Hotfix: fix UI crash when going onroad after onboarding

openpilot v0.8.5 release
Hotfix: fix update error alerts under some network conditions (#21059 )
2026-08-26 02:33:46 +08:00 · 2021-06-11 16:57:52 -07:00 · 2021-06-07 22:13:57 +00:00 · 2021-05-27 15:36:59 -07:00 · 2021-05-20 02:33:18 -07:00 · 2021-05-18 20:02:24 -07:00
497 changed files with 17666 additions and 13000 deletions
@@ -10,6 +10,7 @@ venv/
 .vscode*
 model2.png
 a.out
+.hypothesis

 *.dylib
 *.DSYM
@@ -48,6 +49,7 @@ selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
@@ -58,8 +60,7 @@ notebooks
 xx
 hyperthneed
 panda_jungle
-apks
-openpilot-apks
+provisioning

 .coverage*
 coverage.xml
@@ -70,7 +71,7 @@ pandaextra
 flycheck_*

 cppcheck_report.txt
-comma.sh
+comma*.sh

 selfdrive/modeld/thneed/compile
 models/*.thneed
@@ -1,5 +1,5 @@
 def phone(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
    def ssh_cmd = """
 ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'

@@ -11,6 +11,9 @@ export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}

 source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+fi

 ln -snf ${env.TEST_DIR} /data/pythonpath

@@ -33,7 +36,7 @@ EOF"""

 def phone_steps(String device_type, steps) {
  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 60, unit: 'MINUTES') {
+    timeout(time: 150, unit: 'MINUTES') {
      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
      steps.each { item ->
        phone(device_ip, item[0], item[1])
@@ -49,7 +52,7 @@ pipeline {
    TEST_DIR = "/data/openpilot"
  }
  options {
-      timeout(time: 1, unit: 'HOURS')
+      timeout(time: 3, unit: 'HOURS')
  }

  stages {
@@ -75,12 +78,11 @@ pipeline {
      when {
        not {
          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
          }
        }
      }

-
      stages {

        /*
@@ -110,6 +112,10 @@ pipeline {
        stage('On-device Tests') {
          agent {
            docker {
+              /*
+              filename 'Dockerfile.ondevice_ci'
+              args "--privileged -v /dev:/dev --shm-size=1G --user=root"
+              */
              image 'python:3.7.3'
              args '--user=root'
            }
@@ -118,20 +124,13 @@ pipeline {
          stages {
            stage('parallel tests') {
              parallel {
-                stage('Devel Build') {
-                  environment {
-                    CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
-                  }
+                stage('Devel Tests') {
                  steps {
                    phone_steps("eon-build", [
-                      ["build", "SCONS_CACHE=1 scons -j4"],
-                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
-                      ["test manager", "python selfdrive/test/test_manager.py"],
+                      ["build devel", "cd release && DEVEL_TEST=1 ./build_devel.sh"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                      ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
-                      ["test text window build", "cd selfdrive/ui/text && make clean && make"],
                    ])
                  }
                }
@@ -139,8 +138,8 @@ pipeline {
                stage('Replay Tests') {
                  steps {
                    phone_steps("eon2", [
-                      ["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
-                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
                    ])
                  }
                }
@@ -148,35 +147,88 @@ pipeline {
                stage('HW + Unit Tests') {
                  steps {
                    phone_steps("eon", [
-                      ["build", "SCONS_CACHE=1 scons -j4"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
                      //["test updater", "python installer/updater/test_updater.py"],
                    ])
                  }
                }

+                /*
+                stage('Power Consumption Tests') {
+                  steps {
+                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+                      timeout(time: 90, unit: 'MINUTES') {
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+                        phone(device_ip, "build", "scons -j4 && sync")
+                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
+                      }
+                    }
+                  }
+                }
+                */
+
                stage('Tici Build') {
                  environment {
                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                  }
                  steps {
                    phone_steps("tici", [
-                      ["build", "SCONS_CACHE=1 scons -j16"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
                      //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
                    ])
                  }
                }

+                stage('camerad') {
+                  steps {
+                    phone_steps("eon-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('Tici camerad') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
              }
            }
+
+            stage('Push master-ci') {
+              when {
+                branch 'master'
+              }
+              steps {
+                phone_steps("eon-build", [
+                  ["push devel", "cd release && CI_PUSH='master-ci' ./build_devel.sh"],
+                ])
+              }
+            }
+
          }

          post {
@@ -66,7 +66,7 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2020                      | All               | Stock            | 0mph               | 3mph              |
+| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
@@ -82,22 +82,24 @@ Supported Cars
 | Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
 | Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
 | Hyundai   | Sonata 2020-21                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES 2019-20                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2018                | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016-18, 2021      | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Lexus     | UX Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019            | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
@@ -112,6 +114,7 @@ Supported Cars
 | Toyota    | Highlander 2020-21            | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Mirai 2021	                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
@@ -132,7 +135,9 @@ Community Maintained Cars and Features

 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Audi      | A3 2015, 2017                 | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | Q2 2018                       | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
@@ -146,7 +151,7 @@ Community Maintained Cars and Features
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
 | GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Elantra 2017-19, 2021         | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
@@ -157,30 +162,50 @@ Community Maintained Cars and Features
 | Hyundai   | Veloster 2019                 | SCC + LKAS        | Stock            | 5mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018-19, 2021           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Forte 2018-2021               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Seltos 2021                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Altima 2020                   | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2018-19                 | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| SEAT      | Leon 2014-2020                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia 2015, 2019            | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019-20              | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTE 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTI 2018-19              | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf R 2016-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportsVan 2016           | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |

 <sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-
-Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
+<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.

 Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.

 To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0

+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
 Installation Instructions
 ------

@@ -310,10 +335,9 @@ And [follow us on Twitter](https://twitter.com/comma_ai).
 Directory Structure
 ------
    .
-    ├── apk                 # The apk files used for the UI
    ├── cereal              # The messaging spec and libs used for all logs
    ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages auto-updates of openpilot
+    ├── installer/updater   # Manages auto-updates of NEOS
    ├── opendbc             # Files showing how to interpret data from cars
    ├── panda               # Code used to communicate on CAN
    ├── phonelibs           # Libraries used on NEOS devices
@@ -1,3 +1,42 @@
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Retuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
 Version 0.8.2 (2021-02-26)
 ========================
 * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
@@ -13,6 +13,10 @@ AddOption('--test',
          action='store_true',
          help='build test files')

+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
 AddOption('--asan',
          action='store_true',
          help='turn on ASAN')
@@ -33,6 +37,10 @@ AddOption('--mpc-generate',
          action='store_true',
          help='regenerates the mpc sources')

+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
 AddOption('--external-sconscript',
          action='store',
          metavar='FILE',
@@ -47,7 +55,6 @@ if arch == "aarch64" and TICI:
  arch = "larch64"

 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None

 lenv = {
  "PATH": os.environ['PATH'],
@@ -79,6 +86,9 @@ if arch == "aarch64" or arch == "larch64":
      "#phonelibs/libyuv/larch64/lib",
      "/usr/lib/aarch64-linux-gnu"
    ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    rpath = ["/usr/local/lib"]
@@ -91,31 +101,33 @@ if arch == "aarch64" or arch == "larch64":
    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
    rpath = []
-
-    if QCOM_REPLAY:
-      cflags += ["-DQCOM_REPLAY"]
-      cxxflags += ["-DQCOM_REPLAY"]
 else:
  cflags = []
  cxxflags = []
  cpppath = []

  if arch == "Darwin":
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
    libpath = [
-      "#phonelibs/libyuv/mac/lib",
-      "#cereal",
-      "#selfdrive/common",
+      f"#phonelibs/libyuv/{yuv_dir}/lib",
      "/usr/local/lib",
+      "/opt/homebrew/lib",
      "/usr/local/opt/openssl/lib",
+      "/opt/homebrew/opt/openssl/lib",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
    cflags += ["-DGL_SILENCE_DEPRECATION"]
    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
-    cpppath += ["/usr/local/opt/openssl/include"]
+    cpppath += [
+      "/opt/homebrew/include",
+      "/usr/local/opt/openssl/include",
+      "/opt/homebrew/opt/openssl/include"
+    ]
  else:
    libpath = [
      "#phonelibs/snpe/x86_64-linux-clang",
      "#phonelibs/libyuv/x64/lib",
+      "#phonelibs/mapbox-gl-native-qt/x86_64",
      "#cereal",
      "#selfdrive/common",
      "/usr/lib",
@@ -141,6 +153,10 @@ else:
  ccflags = []
  ldflags = []

+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed"]
+
 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path

@@ -162,7 +178,6 @@ env = Environment(

  CPPPATH=cpppath + [
    "#",
-    "#selfdrive",
    "#phonelibs/catch2/include",
    "#phonelibs/bzip2",
    "#phonelibs/libyuv/include",
@@ -175,16 +190,10 @@ env = Environment(
    "#phonelibs/android_system_core/include",
    "#phonelibs/linux/include",
    "#phonelibs/snpe/include",
+    "#phonelibs/mapbox-gl-native-qt/include",
    "#phonelibs/nanovg",
    "#phonelibs/qrcode",
-    "#selfdrive/boardd",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#selfdrive/sensord",
-    "#selfdrive/ui",
+    "#phonelibs",
    "#cereal",
    "#cereal/messaging",
    "#cereal/visionipc",
@@ -214,15 +223,10 @@ env = Environment(
 if GetOption('compile_db'):
  env.CompilationDatabase('compile_commands.json')

-if os.environ.get('SCONS_CACHE'):
-  cache_dir = '/tmp/scons_cache'
-  if TICI:
-    cache_dir = '/data/scons_cache'
-
-  if QCOM_REPLAY:
-    cache_dir = '/tmp/scons_cache_qcom_replay'
-
-  CacheDir(cache_dir)
+# Setup cache dir
+cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)

 node_interval = 5
 node_count = 0
@@ -263,66 +267,74 @@ else:
 Export('envCython')

 # Qt build environment
-qt_env = None
-if arch in ["x86_64", "Darwin", "larch64"]:
-  qt_env = env.Clone()
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]

-  qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network", "Concurrent", "WebEngine", "WebEngineWidgets"]
-
-  qt_libs = []
-  if arch == "Darwin":
-    qt_env['QTDIR'] = "/usr/local/opt/qt"
-    QT_BASE = "/usr/local/opt/qt/"
-    qt_dirs = [
-      QT_BASE + "include/",
-    ]
-    qt_dirs += [f"{QT_BASE}include/Qt{m}" for m in qt_modules]
-    qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
-    qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+qt_libs = []
+if arch == "Darwin":
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
  else:
-    qt_env['QTDIR'] = "/usr"
-    qt_dirs = [
-      f"/usr/include/{real_arch}-linux-gnu/qt5",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
-    ]
-    qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
-
-    qt_libs = [f"Qt5{m}" for m in qt_modules]
-    if arch == "larch64":
-      qt_libs += ["GLESv2", "wayland-client"]
-    elif arch != "Darwin":
-      qt_libs += ["GL"]
-
-  qt_env.Tool('qt')
-  qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
-  qt_flags = [
-    "-D_REENTRANT",
-    "-DQT_NO_DEBUG",
-    "-DQT_WIDGETS_LIB",
-    "-DQT_GUI_LIB",
-    "-DQT_CORE_LIB"
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
  ]
-  qt_env['CXXFLAGS'] += qt_flags
-  qt_env['LIBPATH'] += ['#selfdrive/ui']
-  qt_env['LIBS'] = qt_libs
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+elif arch == "aarch64":
+  qt_env['QTDIR'] = "/system/comma/usr"
+  qt_dirs = [
+    f"/system/comma/usr/include/qt",
+  ]
+  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]

-  if GetOption("clazy"):
-    checks = [
-      "level0",
-      "level1",
-      "no-range-loop",
-      "no-non-pod-global-static",
-    ]
-    qt_env['CXX'] = 'clazy'
-    qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
-    qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
-Export('qt_env')
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/{real_arch}-linux-gnu/qt5",
+    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]

+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+  elif arch != "Darwin":
+    qt_libs += ["GL"]

-# still needed for apks
-zmq = 'zmq'
-Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB"
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -347,10 +359,33 @@ else:

 Export('common', 'gpucommon', 'visionipc')

+# Build rednose library and ekf models
+
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+  },
+}
+
+if arch != "aarch64":
+  rednose_config['to_build'].update({
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+  })
+
+Export('rednose_config')
+SConscript(['rednose/SConscript'])

 # Build openpilot

 SConscript(['cereal/SConscript'])
+SConscript(['panda/board/SConscript'])
 SConscript(['opendbc/can/SConscript'])

 SConscript(['phonelibs/SConscript'])
@@ -374,17 +409,12 @@ SConscript(['selfdrive/clocksd/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])

 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/locationd/models/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])

 if arch != "Darwin":
  SConscript(['selfdrive/logcatd/SConscript'])

-if real_arch == "x86_64":
-  SConscript(['tools/nui/SConscript'])
-  SConscript(['tools/lib/index_log/SConscript'])
-
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
  SConscript([external_sconscript])
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'zmq', 'QCOM_REPLAY')
+Import('env', 'envCython', 'arch')

 import shutil

@@ -40,13 +40,6 @@ messaging_objects = env.SharedObject([
 messaging_lib = env.Library('messaging', messaging_objects)
 Depends('messaging/impl_zmq.cc', services_h)

-# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
-# TODO: get APK to load system zmq to remove the static link
-if arch == "aarch64":
-  zmq_static = FindFile("libzmq.a", "/usr/lib")
-  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
-  env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
-
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)

