANDSTILL", 1),
      ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
      ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
      ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
@@ -63,7 +61,6 @@ def get_can_signals(CP):
      ("STEERING_SENSORS", 100),
      ("SCM_FEEDBACK", 10),
      ("GEARBOX", 100),
-      ("STANDSTILL", 50),
      ("SEATBELT_STATUS", 10),
      ("CRUISE", 10),
      ("POWERTRAIN_DATA", 100),
@@ -84,9 +81,12 @@ def get_can_signals(CP):
    checks += [("GAS_PEDAL_2", 100)]
  else:
    # Nidec signals.
-    signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
+    signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
+                ("BRAKE_ERROR_2", "STANDSTILL", 1),
+                ("CRUISE_SPEED_PCM", "CRUISE", 0),
                ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
-    checks += [("CRUISE_PARAMS", 50)]
+    checks += [("CRUISE_PARAMS", 50),
+               ("STANDSTILL", 50)]

  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
    signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
@@ -205,7 +205,10 @@ class CarState(object):
    self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
    self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
    self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3]   # 3 is low speed lockout, not worth a warning
-    self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
+    if self.CP.radarOffCan:
+      self.brake_error = 0
+    else:
+      self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
    self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']

    # calc best v_ego estimate, by averaging two opposite corners
@@ -151,10 +151,13 @@ class CarInterface(object):
      ret.safetyModel = car.CarParams.SafetyModels.hondaBosch
      ret.enableCamera = True
      ret.radarOffCan = True
+      ret.openpilotLongitudinalControl = False
    else:
      ret.safetyModel = car.CarParams.SafetyModels.honda
      ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
      ret.enableGasInterceptor = 0x201 in fingerprint
+      ret.openpilotLongitudinalControl = ret.enableCamera
+
    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
    cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)

@@ -485,8 +488,8 @@ class CarInterface(object):
    ret.buttonEvents = buttonEvents

    # events
-    # TODO: I don't like the way capnp does enums
-    # These strings aren't checked at compile time
+    # TODO: event names aren't checked at compile time.
+    # Maybe there is a way to use capnp enums directly
    events = []
    if not self.CS.can_valid:
      self.can_invalid_count += 1
@@ -494,12 +497,15 @@ class CarInterface(object):
        events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
    else:
      self.can_invalid_count = 0
+
    if not self.CS.cam_can_valid and self.CP.enableCamera:
      self.cam_can_invalid_count += 1
-      if self.cam_can_invalid_count >= 5 and self.CS.CP.carFingerprint not in HONDA_BOSCH:
+      # wait 1.0s before throwing the alert to avoid it popping when you turn off the car
+      if self.cam_can_invalid_count >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH:
        events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
    else:
      self.cam_can_invalid_count = 0
+
    if self.CS.steer_error:
      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
    elif self.CS.steer_warning:
@@ -163,6 +163,7 @@ class CarInterface(object):
    ret.longPidDeadzoneV = [0.]

    ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
+    ret.openpilotLongitudinalControl = False

    ret.steerLimitAlert = False
    ret.stoppingControl = False
@@ -47,6 +47,7 @@ class CarInterface(object):
    ret.carFingerprint = candidate

    ret.safetyModel = car.CarParams.SafetyModels.noOutput
+    ret.openpilotLongitudinalControl = False

    # FIXME: hardcoding honda civic 2016 touring params so they can be used to
    # scale unknown params for other cars
@@ -186,6 +186,7 @@ class CarInterface(object):
    ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
    ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
    ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
+    ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
    cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
    cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
@@ -108,6 +108,10 @@ FINGERPRINTS = {
  }],
  CAR.LEXUS_RXH: [{
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
+  },
+    # RX450HL
+  {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  }],
  CAR.CHR: [{
    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
@@ -1 +1 @@
-#define COMMA_VERSION "0.5.6-release"
+#define COMMA_VERSION "0.5.7-release"
@@ -2,13 +2,11 @@
 import gc
 import zmq
 import json
-
 from cereal import car, log
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
 from common.profiler import Profiler
 from common.params import Params
-
 import selfdrive.messaging as messaging
 from selfdrive.config import Conversions as CV
 from selfdrive.services import service_list
@@ -25,17 +23,12 @@ from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.driver_monitor import DriverStatus
+from selfdrive.locationd.calibration_helpers import Calibration, Filter

 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.Live100Data.ControlState


-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
-
 def isActive(state):
  """Check if the actuators are enabled"""
  return state in [State.enabled, State.softDisabling]
@@ -126,14 +119,14 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
  return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter


-def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
+def calc_plan(CS, CP, VM, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
  """Calculate a longitudinal plan using MPC"""

  # Slow down when based on driver monitoring or geofence
  force_decel = driver_status.awareness < 0. or (geofence is not None and not geofence.in_geofence)

  # Update planner
-  plan_packet = PL.update(CS, LaC, LoC, v_cruise_kph, force_decel)
+  plan_packet = PL.update(CS, CP, VM, LaC, LoC, v_cruise_kph, force_decel)
  plan = plan_packet.plan
  plan_ts = plan_packet.logMonoTime
  events += list(plan.events)
@@ -293,7 +286,10 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
    extra_text_1, extra_text_2 = "", ""
    if e == "calibrationIncomplete":
      extra_text_1 = str(cal_perc) + "%"
-      extra_text_2 = "35 kph" if is_metric else "15 mph"
+      if is_metric:
+        extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_KPH))) + " kph"
+      else:
+        extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_MPH))) + " mph"
    AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)

  AM.process_alerts(sec_since_boot())
@@ -463,6 +459,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):

  # Write CarParams for radard and boardd safety mode
  params.put("CarParams", CP.to_bytes())
+  params.put("LongitudinalControl", "1" if CP.openpilotLongitudinalControl else "0")

  state = State.disabled
  soft_disable_timer = 0
@@ -498,7 +495,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
    prof.checkpoint("Sample")

    # Define longitudinal plan (MPC)
-    plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence)
+    plan, plan_ts = calc_plan(CS, CP, VM, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence)
    prof.checkpoint("Plan")

    if not passive:
@@ -514,7 +511,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):

    # Publish data
    CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
-      live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
+                   live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
    prof.checkpoint("Sent")

    rk.keep_time()  # Run at 100Hz
@@ -1,11 +1,19 @@
 import os
+import platform
 import subprocess

 from cffi import FFI

 mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
-subprocess.check_call(["make", "-j4"], cwd=mpc_dir)

+if platform.machine() == "x86_64":
+  try:
+    FFI().dlopen(os.path.join(mpc_dir, "libmpc1.so"))
+  except OSError:
+    # libmpc1.so is likely built for aarch64. cleaning...
+    subprocess.check_call(["make", "clean"], cwd=mpc_dir)
+
+subprocess.check_call(["make", "-j4"], cwd=mpc_dir)

 def _get_libmpc(mpc_id):
    libmpc_fn = os.path.join(mpc_dir, "libmpc%d.so" % mpc_id)
@@ -36,9 +44,7 @@ def _get_libmpc(mpc_id):

    return (ffi, ffi.dlopen(libmpc_fn))

-
 mpcs = [_get_libmpc(1), _get_libmpc(2)]

-
 def get_libmpc(mpc_id):
    return mpcs[mpc_id - 1]
@@ -6,6 +6,7 @@ import numpy as np
 from copy import copy
 from cereal import log
 from collections import defaultdict
+from common.params import Params
 from common.realtime import sec_since_boot
 from common.numpy_fast import interp
 import selfdrive.messaging as messaging
@@ -19,6 +20,10 @@ from selfdrive.controls.lib.speed_smoother import speed_smoother
 from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
 from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU

+# Max lateral acceleration, used to caclulate how much to slow down in turns
+A_Y_MAX = 2.0  # m/s^2
+NO_CURVATURE_SPEED = 200. * CV.MPH_TO_MS
+
 _DT = 0.01    # 100Hz
 _DT_MPC = 0.2  # 5Hz
 MAX_SPEED_ERROR = 2.0
@@ -249,8 +254,10 @@ class Planner(object):
    context = zmq.Context()
    self.CP = CP
    self.poller = zmq.Poller()
+
    self.live20 = messaging.sub_sock(context, service_list['live20'].port, conflate=True, poller=self.poller)
    self.model = messaging.sub_sock(context, service_list['model'].port, conflate=True, poller=self.poller)
+    self.live_map_data = messaging.sub_sock(context, service_list['liveMapData'].port, conflate=True, poller=self.poller)

    if os.environ.get('GPS_PLANNER_ACTIVE', False):
      self.gps_planner_plan = messaging.sub_sock(context, service_list['gpsPlannerPlan'].port, conflate=True, poller=self.poller, addr=GPS_PLANNER_ADDR)
@@ -293,8 +300,12 @@ class Planner(object):

    self.last_gps_planner_plan = None
    self.gps_planner_active = False
+    self.last_live_map_data = None
    self.perception_state = log.Live20Data.new_message()

