Merge branch 'devel' of https://github.com/commaai/openpilot into devel-lexus-ish-ave30r

# Conflicts:
#	selfdrive/boardd/boardd.cc
#	selfdrive/car/toyota/interface.py
#	selfdrive/car/toyota/values.py

cereal/log.capnp

@@ -42,6 +42,7 @@ struct InitData {
 
   dirty @9 :Bool;
   passive @12 :Bool;
+  params @17 :Map(Text, Text);
 
   enum DeviceType {
     unknown @0;
@@ -186,6 +187,10 @@ struct SensorEventData {
     iOS @1;
     fiber @2;
     velodyne @3;  # Velodyne IMU
+    # c3 sensors below
+    bno055 @4;
+    lsm6ds3 @5;
+    bmp280 @6;
   }
 }
 
@@ -262,6 +267,8 @@ struct ThermalData {
   freeSpace @7 :Float32;
   batteryPercent @8 :Int16;
   batteryStatus @9 :Text;
+  batteryCurrent @15 :Int32;
+  batteryVoltage @16 :Int32;
   usbOnline @12 :Bool;
 
   fanSpeed @10 :UInt16;
@@ -327,6 +334,7 @@ struct Live20Data {
     aLeadK @9 :Float32;
     fcw @10 :Bool;
     status @11 :Bool;
+    aLeadTau @12 :Float32;
   }
 }