@@ -61,7 +54,7 @@ vipc_sources = [
  'visionipc/visionbuf.cc',
 ]

-if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
+if arch in ["aarch64", "larch64"]:
  vipc_sources += ['visionipc/visionbuf_ion.cc']
 else:
  vipc_sources += ['visionipc/visionbuf_cl.cc']
@@ -71,6 +64,8 @@ vipc = env.Library('visionipc', vipc_objects)


 libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
+if arch == "aarch64":
+  libs += ["adreno_utils"]
 if arch == "Darwin":
  del libs[libs.index('OpenCL')]
  envCython['FRAMEWORKS'] += ['OpenCL']
@@ -52,8 +52,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    manualRestart @30;
    lowSpeedLockout @31;
    plannerError @32;
-    debugAlert @34;
-    steerTempUnavailableMute @35;
+    joystickDebug @34;
+    steerTempUnavailableUserOverride @35;
    resumeRequired @36;
    preDriverDistracted @37;
    promptDriverDistracted @38;
@@ -64,7 +64,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    belowSteerSpeed @46;
    lowBattery @48;
    vehicleModelInvalid @50;
-    controlsFailed @51;
+    accFaulted @51;
    sensorDataInvalid @52;
    commIssue @53;
    tooDistracted @54;
@@ -89,6 +89,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startupNoCar @76;
    startupNoControl @77;
    startupMaster @78;
+    startupFuzzyFingerprint @97;
+    startupNoFw @104;
    fcw @79;
    steerSaturated @80;
    belowEngageSpeed @84;
@@ -99,8 +101,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    fanMalfunction @91;
    cameraMalfunction @92;
    gpsMalfunction @94;
-    startupOneplus @82;
    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;

    radarCanErrorDEPRECATED @15;
    radarCommIssueDEPRECATED @67;
@@ -120,6 +128,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    focusRecoverActiveDEPRECATED @86;
    neosUpdateRequiredDEPRECATED @88;
    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
  }
 }

@@ -144,7 +153,6 @@ struct CarState {
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
-  brakeLights @19 :Bool;

  # steering wheel
  steeringAngleDeg @7 :Float32;
@@ -238,6 +246,7 @@ struct CarState {
  }

  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
 }

 # ******* radar state @ 20hz *******
@@ -350,12 +359,15 @@ struct CarControl {
 struct CarParams {
  carName @0 :Text;
  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;

  enableGasInterceptor @2 :Bool;
  enableCruise @3 :Bool;
  enableCamera @4 :Bool;
  enableDsu @5 :Bool; # driving support unit
  enableApgs @6 :Bool; # advanced parking guidance system
+  enableBsm @56 :Bool; # blind spot monitoring
+  hasStockCamera @57 :Bool; # factory LKAS/LDW camera is present

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
@@ -372,11 +384,11 @@ struct CarParams {
  brakeMaxV @16 :List(Float32);

  # things about the car in the manual
-  mass @17 :Float32;             # [kg] running weight
-  wheelbase @18 :Float32;        # [m] distance from rear to front axle
-  centerToFront @19 :Float32;   # [m] GC distance to front axle
-  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)

  # things we can derive
  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
@@ -411,6 +423,7 @@ struct CarParams {
  dashcamOnly @41: Bool;
  transmissionType @43 :TransmissionType;
  carFw @44 :List(CarFw);
+
  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
  communityFeature @46: Bool;  # true if a community maintained feature is detected
  fingerprintSource @49: FingerprintSource;
@@ -506,6 +519,7 @@ struct CarParams {
    automatic @1;  # Traditional auto, including DSG
    manual @2;  # True "stick shift" only
    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
  }

  struct CarFw {
@@ -21,6 +21,21 @@ struct LiveUI @0xc08240f996aefced {
  awarenessStatus @3 :Float32;
 }

+struct UiLayoutState @0x88dcce08ad29dda0 {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
+
+  enum App @0x9917470acf94d285 {
+    home @0;
+    music @1;
+    nav @2;
+    settings @3;
+    none @4;
+  }
+}
+
 struct OrbslamCorrection @0x8afd33dc9b35e1aa {
  correctionMonoTime @0 :UInt64;
  prePositionECEF @1 :List(Float64);
@@ -23,6 +23,7 @@ struct Map(Key, Value) {
 struct InitData {
  kernelArgs @0 :List(Text);
  kernelVersion @15 :Text;
+  osVersion @18 :Text;

  gctx @1 :Text;
  dongleId @2 :Text;
@@ -39,7 +40,7 @@ struct InitData {

  dirty @9 :Bool;
  passive @12 :Bool;
-  params @17 :Map(Text, Text);
+  params @17 :Map(Text, Data);

  enum DeviceType {
    unknown @0;
@@ -280,6 +281,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  cpuUsagePercent @20 :Int8;
  usbOnline @12 :Bool;
  networkType @22 :NetworkType;
+  networkInfo @31 :NetworkInfo;
  offroadPowerUsageUwh @23 :UInt32;
  networkStrength @24 :NetworkStrength;
  carBatteryCapacityUwh @25 :UInt32;
@@ -288,6 +290,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  started @11 :Bool;
  startedMonoTime @13 :UInt64;

+  lastAthenaPingTime @32 :UInt64;
+
  # power
  batteryPercent @8 :Int16;
  batteryStatus @9 :Text;
@@ -328,6 +332,15 @@ struct DeviceState @0xa4d8b5af2aa492eb {
    great @4;
  }

+  struct NetworkInfo {
+    technology @0 :Text;
+    operator @1 :Text;
+    band @2 :Text;
+    channel @3 :UInt16;
+    extra @4 :Text;
+    state @5 :Text;
+  }
+
  # deprecated
  cpu0DEPRECATED @0 :UInt16;
  cpu1DEPRECATED @1 :UInt16;
@@ -356,10 +369,13 @@ struct PandaState @0xa7649e2575e4591e {
  usbPowerMode @12 :UsbPowerMode;
  ignitionCan @13 :Bool;
  safetyModel @14 :Car.CarParams.SafetyModel;
+  safetyParam @20 :Int16;
  faultStatus @15 :FaultStatus;
  powerSaveEnabled @16 :Bool;
  uptime @17 :UInt32;
  faults @18 :List(FaultType);
+  harnessStatus @21 :HarnessStatus;
+  heartbeatLost @22 :Bool;

  enum FaultStatus {
    none @0;
@@ -410,6 +426,12 @@ struct PandaState @0xa7649e2575e4591e {
    dcp @3;
  }

+  enum HarnessStatus {
+    notConnected @0;
+    normal @1;
+    flipped @2;
+  }
+
  startedSignalDetectedDEPRECATED @5 :Bool;
 }

@@ -521,6 +543,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    indiState @52 :LateralINDIState;
    pidState @53 :LateralPIDState;
    lqrState @55 :LateralLQRState;
+    angleState @58 :LateralAngleState;
  }

  enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -585,6 +608,13 @@ struct ControlsState @0x97ff69c53601abf1 {
    saturated @5 :Bool;
  }

+  struct LateralAngleState {
+    active @0 :Bool;
+    steeringAngleDeg @1 :Float32;
+    output @2 :Float32;
+    saturated @3 :Bool;
+  }
+
  # deprecated
  vEgoDEPRECATED @0 :Float32;
  vEgoRawDEPRECATED @32 :Float32;
@@ -667,10 +697,24 @@ struct ModelDataV2 {
  struct MetaData {
    engagedProb @0 :Float32;
    desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
    desireState @5 :List(Float32);
+    disengagePredictions @6 :DisengagePredictions;
+    hardBrakePredicted @7 :Bool;
+
+    # deprecated
+    brakeDisengageProbDEPRECATED @2 :Float32;
+    gasDisengageProbDEPRECATED @3 :Float32;
+    steerOverrideProbDEPRECATED @4 :Float32;
+  }
+
+  struct DisengagePredictions {
+    t @0 :List(Float32);
+    brakeDisengageProbs @1 :List(Float32);
+    gasDisengageProbs @2 :List(Float32);
+    steerOverrideProbs @3 :List(Float32);
+    brake3MetersPerSecondSquaredProbs @4 :List(Float32);
+    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
+    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
  }
 }

@@ -770,14 +814,17 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
  dPathPoints @20 :List(Float32);
  dProb @21 :Float32;

-  steeringAngleDeg @8 :Float32; # deg
-  steeringRateDeg @13 :Float32; # deg/s
  mpcSolutionValid @9 :Bool;
-  angleOffsetDeg @11 :Float32;
  desire @17 :Desire;
  laneChangeState @18 :LaneChangeState;
  laneChangeDirection @19 :LaneChangeDirection;

+  # curvature is in rad/m
+  curvature @22 :Float32;
+  curvatureRate @23 :Float32;
+  rawCurvature @24 :Float32;
+  rawCurvatureRate @25 :Float32;
+
  enum Desire {
    none @0;
    turnLeft @1;
@@ -812,6 +859,9 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
  posenetValidDEPRECATED @16 :Bool;
  sensorValidDEPRECATED @14 :Bool;
  paramsValidDEPRECATED @10 :Bool;
+  steeringAngleDegDEPRECATED @8 :Float32; # deg
+  steeringRateDegDEPRECATED @13 :Float32; # deg/s
+  angleOffsetDegDEPRECATED @11 :Float32;
 }

 struct LiveLocationKalman {
@@ -852,6 +902,8 @@ struct LiveLocationKalman {
  gpsOK @19 :Bool = true;
  sensorsOK @21 :Bool = true;
  deviceStable @22 :Bool = true;
+  timeSinceReset @23 :Float64;
+  excessiveResets @24 :Bool;

  enum Status {
    uninitialized @0;
@@ -1055,6 +1107,7 @@ struct UbloxGnss {
    aStatus @2 :AntennaSupervisorState;
    aPower @3 :AntennaPowerStatus;
    jamInd @4 :UInt8;
+    flags @5 :UInt8;

    enum AntennaSupervisorState {
      init @0;
@@ -1102,7 +1155,7 @@ struct LiveMpcData {
  x @0 :List(Float32);
  y @1 :List(Float32);
  psi @2 :List(Float32);
-  delta @3 :List(Float32);
+  curvature @3 :List(Float32);
  qpIterations @4 :UInt32;
  calculationTime @5 :UInt64;
  cost @6 :Float64;
@@ -1122,21 +1175,6 @@ struct LiveLongitudinalMpcData {
  cost @10 :Float64;
 }

-struct UiLayoutState {
-  activeApp @0 :App;
-  sidebarCollapsed @1 :Bool;
-  mapEnabled @2 :Bool;
-  mockEngaged @3 :Bool;
-
-  enum App {
-    home @0;
-    music @1;
-    nav @2;
-    settings @3;
-    none @4;
-  }
-}
-
 struct Joystick {
  # convenient for debug and live tuning
  axes @0: List(Float32);
@@ -1192,9 +1230,11 @@ struct DriverMonitoringState @0xb83cda094a1da284 {

 struct Boot {
  wallTimeNanos @0 :UInt64;
-  lastKmsg @1 :Data;
-  lastPmsg @2 :Data;
+  pstore @4 :Map(Text, Data);
  launchLog @3 :Text;
+
+  lastKmsgDEPRECATED @1 :Data;
+  lastPmsgDEPRECATED @2 :Data;
 }

 struct LiveParametersData {
@@ -1247,6 +1287,7 @@ struct Sentinel {
    startOfRoute @3;
  }
  type @0 :SentinelType;
+  signal @1 :Int32;
 }

 struct ManagerState {
@@ -1282,7 +1323,6 @@ struct Event {
    liveTracks @16 :List(LiveTracks);
    sendcan @17 :List(CanData);
    liveCalibration @19 :LiveCalibrationData;
-    gpsLocation @21 :GpsLocationData;
    carState @22 :Car.CarState;
    carControl @23 :Car.CarControl;
    longitudinalPlan @24 :LongitudinalPlan;
@@ -1292,7 +1332,6 @@ struct Event {
    liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
    ubloxRaw @39 :Data;
    gpsLocationExternal @48 :GpsLocationData;
-    uiLayoutState @57 :UiLayoutState;
    driverState @59 :DriverState;
    liveParameters @61 :LiveParametersData;
    cameraOdometry @63 :CameraOdometry;
@@ -1356,5 +1395,7 @@ struct Event {
    orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
    featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
    kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
+    gpsLocationDEPRECATED @21 :GpsLocationData;
+    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
  }
 }
@@ -1,9 +1,11 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+import os
 import capnp

 from typing import Optional, List, Union
+from collections import deque

 from cereal import log
 from cereal.services import service_list
@@ -11,6 +13,9 @@ from cereal.services import service_list
 assert MultiplePublishersError
 assert MessagingError

+AVG_FREQ_HISTORY = 100
+SIMULATION = "SIMULATION" in os.environ
+
 # sec_since_boot is faster, but allow to run standalone too
 try:
  from common.realtime import sec_since_boot
@@ -126,12 +131,14 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:

 class SubMaster():
  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
-               ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
+               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               addr: str = "127.0.0.1"):
    self.frame = -1
    self.updated = {s: False for s in services}
    self.rcv_time = {s: 0. for s in services}
    self.rcv_frame = {s: 0 for s in services}
    self.alive = {s: False for s in services}
+    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
    self.sock = {}
    self.freq = {}
    self.data = {}
@@ -142,10 +149,8 @@ class SubMaster():
    self.non_polled_services = [s for s in services if poll is not None and
                                len(poll) and s not in poll]