+    self.params = Params()
+    self.v_speedlimit = NO_CURVATURE_SPEED
+
  def choose_solution(self, v_cruise_setpoint, enabled):
    if enabled:
      solutions = {'cruise': self.v_cruise}
@@ -327,7 +338,7 @@ class Planner(object):
    self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint])

  # this runs whenever we get a packet that can change the plan
-  def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel):
+  def update(self, CS, CP, VM, LaC, LoC, v_cruise_kph, force_slow_decel):
    cur_time = sec_since_boot()
    v_cruise_setpoint = v_cruise_kph * CV.KPH_TO_MS

@@ -342,6 +353,8 @@ class Planner(object):
        l20 = messaging.recv_one(socket)
      elif socket is self.gps_planner_plan:
        gps_planner_plan = messaging.recv_one(socket)
+      elif socket is self.live_map_data:
+        self.last_live_map_data = messaging.recv_one(socket).liveMapData

    if gps_planner_plan is not None:
      self.last_gps_planner_plan = gps_planner_plan
@@ -381,9 +394,23 @@ class Planner(object):
      enabled = (LoC.long_control_state == LongCtrlState.pid) or (LoC.long_control_state == LongCtrlState.stopping)
      following = self.lead_1.status and self.lead_1.dRel < 45.0 and self.lead_1.vLeadK > CS.vEgo and self.lead_1.aLeadK > 0.0

+
+      if self.last_live_map_data:
+        self.v_speedlimit = NO_CURVATURE_SPEED
+
+        # Speed limit
+        if self.last_live_map_data.speedLimitValid:
+          speed_limit = self.last_live_map_data.speedLimit
+          set_speed_limit_active = self.params.get("LimitSetSpeed") == "1" and self.params.get("SpeedLimitOffset") is not None
+
+          if set_speed_limit_active:
+            offset = float(self.params.get("SpeedLimitOffset"))
+            self.v_speedlimit = speed_limit + offset
+
+      v_cruise_setpoint = min([v_cruise_setpoint, self.v_speedlimit])
+
      # Calculate speed for normal cruise control
      if enabled:
-
        accel_limits = map(float, calc_cruise_accel_limits(CS.vEgo, following))
        # TODO: make a separate lookup for jerk tuning
        jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]
@@ -449,9 +476,9 @@ class Planner(object):
    if self.model_dead:
      events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
    if self.radar_dead or 'commIssue' in self.radar_errors:
-      events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
    if 'fault' in self.radar_errors:
-      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
    if LaC.mpc_solution[0].cost > 10000. or LaC.mpc_nans:   # TODO: find a better way to detect when MPC did not converge
      events.append(create_event('plannerError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))

@@ -0,0 +1,11 @@
+import math
+
+class Filter:
+  MIN_SPEED = 7 # m/s  (~15.5mph)
+  MAX_YAW_RATE = math.radians(3) # per second
+
+class Calibration:
+  UNCALIBRATED = 0
+  CALIBRATED = 1
+  INVALID = 2
+
@@ -3,22 +3,20 @@ import os
 import zmq
 import cv2
 import copy
-import math
 import json
 import numpy as np
 import selfdrive.messaging as messaging
+from selfdrive.locationd.calibration_helpers import Calibration, Filter
 from selfdrive.swaglog import cloudlog
 from selfdrive.services import service_list
 from common.params import Params
 from common.ffi_wrapper import ffi_wrap
 import common.transformations.orientation as orient
-from common.transformations.model import model_height, get_camera_frame_from_model_frame
+from common.transformations.model import model_height, get_camera_frame_from_model_frame, get_camera_frame_from_bigmodel_frame
 from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
                                          eon_intrinsics, get_calib_from_vp, normalize, denormalize, H, W


-MIN_SPEED_FILTER = 7 # m/s  (~15.5mph)
-MAX_YAW_RATE_FILTER = math.radians(3) # per second
 FRAMES_NEEDED = 120  # allow to update VP every so many frames
 VP_CYCLES_NEEDED = 2
 CALIBRATION_CYCLES_NEEDED = FRAMES_NEEDED * VP_CYCLES_NEEDED
@@ -42,12 +40,6 @@ c_code += "\n" + open(os.path.join(EXTERNAL_PATH, "get_vp.c")).read()
 ffi, lib = ffi_wrap('get_vp', c_code, c_header)


-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
-
 def increment_grid_c(grid, lines, n):
  lib.increment_grid(ffi.cast("double *", grid.ctypes.data),
                ffi.cast("double *", lines.ctypes.data),
@@ -131,8 +123,8 @@ class Calibrator(object):

  def update(self, uvs, yaw_rate, speed):
    if len(uvs) < 10 or \
-       abs(yaw_rate) > MAX_YAW_RATE_FILTER or \
-       speed < MIN_SPEED_FILTER:
+       abs(yaw_rate) > Filter.MAX_YAW_RATE or \
+       speed < Filter.MIN_SPEED:
      return
    rot_speeds = np.array([0.,0.,-yaw_rate])
    uvs[:,1,:] = denormalize(correct_pts(normalize(uvs[:,1,:]), rot_speeds, self.dt))
@@ -216,13 +208,15 @@ class Calibrator(object):
    calib = get_calib_from_vp(self.vp)
    extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
    ke = eon_intrinsics.dot(extrinsic_matrix)
-    warp_matrix = get_camera_frame_from_model_frame(ke, model_height)
+    warp_matrix = get_camera_frame_from_model_frame(ke)
+    warp_matrix_big = get_camera_frame_from_bigmodel_frame(ke)

    cal_send = messaging.new_message()
    cal_send.init('liveCalibration')
    cal_send.liveCalibration.calStatus = self.cal_status
    cal_send.liveCalibration.calPerc = min(self.frame_counter * 100 / CALIBRATION_CYCLES_NEEDED, 100)
    cal_send.liveCalibration.warpMatrix2 = map(float, warp_matrix.flatten())
+    cal_send.liveCalibration.warpMatrixBig = map(float, warp_matrix_big.flatten())
    cal_send.liveCalibration.extrinsicMatrix = map(float, extrinsic_matrix.flatten())

    livecalibration.send(cal_send.to_bytes())
@@ -42,7 +42,7 @@ def unblock_stdout():

 if __name__ == "__main__":
  if os.path.isfile("/init.qcom.rc") \
-      and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 6):
+      and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 8):

    # update continue.sh before updating NEOS
    if os.path.isfile(os.path.join(BASEDIR, "scripts", "continue.sh")):
@@ -88,6 +88,7 @@ managed_processes = {
  "controlsd": "selfdrive.controls.controlsd",
  "radard": "selfdrive.controls.radard",
  "ubloxd": "selfdrive.locationd.ubloxd",
+  "mapd": "selfdrive.mapd.mapd",
  "loggerd": ("selfdrive/loggerd", ["./loggerd"]),
  "logmessaged": "selfdrive.logmessaged",
  "tombstoned": "selfdrive.tombstoned",
@@ -135,7 +136,8 @@ car_started_processes = [
  'visiond',
  'proclogd',
  'ubloxd',
-  'orbd'
+  'orbd',
+  'mapd',
 ]

 def register_managed_process(name, desc, car_started=False):
@@ -474,6 +476,12 @@ def main():
    params.put("IsDriverMonitoringEnabled", "1")
  if params.get("IsGeofenceEnabled") is None:
    params.put("IsGeofenceEnabled", "-1")
+  if params.get("SpeedLimitOffset") is None:
+    params.put("SpeedLimitOffset", "0")
+  if params.get("LongitudinalControl") is None:
+    params.put("LongitudinalControl", "0")
+  if params.get("LimitSetSpeed") is None:
+    params.put("LimitSetSpeed", "0")