-    if ignore_alive is not None:
-      self.ignore_alive = ignore_alive
-    else:
-      self.ignore_alive = []
+    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
+    self.ignore_alive = [] if ignore_alive is None else ignore_alive

    for s in services:
      if addr is not None:
@@ -184,20 +189,34 @@ class SubMaster():

      s = msg.which()
      self.updated[s] = True
+
+      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
+        and (s not in self.ignore_average_freq):
+        self.recv_dts[s].append(cur_time - self.rcv_time[s])
+
      self.rcv_time[s] = cur_time
      self.rcv_frame[s] = self.frame
      self.data[s] = getattr(msg, s)
      self.logMonoTime[s] = msg.logMonoTime
      self.valid[s] = msg.valid

-    for s in self.data:
-      # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
-      if self.freq[s] > 1e-5:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
-      else:
+      if SIMULATION:
        self.alive[s] = True

+    if not SIMULATION:
+      for s in self.data:
+        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+        if self.freq[s] > 1e-5:
+          # alive if delay is within 10x the expected frequency
+          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+
+          # alive if average frequency is higher than 90% of expected frequency
+          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
+          expected_dt = 1 / (self.freq[s] * 0.90)
+          self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
+        else:
+          self.alive[s] = True
+
  def all_alive(self, service_list=None) -> bool:
    if service_list is None:  # check all
      service_list = self.alive.keys()
@@ -223,3 +242,6 @@ class PubMaster():
    if not isinstance(dat, bytes):
      dat = dat.to_bytes()
    self.sock[s].send(dat)
+
+  def all_readers_updated(self, s: str) -> bool:
+    return self.sock[s].all_readers_updated()
@@ -8,8 +8,8 @@ typedef void (*sighandler_t)(int sig);

 #include "services.h"

-#include "impl_msgq.hpp"
-#include "impl_zmq.hpp"
+#include "impl_msgq.h"
+#include "impl_zmq.h"

 void sigpipe_handler(int sig) {
  assert(sig == SIGPIPE);
@@ -6,7 +6,7 @@
 #include <cerrno>

 #include "services.h"
-#include "impl_msgq.hpp"
+#include "impl_msgq.h"


 volatile sig_atomic_t msgq_do_exit = 0;
@@ -196,6 +196,10 @@ int MSGQPubSocket::send(char *data, size_t size){
  return msgq_msg_send(&msg, q);
 }

+bool MSGQPubSocket::all_readers_updated() {
+  return msgq_all_readers_updated(q);
+}
+
 MSGQPubSocket::~MSGQPubSocket(){
  if (q != NULL){
    msgq_close_queue(q);
@@ -1,6 +1,6 @@
 #pragma once
-#include "messaging.hpp"
-#include "msgq.hpp"
+#include "messaging.h"
+#include "msgq.h"
 #include <zmq.h>
 #include <string>

@@ -48,6 +48,7 @@ public:
  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
  int send(char *data, size_t size);
+  bool all_readers_updated();
  ~MSGQPubSocket();
 };

@@ -7,7 +7,7 @@
 #include <zmq.h>

 #include "services.h"
-#include "impl_zmq.hpp"
+#include "impl_zmq.h"

 static int get_port(std::string endpoint) {
  int port = -1;
@@ -131,6 +131,11 @@ int ZMQPubSocket::send(char *data, size_t size){
  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
 }

+bool ZMQPubSocket::all_readers_updated() {
+  assert(false); // TODO not implemented
+  return false;
+}
+
 ZMQPubSocket::~ZMQPubSocket(){
  zmq_close(sock);
 }
@@ -1,5 +1,5 @@
 #pragma once
-#include "messaging.hpp"
+#include "messaging.h"
 #include <zmq.h>
 #include <string>

@@ -47,6 +47,7 @@ public:
  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
  int send(char *data, size_t size);
+  bool all_readers_updated();
  ~ZMQPubSocket();
 };

@@ -1,6 +1,6 @@
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-#include "impl_msgq.hpp"
+#include "messaging.h"
+#include "impl_zmq.h"
+#include "impl_msgq.h"

 #ifdef __APPLE__
 const bool MUST_USE_ZMQ = true;
@@ -48,6 +48,7 @@ public:
  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
  virtual int sendMessage(Message *message) = 0;
  virtual int send(char *data, size_t size) = 0;
+  virtual bool all_readers_updated() = 0;
  static PubSocket * create();
  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
@@ -65,22 +66,26 @@ public:

 class SubMaster {
 public:
-  SubMaster(const std::initializer_list<const char *> &service_list,
-            const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
-  int update(int timeout = 1000);
-  inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
-  inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
-  inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
+  SubMaster(const std::vector<const char *> &service_list,
+            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
+  void update(int timeout = 1000);
+  void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
+  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
  void drain();
  ~SubMaster();

  uint64_t frame = 0;
  bool updated(const char *name) const;
+  bool alive(const char *name) const;
+  bool valid(const char *name) const;
  uint64_t rcv_frame(const char *name) const;
-  cereal::Event::Reader &operator[](const char *name);
+  uint64_t rcv_time(const char *name) const;
+  cereal::Event::Reader &operator[](const char *name) const;

 private:
-  bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
+  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
  Poller *poller_ = nullptr;
  struct SubMessage;
  std::map<SubSocket *, SubMessage *> messages_;
@@ -112,7 +117,7 @@ private:

 class PubMaster {
 public:
-  PubMaster(const std::initializer_list<const char *> &service_list);
+  PubMaster(const std::vector<const char *> &service_list);
  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
  int send(const char *name, MessageBuilder &msg);
  ~PubMaster();
@@ -120,3 +125,21 @@ public:
 private:
  std::map<std::string, PubSocket *> sockets_;
 };
+
+class AlignedBuffer {
+public:
+  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
+    words_size = size / sizeof(capnp::word) + 1;
+    if (aligned_buf.size() < words_size) {
+      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
+    }
+    memcpy(aligned_buf.begin(), data, size);
+    return aligned_buf.slice(0, words_size);
+  }
+  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
+    return align(m->getData(), m->getSize());
+  }
+private:
+  kj::Array<capnp::word> aligned_buf;
+  size_t words_size;
+};
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool


-cdef extern from "messaging.hpp":
+cdef extern from "messaging.h":
  cdef cppclass Context:
    @staticmethod
    Context * create()
@@ -31,6 +31,7 @@ cdef extern from "messaging.hpp":
    int connect(Context *, string)
    int sendMessage(Message *)
    int send(char *, size_t)
+    bool all_readers_updated()

  cdef cppclass Poller:
    @staticmethod
@@ -149,3 +149,6 @@ cdef class PubSocket:
        raise MultiplePublishersError
      else:
        raise MessagingError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()
@@ -21,7 +21,7 @@

 #include <stdio.h>

-#include "msgq.hpp"
+#include "msgq.h"

 void sigusr2_handler(int signal) {
  assert(signal == SIGUSR2);
@@ -452,3 +452,13 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){

  return num;
 }
+
+bool msgq_all_readers_updated(msgq_queue_t *q) {
+  uint64_t num_readers = *q->num_readers;
+  for (uint64_t i = 0; i < num_readers; i++) {
+    if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
+      return false;
+    }
+  }
+  return num_readers > 0;
+}
@@ -5,7 +5,7 @@
 #include <atomic>

 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 8
+#define NUM_READERS 10
 #define ALIGN(n) ((n + (8 - 1)) & -8)

 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
@@ -64,3 +64,5 @@ int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_ready(msgq_queue_t * q);
 int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
+
+bool msgq_all_readers_updated(msgq_queue_t *q);
@@ -1,7 +1,13 @@
-#include <assert.h>
 #include <time.h>
-#include "messaging.hpp"
+#include <assert.h>
+#include <stdlib.h>
+#include <string>
+#include <mutex>
+
 #include "services.h"
+#include "messaging.h"
+
+const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");

 static inline uint64_t nanos_since_boot() {
  struct timespec t;
@@ -16,7 +22,7 @@ static const service *get_service(const char *name) {
  return nullptr;
 }

-static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
+static inline bool inList(const std::vector<const char *> &list, const char *value) {
  for (auto &v : list) {
    if (strcmp(value, v) == 0) return true;
  }
@@ -25,89 +31,106 @@ static inline bool inList(const std::initializer_list<const char *> &list, const

 class MessageContext {
 public:
-  MessageContext() { ctx_ = Context::create(); }
+  MessageContext() : ctx_(nullptr) {};
  ~MessageContext() { delete ctx_; }
+  inline Context *context() {
+    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
+    return ctx_;
+  }
+private:
  Context *ctx_;
+  std::once_flag init_flag;
 };
-MessageContext ctx;
+
+MessageContext message_context;

 struct SubMaster::SubMessage {
  std::string name;
  SubSocket *socket = nullptr;
  int freq = 0;
-  bool updated = false, alive = false, valid = false, ignore_alive;
+  bool updated = false, alive = false, valid = true, ignore_alive;
  uint64_t rcv_time = 0, rcv_frame = 0;
  void *allocated_msg_reader = nullptr;
  capnp::FlatArrayMessageReader *msg_reader = nullptr;
-  kj::Array<capnp::word> buf;
+  AlignedBuffer aligned_buf;
  cereal::Event::Reader event;
 };

-SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
-                     const std::initializer_list<const char *> &ignore_alive) {
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
+                     const std::vector<const char *> &ignore_alive) {
  poller_ = Poller::create();
  for (auto name : service_list) {
    const service *serv = get_service(name);
    assert(serv != nullptr);
-    SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
    assert(socket != 0);
    poller_->registerSocket(socket);
    SubMessage *m = new SubMessage{
+      .name = name,
      .socket = socket,
      .freq = serv->frequency,
      .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-      .buf = kj::heapArray<capnp::word>(1024)};
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
    messages_[socket] = m;
    services_[name] = m;
  }
 }

-int SubMaster::update(int timeout) {
-  if (++frame == UINT64_MAX) frame = 1;
+void SubMaster::update(int timeout) {
  for (auto &kv : messages_) kv.second->updated = false;

-  int updated = 0;
  auto sockets = poller_->poll(timeout);
  uint64_t current_time = nanos_since_boot();
+
+  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
+
  for (auto s : sockets) {
    Message *msg = s->receive(true);
    if (msg == nullptr) continue;

    SubMessage *m = messages_.at(s);
-    const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
-    if (m->buf.size() < size) {
-      m->buf = kj::heapArray<capnp::word>(size);
-    }
-    memcpy(m->buf.begin(), msg->getData(), msg->getSize());
-    delete msg;

-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
+    m->msg_reader->~FlatArrayMessageReader();
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
+    delete msg;
+    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
+  }
+
+  update_msgs(current_time, messages);
+}
+
+void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
+  if (++frame == UINT64_MAX) frame = 1;
+
+  for(auto &kv : messages) {
+    auto m_find = services_.find(kv.first);
+    if (m_find == services_.end()){
+      continue;
    }
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
-    m->event = m->msg_reader->getRoot<cereal::Event>();
+    SubMessage *m = m_find->second;
+    m->event = kv.second;
    m->updated = true;
    m->rcv_time = current_time;
    m->rcv_frame = frame;
    m->valid = m->event.getValid();
-
-    ++updated;
+    if (SIMULATION) m->alive = true;
  }

-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+  if (!SIMULATION) {
+    for (auto &kv : messages_) {
+      SubMessage *m = kv.second;
+      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+    }
  }
-  return updated;
 }

-bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
+bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
  int found = 0;
  for (auto &kv : messages_) {
    SubMessage *m = kv.second;
    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
-      found += (!valid || m->valid) && (!alive || (m->alive && !m->ignore_alive));
+      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
    }
  }
  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
@@ -130,11 +153,23 @@ bool SubMaster::updated(const char *name) const {
  return services_.at(name)->updated;
 }

+bool SubMaster::alive(const char *name) const {
+  return services_.at(name)->alive;
+}
+
+bool SubMaster::valid(const char *name) const {
+  return services_.at(name)->valid;
+}
+
 uint64_t SubMaster::rcv_frame(const char *name) const {
  return services_.at(name)->rcv_frame;
 }

-cereal::Event::Reader &SubMaster::operator[](const char *name) {
+uint64_t SubMaster::rcv_time(const char *name) const {
+  return services_.at(name)->rcv_time;
+}
+
+cereal::Event::Reader &SubMaster::operator[](const char *name) const {
  return services_.at(name)->event;
 };

@@ -142,19 +177,17 @@ SubMaster::~SubMaster() {
  delete poller_;
  for (auto &kv : messages_) {
    SubMessage *m = kv.second;
-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
-    }
+    m->msg_reader->~FlatArrayMessageReader();
    free(m->allocated_msg_reader);
    delete m->socket;
    delete m;
  }
 }

-PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
+PubMaster::PubMaster(const std::vector<const char *> &service_list) {
  for (auto name : service_list) {
    assert(get_service(name) != nullptr);
-    PubSocket *socket = PubSocket::create(ctx.ctx_, name);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
    assert(socket);
    sockets_[name] = socket;
  }
@@ -2,7 +2,15 @@
 import os
 from typing import Optional

-EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')
+RESERVED_PORT = 8022  # sshd
+STARTING_PORT = 8001
+
+
+def new_port(port: int):
+  port += STARTING_PORT
+  return port + 1 if port >= RESERVED_PORT else port
+

 class Service:
  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
@@ -11,56 +19,58 @@ class Service:
    self.frequency = frequency
    self.decimation = decimation

-service_list = {
-  "roadCameraState": Service(8002, True, 20., 1),
-  "sensorEvents": Service(8003, True, 100., 100),
-  "gpsNMEA": Service(8004, True, 9.),
-  "deviceState": Service(8005, True, 2., 1),
-  "can": Service(8006, True, 100.),
-  "controlsState": Service(8007, True, 100., 100),
-  "features": Service(8010, True, 0.),
-  "pandaState": Service(8011, True, 2., 1),
-  "radarState": Service(8012, True, 20., 5),
-  "roadEncodeIdx": Service(8015, True, 20., 1),
-  "liveTracks": Service(8016, True, 20.),
-  "sendcan": Service(8017, True, 100.),
-  "logMessage": Service(8018, True, 0.),
-  "liveCalibration": Service(8019, True, 4., 4),
-  "androidLog": Service(8020, True, 0., 1),
-  "carState": Service(8021, True, 100., 10),
-  "carControl": Service(8023, True, 100., 10),
-  "longitudinalPlan": Service(8024, True, 20., 2),
-  "liveLocation": Service(8025, True, 0., 1),
-  "gpsLocation": Service(8026, True, 1., 1),
-  "procLog": Service(8031, True, 0.5),
-  "gpsLocationExternal": Service(8032, True, 10., 1),
-  "ubloxGnss": Service(8033, True, 10.),
-  "clocks": Service(8034, True, 1., 1),
-  "liveMpc": Service(8035, False, 20.),
-  "liveLongitudinalMpc": Service(8036, False, 20.),
-  "ubloxRaw": Service(8042, True, 20.),
-  "liveLocationKalman": Service(8054, True, 20., 2),
-  "uiLayoutState": Service(8060, True, 0.),
-  "liveParameters": Service(8064, True, 20., 2),
-  "cameraOdometry": Service(8066, True, 20., 5),
-  "lateralPlan": Service(8067, True, 20., 2),
-  "thumbnail": Service(8069, True, 0.2, 1),
-  "carEvents": Service(8070, True, 1., 1),
-  "carParams": Service(8071, True, 0.02, 1),
-  "driverCameraState": Service(8072, True, 10. if EON else 20., 1),
-  "driverEncodeIdx": Service(8061, True, 10. if EON else 20., 1),
-  "driverState": Service(8063, True, 10. if EON else 20., 1),
-  "driverMonitoringState": Service(8073, True, 10. if EON else 20., 1),
-  "offroadLayout": Service(8074, False, 0.),
-  "wideRoadEncodeIdx": Service(8075, True, 20., 1),
-  "wideRoadCameraState": Service(8076, True, 20., 1),
-  "modelV2": Service(8077, True, 20., 20),
-  "managerState": Service(8078, True, 2., 1),

-  "testModel": Service(8040, False, 0.),
-  "testLiveLocation": Service(8045, False, 0.),
-  "testJoystick": Service(8056, False, 0.),
+services = {
+  "roadCameraState": (True, 20., 1),  # should_log, frequency, decimation (optional)
+  "sensorEvents": (True, 100., 100),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "can": (True, 100.),
+  "controlsState": (True, 100., 100),
+  "features": (True, 0.),
+  "pandaState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (True, 20., 1),
+  "liveTracks": (True, 20.),
+  "sendcan": (True, 100.),
+  "logMessage": (True, 0.),
+  "liveCalibration": (True, 4., 4),
+  "androidLog": (True, 0., 1),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 2),
+  "liveLocation": (True, 0., 1),
+  "procLog": (True, 0.5),
+  "gpsLocationExternal": (True, 10., 1),
+  "ubloxGnss": (True, 10.),
+  "clocks": (True, 1., 1),
+  "liveMpc": (False, 20.),
+  "liveLongitudinalMpc": (False, 20.),
+  "ubloxRaw": (True, 20.),
+  "liveLocationKalman": (True, 20., 2),
+  "uiLayoutState": (True, 0.),
+  "liveParameters": (True, 20., 2),
+  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 2),
+  "thumbnail": (True, 0.2, 1),
+  "carEvents": (True, 1., 1),
+  "carParams": (True, 0.02, 1),
+  "driverCameraState": (True, 10. if not TICI else 20., 1),
+  "driverEncodeIdx": (True, 10. if not TICI else 20., 1),
+  "driverState": (True, 10. if not TICI else 20., 1),
+  "driverMonitoringState": (True, 10. if not TICI else 20., 1),
+  "offroadLayout": (False, 0.),
+  "wideRoadEncodeIdx": (True, 20., 1),
+  "wideRoadCameraState": (True, 20., 1),
+  "modelV2": (True, 20., 20),
+  "managerState": (True, 2., 1),
+
+  "testModel": (False, 0.),
+  "testLiveLocation": (False, 0.),
+  "testJoystick": (False, 0.),
 }
+service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+                idx, (name, vals) in enumerate(services.items())}


 def build_header():
@@ -73,7 +83,7 @@ def build_header():
  for k, v in service_list.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
+    h += '  { "%s", %d, %s, %d, %d },\n' % \
         (k, v.port, should_log, v.frequency, decimation)
  h += "};\n"
  h += "#endif\n"
@@ -15,7 +15,7 @@ extern "C" void compute_aligned_width_and_height(int width,
 #endif

 void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
-#if defined(QCOM) && !defined(QCOM_REPLAY)
+#ifdef QCOM
  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
 #else
  *aligned_w = width; *aligned_h = height;
@@ -3,7 +3,7 @@
 #include <string>
 #include <unistd.h>

-#include "messaging.hpp"
+#include "messaging.h"
 #include "visionipc.h"
 #include "visionbuf.h"

@@ -7,7 +7,7 @@
 #include <sys/socket.h>
 #include <unistd.h>

-#include "messaging.hpp"
+#include "messaging.h"
 #include "ipc.h"
 #include "visionipc_server.h"

@@ -5,7 +5,7 @@
 #include <atomic>
 #include <map>

-#include "messaging.hpp"
+#include "messaging.h"
 #include "visionipc.h"
 #include "visionbuf.h"

@@ -1,4 +1,4 @@
-Import('envCython')
+Import('envCython', 'common')

 envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.pyx')
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d
@@ -3,6 +3,7 @@ import os
 import sys
 import copy
 import json
+import uuid
 import socket
 import logging
 import traceback
@@ -62,8 +63,48 @@ class SwagFormatter(logging.Formatter):
    return record_dict

  def format(self, record):
+    if self.swaglogger is None:
+      raise Exception("must set swaglogger before calling format()")
    return json_robust_dumps(self.format_dict(record))

+class SwagLogFileFormatter(SwagFormatter):
+  def fix_kv(self, k, v):
+    # append type to names to preserve legacy naming in logs
+    # avoids overlapping key namespaces with different types
+    # e.g. log.info() creates 'msg' -> 'msg$s'
+    #      log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
+    #      because overlapping namespace 'msg' caused problems
+    if isinstance(v, (str, bytes)):
+      k += "$s"
+    elif isinstance(v, float):
+      k += "$f"
+    elif isinstance(v, bool):
+      k += "$b"
+    elif isinstance(v, int):
+      k += "$i"
+    elif isinstance(v, dict):
+      nv = {}
+      for ik, iv in v.items():
+        ik, iv = self.fix_kv(ik, iv)
+        nv[ik] = iv
+      v = nv
+    elif isinstance(v, list):
+      k += "$a"
+    return k, v
+
+  def format(self, record):
+    if isinstance(record, str):
+      v = json.loads(record)
+    else:
+      v = self.format_dict(record)
+
+    mk, mv = self.fix_kv('msg', v['msg'])
+    del v['msg']
+    v[mk] = mv
+    v['id'] = uuid.uuid4().hex
+
+    return json_robust_dumps(v)
+
 class SwagErrorFilter(logging.Filter):
  def filter(self, record):
    return record.levelno < logging.ERROR
@@ -117,6 +158,8 @@ class SwagLogger(logging.Logger):
    evt.update(kwargs)
    if 'error' in kwargs:
      self.error(evt)
+    if 'debug' in kwargs:
+      self.debug(evt)
    else:
      self.info(evt)

@@ -1,5 +1,6 @@
-from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
+assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking

@@ -8,9 +8,21 @@ cdef extern from "selfdrive/common/util.cc":
  pass

 cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_PANDA_DISCONNECT
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
+    ALL
+
  cdef cppclass Params:
    Params(bool)
    Params(string)
    string get(string, bool) nogil
-    int delete_db_value(string)
-    int write_db_value(string, string)
+    bool getBool(string)
+    int remove(string)
+    int put(string, string)
+    int putBool(string, bool)
+    bool checkKey(string)
+    void clearAll(ParamKeyType)
@@ -2,82 +2,20 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from common.params_pxd cimport Params as c_Params
+from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType

 import os
 import threading
 from common.basedir import BASEDIR

-cdef enum TxType:
-  PERSISTENT = 1
-  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3

-keys = {
-  b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
-  b"AthenadPid": [TxType.PERSISTENT],
-  b"CalibrationParams": [TxType.PERSISTENT],
-  b"CarBatteryCapacity": [TxType.PERSISTENT],
-  b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CommunityFeaturesToggle": [TxType.PERSISTENT],
-  b"CompletedTrainingVersion": [TxType.PERSISTENT],
-  b"DisablePowerDown": [TxType.PERSISTENT],
-  b"DisableUpdates": [TxType.PERSISTENT],
-  b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  b"DongleId": [TxType.PERSISTENT],
-  b"GitBranch": [TxType.PERSISTENT],
-  b"GitCommit": [TxType.PERSISTENT],
-  b"GitRemote": [TxType.PERSISTENT],
-  b"GithubSshKeys": [TxType.PERSISTENT],
-  b"HardwareSerial": [TxType.PERSISTENT],
-  b"HasAcceptedTerms": [TxType.PERSISTENT],
-  b"HasCompletedSetup": [TxType.PERSISTENT],
-  b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
-  b"IMEI": [TxType.PERSISTENT],
-  b"IsLdwEnabled": [TxType.PERSISTENT],
-  b"IsMetric": [TxType.PERSISTENT],
-  b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsRHD": [TxType.PERSISTENT],
-  b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUploadRawEnabled": [TxType.PERSISTENT],
-  b"LastAthenaPingTime": [TxType.PERSISTENT],
-  b"LastGPSPosition": [TxType.PERSISTENT],
-  b"LastUpdateException": [TxType.PERSISTENT],
-  b"LastUpdateTime": [TxType.PERSISTENT],
-  b"LiveParameters": [TxType.PERSISTENT],
-  b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  b"LaneChangeEnabled": [TxType.PERSISTENT],
-  b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Passive": [TxType.PERSISTENT],
-  b"RecordFront": [TxType.PERSISTENT],
-  b"ReleaseNotes": [TxType.PERSISTENT],
-  b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"SubscriberInfo": [TxType.PERSISTENT],
-  b"SshEnabled": [TxType.PERSISTENT],
-  b"TermsVersion": [TxType.PERSISTENT],
-  b"Timezone": [TxType.PERSISTENT],
-  b"TrainingVersion": [TxType.PERSISTENT],
-  b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
-  b"Version": [TxType.PERSISTENT],
-  b"VisionRadarToggle": [TxType.PERSISTENT],
-  b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
-  b"ForcePowerDown": [TxType.CLEAR_ON_MANAGER_START],
-}
+cdef class ParamKeyType:
+  PERSISTENT = c_ParamKeyType.PERSISTENT
+  CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
+  CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
+  CLEAR_ON_IGNITION_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
+  CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
+  ALL = c_ParamKeyType.ALL

 def ensure_bytes(v):
  if isinstance(v, str):
@@ -102,23 +40,21 @@ cdef class Params:
    del self.p

  def clear_all(self, tx_type=None):
-    for key in keys:
-      if tx_type is None or tx_type in keys[key]:
-        self.delete(key)
+    if tx_type is None:
+      tx_type = ParamKeyType.ALL

-  def manager_start(self):
-    self.clear_all(TxType.CLEAR_ON_MANAGER_START)
+    self.p.clearAll(tx_type)

-  def panda_disconnect(self):
-    self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
-
-  def get(self, key, block=False, encoding=None):
+  def check_key(self, key):
    key = ensure_bytes(key)

-    if key not in keys:
+    if not self.p.checkKey(key):
      raise UnknownKeyName(key)

-    cdef string k = key
+    return key
+
+  def get(self, key, block=False, encoding=None):
+    cdef string k = self.check_key(key)
    cdef bool b = block

    cdef string val
@@ -138,6 +74,10 @@ cdef class Params:
    else:
      return val

+  def get_bool(self, key):
+    cdef string k = self.check_key(key)
+    return self.p.getBool(k)
+
  def put(self, key, dat):
    """
    Warning: This function blocks until the param is written to disk!
@@ -145,23 +85,24 @@ cdef class Params:
    Use the put_nonblocking helper function in time sensitive code, but
    in general try to avoid writing params as much as possible.
    """
-    key = ensure_bytes(key)
+    cdef string k = self.check_key(key)
    dat = ensure_bytes(dat)
+    self.p.put(k, dat)

-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    self.p.write_db_value(key, dat)
+  def put_bool(self, key, val):
+    cdef string k = self.check_key(key)
+    self.p.putBool(k, val)

  def delete(self, key):
-    key = ensure_bytes(key)
-    self.p.delete_db_value(key)
+    cdef string k = self.check_key(key)
+    self.p.remove(k)


 def put_nonblocking(key, val, d=None):
  def f(key, val):
    params = Params(d)
-    params.put(key, val)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)

  t = threading.Thread(target=f, args=(key, val))
  t.start()
@@ -3,6 +3,7 @@ import gc
 import os
 import time
 import multiprocessing
+from typing import Optional