  # is this chffrplus?
  if os.getenv("PASSIVE") is not None:
@@ -0,0 +1,276 @@
+#!/usr/bin/env python
+
+# Add phonelibs openblas to LD_LIBRARY_PATH if import fails
+try:
+  from scipy import spatial
+except ImportError as e:
+  import os
+  import sys
+  from common.basedir import BASEDIR
+
+  openblas_path = os.path.join(BASEDIR, "phonelibs/openblas/")
+  os.environ['LD_LIBRARY_PATH'] += ':' + openblas_path
+
+  args = [sys.executable]
+  args.extend(sys.argv)
+  os.execv(sys.executable, args)
+
+import os
+import sys
+import time
+import zmq
+import threading
+import numpy as np
+import overpy
+from collections import defaultdict
+
+from common.params import Params
+from common.transformations.coordinates import geodetic2ecef
+from selfdrive.services import service_list
+import selfdrive.messaging as messaging
+from mapd_helpers import LOOKAHEAD_TIME, MAPS_LOOKAHEAD_DISTANCE, Way, circle_through_points
+import selfdrive.crash as crash
+from selfdrive.version import version, dirty
+
+
+OVERPASS_API_URL = "https://overpass.kumi.systems/api/interpreter"
+OVERPASS_HEADERS = {
+    'User-Agent': 'NEOS (comma.ai)'
+}
+
+last_gps = None
+query_lock = threading.Lock()
+last_query_result = None
+last_query_pos = None
+
+
+def setup_thread_excepthook():
+  """
+  Workaround for `sys.excepthook` thread bug from:
+  http://bugs.python.org/issue1230540
+  Call once from the main thread before creating any threads.
+  Source: https://stackoverflow.com/a/31622038
+  """
+  init_original = threading.Thread.__init__
+
+  def init(self, *args, **kwargs):
+    init_original(self, *args, **kwargs)
+    run_original = self.run
+
+    def run_with_except_hook(*args2, **kwargs2):
+      try:
+        run_original(*args2, **kwargs2)
+      except Exception:
+        sys.excepthook(*sys.exc_info())
+
+    self.run = run_with_except_hook
+
+  threading.Thread.__init__ = init
+
+
+def build_way_query(lat, lon, radius=50):
+  """Builds a query to find all highways within a given radius around a point"""
+  pos = "  (around:%f,%f,%f)" % (radius, lat, lon)
+  q = """(
+  way
+  """ + pos + """
+  [highway][highway!~"^(footway|path|bridleway|steps|cycleway|construction|bus_guideway|escape)$"];
+  >;);out;
+  """
+  return q
+
+
+def query_thread():
+  global last_query_result, last_query_pos
+  api = overpy.Overpass(url=OVERPASS_API_URL, headers=OVERPASS_HEADERS, timeout=10.)
+
+  while True:
+    time.sleep(1)
+    if last_gps is not None:
+      fix_ok = last_gps.flags & 1
+      if not fix_ok:
+        continue
+
+      if last_query_pos is not None:
+        cur_ecef = geodetic2ecef((last_gps.latitude, last_gps.longitude, last_gps.altitude))
+        prev_ecef = geodetic2ecef((last_query_pos.latitude, last_query_pos.longitude, last_query_pos.altitude))
+        dist = np.linalg.norm(cur_ecef - prev_ecef)
+        if dist < 1000:
+          continue
+
+      q = build_way_query(last_gps.latitude, last_gps.longitude, radius=2000)
+      try:
+        new_result = api.query(q)
+
+        # Build kd-tree
+        nodes = []
+        real_nodes = []
+        node_to_way = defaultdict(list)
+
+        for n in new_result.nodes:
+          nodes.append((float(n.lat), float(n.lon), 0))
+          real_nodes.append(n)
+
+        for way in new_result.ways:
+          for n in way.nodes:
+            node_to_way[n.id].append(way)
+
+        nodes = np.asarray(nodes)
+        nodes = geodetic2ecef(nodes)
+        tree = spatial.cKDTree(nodes)
+
+        query_lock.acquire()
+        last_query_result = new_result, tree, real_nodes, node_to_way
+        last_query_pos = last_gps
+        query_lock.release()
+
+      except Exception as e:
+        print e
+        query_lock.acquire()
+        last_query_result = None
+        query_lock.release()
+
+
+def mapsd_thread():
+  global last_gps
+
+  context = zmq.Context()
+  gps_sock = messaging.sub_sock(context, service_list['gpsLocation'].port, conflate=True)
+  gps_external_sock = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, conflate=True)
+  map_data_sock = messaging.pub_sock(context, service_list['liveMapData'].port)
+
+  cur_way = None
+  curvature_valid = False
+  curvature = None
+  upcoming_curvature = 0.
+  dist_to_turn = 0.
+  road_points = None
+
+  xx = np.arange(0, MAPS_LOOKAHEAD_DISTANCE, 10)
+
+  while True:
+    gps = messaging.recv_one(gps_sock)
+    gps_ext = messaging.recv_one_or_none(gps_external_sock)
+
+    if gps_ext is not None:
+      gps = gps_ext.gpsLocationExternal
+    else:
+      gps = gps.gpsLocation
+
+    last_gps = gps
+
+    fix_ok = gps.flags & 1
+    if not fix_ok or last_query_result is None:
+      cur_way = None
+      curvature = None
+      curvature_valid = False
+      upcoming_curvature = 0.
+      dist_to_turn = 0.
+      road_points = None
+    else:
+      lat = gps.latitude
+      lon = gps.longitude
+      heading = gps.bearing
+      speed = gps.speed
+
+      query_lock.acquire()
+      cur_way = Way.closest(last_query_result, lat, lon, heading, cur_way)
+      if cur_way is not None:
+        pnts, curvature_valid = cur_way.get_lookahead(last_query_result, lat, lon, heading, MAPS_LOOKAHEAD_DISTANCE)
+
+        xs = pnts[:, 0]
+        ys = pnts[:, 1]
+        road_points = map(float, xs), map(float, ys)
+
+        if speed < 10:
+          curvature_valid = False
+
+        # The curvature is valid when at least MAPS_LOOKAHEAD_DISTANCE of road is found
+        if curvature_valid and pnts.shape[0] > 3:
+          # Compute the curvature for each point
+          with np.errstate(divide='ignore'):
+            circles = [circle_through_points(*p) for p in zip(pnts, pnts[1:], pnts[2:])]
+            circles = np.asarray(circles)
+            radii = np.nan_to_num(circles[:, 2])
+            radii[radii < 10] = np.inf
+            curvature = 1. / radii
+
+          # Index of closest point
+          closest = np.argmin(np.linalg.norm(pnts, axis=1))
+          dist_to_closest = pnts[closest, 0]  # We can use x distance here since it should be close
+
+          # Compute distance along path
+          dists = list()
+          dists.append(0)
+          for p, p_prev in zip(pnts, pnts[1:, :]):
+            dists.append(dists[-1] + np.linalg.norm(p - p_prev))
+          dists = np.asarray(dists)
+          dists = dists - dists[closest] + dist_to_closest
+
+          # TODO: Determine left or right turn
+          curvature = np.nan_to_num(curvature)
+          curvature_interp = np.interp(xx, dists[1:-1], curvature)
+          curvature_lookahead = curvature_interp[:int(speed * LOOKAHEAD_TIME / 10)]
+
+          # Outlier rejection
+          new_curvature = np.percentile(curvature_lookahead, 90)
+
+          k = 0.9
+          upcoming_curvature = k * upcoming_curvature + (1 - k) * new_curvature
+          in_turn_indices = curvature_interp > 0.8 * new_curvature
+          if np.any(in_turn_indices):
+            dist_to_turn = np.min(xx[in_turn_indices])
+          else:
+            dist_to_turn = 999
+      query_lock.release()
+
+    dat = messaging.new_message()
+    dat.init('liveMapData')
+
+    if last_gps is not None:
+      dat.liveMapData.lastGps = last_gps
+
+    if cur_way is not None:
+      dat.liveMapData.wayId = cur_way.id
+
+      # Seed limit
+      max_speed = cur_way.max_speed
+      if max_speed is not None:
+        dat.liveMapData.speedLimitValid = True
+        dat.liveMapData.speedLimit = max_speed
+
+      # Curvature
+      dat.liveMapData.curvatureValid = curvature_valid
+      dat.liveMapData.curvature = float(upcoming_curvature)
+      dat.liveMapData.distToTurn = float(dist_to_turn)
+      if road_points is not None:
+        dat.liveMapData.roadX, dat.liveMapData.roadY = road_points
+      if curvature is not None:
+        dat.liveMapData.roadCurvatureX = map(float, xx)