 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
 from selfdrive.hardware import PC, TICI
@@ -31,49 +32,49 @@ class Priority:
  CTRL_HIGH = 53


-def set_realtime_priority(level):
+def set_realtime_priority(level: int) -> None:
  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]


-def set_core_affinity(core):
+def set_core_affinity(core: int) -> None:
  if not PC:
    os.sched_setaffinity(0, [core,])


-def config_realtime_process(core, priority):
+def config_realtime_process(core: int, priority: int) -> None:
  gc.disable()
  set_realtime_priority(priority)
  set_core_affinity(core)


-class Ratekeeper():
-  def __init__(self, rate, print_delay_threshold=0.):
+class Ratekeeper:
+  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
    self._next_frame_time = sec_since_boot() + self._interval
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
-    self._remaining = 0
+    self._remaining = 0.0
    self._process_name = multiprocessing.current_process().name

  @property
-  def frame(self):
+  def frame(self) -> int:
    return self._frame

  @property
-  def remaining(self):
+  def remaining(self) -> float:
    return self._remaining

  # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self):
+  def keep_time(self) -> bool:
    lagged = self.monitor_time()
    if self._remaining > 0:
      time.sleep(self._remaining)
    return lagged

  # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self):
+  def monitor_time(self) -> bool:
    lagged = False
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
@@ -25,7 +25,7 @@ class Spinner():
        pass

  def update_progress(self, cur: int, total: int):
-    self.update(str(int(100 * cur / total)))
+    self.update(str(round(100 * cur / total)))

  def close(self):
    if self.spinner_proc is not None:
@@ -5,14 +5,12 @@ from selfdrive.hardware import TICI

 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0
-eon_d_focal_length = 860.0
-leon_d_focal_length = 650.0
+eon_d_focal_length = 650.0
 tici_f_focal_length = 2648.0
 tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame

 eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (1152, 864)
-leon_d_frame_size = (816, 612)
+eon_d_frame_size = (816, 612)
 tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)

 # aka 'K' aka camera_frame_from_view_frame
@@ -22,11 +20,6 @@ eon_fcam_intrinsics = np.array([
  [0.0,  0.0,                                          1.0]])
 eon_intrinsics = eon_fcam_intrinsics # xx

-leon_dcam_intrinsics = np.array([
-  [leon_d_focal_length,  0.0,  float(leon_d_frame_size[0])/2],
-  [0.0,  leon_d_focal_length,  float(leon_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
-
 eon_dcam_intrinsics = np.array([
  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
@@ -6,8 +6,6 @@

 #include "coordinates.hpp"

-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-#define RAD2DEG(x) ((x) * 180.0 / M_PI)


 double a = 6378137; // lgtm [cpp/short-global-name]
@@ -1,5 +1,8 @@
 #pragma once

+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
 struct ECEF {
  double x, y, z;
  Eigen::Vector3d to_vector(){
@@ -9,6 +12,9 @@ struct ECEF {

 struct NED {
  double n, e, d;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(n, e, d);
+  }
 };

 struct Geodetic {
@@ -30,7 +30,8 @@ Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
  // return {euler(2), euler(1), euler(0)};
  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
-  double theta = asin(2 * (quat.w() * quat.y() - quat.z() * quat.x()));
+  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
+  double theta = asin(asin_arg_clipped);
  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
  return {gamma, theta, psi};
 }
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
-  "ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
-  "recovery_len": 15926572,
-  "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
+  "recovery_len": 15209772,
+  "recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
 }
@@ -1,37 +1,33 @@
+#include <sys/stat.h>
+#include <sys/statvfs.h>
+#include <unistd.h>
+
+#include <cassert>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
 #include <fstream>
 #include <iostream>
-#include <mutex>
 #include <memory>
+#include <mutex>
+#include <sstream>
+#include <string>
 #include <thread>

 #include <curl/curl.h>
 #include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
-
+#include <GLES3/gl3.h>
 #include "nanovg.h"
 #define NANOVG_GLES3_IMPLEMENTATION
+#include "json11.hpp"
 #include "nanovg_gl.h"
 #include "nanovg_gl_utils.h"

-#include "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/util.h"
+#include "selfdrive/common/framebuffer.h"
+#include "selfdrive/common/touch.h"
+#include "selfdrive/common/util.h"

 #define USER_AGENT "NEOSUpdater-0.2"

@@ -250,7 +246,12 @@ struct Updater {
    b_y = 720;
    b_h = 220;

-    state = CONFIRMATION;
+    if (download_stage(true)) {
+      state = RUNNING;
+      update_thread_handle = std::thread(&Updater::run_stages, this);
+    } else {
+      state = CONFIRMATION;
+    }
  }

  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
@@ -351,11 +352,15 @@ struct Updater {
    state = RUNNING;
  }

-  std::string download(std::string url, std::string hash, std::string name) {
+  std::string download(std::string url, std::string hash, std::string name, bool dry_run) {
    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);

-    // start or resume downloading if hash doesn't match
    std::string fn_hash = sha256_file(out_fn);
+    if (dry_run) {
+      return (hash.compare(fn_hash) != 0) ? "" : out_fn;
+    }
+
+    // start or resume downloading if hash doesn't match
    if (hash.compare(fn_hash) != 0) {
      set_progress("Downloading " + name + "...");
      bool r = download_file(url, out_fn);
@@ -377,14 +382,14 @@ struct Updater {
    return out_fn;
  }

-  bool download_stage() {
+  bool download_stage(bool dry_run = false) {
    curl = curl_easy_init();
    assert(curl);

    // ** quick checks before download **

    if (!check_space()) {
-      set_error("2GB of free space required to update");
+      if (!dry_run) set_error("2GB of free space required to update");
      return false;
    }

@@ -432,7 +437,7 @@ struct Updater {
      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());

      if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = download(recovery_url, recovery_hash, "recovery");
+        recovery_fn = download(recovery_url, recovery_hash, "recovery", dry_run);
        if (recovery_fn.empty()) {
          // error'd
          return false;
@@ -441,7 +446,7 @@ struct Updater {
    }

    // ** handle ota download **
-    ota_fn = download(ota_url, ota_hash, "update");
+    ota_fn = download(ota_url, ota_hash, "update", dry_run);
    if (ota_fn.empty()) {
      //error'd
      return false;
@@ -1,4 +0,0 @@
-#!/usr/bin/bash
-
-export PASSIVE="0"
-exec ./launch_chffrplus.sh
@@ -9,6 +9,7 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

 function two_init {
+
  # Wifi scan
  wpa_cli IFNAME=wlan0 SCAN

@@ -54,8 +55,7 @@ function two_init {
  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS

  # USB traffic needs realtime handling on cpu 3
-  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
-  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
+  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list

  # GPU and camera get cpu 2
  CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
@@ -91,23 +91,12 @@ function two_init {

    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
  fi
-
-  # One-time fix for a subset of OP3T with gyro orientation offsets.
-  # Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
-  # Performed exactly once. The old registry is preserved just-in-case, and
-  # doubles as a flag denoting we've already done the reset.
-  if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
-    echo "Performing OP3T sensor registry reset"
-    mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
-      rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
-      echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
-      sleep 5  # Give Android sensor subsystem a moment to recover
-  fi
 }

 function tici_init {
  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
+  nmcli connection modify --temporary lte gsm.auto-config yes

  # set success flag for current boot slot
  sudo abctl --set_success
@@ -177,6 +166,9 @@ function launch {
  # Remove orphaned git lock if it exists on boot
  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock

+  # Pull time from panda
+  $DIR/selfdrive/boardd/set_time.py
+
  # Check to see if there's a valid overlay-based update available. Conditions
  # are as follows:
  #
@@ -232,8 +224,8 @@ function launch {
  tmux capture-pane -pq -S-1000 > /tmp/launch_log

  # start manager
-  cd selfdrive
-  ./manager.py
+  cd selfdrive/manager
+  ./build.py && ./manager.py

  # if broken, keep on screen error
  while true; do sleep 1; done
@@ -7,11 +7,11 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="15-1"
+  export REQUIRED_NEOS_VERSION="17"
 fi

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="0.6"
+  export AGNOS_VERSION="0.18"
 fi

 if [ -z "$PASSIVE" ]; then
@@ -112,7 +112,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x86:  // LWI_01 Steering Angle
      crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
      break;
-    case 0x9F:  // EPS_01 Electric Power Steering
+    case 0x9F:  // LH_EPS_03 Electric Power Steering
      crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
      break;
    case 0xAD:  // Getriebe_11 Automatic Gearbox
@@ -125,7 +125,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
      crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
      break;
    case 0x117: // ACC_10 Automatic Cruise Control
-      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
+      crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
      break;
    case 0x120: // TSK_06 Drivetrain Coordinator
      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
@@ -151,6 +151,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
      break;
+    case 0x324: // ACC_04 Automatic Cruise Control
+      crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[counter];
+      break;
    case 0x3C0: // Klemmen_Status_01 ignition and starting status
      crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
      break;
@@ -5,8 +5,12 @@
 #include <unordered_map>

 #include "common_dbc.h"
+#include <capnp/dynamic.h>
 #include <capnp/serialize.h>
+
+#ifndef DYNAMIC_CAPNP
 #include "cereal/gen/cpp/log.capnp.h"
+#endif

 #define MAX_BAD_COUNTER 5

@@ -36,6 +40,9 @@ public:
  uint8_t counter;
  uint8_t counter_fail;

+  bool ignore_checksum = false;
+  bool ignore_counter = false;
+
  bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
  bool update_counter_generic(int64_t v, int cnt_size);
 };
@@ -43,6 +50,7 @@ public:
 class CANParser {
 private:
  const int bus;
+  kj::Array<capnp::word> aligned_buf;

  const DBC *dbc = NULL;
  std::unordered_map<uint32_t, MessageState> message_states;
@@ -54,9 +62,13 @@ public:
  CANParser(int abus, const std::string& dbc_name,
            const std::vector<MessageParseOptions> &options,
            const std::vector<SignalParseOptions> &sigoptions);
-  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
-  void UpdateValid(uint64_t sec);
+  CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
+  #ifndef DYNAMIC_CAPNP
  void update_string(const std::string &data, bool sendcan);
+  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
+  #endif
+  void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
+  void UpdateValid(uint64_t sec);
  std::vector<SignalValue> query_latest();
 };

@@ -68,5 +80,6 @@ private:

 public:
  CANPacker(const std::string& dbc_name);
-  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter);
+  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &values, int counter);
+  Msg* lookup_message(uint32_t address);
 };
@@ -3,6 +3,7 @@
 #include <cstddef>
 #include <cstdint>
 #include <string>
+#include <vector>

 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))

@@ -74,6 +75,7 @@ struct DBC {
  size_t num_vals;
 };

+std::vector<const DBC*>& get_dbcs();
 const DBC* dbc_lookup(const std::string& dbc_name);

 void dbc_register(const DBC* dbc);
@@ -2,15 +2,11 @@

 #include "common_dbc.h"

-namespace {
-
 std::vector<const DBC*>& get_dbcs() {
  static std::vector<const DBC*> vec;
  return vec;
 }

-}
-
 const DBC* dbc_lookup(const std::string& dbc_name) {
  for (const auto& dbci : get_dbcs()) {
    if (dbc_name == dbci->name) {
@@ -20,7 +20,7 @@ uint64_t ReverseBytes(uint64_t x) {
          ((x & 0x00000000000000ffull) << 56);
 }

-uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
+static uint64_t set_value(uint64_t ret, const Signal& sig, int64_t ival) {
  int shift = sig.is_little_endian? sig.b1 : sig.bo;
  uint64_t mask = ((1ULL << sig.b2)-1) << shift;
  uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
@@ -59,7 +59,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
      WARN("undefined signal %s - %d\n", name.c_str(), address);
      continue;
    }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;

    int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
    if (ival < 0) {
@@ -75,7 +75,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
      WARN("COUNTER not defined\n");
      return ret;
    }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;

    if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
      WARN("COUNTER signal type not valid\n");
@@ -86,7 +86,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s

  auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
  if (sig_it_checksum != signal_lookup.end()) {
-    auto sig = sig_it_checksum->second;
+    const auto& sig = sig_it_checksum->second;
    if (sig.type == SignalType::HONDA_CHECKSUM) {
      unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
      ret = set_value(ret, sig, chksm);
@@ -112,3 +112,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s

  return ret;
 }
+
+Msg* CANPacker::lookup_message(uint32_t address) {
+  return &message_lookup[address];
+}
@@ -13,7 +13,6 @@
 // #define DEBUG printf
 #define INFO printf

-
 bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
  uint64_t dat_le = read_u64_le(dat);
  uint64_t dat_be = read_u64_be(dat);
@@ -34,47 +33,52 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {

    DEBUG("parse 0x%X %s -> %lld\n", address, sig.name, tmp);

-    if (sig.type == SignalType::HONDA_CHECKSUM) {
-      if (honda_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
+    if (!ignore_checksum) {
+      if (sig.type == SignalType::HONDA_CHECKSUM) {
+        if (honda_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
+        if (toyota_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
+        if (volkswagen_crc(address, dat_le, size) != tmp) {
+          INFO("0x%X CRC FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+        if (subaru_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+        if (chrysler_checksum(address, dat_le, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
+        if (pedal_checksum(dat_be, size) != tmp) {
+          INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
+          return false;
+        }
      }
-    } else if (sig.type == SignalType::HONDA_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
-      }
-    } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
-      if (toyota_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
-      if (volkswagen_crc(address, dat_le, size) != tmp) {
-        INFO("0x%X CRC FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+    }
+    if (!ignore_counter) {
+      if (sig.type == SignalType::HONDA_COUNTER) {
        if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
-      }
-    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
-      if (subaru_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
-      if (chrysler_checksum(address, dat_le, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
-      if (pedal_checksum(dat_be, size) != tmp) {
-        INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::PEDAL_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+          if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
+      } else if (sig.type == SignalType::PEDAL_COUNTER) {
+        if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
      }
    }