+        dat.liveMapData.roadCurvature = map(float, curvature_interp)
+
+    map_data_sock.send(dat.to_bytes())
+
+
+def main(gctx=None):
+  params = Params()
+  dongle_id = params.get("DongleId")
+  crash.bind_user(id=dongle_id)
+  crash.bind_extra(version=version, dirty=dirty, is_eon=True)
+  crash.install()
+
+  setup_thread_excepthook()
+  main_thread = threading.Thread(target=mapsd_thread)
+  main_thread.daemon = True
+  main_thread.start()
+
+  q_thread = threading.Thread(target=query_thread)
+  q_thread.daemon = True
+  q_thread.start()
+
+  while True:
+    time.sleep(0.1)
+
+
+if __name__ == "__main__":
+  main()
@@ -0,0 +1,229 @@
+import math
+import numpy as np
+from datetime import datetime
+
+from selfdrive.config import Conversions as CV
+from common.transformations.coordinates import LocalCoord, geodetic2ecef
+
+LOOKAHEAD_TIME = 10.
+MAPS_LOOKAHEAD_DISTANCE = 50 * LOOKAHEAD_TIME
+
+
+def circle_through_points(p1, p2, p3):
+  """Fits a circle through three points
+  Formulas from: http://www.ambrsoft.com/trigocalc/circle3d.htm"""
+  x1, y1, _ = p1
+  x2, y2, _ = p2
+  x3, y3, _ = p3
+
+  A = x1 * (y2 - y3) - y1 * (x2 - x3) + x2 * y3 - x3 * y2
+  B = (x1**2 + y1**2) * (y3 - y2) + (x2**2 + y2**2) * (y1 - y3) + (x3**2 + y3**2) * (y2 - y1)
+  C = (x1**2 + y1**2) * (x2 - x3) + (x2**2 + y2**2) * (x3 - x1) + (x3**2 + y3**2) * (x1 - x2)
+  D = (x1**2 + y1**2) * (x3 * y2 - x2 * y3) + (x2**2 + y2**2) * (x1 * y3 - x3 * y1) + (x3**2 + y3**2) * (x2 * y1 - x1 * y2)
+
+  return (-B / (2 * A), - C / (2 * A), np.sqrt((B**2 + C**2 - 4 * A * D) / (4 * A**2)))
+
+
+def parse_speed_unit(max_speed):
+  """Converts a maxspeed string to m/s based on the unit present in the input.
+  OpenStreetMap defaults to kph if no unit is present. """
+
+  conversion = CV.KPH_TO_MS
+  if 'mph' in max_speed:
+    max_speed = max_speed.replace(' mph', '')
+    conversion = CV.MPH_TO_MS
+
+  return float(max_speed) * conversion
+
+
+class Way:
+  def __init__(self, way):
+    self.id = way.id
+    self.way = way
+
+    points = list()
+
+    for node in self.way.get_nodes(resolve_missing=False):
+      points.append((float(node.lat), float(node.lon), 0.))
+
+    self.points = np.asarray(points)
+
+  @classmethod
+  def closest(cls, query_results, lat, lon, heading, prev_way=None):
+    results, tree, real_nodes, node_to_way = query_results
+
+    cur_pos = geodetic2ecef((lat, lon, 0))
+    nodes = tree.query_ball_point(cur_pos, 500)
+
+    # If no nodes within 500m, choose closest one
+    if not nodes:
+      nodes = [tree.query(cur_pos)[1]]
+
+    ways = []
+    for n in nodes:
+      real_node = real_nodes[n]
+      ways += node_to_way[real_node.id]
+    ways = set(ways)
+
+    closest_way = None
+    best_score = None
+    for way in ways:
+      way = Way(way)
+      points = way.points_in_car_frame(lat, lon, heading)
+
+      on_way = way.on_way(lat, lon, heading, points)
+      if not on_way:
+        continue
+
+      # Create mask of points in front and behind
+      x = points[:, 0]
+      y = points[:, 1]
+      angles = np.arctan2(y, x)
+      front = np.logical_and((-np.pi / 2) < angles,
+                                angles < (np.pi / 2))
+      behind = np.logical_not(front)
+
+      dists = np.linalg.norm(points, axis=1)
+
+      # Get closest point behind the car
+      dists_behind = np.copy(dists)
+      dists_behind[front] = np.NaN
+      closest_behind = points[np.nanargmin(dists_behind)]
+
+      # Get closest point in front of the car
+      dists_front = np.copy(dists)
+      dists_front[behind] = np.NaN
+      closest_front = points[np.nanargmin(dists_front)]
+
+      # fit line: y = a*x + b
+      x1, y1, _ = closest_behind
+      x2, y2, _ = closest_front
+      a = (y2 - y1) / max((x2 - x1), 1e-5)
+      b = y1 - a * x1
+
+      # With a factor of 60 a 20m offset causes the same error as a 20 degree heading error
+      # (A 20 degree heading offset results in an a of about 1/3)
+      score = abs(a) * 60. + abs(b)
+
+      # Prefer same type of road
+      if prev_way is not None:
+        if way.way.tags.get('highway', '') == prev_way.way.tags.get('highway', ''):
+          score *= 0.5
+
+      if closest_way is None or score < best_score:
+        closest_way = way
+        best_score = score
+
+    return closest_way
+
+  def __str__(self):
+    return "%s %s" % (self.id, self.way.tags)
+
+  @property
+  def max_speed(self):
+    """Extracts the (conditional) speed limit from a way"""
+    if not self.way:
+      return None
+
+    tags = self.way.tags
+    max_speed = None
+
+    if 'maxspeed' in tags:
+      max_speed = parse_speed_unit(tags['maxspeed'])
+
+    if 'maxspeed:conditional' in tags:
+      max_speed_cond, cond = tags['maxspeed:conditional'].split(' @ ')
+      cond = cond[1:-1]
+
+      start, end = cond.split('-')
+      now = datetime.now()  # TODO: Get time and timezone from gps fix so this will work correctly on replays
+      start = datetime.strptime(start, "%H:%M").replace(year=now.year, month=now.month, day=now.day)
+      end = datetime.strptime(end, "%H:%M").replace(year=now.year, month=now.month, day=now.day)
+
+      if start <= now <= end:
+        max_speed = parse_speed_unit(max_speed_cond)
+
+    return max_speed
+
+  def on_way(self, lat, lon, heading, points=None):
+    if points is None:
+      points = self.points_in_car_frame(lat, lon, heading)
+    x = points[:, 0]
+    return np.min(x) < 0. and np.max(x) > 0.
+
+  def closest_point(self, lat, lon, heading, points=None):
+    if points is None:
+      points = self.points_in_car_frame(lat, lon, heading)
+    i = np.argmin(np.linalg.norm(points, axis=1))
+    return points[i]
+
+  def distance_to_closest_node(self, lat, lon, heading, points=None):
+    if points is None:
+      points = self.points_in_car_frame(lat, lon, heading)
+    return np.min(np.linalg.norm(points, axis=1))
+
+  def points_in_car_frame(self, lat, lon, heading):
+    lc = LocalCoord.from_geodetic([lat, lon, 0.])
+
+    # Build rotation matrix
+    heading = math.radians(-heading + 90)
+    c, s = np.cos(heading), np.sin(heading)
+    rot = np.array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
+
+    # Convert to local coordinates
+    points_carframe = lc.geodetic2ned(self.points).T
+
+    # Rotate with heading of car
+    points_carframe = np.dot(rot, points_carframe[(1, 0, 2), :]).T
+
+    return points_carframe
+
+  def next_way(self, query_results, lat, lon, heading, backwards=False):
+    results, tree, real_nodes, node_to_way = query_results
+
+    if backwards:
+      node = self.way.nodes[0]
+    else:
+      node = self.way.nodes[-1]
+
+    ways = node_to_way[node.id]
+
+    way = None
+    try:
+      # Simple heuristic to find next way
+      ways = [w for w in ways if w.id != self.id and w.tags['highway'] == self.way.tags['highway']]
+      if len(ways) == 1:
+        way = Way(ways[0])
+    except KeyError:
+      pass
+
+    return way
+
+  def get_lookahead(self, query_results, lat, lon, heading, lookahead):
+    pnts = None
+    way = self
+    valid = False
+
+    for i in range(5):
+      # Get new points and append to list
+      new_pnts = way.points_in_car_frame(lat, lon, heading)
+
+      if pnts is None:
+        pnts = new_pnts
+      else:
+        pnts = np.vstack([pnts, new_pnts])
+
+      # Check current lookahead distance
+      max_dist = np.linalg.norm(pnts[-1, :])
+      if max_dist > lookahead:
+        valid = True
+
+      if max_dist > 2 * lookahead:
+        break
+
+      # Find next way
+      way = way.next_way(query_results, lat, lon, heading)
+      if not way:
+        break
+
+    return pnts, valid
@@ -84,6 +84,7 @@ _FAN_SPEEDS = [0, 16384, 32768, 65535]
 # max fan speed only allowed if battery is hot
 _BAT_TEMP_THERSHOLD = 45.