@@ -108,26 +112,24 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
 CANParser::CANParser(int abus, const std::string& dbc_name,
          const std::vector<MessageParseOptions> &options,
          const std::vector<SignalParseOptions> &sigoptions)
-  : bus(abus) {
+  : bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {

  dbc = dbc_lookup(dbc_name);
  assert(dbc);
  init_crc_lookup_tables();

  for (const auto& op : options) {
-    MessageState state = {
-      .address = op.address,
-      // .check_frequency = op.check_frequency,
-    };
+    MessageState &state = message_states[op.address];
+    state.address = op.address;
+    // state.check_frequency = op.check_frequency,

    // msg is not valid if a message isn't received for 10 consecutive steps
    if (op.check_frequency > 0) {
      state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
    }

-
    const Msg* msg = NULL;
-    for (int i=0; i<dbc->num_msgs; i++) {
+    for (int i = 0; i < dbc->num_msgs; i++) {
      if (dbc->msgs[i].address == op.address) {
        msg = &dbc->msgs[i];
        break;
@@ -141,7 +143,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
    state.size = msg->size;

    // track checksums and counters for this message
-    for (int i=0; i<msg->num_sigs; i++) {
+    for (int i = 0; i < msg->num_sigs; i++) {
      const Signal *sig = &msg->sigs[i];
      if (sig->type != SignalType::DEFAULT) {
        state.parse_sigs.push_back(*sig);
@@ -153,7 +155,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
    for (const auto& sigop : sigoptions) {
      if (sigop.address != op.address) continue;

-      for (int i=0; i<msg->num_sigs; i++) {
+      for (int i = 0; i < msg->num_sigs; i++) {
        const Signal *sig = &msg->sigs[i];
        if (strcmp(sig->name, sigop.name) == 0
            && sig->type == SignalType::DEFAULT) {
@@ -162,59 +164,48 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
          break;
        }
      }
+    }
+  }
+}

+CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter)
+  : bus(abus) {
+  // Add all messages and signals
+
+  dbc = dbc_lookup(dbc_name);
+  assert(dbc);
+  init_crc_lookup_tables();
+
+  for (int i = 0; i < dbc->num_msgs; i++) {
+    const Msg* msg = &dbc->msgs[i];
+    MessageState state = {
+      .address = msg->address,
+      .size = msg->size,
+      .ignore_checksum = ignore_checksum,
+      .ignore_counter = ignore_counter,
+    };
+
+    for (int j = 0; j < msg->num_sigs; j++) {
+      const Signal *sig = &msg->sigs[j];
+      state.parse_sigs.push_back(*sig);
+      state.vals.push_back(0);
    }

    message_states[state.address] = state;
  }
 }

-void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
-    int msg_count = cans.size();
-
-    DEBUG("got %d messages\n", msg_count);
-
-    // parse the messages
-    for (int i = 0; i < msg_count; i++) {
-      auto cmsg = cans[i];
-      if (cmsg.getSrc() != bus) {
-        // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
-        continue;
-      }
-      auto state_it = message_states.find(cmsg.getAddress());
-      if (state_it == message_states.end()) {
-        // DEBUG("skip %d: not specified\n", cmsg.getAddress());
-        continue;
-      }
-
-      if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
-      uint8_t dat[8] = {0};
-      memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
-
-      state_it->second.parse(sec, cmsg.getBusTime(), dat);
-    }
-}
-
-void CANParser::UpdateValid(uint64_t sec) {
-  can_valid = true;
-  for (const auto& kv : message_states) {
-    const auto& state = kv.second;
-    if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
-      if (state.seen > 0) {
-        DEBUG("0x%X TIMEOUT\n", state.address);
-      }
-      can_valid = false;
-    }
-  }
-}
-
+#ifndef DYNAMIC_CAPNP
 void CANParser::update_string(const std::string &data, bool sendcan) {
-  // format for board, make copy due to alignment issues, will be freed on out of scope
-  auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), data.data(), data.length());
+  // format for board, make copy due to alignment issues.
+  const size_t buf_size = (data.length() / sizeof(capnp::word)) + 1;
+  if (aligned_buf.size() < buf_size) {
+    aligned_buf = kj::heapArray<capnp::word>(buf_size);
+  }
+  memcpy(aligned_buf.begin(), data.data(), data.length());

  // extract the messages
-  capnp::FlatArrayMessageReader cmsg(amsg);
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();

  last_sec = event.getLogMonoTime();
@@ -225,6 +216,69 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
  UpdateValid(last_sec);
 }

+void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
+  int msg_count = cans.size();
+
+  DEBUG("got %d messages\n", msg_count);
+
+  for (int i = 0; i < msg_count; i++) {
+    auto cmsg = cans[i];
+    // parse the messages
+    if (cmsg.getSrc() != bus) {
+      // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
+      continue;
+    }
+    auto state_it = message_states.find(cmsg.getAddress());
+    if (state_it == message_states.end()) {
+      // DEBUG("skip %d: not specified\n", cmsg.getAddress());
+      continue;
+    }
+
+    if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
+    uint8_t dat[8] = {0};
+    memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
+
+    state_it->second.parse(sec, cmsg.getBusTime(), dat);
+  }
+}
+#endif
+
+void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
+  // assume message struct is `cereal::CanData` and parse
+  assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));
+
+  if (cmsg.get("src").as<uint8_t>() != bus) {
+    DEBUG("skip %d: wrong bus\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto state_it = message_states.find(cmsg.get("address").as<uint32_t>());
+  if (state_it == message_states.end()) {
+    DEBUG("skip %d: not specified\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto dat = cmsg.get("dat").as<capnp::Data>();
+  if (dat.size() > 8) return; //shouldn't ever happen
+  uint8_t data[8] = {0};
+  memcpy(data, dat.begin(), dat.size());
+  state_it->second.parse(sec, cmsg.get("busTime").as<uint16_t>(), data);
+}
+
+void CANParser::UpdateValid(uint64_t sec) {
+  can_valid = true;
+  for (const auto& kv : message_states) {
+    const auto& state = kv.second;
+    if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
+      if (state.seen > 0) {
+        DEBUG("0x%X TIMEOUT\n", state.address);
+      } else {
+        DEBUG("0x%X MISSING\n", state.address);
+      }
+      can_valid = false;
+    }
+  }
+}

 std::vector<SignalValue> CANParser::query_latest() {
  std::vector<SignalValue> ret;
@@ -33,14 +33,14 @@ cdef class CANParser:
    bool can_valid
    int can_invalid_cnt

-  def __init__(self, dbc_name, signals, checks=None, bus=0):
+  def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
    if checks is None:
      checks = []
    self.can_valid = True
    self.dbc_name = dbc_name
    self.dbc = dbc_lookup(dbc_name)
    if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
+      raise RuntimeError(f"Can't find DBC: {dbc_name}")
    self.vl = {}
    self.ts = {}

@@ -74,6 +74,14 @@ cdef class CANParser:
        c = (self.msg_name_to_address[name], c[1])
        checks[i] = c

+    if enforce_checks:
+      checked_addrs = {c[0] for c in checks}
+      signal_addrs = {s[1] for s in signals}
+      unchecked = signal_addrs - checked_addrs
+      if len(unchecked):
+        err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
+        raise RuntimeError(f"Unchecked addrs: {err_msg}")
+
    cdef vector[SignalParseOptions] signal_options_v
    cdef SignalParseOptions spo
    for sig_name, sig_address, sig_default in signals:
@@ -108,7 +116,6 @@ cdef class CANParser:
        self.can_invalid_cnt = 0
    self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT

-
    for cv in can_values:
      # Cast char * directly to unicode
      name = <unicode>self.address_to_msg_name[cv.address].c_str()
@@ -149,8 +156,8 @@ cdef class CANDefine():
    self.dbc_name = dbc_name
    self.dbc = dbc_lookup(dbc_name)
    if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
-      
+      raise RuntimeError(f"Can't find DBC: '{dbc_name}'")
+
    num_vals = self.dbc[0].num_vals

    address_to_msg_name = {}
@@ -106,8 +106,12 @@ def process(in_fn, out_fn):

  parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)

-  with open(out_fn, "w") as out_f:
-    out_f.write(parser_code)
+  with open(out_fn, "a+") as out_f:
+    out_f.seek(0)
+    if out_f.read() != parser_code:
+      out_f.seek(0)
+      out_f.truncate()
+      out_f.write(parser_code)

 def main():
  if len(sys.argv) != 3:
@@ -133,8 +133,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX

 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
- SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
- SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
+ SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s"  NEO

 BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
 SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
@@ -380,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

-CM_ "honda_accord_lx15t_2018_can.dbc starts here";
+CM_ "honda_accord_2018_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -389,8 +389,14 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 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_ 401 GEARBOX: 8 PCM
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 401 GEARBOX_15T: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
 SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
 SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
@@ -430,6 +436,7 @@ BO_ 1302 ODOMETER: 8 XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
@@ -1,438 +0,0 @@
-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_ 148 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-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_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
- SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X10 : 24|8@1+ (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_ 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_ 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_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" 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_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" 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_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" 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_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|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_0 : 20|5@0+ (1,0) [0|1] "" XXX
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
- SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 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_ 576 LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 577 LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-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] "mph" XXX
- SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" 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] "kph" 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_X1 : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 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_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
-CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
-CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
-CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
-CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
-CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
-CM_ SG_ 577 LINE_SOLID "1 = line is solid";
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-
-CM_ "honda_accord_s2t_2018_can.dbc starts here";
-
-
-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_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-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_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-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";
@@ -346,6 +346,7 @@ BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

 BO_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
 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
@@ -389,6 +390,7 @@ VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;

@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -168,17 +168,16 @@ BO_ 581 CAM_IDK3: 8 XXX
 SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
- SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
 SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
 SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
 SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX
+ SG_ SPEED_SIGN_ON : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX

 BO_ 1157 CAM_SETTINGS: 8 XXX
- SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
 SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
 SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
 SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
@@ -186,8 +185,10 @@ BO_ 1157 CAM_SETTINGS: 8 XXX
 SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
 SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
 SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 12|1@0+ (1,0) [0|7] "" XXX
 SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT1 : 12|1@0+ (1,0) [0|7] "" XXX
+ SG_ BIT2 : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT3 : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1160 CAM_Empty3: 8 XXX
 SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
@@ -759,6 +760,7 @@ CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potentia
 CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
 CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
 CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
+CM_ SG_ 863 STOP_SIGN "value 9 when stop sign is active";
 CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
 CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
 CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
@@ -773,4 +775,4 @@ CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
 CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
 CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
 CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
-VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
+VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
 BO_ 320 Throttle: 8 XXX
 SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
 SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
 SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
 SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
 SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX

 BO_ 321 Engine: 8 XXX
 SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
 SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
 SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
 SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
 SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
 SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
 SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX

@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX

 BO_ 866 Fuel: 8 XXX

+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
 SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX

@@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -253,6 +260,6 @@ BO_ 355 ES_DashStatus: 8 XXX
 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
 SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
 SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
 SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
@@ -48,11 +48,13 @@ BO_ 2 Steering: 8 XXX
 BO_ 64 Throttle: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
 SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
 SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Signal1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX

 BO_ 316 Brake_Status: 8 XXX
@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
 BO_ 320 Throttle: 8 XXX
 SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
 SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
 SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
 SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
 SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX

 BO_ 321 Engine: 8 XXX
 SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
 SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
 SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
 SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
 SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
 SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
 SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX

@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX

 BO_ 866 Fuel: 8 XXX

+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
 SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX

@@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
 SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
 SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
 SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
 SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
 SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";
@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
 BO_ 320 Throttle: 8 XXX
 SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
 SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
 SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
 SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
 SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX

 BO_ 321 Engine: 8 XXX
 SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
 SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
 SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
 SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
 SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
 SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
 SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX

@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX

 BO_ 866 Fuel: 8 XXX

+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
 SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX

@@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
 SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
 SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
 SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
 SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
 SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";
@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -1,7 +1,20 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
+CM_ "Imported file _toyota_nodsu_common.dbc starts here";
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
+ SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 1014 BSM: 8 XXX
 SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
@@ -275,8 +288,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -285,6 +300,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -381,7 +400,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -1,7 +1,20 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
+CM_ "Imported file _toyota_nodsu_common.dbc starts here";
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
+ SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 1014 BSM: 8 XXX
 SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
@@ -275,8 +288,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -285,6 +300,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -381,7 +400,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -392,19 +411,6 @@ CM_ "toyota_nodsu_pt.dbc starts here";



-BO_ 401 STEERING_LTA: 8 XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
- SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
 SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -258,8 +258,10 @@ BO_ 1553 UI_SETTING: 8 XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -364,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


@@ -1194,18 +1194,18 @@ BO_ 294 HCA_01: 8 XXX
 SG_ SET_ME_0XFE : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ SET_ME_0X07 : 48|8@1+ (1,0) [0|255] "" XXX