+
 def handle_fan(max_cpu_temp, bat_temp, fan_speed):
  new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
  new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
@@ -103,6 +104,23 @@ def handle_fan(max_cpu_temp, bat_temp, fan_speed):

  return fan_speed

+
+def check_car_battery_voltage(should_start, health, charging_disabled):
+
+  # charging disallowed if:
+  #   - there are health packets from panda, and;
+  #   - 12V battery voltage is too low, and;
+  #   - onroad isn't started
+  if charging_disabled and (health is None or health.health.voltage > 11500):
+    charging_disabled = False
+    os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+  elif not charging_disabled and health is not None and health.health.voltage < 11000 and not should_start:
+    charging_disabled = True
+    os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
+
+  return charging_disabled
+
+
 class LocationStarter(object):
  def __init__(self):
    self.last_good_loc = 0
@@ -133,6 +151,7 @@ class LocationStarter(object):
      cloudlog.event("location_start", location=location.to_dict() if location else None)
      return location.speed*3.6 > 10

+
 def thermald_thread():
  setup_eon_fan()

@@ -156,6 +175,10 @@ def thermald_thread():
  health_sock.RCVTIMEO = 1500
  current_filter = FirstOrderFilter(0., CURRENT_TAU, 1.)

+  # Make sure charging is enabled
+  charging_disabled = False
+  os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+
  params = Params()

  while 1:
@@ -182,7 +205,6 @@ def thermald_thread():
      msg.thermal.usbOnline = bool(int(f.read()))

    current_filter.update(msg.thermal.batteryCurrent / 1e6)
-    msg.thermal.chargerDisabled = current_filter.x > 1.0   # if current is ? 1A out, then charger might be off

    # TODO: add car battery voltage check
    max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
@@ -268,6 +290,10 @@ def thermald_thread():
         started_seen and (sec_since_boot() - off_ts) > 60:
        os.system('LD_LIBRARY_PATH="" svc power shutdown')

+    charging_disabled = check_car_battery_voltage(should_start, health, charging_disabled)
+
+    msg.thermal.chargingDisabled = charging_disabled
+    msg.thermal.chargingError = current_filter.x > 1.0   # if current is > 1A out, then charger might be off
    msg.thermal.started = started_ts is not None
    msg.thermal.startedTs = int(1e9*(started_ts or 0))

@@ -87,6 +87,8 @@ const int alert_sizes[] = {
  [ALERTSIZE_FULL] = vwp_h,
 };

+const int SET_SPEED_NA = 255;
+
 // TODO: this is also hardcoded in common/transformations/camera.py
 const mat3 intrinsic_matrix = (mat3){{
  910., 0., 582.,
@@ -224,9 +226,13 @@ typedef struct UIState {
  int awake_timeout;

  int volume_timeout;
+  int speed_lim_off_timeout;
+  int is_metric_timeout;

  int status;
  bool is_metric;
+  float speed_lim_off;
+  bool is_ego_over_limit;
  bool passive;
  char alert_type[64];
  char alert_sound[64];
@@ -282,6 +288,26 @@ static void set_do_exit(int sig) {
  do_exit = 1;
 }

+static void read_speed_lim_off(UIState *s) {
+  char *speed_lim_off = NULL;
+  read_db_value(NULL, "SpeedLimitOffset", &speed_lim_off, NULL);
+  s->speed_lim_off = 0.;
+  if (speed_lim_off) {
+    s->speed_lim_off = strtod(speed_lim_off, NULL);
+    free(speed_lim_off);
+  }
+  s->speed_lim_off_timeout = 2 * 60; // 2Hz
+}
+
+static void read_is_metric(UIState *s) {
+  char *is_metric;
+  const int result = read_db_value(NULL, "IsMetric", &is_metric, NULL);
+  if (result == 0) {
+    s->is_metric = is_metric[0] == '1';
+    free(is_metric);
+  }
+  s->is_metric_timeout = 2 * 60; // 2Hz
+}

 static const char frame_vertex_shader[] =
  "attribute vec4 aPosition;\n"
@@ -530,12 +556,9 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
    0.0, 0.0, 0.0, 1.0,
  }};

-  char *value;
-  const int result = read_db_value(NULL, "IsMetric", &value, NULL);
-  if (result == 0) {
-    s->is_metric = value[0] == '1';
-    free(value);
-  }
+  read_speed_lim_off(s);
+  read_is_metric(s);
+  s->is_metric_timeout = 60; // offset so values isn't read together with limit offset
 }

 static void ui_draw_transformed_box(UIState *s, uint32_t color) {
@@ -915,40 +938,80 @@ static void ui_draw_vision_maxspeed(UIState *s) {
  const UIScene *scene = &s->scene;
  int ui_viz_rx = scene->ui_viz_rx;
  int ui_viz_rw = scene->ui_viz_rw;
-  float maxspeed = s->scene.v_cruise;

-  const int viz_maxspeed_x = (ui_viz_rx + (bdr_s*2));
-  const int viz_maxspeed_y = (box_y + (bdr_s*1.5));
-  const int viz_maxspeed_w = 180;
-  const int viz_maxspeed_h = 202;
  char maxspeed_str[32];
-  bool is_cruise_set = (maxspeed != 0 && maxspeed != 255);
+  float maxspeed = s->scene.v_cruise;
+  int maxspeed_calc = maxspeed * 0.6225 + 0.5;
+  float speedlimit = s->scene.speedlimit;
+  int speedlim_calc = speedlimit * 2.2369363 + 0.5;
+  int speed_lim_off = s->speed_lim_off * 2.2369363 + 0.5;
+  if (s->is_metric) {
+    maxspeed_calc = maxspeed + 0.5;
+    speedlim_calc = speedlimit * 3.6 + 0.5;
+    speed_lim_off = s->speed_lim_off * 3.6 + 0.5;
+  }

+  bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA);
+  bool is_speedlim_valid = s->scene.speedlimit_valid;
+  bool is_set_over_limit = is_speedlim_valid && s->scene.engaged &&
+                       is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off);
+
+  int viz_maxspeed_w = 184;
+  int viz_maxspeed_h = 202;
+  int viz_maxspeed_x = (ui_viz_rx + (bdr_s*2));
+  int viz_maxspeed_y = (box_y + (bdr_s*1.5));
+  int viz_maxspeed_xo = 180;
+  viz_maxspeed_w += viz_maxspeed_xo;
+  viz_maxspeed_x += viz_maxspeed_w - (viz_maxspeed_xo * 2);
+
+  // Draw Background
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 30);
+  if (is_set_over_limit) {
+    nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180));
+  } else {
+    nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 100));
+  }
+  nvgFill(s->vg);
+
+  // Draw Border
  nvgBeginPath(s->vg);
  nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 20);
-  nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
-  nvgStrokeWidth(s->vg, 6);
+  if (is_set_over_limit) {
+    nvgStrokeColor(s->vg, nvgRGBA(218, 111, 37, 255));
+  } else if (is_speedlim_valid && !s->is_ego_over_limit) {
+    nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 255));
+  } else if (is_speedlim_valid && s->is_ego_over_limit) {
+    nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 20));
+  } else {
+    nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 100));
+  }
+  nvgStrokeWidth(s->vg, 10);
  nvgStroke(s->vg);

+  // Draw "MAX" Text
  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
  nvgFontFace(s->vg, "sans-regular");
  nvgFontSize(s->vg, 26*2.5);
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
-  nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, 148, "MAX", NULL);
-
-  nvgFontFace(s->vg, "sans-semibold");
-  nvgFontSize(s->vg, 52*2.5);
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
  if (is_cruise_set) {
-    if (s->is_metric) {
-      snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(maxspeed + 0.5));
-    } else {
-      snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(maxspeed * 0.6225 + 0.5));
-    }
-    nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, 242, maxspeed_str, NULL);
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
  } else {
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100));
+  }
+  nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 148, "MAX", NULL);
+
+  // Draw Speed Text
+  nvgFontFace(s->vg, "sans-bold");
+  nvgFontSize(s->vg, 48*2.5);
+  if (is_cruise_set) {
+    snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", maxspeed_calc);
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+    nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 242, maxspeed_str, NULL);
+  } else {
+    nvgFontFace(s->vg, "sans-semibold");
    nvgFontSize(s->vg, 42*2.5);
-    nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, 242, "N/A", NULL);
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100));
+    nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 242, "N/A", NULL);
  }
 }