-BO_ 159 EPS_01: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Steering_Wheel_Angle : 16|13@1+ (0.15,0) [0|16383] "Unit_DegreOfArc" XXX
- SG_ Steering_Wheel_Angle_VZ : 31|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ Unknown_Status2 : 63|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Ready : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ Driver_Strain : 40|13@1+ (1,0) [0|255] "Nm" XXX
- SG_ Driver_Strain_VZ : 55|1@1+ (1,0) [0|1] "" XXX
- SG_ Unknown_Status1 : 62|1@1+ (1,0) [0|1] "" XXX
+BO_ 159 LH_EPS_03: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  XXX
+ SG_ EPS_DSR_Status : 12|4@1+ (1,0) [0|15] ""  XXX
+ SG_ EPS_Berechneter_LW : 16|12@1+ (0.15,0) [0|613.95] "Unit_DegreOfArc"  XXX
+ SG_ EPS_BLW_QBit : 30|1@1+ (1,0) [0|1] ""  XXX
+ SG_ EPS_VZ_BLW : 31|1@1+ (1,0) [0|1] ""  XXX
+ SG_ EPS_HCA_Status : 32|4@1+ (1,0) [0|15] ""  XXX
+ SG_ EPS_Lenkmoment : 40|10@1+ (1,0) [0|8] "Unit_centiNewtoMeter"  XXX
+ SG_ EPS_Lenkmoment_QBit : 54|1@1+ (1,0) [0|1] ""  XXX
+ SG_ EPS_VZ_Lenkmoment : 55|1@1+ (1,0) [0|1] ""  XXX
+ SG_ EPS_Lenkungstyp : 60|4@1+ (1,0) [0|15] ""  XXX

 BO_ 286 VehicleSpeed: 8 XXX
 SG_ VehicleSpeed_CRC : 0|8@1+ (1,0) [0|255] "" XXX
@@ -1213,34 +1213,44 @@ BO_ 286 VehicleSpeed: 8 XXX
 SG_ Speed : 52|12@1+ (0.125,0) [0|1] "" XXX

 BO_ 919 LDW_02: 8 XXX
- SG_ LDW_DLC : 40|8@1+ (0.01,0) [0|255] "m" XXX
- SG_ LDW_TLC : 48|5@1+ (0.05,0) [0|255] "Seconds" XXX
- SG_ LDW_Unknown : 14|2@1+ (1,0) [0|3] "" XXX
- SG_ Alert_Message : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ LDW_Direction : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Right_Lane_Status : 36|2@1+ (1,0) [0|3] "" XXX
- SG_ Left_Lane_Status : 38|2@1+ (1,0) [0|3] "" XXX
- SG_ Kombi_Lamp_Orange : 61|1@1+ (1,0) [0|1] "" XXX
- SG_ Kombi_Lamp_Green : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDW_Gong : 12|2@1+ (1,0) [0|3] ""  XXX
+ SG_ LDW_SW_Warnung_links : 14|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_SW_Warnung_rechts : 15|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Texte : 16|4@1+ (1,0) [0|15] ""  XXX
+ SG_ LDW_Seite_DLCTLC : 20|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Lernmodus : 21|3@1+ (1,0) [0|7] ""  XXX
+ SG_ LDW_Anlaufsp_VLR : 24|4@1+ (1,0) [0|15] ""  XXX
+ SG_ LDW_Vib_Amp_VLR : 28|4@1+ (1,0) [0|15] ""  XXX
+ SG_ LDW_Anlaufzeit_VLR : 32|4@1+ (1,0) [0|15] ""  XXX
+ SG_ LDW_Lernmodus_rechts : 36|2@1+ (1,0) [0|3] ""  XXX
+ SG_ LDW_Lernmodus_links : 38|2@1+ (1,0) [0|3] ""  XXX
+ SG_ LDW_DLC : 40|8@1+ (0.01,-1.25) [-1.25|1.25] "Unit_Meter"  XXX
+ SG_ LDW_TLC : 48|5@1+ (0.1,0) [0|3] "Unit_Secon"  XXX
+ SG_ LDW_Warnung_links : 56|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Warnung_rechts : 57|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Codierinfo_fuer_VLR : 58|2@1+ (1,0) [0|3] ""  XXX
+ SG_ LDW_Frontscheibenheizung_aktiv : 60|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Status_LED_gelb : 61|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_Status_LED_gruen : 62|1@1+ (1,0) [0|1] ""  XXX
+ SG_ LDW_KD_Fehler : 63|1@1+ (1,0) [0|1] ""  XXX

 BO_ 780 ACC_02: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SetSpeed : 12|10@1+ (0.08865,0) [0|90.68] "Unit_MeterPerSecond" XXX
- SG_ Kollision1 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ Abstand : 24|10@1+ (0.1,0) [0|102.3] "m" XXX
- SG_ ACC_MinusInv : 36|2@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Minus : 38|2@1+ (1,0) [0|3] "" XXX
- SG_ Kollision2 : 40|1@1+ (1,0) [0|1] "" XXX
- SG_ MotorbitB5_1 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ 1_aktivieren : 42|1@1+ (1,0) [0|1] "" XXX
- SG_ Tacho_LED : 43|1@1+ (1,0) [0|1] "" XXX
- SG_ Hebelquit : 44|1@1+ (1,0) [0|1] "" XXX
- SG_ 1_aktivieren_inv : 45|1@1+ (1,0) [0|1] "" XXX
- SG_ Folgefahrt : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ MotorbitB5_7 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ SetAbstand : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ Hebel : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  XXX
+ SG_ ACC_Wunschgeschw : 12|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour"  XXX
+ SG_ ACC_Status_Prim_Anz : 22|2@1+ (1.0,0.0) [0.0|3] ""  XXX
+ SG_ ACC_Abstandsindex : 24|10@1+ (1,0) [1|1021] ""  XXX
+ SG_ ACC_Akustik : 34|3@1+ (1.0,0.0) [0.0|7] ""  XXX
+ SG_ ACC_Gesetzte_Zeitluecke : 37|3@1+ (1.0,0.0) [0.0|7] ""  XXX
+ SG_ ACC_Optischer_Fahrerhinweis : 40|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Typ_Tachokranz : 41|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Anzeige_Zeitluecke : 42|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Tachokranz : 43|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Display_Prio : 44|2@1+ (1.0,0.0) [0.0|3] ""  XXX
+ SG_ ACC_Relevantes_Objekt : 46|2@1+ (1.0,0.0) [0.0|3] ""  XXX
+ SG_ ACC_Texte_Primaeranz : 48|7@1+ (1.0,0.0) [0.0|127] ""  XXX
+ SG_ ACC_Wunschgeschw_erreicht : 55|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] ""  XXX

 BO_ 302 ACC_07: 8 XXX
 SG_ ACC_07_BZ : 8|4@1+ (1,0) [0|15] "" XXX
@@ -1276,8 +1286,17 @@ BO_ 783 SWA_01: 8 Gateway_MQB
 SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] ""  Vector__XXX

 BO_ 804 ACC_04: 8 XXX
- SG_ ACC_04_CRC : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ ACC_04_BZ : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  XXX
+ SG_ ACC_Texte_Zusatzanz : 16|6@1+ (1.0,0.0) [0.0|63] ""  XXX
+ SG_ ACC_Status_Zusatzanz : 22|5@1+ (1.0,0.0) [0.0|31] ""  XXX
+ SG_ ACC_Texte : 27|5@1+ (1.0,0.0) [0.0|31] ""  XXX
+ SG_ ACC_Texte_braking_guard : 32|3@1+ (1.0,0.0) [0.0|7] ""  XXX
+ SG_ ACC_Warnhinweis : 35|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ ACC_Geschw_Zielfahrzeug : 40|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour"  XXX
+ SG_ ACC_Charisma_FahrPr : 56|3@1+ (1.0,0.0) [0.0|7] ""  XXX
+ SG_ ACC_Charisma_Status : 59|2@1+ (1.0,0.0) [0.0|3] ""  XXX
+ SG_ ACC_Charisma_Umschaltung : 61|2@1+ (1.0,0.0) [0.0|3] ""  XXX

 BO_ 917 LWR_AFS_01: 8 XXX

@@ -1332,18 +1351,19 @@ BO_ 391 EV_Gearshift: 8 XXX
 SG_ GearPosition : 16|4@1+ (1,0) [0|255] "" XXX
 SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX

-CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
 CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included";
+CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature"
+CM_ SG_ 159 EPS_Lenkmoment "Steering input by driver, torque";
+CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction";
+CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees";
+CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction"
+CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
 CM_ SG_ 294 3 "May be zero when sent by older cameras";
 CM_ SG_ 294 7 "May be zero when sent by older cameras";
 CM_ SG_ 294 254 "May be zero when sent by older cameras";
 CM_ SG_ 294 Assist_Torque "Heading control input, torque";
 CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)";
 CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
-CM_ SG_ 159 HCA_Ready "1 if HCA is okay, 0 if the rack doesn't have HCA configured or a timer/constraint has been violated, rack will not respond to HCA commands";
-CM_ SG_ 159 Driver_Strain "Steering input by driver, torque";
-CM_ SG_ 159 Driver_Strain_VZ "Steering input by driver, sign (direction)";
-CM_ SG_ 159 Steering_Wheel_Angle "Steering angle WITHOUT variable ratio effect included";
 CM_ SG_ 919 LDW_DLC "Probable DLC (distance to line crossing)";
 CM_ SG_ 919 LDW_TLC "Probable TLC (time to line crossing)";
 CM_ SG_ 919 LDW_Unknown "Might be a steering pressed / driver active flag";
@@ -1359,6 +1379,7 @@ CM_ SG_ 780 Abstand "Following distance";
 CM_ SG_ 780 SetSpeed "ACC set speed";
 CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode mapped to Drive";
 CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on";
+VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
 VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T";
 VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D";
 VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3";
@@ -3,6 +3,7 @@
 .*.swo
 *.o
 *.so
+*.os
 *.d
 *.dump
 a.out
@@ -16,3 +17,4 @@ examples/output.csv
 .vscode*
 nosetests.xml
 .mypy_cache/
+.sconsign.dblite
@@ -1,3 +1,3 @@
 # flake8: noqa
 # pylint: skip-file
-from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
+from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, PandaSerial
@@ -1,8 +0,0 @@
-PROJ_NAME = panda
-CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
-
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
-CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
-STARTUP_FILE = startup_stm32f413xx
-
-include build.mk
@@ -21,7 +21,8 @@ Programming
 **Panda**

 ```
-make
+scons -u # Compile
+./flash.sh # Compile & Flash
 ```

 Troubleshooting
@@ -29,7 +30,7 @@ Troubleshooting

 If your panda will not flash and is quickly blinking a single Green LED, use:
 ```
-make recover
+./recover.sh
 ```


@@ -0,0 +1,161 @@
+import os
+import subprocess
+
+EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')
+PC = not (EON or TICI)
+
+PREFIX = "arm-none-eabi-"
+BUILDER = "DEV"
+
+if os.getenv("PEDAL"):
+  PROJECT = "pedal"
+  STARTUP_FILE = "startup_stm32f205xx.s"
+  MAIN = "pedal/main.c"
+  PROJECT_FLAGS = [
+    "-mcpu=cortex-m3",
+    "-msoft-float",
+    "-DSTM32F2",
+    "-DSTM32F205xx",
+    "-O2",
+    "-DPEDAL",
+  ]
+
+else:
+  PROJECT = "panda"
+  STARTUP_FILE = "startup_stm32f413xx.s"
+  MAIN = "main.c"
+  PROJECT_FLAGS = [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ]
+
+  if not PC:
+    PROJECT_FLAGS += ["-DEON"]
+    BUILDER = "EON"
+
+
+def get_version(builder, build_type):
+  version_file = File('../VERSION').srcnode().abspath
+  version = open(version_file).read()
+  try:
+    git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
+  except subprocess.CalledProcessError:
+    git = "unknown"
+  return f"{version}-{builder}-{git}-{build_type}"
+
+
+def to_c_uint32(x):
+  nums = []
+  for _ in range(0x20):
+    nums.append(x % (2**32))
+    x //= (2**32)
+  return "{" + 'U,'.join(map(str, nums)) + "U}"
+
+
+def get_key_header(name):
+  from Crypto.PublicKey import RSA
+
+  public_fn = File(f'../certs/{name}.pub').srcnode().abspath
+  rsa = RSA.importKey(open(public_fn).read())
+  assert(rsa.size_in_bits() == 1024)
+
+  rr = pow(2**1024, 2, rsa.n)
+  n0inv = 2**32 - pow(rsa.n, -1, 2**32)
+
+  r = [
+    f"RSAPublicKey {name}_rsa_key = {{",
+    f"  .len = 0x20,",
+    f"  .n0inv = {n0inv}U,",
+    f"  .n = {to_c_uint32(rsa.n)},",
+    f"  .rr = {to_c_uint32(rr)},",
+    f"  .exponent = {rsa.e},",
+    f"}};",
+  ]
+  return r
+
+
+def objcopy(source, target, env, for_signature):
+    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
+
+
+linkerscript_fn = File("stm32_flash.ld").srcnode().abspath
+
+flags = [
+  "-Wall",
+  "-Wextra",
+  "-Wstrict-prototypes",
+  "-Werror",
+  "-mlittle-endian",
+  "-mthumb",
+  "-nostdlib",
+  "-fno-builtin",
+  f"-T{linkerscript_fn}",
+  "-std=gnu11",
+] + PROJECT_FLAGS
+
+
+if os.getenv("RELEASE"):
+  BUILD_TYPE = "RELEASE"
+  cert_fn = os.getenv("CERT")
+  assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
+  assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
+else:
+  BUILD_TYPE = "DEBUG"
+  cert_fn = File("../certs/debug").srcnode().abspath
+  flags += ["-DALLOW_DEBUG"]
+
+includes = [
+  "inc",
+  "..",
+  ".",
+]
+
+panda_env = Environment(
+  ENV=os.environ,
+  CC=PREFIX + 'gcc',
+  AS=PREFIX + 'gcc',
+  OBJCOPY=PREFIX + 'objcopy',
+  OBJDUMP=PREFIX + 'objdump',
+  ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
+  CFLAGS=flags,
+  ASFLAGS=flags,
+  LINKFLAGS=flags,
+  CPPPATH=includes,
+  BUILDERS={
+    'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
+  }
+)
+
+# Common autogenerated includes
+version = f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";'
+gitversion = panda_env.Textfile("obj/gitversion.h", [version, ""])
+Ignore('bootstub.o', gitversion)
+Requires('bootstub.o', gitversion)
+Ignore('main.o', gitversion)
+Requires('main.o', gitversion)
+
+certs = [get_key_header(n) for n in ["debug", "release"]]
+certheader = panda_env.Textfile("obj/cert.h", certs + [""])
+
+startup = panda_env.Object(STARTUP_FILE)
+
+# Bootstub
+crypto = ["../crypto/rsa.c", "../crypto/sha.c"]
+bootstub_elf = panda_env.Program(f"obj/bootstub.{PROJECT}.elf", [startup] + crypto + ["bootstub.c"])
+bootstub_bin = panda_env.Objcopy(f"obj/bootstub.{PROJECT}.bin", bootstub_elf)
+
+# Build main
+main_elf = panda_env.Program(f"obj/{PROJECT}.elf", [startup, MAIN],
+  LINKFLAGS=["-Wl,--section-start,.isr_vector=0x8004000"] + flags)
+main_bin = panda_env.Objcopy(f"obj/{PROJECT}.bin", main_elf)
+
+# Sign main
+sign_py = File("../crypto/sign.py").srcnode().abspath
+panda_bin_signed = panda_env.Command(f"obj/{PROJECT}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
@@ -26,9 +26,9 @@ void dos_enable_can_transceivers(bool enabled) {
  for(uint8_t i=1U; i<=4U; i++){
    // Leave main CAN always on for CAN-based ignition detection
    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
-      uno_enable_can_transceiver(i, true);
+      dos_enable_can_transceiver(i, true);
    } else {
-      uno_enable_can_transceiver(i, enabled);
+      dos_enable_can_transceiver(i, enabled);
    }
  }
 }
@@ -1,91 +0,0 @@
-CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os
-
-CFLAGS += -Tstm32_flash.ld
-
-DFU_UTIL = "dfu-util"
-
-PC = 0
-
-ifeq (,$(wildcard /EON))
-  ifeq (,$(wildcard /TICI))
-    PC = 1
-  endif
-endif
-
-ifeq (1, $(PC))
-  BUILDER = DEV
-else
-  CFLAGS += "-DEON"
-  BUILDER = EON
-endif
-
-#COMPILER_PATH = /home/batman/Downloads/gcc-arm-none-eabi-9-2020-q2-update/bin/
-CC = $(COMPILER_PATH)arm-none-eabi-gcc
-OBJCOPY = $(COMPILER_PATH)arm-none-eabi-objcopy
-OBJDUMP = $(COMPILER_PATH)arm-none-eabi-objdump
-
-ifeq ($(RELEASE),1)
-  CERT = ../../pandaextra/certs/release
-else
-  # enable the debug cert
-  CERT = ../certs/debug
-  CFLAGS += "-DALLOW_DEBUG"
-endif
-
-
-DEPDIR = generated_dependencies
-$(shell mkdir -p -m 777 $(DEPDIR) >/dev/null)
-DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPDIR)/$*.Td
-POSTCOMPILE = @mv -f $(DEPDIR)/$*.Td $(DEPDIR)/$*.d && touch $@
-
-# this no longer pushes the bootstub
-flash: obj/$(PROJ_NAME).bin
-	PYTHONPATH=../ python3 -c "from python import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
-
-ota: obj/$(PROJ_NAME).bin
-	curl http://192.168.0.10/stupdate --upload-file $<
-
-bin: obj/$(PROJ_NAME).bin
-
-# this flashes everything
-recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
-	-PYTHONPATH=../ python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)"
-	sleep 1.0
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.$(PROJ_NAME).bin
-
-include ../common/version.mk
-
-obj/cert.h: ../crypto/getcertheader.py
-	../crypto/getcertheader.py ../certs/debug.pub ../certs/release.pub > $@
-
-obj/%.$(PROJ_NAME).o: %.c obj/gitversion.h obj/cert.h $(DEPDIR)/%.d
-	$(CC) $(DEPFLAGS) $(CFLAGS) -o $@ -c $<
-	$(POSTCOMPILE)
-
-obj/%.$(PROJ_NAME).o: ../crypto/%.c
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(STARTUP_FILE).o: $(STARTUP_FILE).s
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
-  # hack
-	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
-	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
-	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; \
-	if [ $$BINSIZE -ge 49152 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
-
-obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
-	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
-
-$(DEPDIR)/%.d: ;
-.PRECIOUS: $(DEPDIR)/%.d
-
-include $(wildcard $(patsubst %,$(DEPDIR)/%.d,$(basename $(wildcard *.c))))
-
-clean:
-	@$(RM) obj/*
-	@rm -rf $(DEPDIR)
@@ -0,0 +1,5 @@
+#!/usr/bin/env sh
+set -e
+
+scons -u
+PYTHONPATH=.. python3 -c "from python import Panda; Panda().flash('obj/panda.bin.signed')"
@@ -12,6 +12,7 @@ void jump_to_bootloader(void) {
  void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));

  // jump to bootloader
+  enable_interrupts();
  bootloader();

  // reset on exit
@@ -21,14 +22,12 @@ void jump_to_bootloader(void) {

 void early(void) {
  // Reset global critical depth
+  disable_interrupts();
  global_critical_depth = 0;

  // Init register and interrupt tables
  init_registers();

-  // neccesary for DFU flashing on a non-power cycled white panda
-  enable_interrupts();
-
  // after it's been in the bootloader, things are initted differently, so we reset
  if ((enter_bootloader_mode != BOOT_NORMAL) &&
      (enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
@@ -42,6 +42,7 @@

 extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used

+// When changing this struct, boardd and python/__init__.py needs to be kept up to date!
 struct __attribute__((packed)) health_t {
  uint32_t uptime_pkt;
  uint32_t voltage_pkt;
@@ -58,8 +59,10 @@ struct __attribute__((packed)) health_t {
  uint8_t car_harness_status_pkt;
  uint8_t usb_power_mode_pkt;
  uint8_t safety_mode_pkt;
+  int16_t safety_param_pkt;
  uint8_t fault_status_pkt;
  uint8_t power_save_enabled_pkt;
+  uint8_t heartbeat_lost_pkt;
 };


@@ -139,6 +142,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
    case SAFETY_ELM327:
      set_intercept_relay(false);
      heartbeat_counter = 0U;
+      heartbeat_lost = false;
      if (board_has_obd()) {
        current_board->set_can_mode(CAN_MODE_OBD_CAN2);
      }
@@ -147,6 +151,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
    default:
      set_intercept_relay(true);
      heartbeat_counter = 0U;
+      heartbeat_lost = false;
      if (board_has_obd()) {
        current_board->set_can_mode(CAN_MODE_NORMAL);
      }
@@ -179,7 +184,9 @@ int get_health_pkt(void *dat) {
  health->car_harness_status_pkt = car_harness_status;
  health->usb_power_mode_pkt = usb_power_mode;
  health->safety_mode_pkt = (uint8_t)(current_safety_mode);
+  health->safety_param_pkt = current_safety_param;
  health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
+  health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);

  health->fault_status_pkt = fault_status;
  health->faults_pkt = faults;
@@ -593,6 +600,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
    case 0xf3:
      {
        heartbeat_counter = 0U;
+        heartbeat_lost = false;
        break;
      }
    // **** 0xf4: k-line/l-line 5 baud initialization
@@ -730,6 +738,9 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
          set_power_save_state(POWER_SAVE_STATUS_ENABLED);
        }

+        // set flag to indicate the heartbeat was lost
+        heartbeat_lost = true;
+
        // Also disable IR when the heartbeat goes missing
        current_board->set_ir_power(0U);

@@ -13,5 +13,6 @@ const board *current_board;
 bool is_enumerated = 0;
 uint32_t heartbeat_counter = 0;
 uint32_t uptime_cnt = 0;
+bool heartbeat_lost = false;
 bool siren_enabled = false;
 bool green_led_enabled = false;
@@ -1,67 +0,0 @@
-# :set noet
-PROJ_NAME = comma
-
-CFLAGS  = -O2 -Wall -Wextra -Wstrict-prototypes -Werror -std=gnu11 -DPEDAL
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
-CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib -fno-builtin
-CFLAGS += -T../stm32_flash.ld
-
-STARTUP_FILE = startup_stm32f205xx
-
-CC = arm-none-eabi-gcc
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-DFU_UTIL = "dfu-util"
-
-# pedal only uses the debug cert
-CERT = ../../certs/debug
-CFLAGS += "-DALLOW_DEBUG"
-
-canflash: obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py $<
-
-usbflash: obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py; sleep 0.5
-	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
-
-recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py --recover; sleep 0.5
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
-
-include ../../common/version.mk
-
-obj/cert.h: ../../crypto/getcertheader.py
-	../../crypto/getcertheader.py ../../certs/debug.pub ../../certs/release.pub > $@
-
-obj/main.o: main.c ../*.h
-	mkdir -p obj
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/bootstub.o: ../bootstub.c ../*.h obj/gitversion.h obj/cert.h
-	mkdir -p obj
-	mkdir -p ../obj
-	cp obj/gitversion.h ../obj/gitversion.h
-	cp obj/cert.h  ../obj/cert.h
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/%.o: ../../crypto/%.c
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
-  # hack
-	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
-	SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
-
-obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
-	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
-
-clean:
-	rm -f obj/*
-
@@ -0,0 +1,8 @@
+#!/usr/bin/env sh
+set -e
+
+cd ..
+PEDAL=1 scons -u
+cd pedal
+
+../../tests/pedal/enter_canloader.py ../obj/pedal.bin.signed
@@ -0,0 +1,11 @@
+#!/usr/bin/env sh
+set -e
+
+DFU_UTIL="dfu-util"
+
+cd ..
+PEDAL=1 scons -u
+cd pedal
+
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D ../obj/pedal.bin.signed
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D ../obj/bootstub.pedal.bin
@@ -0,0 +1,11 @@
+#!/usr/bin/env sh
+set -e
+
+DFU_UTIL="dfu-util"
+
+scons -u
+
+PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true
+sleep 1
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D obj/panda.bin.signed
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda.bin
@@ -41,6 +41,7 @@
 #define SAFETY_HYUNDAI_COMMUNITY 24U

 uint16_t current_safety_mode = SAFETY_SILENT;
+int16_t current_safety_param = 0;
 const safety_hooks *current_hooks = &nooutput_hooks;

 int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
@@ -291,7 +292,8 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
  for (int i = 0; i < hook_config_count; i++) {
    if (safety_hook_registry[i].id == mode) {
      current_hooks = safety_hook_registry[i].hooks;
-      current_safety_mode = safety_hook_registry[i].id;
+      current_safety_mode = mode;
+      current_safety_param = param;
      set_status = 0;  // set
    }

@@ -37,7 +37,8 @@ const int HONDA_RX_CHECKS_LEN = sizeof(honda_rx_checks) / sizeof(honda_rx_checks
 AddrCheckStruct honda_bh_rx_checks[] = {
  {.msg = {{0x296, 1, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}}},
  {.msg = {{0x158, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
-  {.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
+  {.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+           {0x1BE, 1, 3, .check_checksum = true, .max_counter = 3U, .expected_timestep = 20000U}}},
 };
 const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Adeeb Shihadeh	0ef3ce173a	Hotfix: fix UI crash when going onroad after onboarding	2021-06-11 16:57:52 -07:00
Vehicle Researcher	c1112e4400	openpilot v0.8.5 release	2021-06-07 22:13:57 +00:00
Adeeb Shihadeh	bbc546fcf3	Hotfix: fix update error alerts under some network conditions (#21059 ) This reverts commit 3c9e46d8a2ec3f9c347b0f455f66179c8220c1e2.	2021-05-27 15:36:59 -07:00
Adeeb Shihadeh	bf662bb1fd	Hotfix: Don't hide onboarding after display timeout (#20973 ) Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>	2021-05-20 02:33:18 -07:00
Willem Melching	8b274fc974	CRV Hybrid doesn't use alternate brake signal (#20945 )	2021-05-18 20:02:24 -07:00
Adeeb Shihadeh	99b1d6a40b	fingerprint cloudlog event (#20950 ) * fingerprint cloudlog event * kale cloudlog * not fuzzy	2021-05-18 13:21:35 -07:00
Vehicle Researcher	6418d4a09a	openpilot v0.8.4 release	2021-05-15 01:20:48 +00:00
Adeeb Shihadeh	747ff45da4	hotfix: remove ubloxRaw check in controlsd (#20630 ) * remove ubloxRaw from controlsd SubMaster * reduce STATUS_PACKET logging frequency to every 10 minutes Co-authored-by: Willem Melching <willem.melching@gmail.com>	2021-04-08 23:06:52 -07:00
Vehicle Researcher	55c44bf34e	openpilot v0.8.3 release	2021-03-29 23:54:22 +00:00