@@ -957,69 +1020,84 @@ static void ui_draw_vision_speedlimit(UIState *s) {
  int ui_viz_rx = scene->ui_viz_rx;
  int ui_viz_rw = scene->ui_viz_rw;

-  if (!s->scene.speedlimit_valid){
-    return;
+  char speedlim_str[32];
+  float speedlimit = s->scene.speedlimit;
+  int speedlim_calc = speedlimit * 2.2369363 + 0.5;
+  if (s->is_metric) {
+    speedlim_calc = speedlimit * 3.6 + 0.5;
  }

-  float speedlimit = s->scene.speedlimit;
+  bool is_speedlim_valid = s->scene.speedlimit_valid;
+  float hysteresis_offset = 0.5;
+  if (s->is_ego_over_limit) {
+    hysteresis_offset = 0.0;
+  }
+  s->is_ego_over_limit = is_speedlim_valid && s->scene.v_ego > (speedlimit + s->speed_lim_off + hysteresis_offset);

-  const int viz_maxspeed_w = 180;
-  const int viz_maxspeed_h = 202;
+  int viz_speedlim_w = 180;
+  int viz_speedlim_h = 202;
+  int viz_speedlim_x = (ui_viz_rx + (bdr_s*2));
+  int viz_speedlim_y = (box_y + (bdr_s*1.5));
+  if (!is_speedlim_valid) {
+    viz_speedlim_w -= 5;
+    viz_speedlim_h -= 10;
+    viz_speedlim_x += 9;
+    viz_speedlim_y += 5;
+  }
+  int viz_speedlim_bdr = is_speedlim_valid ? 30 : 15;

-  const int viz_event_w = 220;
-  const int viz_event_x = ((ui_viz_rx + ui_viz_rw) - (viz_event_w + (bdr_s*2)));
-
-  const int viz_maxspeed_x = viz_event_x + (viz_event_w-viz_maxspeed_w);
-  const int viz_maxspeed_y = (footer_y + ((footer_h - viz_maxspeed_h) / 2)) - 20;
-
-  char maxspeed_str[32];
-
-  if (s->is_metric) {
-    nvgBeginPath(s->vg);
-    nvgCircle(s->vg, viz_maxspeed_x + viz_maxspeed_w / 2, viz_maxspeed_y + viz_maxspeed_h / 2, 127);
-    nvgFillColor(s->vg, nvgRGBA(195, 0, 0, 255));
-    nvgFill(s->vg);
-
-    nvgBeginPath(s->vg);
-    nvgCircle(s->vg, viz_maxspeed_x + viz_maxspeed_w / 2, viz_maxspeed_y + viz_maxspeed_h / 2, 100);
+  // Draw Background
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, viz_speedlim_bdr);
+  if (is_speedlim_valid && s->is_ego_over_limit) {
+    nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180));
+  } else if (is_speedlim_valid) {
    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-    nvgFill(s->vg);
-
-    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-    nvgFontFace(s->vg, "sans-bold");
-    nvgFontSize(s->vg, 130);
-    nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
-
-    snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(speedlimit * 3.6 + 0.5));
-    nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 135, maxspeed_str, NULL);
  } else {
-    const int border = 10;
-    nvgBeginPath(s->vg);
-    nvgRoundedRect(s->vg, viz_maxspeed_x - border, viz_maxspeed_y - border, viz_maxspeed_w + 2 * border, viz_maxspeed_h + 2 * border, 30);
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-    nvgFill(s->vg);
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100));
+  }
+  nvgFill(s->vg);

-    nvgBeginPath(s->vg);
-    nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 20);
-    nvgStrokeColor(s->vg, nvgRGBA(0, 0, 0, 255));
-    nvgStrokeWidth(s->vg, 8);
+  // Draw Border
+  if (is_speedlim_valid) {
+    nvgStrokeWidth(s->vg, 10);
    nvgStroke(s->vg);
+    nvgBeginPath(s->vg);
+    nvgRoundedRect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, 20);
+    if (s->is_ego_over_limit) {
+      nvgStrokeColor(s->vg, nvgRGBA(218, 111, 37, 255));
+    } else if (is_speedlim_valid) {
+      nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 255));
+    }
+  }

+  // Draw "Speed Limit" Text
+  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+  nvgFontFace(s->vg, "sans-semibold");
+  nvgFontSize(s->vg, 50);
+  nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
+  if (is_speedlim_valid && s->is_ego_over_limit) {
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+  }
+  nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 50 : 45), "SPEED", NULL);
+  nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 90 : 85), "LIMIT", NULL);

-    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+  // Draw Speed Text
+  nvgFontFace(s->vg, "sans-bold");
+  nvgFontSize(s->vg, 48*2.5);
+  if (s->is_ego_over_limit) {
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+  } else {
+    nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
+  }
+  if (is_speedlim_valid) {
+    snprintf(speedlim_str, sizeof(speedlim_str), "%d", speedlim_calc);
+    nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), speedlim_str, NULL);
+  } else {
    nvgFontFace(s->vg, "sans-semibold");
-    nvgFontSize(s->vg, 50);
-    nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
-    nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 50, "SPEED", NULL);
-    nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 90, "LIMIT", NULL);
-
-    nvgFontFace(s->vg, "sans-bold");
-    nvgFontSize(s->vg, 120);
-    nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
-
-    snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(speedlimit * 2.2369363 + 0.5));
-    nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 170, maxspeed_str, NULL);
- }
+    nvgFontSize(s->vg, 42*2.5);
+    nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", NULL);
+  }
 }

 static void ui_draw_vision_speed(UIState *s) {
@@ -1137,6 +1215,7 @@ static void ui_draw_vision_header(UIState *s) {
  nvgFill(s->vg);

  ui_draw_vision_maxspeed(s);
+  ui_draw_vision_speedlimit(s);
  ui_draw_vision_speed(s);
  ui_draw_vision_wheel(s);
 }
@@ -1151,8 +1230,6 @@ static void ui_draw_vision_footer(UIState *s) {

  // Driver Monitoring
  ui_draw_vision_face(s);
-
-  ui_draw_vision_speedlimit(s);
 }

 static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
@@ -1710,7 +1787,7 @@ static void ui_update(UIState *s) {
        struct cereal_LiveMapData datad;
        cereal_read_LiveMapData(&datad, eventd.liveMapData);
        s->scene.speedlimit = datad.speedLimit;
-        s->scene.speedlimit_valid = datad.valid;
+        s->scene.speedlimit_valid = datad.speedLimitValid;
      }
      capn_free(&ctx);
      zmq_msg_close(&msg);
@@ -1975,6 +2052,18 @@ int main() {
      set_volume(s, volume);
    }

+    if (s->speed_lim_off_timeout > 0) {
+      s->speed_lim_off_timeout--;
+    } else {
+      read_speed_lim_off(s);
+    }
+
+    if (s->is_metric_timeout > 0) {
+      s->is_metric_timeout--;
+    } else {
+      read_is_metric(s);
+    }
+
    pthread_mutex_unlock(&s->lock);

    // the bg thread needs to be scheduled, so the main thread needs time without the lock
Author	SHA1	Message	Date
rbiasini	9ce3045f13	Merge pull request #470 from commaai/devel 0.5.7 release	2018-12-17 20:36:42 -07:00
rbiasini	067f1bfe9e	hotfix: wait longer in CDP mode before switching to fast charge, so EON can boot (#469 )	2018-12-16 19:54:29 -07:00
Riccardo	e3c934bcc1	0.5.7 hotfixes	2018-12-13 20:49:44 +01:00
Vehicle Researcher	210db686bb	openpilot v0.5.7 release	2018-12-10 14:13:12 -08:00
Vehicle Researcher	573a6915fc	Merge pyextra subtree	2018-12-10 14:06:10 -08:00
Vehicle Researcher	30ec405890	Squashed 'pyextra/' changes from fb152de..8cc1594 8cc1594 update overpy 2c18997 switch to forked version of overpy git-subtree-dir: pyextra git-subtree-split: 8cc1594238fcae6acb8bcd825ac73bbca586b1be	2018-12-10 14:06:10 -08:00
Vehicle Researcher	dc331df1fc	Merge opendbc subtree	2018-12-10 14:06:07 -08:00
Vehicle Researcher	0002cc7c3a	Squashed 'opendbc/' changes from 3f6cd74..e108b6b e108b6b Add more Sign recognitions (#126) 6e8a363 Add GM FCW Alert (Take 2) (#125) 368701a Revert "Add GM FCW dashboard alert (#123)" (#124) 98b5f66 Add GM FCW dashboard alert (#123) 71b7588 Adds dbc for 2019 Honda Insight (#122) git-subtree-dir: opendbc git-subtree-split: e108b6bbe5ddd33f8ae63a3d9002a494bc732c8f	2018-12-10 14:06:07 -08:00
chassdesk	5c4ae7a2fc	Add Lexus RX450HL as sub to RX450H (#458 ) Add Lexus RX450HL as sub to RX450H	2018-12-08 13:13:09 -08:00
Chris McCammon	29bea62ac1	Fixed Capitalization + Made CT6 Comment Cleaner (#456 ) * Update README.md * Updated CT6 comment	2018-12-07 17:32:41 -08:00
Vasily Tarasov	024870d16a	GM: Cadillac ATS Coupe 2018 support (#445 ) * GM: Cadillac ATS Coupe 2018 support * Missed adding Cadillac ATS	2018-12-06 21:22:21 -08:00
Kylan	68e56c8017	Adding support for 2018 GMC Acadia Denali (#453 ) * added acadia * adding acadia * adding acadia * Update radar_interface.py * adding acadia * refactored * fixed tuning * Adding acadia * Update interface.py * fixed whitespace * fixed whitespace	2018-12-04 08:35:36 -08:00
rbiasini	9398a28be2	Merge pull request #448 from commaai/devel 0.5.6 release	2018-11-29 20:56:55 -08:00
rbiasini	9d76070ab7	Honda Nidec: avoid giraffe setting alert when car is turned off (#449 )	2018-11-29 20:36:34 -08:00
rbiasini	6ec0d23b7a	Added Astra support to README and RELEASE notes (#443 )	2018-11-21 00:01:04 -08:00
Alex Hill	c9dd7fe0e6	Add initial support for Holden/Opel Astra BK (#431 )	2018-11-20 20:12:50 -08:00
Vasily Tarasov	e32463ee96	Keep steering on radar fault (#442 )	2018-11-19 20:25:33 -08:00
dekerr	53c6ca6589	Move calibration values (#441 ) * initial commit * moved constants	2018-11-18 17:18:29 -08:00
Vasily Tarasov	e4ed48928b	GM: remove refactor leftovers (#440 )	2018-11-18 16:13:44 -08:00
Abdul Hagi	b94d598c2d	Added 2016 Honda pilot (#438 ) I am able to validate that openpilot works on a 2016 Honda Pilot.	2018-11-17 09:34:48 -08:00
rbiasini	9a42f2f1ad	Merge pull request #434 from commaai/devel calibration improvements and devel synch up	2018-11-13 18:50:56 -08:00
rbiasini	7c0202a101	Merge pull request #410 from commaai/devel Improve Toyota radar filtering (#409)	2018-10-26 20:37:50 -07:00
rbiasini	18801659c5	Merge pull request #405 from commaai/devel 0.5.5 release	2018-10-25 17:34:53 -07:00
Willem Melching	a488442402	Revert the changes to GM in 0.5.4 (#380 ) (#386 ) * Revert 0.5.4 changes for GM for 18ers * Redo the refactor of stock control msgs * Fixed missing CONTROL_MSGS -> STOCK_CONTROL_MSGS * Remove spacing * Need candidate array idx	2018-10-03 21:03:09 +02:00
rbiasini	ed6957540f	Merge pull request #379 from commaai/devel Release 0.5.4	2018-09-28 08:14:14 +02:00
rbiasini	999edf243e	Merge pull request #359 from commaai/devel 0.5.3	2018-09-11 07:15:58 +02:00
rbiasini	63adcfc28c	Merge pull request #329 from commaai/devel 0.5.2	2018-08-27 12:49:11 -07:00
Vehicle Researcher	8f22f52235	openpilot v0.5.1 release (#315 ) Merge commit '2cfdc676101c387524246f789c8429647069b827' into release2	2018-08-27 12:21:14 -07:00
George Hotz	0ea21f3545	Merge pull request #293 from commaai/devel 0.5.0 release	2018-07-13 22:37:09 -07:00
George Hotz	27c7425b94	Merge pull request #277 from commaai/devel openpilot 0.4.7.2	2018-06-28 11:22:35 -07:00
George Hotz	30b72e4be1	Merge pull request #267 from commaai/devel openpilot 0.4.7.1	2018-06-19 09:18:12 -07:00
George Hotz	afdda0e5fc	Merge pull request #256 from commaai/devel 0.4.6 Release	2018-05-30 11:19:03 -07:00
George Hotz	88d1dd2bad	Merge pull request #239 from commaai/devel openpilot 0.4.5.1 release	2018-05-01 18:13:46 -07:00
George Hotz	3e491431a3	Merge pull request #226 from commaai/revert-220-devel Revert "openpilot 0.4.3.1"	2018-03-26 15:18:53 -06:00
George Hotz	f550656ee8	Revert "openpilot 0.4.3.1 (#220 )" This reverts commit `640ab12c72`.	2018-03-26 14:13:40 -07:00
George Hotz	640ab12c72	openpilot 0.4.3.1 (#220 ) * Honda Pilot 2017 Port (#161) * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update interface.py * Update interface.py * Update README.md * Update README.md * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update hondacan.py * Update README.md * Update fingerprints.py * Update carstate.py * Update carstate.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update carstate.py * Update Pilot Fingerprint * Update fingerprints.py * Give pilot its own definition and not use ILX * add pilot argument * Add Pilot interface * Add pilot argument * Update interface.py * Parse Different gear on pilot * Add steer max * Fixed duplication of steer max value * Adjust PID's for steering * Update carcontroller.py * Change Steer Ratio and wheelbase * Update Steer fault values Steer fault value of 3, does not seem to effect anything * Update Kp,Ki Ratio * Update interface.py * Update readme for Pilot * add pilot * Update fingerprints.py * Update carstate.py * add signals * add signal * fix restricting video upload to wifi * Dibs on SAFETY_GM numerical value To match Panda repo. * Safety Reference for Honda Bosch * Update fingerprints.py (#210) Consolidated my fingerprint and removed duplicates and ordered the fingerprint for the RAV4H. Double Checked. * Interpolate ki/kp for steering PID loop (#200) * Interpolate ki/kp for steering PID loop Very much needed for the Volt port: car ping-pongs with low kp on high speeeds, and the loop is unstable with high kp on low speeds. Also, removes "number or array?" logic from PIController, now that all the callers use interpolation ofr ki/kp. * Pass speed to steering PID loop for ki/kp interpolation * Remove unused numbers import * Slight changes to UI and Fingerprint for Odyssey Elite (#196) * Adding back drive time to UI * Add fingerprint for Odyssey Elite * Removed extended fingerprint for Elite * Revert "Adding back drive time to UI" This reverts commit b9b02f7ff2511f28922f0bea47cd8c70bb9f4010. * Squashed 'panda/' changes from 98f29a4..67d5208 67d5208 fix signedness issue in toyota safety fe15d3f bump pandacan 11c2b08 add fault invalid 2c26e45 add sleep 27c7637 forgot the counter 3a6d7db don't hang bfa7d2e canloader works b259e2a can flasher is close to working 83f2edf isotp can support in softloader 7ae7c79 typo e85cc47 forgot the selfs 190b4f6 start work on canflasher 5c655c9 add recover support ae3457f usbflash is reliable f7a0ab0 pedal usbflash works 585d0f9 add way to call isotp be82899 despite it being bad code, move isotp 000715b start work on pedal canloader 626e312 pedal has a bootstub now 3662d1e redundant check 81e6b0d fix bug 083cd12 should have bounty to refactor that ish b65d30c bad asserts b2e6c3f isotp untested support for subaddr 30fd66a Merge pull request #93 from vntarasov/volt 06f5109 Merge pull request #94 from gregjhogan/can-printer-hex c7d098c Merge pull request #95 from gregjhogan/setup-script 22fe250 Merge pull request #99 from gregjhogan/bit-transition-example ba16ba3 Merge pull request #100 from gregjhogan/j2534-troubleshooting-instructions ad08ea4 Merge pull request #90 from gregjhogan/can-forwarding f3b6f5d added j2534 troubleshooting instructions 858d150 added script to find bits that transition from 0 to 1 c6acac8 added checking pedal interceptor message length f7226ff added brake safety checks d0c2634 added gas safety checks d378e4a removed bosch safety forwarding restriction on 29 bit addresses 5c7ef9e added bosch safety hooks and forwarding 90c64b6 add note 23de8d4 Merge pull request #97 from commaai/pedal_improvements 0261641 added missing python packages b92b235 fix bytearray encode issue 2434f1c Tweak Volt's brake pedal stickiness e2f73d2 enable has a whole byte to itself d5a9e1e correct checksum f8ed9fa better names 986a14c don't alias pointers 9b8472e add watchdog support 8f0add9 handle faults 1d917f8 split gas set into 2 values, and have a fault state 1b77026 j2534 isn't alpha anymore fbcc872 Merge pull request #92 from commaai/pedal 8a6f44b pedal is sending messages 08f464c python 3 bro is bad bro 9390961 kline checksum algo was broken... 3b7c33b add kline debug support aa622bc init values 631ea9f better refactor eb1fd75 add PEDAL adc sets ccaa310 don't build with usb 8d4d763 debug console works bd09883 comma pedal is building 75a29d5 Merge pull request #84 from gregjhogan/j2534-hds eece37d only the panda has gmlan 9f43abe Merge pull request #89 from vntarasov/volt 5364d43 Merge pull request #88 from vntarasov/smaller-firmware 377a1ec bump version for descriptor fix 4fabdf0 Merge pull request #87 from gregjhogan/usb-multi-packet-control 8580773 fix sending WinUSB Extended Properties Feature Descriptor 6908feb Chevy Volt safety `786a004` Enable optimization to reduce firmware size d70f43b hack to fix thinkpad 95ab1ae fixed flow control message padding bbd04d1 updated installer 62216d0 single standalone DLL for J2534 driver 5c9138d fixed 11 bit address issue f3b0ad2 fix LOOPBACK getting set when DATA_RATE is set b750d36 updated README a9a097f lowered CPU utilization 7c26a70 TIS needs unsupported protocols to return an error 42692b4 TIS doesn't like ChannelID being zero cf126bb SET_CONFIG return error for reserved parameters 2e99dbf fix HDS issues 8203cc8 add is_grey e946a54 add insecure_okay flag 4363b3e check webpage 4f59ded add secure mode note 6b11fb5 add autosecuring to tests b27d185 Merge pull request #86 from commaai/better_pairing 4b53b42 elm wifi isn't an automated test 99f85cb Merge pull request #85 from gregjhogan/usb-wcid 0d38060 auto-install WinUSB device driver c6653ca from python import 38cc0ee add wifi_secure_mode, boots in insecure mode git-subtree-dir: panda git-subtree-split: 67d52089a1300b86800d897f2b271e0a24cf6dd6 * Squashed 'opendbc/' changes from 81d9871..aa067f7 aa067f7 Chevy Volt tweaks (#83) a60c6c4 Toyota: change signal name in EPS_STATUS msg ce70b1a extra setme field toyota LKAS_HUD df2a552 toyota missing ACC_CONTROL checksum 48bb293 Revert "Toyota Prius: added a comma specific message to control the speed sent to the EPS" 5f42439 Toyota Prius: added a comma specific message to control the speed sent to the EPS 6f5e8b6 Pedal Interceptor: fault state VAL moved to _comma efd5f5c add setme to honda ACC_HUD 97fc335 add interceptor to civic 6f40f16 update generator script to allow for multiple imports 9ca956b add setme to toyota STEERING_IPAS e5afa57 run generator for ipas scaling 8bd1182 Toyota IPAS: proper steer angle unit f57511e acceleration pedal for gasPressed c8d1dbc high beams also. likely dashboard message. 9f1c78b high beams for genericToggle f037d42 turn signal lights (and thus hazard lights) b35bb08 turn signals 78986cf Revert "turn signals" ba946c9 turn signals 2af3ecc Speed, braking, and distance signals f40ab87 Set packet lengths, adding steering rate, adjusted speed cd59bfa units for speed_right c2fcce2 speed of right vs left side of car 4ef5fae value table for gear status 97c48e2 tighten up speed bits. brake pressue max comment. a0cbfd1 add gear status PRNDL 0c82865 initial signals for chrysler pacifica 2017 hybrid 5ed0540 add set me to toyota LKAS_HUD aecac5d add set me fields to toyota ACC_HUD 5417013 update toyota ACC_CONTROL fields e91e967 Comma Pedal: made GAS_COMMAND 6 bytes d04434a Comma Pedal: added state byte and enable bit c30b2cd Comma Pedal: sending 2 tracks on 0x200 8f72467 Volt doors and belts status (#70) 60f8b6c add set me to lkas hud honda 3c9e335 fix honda pcm gas message size 7ca471d Add 2018 Toyota CHR dbc (#78) 637fe00 set scaling to 1 for brake and gas which have no real unit 62a88d4 Volt: switch to parsing ACC buttons from powertrain CAN (#74) 3fdd47b Volt's gas pedal only and combined gas/acc (#76) 45ec9c9 Add 2017 Honda Ridgeline (#77) cbd186a Add 2018 Camry Hybrid DBC's (#73) 974eeaf Toyota: re-generated the files after cfbc9ae363f98ef 19ea195 Toyota: more vals for LKA_STATE cfbc9ae fixed inconsistent factor for speed in Honda dbc files e7db803 convert all line endings to unix style git-subtree-dir: opendbc git-subtree-split: aa067f7079aa12617f7a37d85233e51af44e1bb2 * openpilot v0.4.3 release * Squashed 'panda/' changes from 67d5208..3125232 3125232 bump version 703c0b4 Gas Interceptor: another fix to gas pressed logic 196d383 Interceptor: fixed gas pressed logic git-subtree-dir: panda git-subtree-split: 31252324d98e701c33cb6aeda20af6b549175764 * Squashed 'opendbc/' changes from aa067f7..91e882d 91e882d Updating bosch dbcs to use new format and bringing in new honda changes (#82) 9b32e2e Fix Checksum errors for CH-R (#86) git-subtree-dir: opendbc git-subtree-split: 91e882d4a04c129e12d39bcff0bbe56b75166e0f * openpilot v0.4.3 release * openpilot v0.4.3.1 release * fix bug in canpacker for Toyotas with DSU connected (#221) * update year on civic	2018-03-22 22:11:57 -07:00
George Hotz	affc00df1f	Merge pull request #188 from commaai/devel 0.4.2	2018-02-08 17:09:41 -08:00
ErichMoraga	e343c95720	Update fingerprints.py Taiwanese Prius Prime fingerprint was identical to the regular prime (107 msgs.), but should really have 110. I have the correct one in there now.	2018-02-05 14:11:35 -08:00
George Hotz	89605ed88a	Merge pull request #184 from commaai/devel openpilot v0.4.1 hotfix	2018-02-02 19:46:57 -08:00
George Hotz	10cb834c39	Merge pull request #183 from commaai/devel openpilot v0.4.1	2018-02-02 15:51:53 -08:00
George Hotz	675d9feb0b	Merge pull request #176 from commaai/devel openpilot v0.4.0.2	2018-01-22 09:55:06 -08:00
espes	c2e120c362	Merge pull request #165 from commaai/devel openpilot v0.4.0.1	2018-01-17 01:08:47 -08:00
George Hotz	5ae7119646	Merge pull request #154 from commaai/devel openpilot v0.3.9	2017-12-07 19:22:41 -08:00
espes	5864323c7d	Merge pull request #146 from commaai/devel openpilot v0.3.8.2	2017-11-04 05:32:49 -07:00
espes	577608be57	Merge pull request #137 from commaai/devel openpilot v0.3.7	2017-10-04 03:51:03 -07:00
espes	606c21bca4	Merge pull request #126 from commaai/devel openpilot v0.3.6.1	2017-08-17 08:59:30 +02:00
espes	cd25fac75d	Merge pull request #123 from commaai/devel openpilot v0.3.6	2017-08-11 09:00:23 +02:00
espes	b111277f46	Merge pull request #121 from commaai/devel openpilot v0.3.5 release	2017-07-31 09:02:27 +02:00
espes	0fba33b093	Merge pull request #120 from commaai/devel openpilot 0.3.4	2017-07-29 07:41:31 +02:00