diff --git a/models/driving_model.dlc b/models/driving_model.dlc
index e04f9f93a..8526838a4 100644
Binary files a/models/driving_model.dlc and b/models/driving_model.dlc differ
diff --git a/selfdrive/can/common.pxd b/selfdrive/can/common.pxd
index 54c6e444f..d26f8da46 100644
--- a/selfdrive/can/common.pxd
+++ b/selfdrive/can/common.pxd
@@ -17,7 +17,9 @@ cdef extern from "common.h":
     HONDA_COUNTER,
     TOYOTA_CHECKSUM,
     PEDAL_CHECKSUM,
-    PEDAL_COUNTER
+    PEDAL_COUNTER,
+    VOLKSWAGEN_CHECKSUM,
+    VOLKSWAGEN_COUNTER
 
   cdef struct Signal:
     const char* name
diff --git a/selfdrive/can/dbc_template.cc b/selfdrive/can/dbc_template.cc
index d916eeada..f9540fcee 100644
--- a/selfdrive/can/dbc_template.cc
+++ b/selfdrive/can/dbc_template.cc
@@ -25,7 +25,7 @@ const Signal sigs_{{address}}[] = {
       .type = SignalType::HONDA_COUNTER,
       {% elif checksum_type == "toyota" and sig.name == "CHECKSUM" %}
       .type = SignalType::TOYOTA_CHECKSUM,
-	    {% elif checksum_type == "volkswagen" and sig.name == "CHECKSUM" %}
+      {% elif checksum_type == "volkswagen" and sig.name == "CHECKSUM" %}
       .type = SignalType::VOLKSWAGEN_CHECKSUM,
       {% elif checksum_type == "volkswagen" and sig.name == "COUNTER" %}
       .type = SignalType::VOLKSWAGEN_COUNTER,
diff --git a/selfdrive/can/parser.cc b/selfdrive/can/parser.cc
index 4d2dc32e2..e204112e3 100644
--- a/selfdrive/can/parser.cc
+++ b/selfdrive/can/parser.cc
@@ -55,7 +55,6 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
       }
     } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
         if (!update_counter_generic(tmp, sig.b2)) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
         return false;
       }
     } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
@@ -84,7 +83,7 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
   if (((old_counter+1) & ((1 << cnt_size) -1)) != v) {
     counter_fail += 1;
     if (counter_fail > 1) {
-      INFO("%X COUNTER FAIL %d -- %d vs %d\n", address, counter_fail, old_counter, (int)v);
+      INFO("0x%X COUNTER FAIL %d -- %d vs %d\n", address, counter_fail, old_counter, (int)v);
     }
     if (counter_fail >= MAX_BAD_COUNTER) {
       return false;
@@ -125,7 +124,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
       }
     }
     if (!msg) {
-      fprintf(stderr, "CANParser: could not find message 0x%X in dnc %s\n", op.address, dbc_name.c_str());
+      fprintf(stderr, "CANParser: could not find message 0x%X in DBC %s\n", op.address, dbc_name.c_str());
       assert(false);
     }
 
@@ -193,7 +192,7 @@ void CANParser::UpdateValid(uint64_t sec) {
     const auto& state = kv.second;
     if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
       if (state.seen > 0) {
-        DEBUG("%X TIMEOUT\n", state.address);
+        DEBUG("0x%X TIMEOUT\n", state.address);
       }
       can_valid = false;
     }
diff --git a/selfdrive/can/process_dbc.py b/selfdrive/can/process_dbc.py
index c1da3ce45..dc544f741 100755
--- a/selfdrive/can/process_dbc.py
+++ b/selfdrive/can/process_dbc.py
@@ -28,7 +28,7 @@ def main():
   msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
           for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
 
-  def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
+  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()} # remove duplicates
   def_vals = sorted(def_vals.items())
 
   if can_dbc.name.startswith(("honda_", "acura_")):
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index c708b9b4b..10cd731b1 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -198,7 +198,12 @@ FINGERPRINTS = {
   # 2019 Taiwan Altis Hybrid
   {
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
-  }],
+  },
+  # 2019 Chinese Levin Hybrid
+  {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8
+  }
+  ],
   CAR.LEXUS_ES_TSS2: [
   {
     # 2019 Lexus ES200 from Shell
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 4ec662dce..c17b5f60a 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -181,7 +181,7 @@ class CarController():
         idx = (CS.graMsgBusCounter + 1) % 16
         can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_gw, canbus.extended, self.graButtonStatesToSend, CS, idx))
         self.graMsgSentCount += 1
-        if self.graMsgSentCount >= 16:
+        if self.graMsgSentCount >= P.GRA_VBP_COUNT:
           self.graButtonStatesToSend = None
           self.graMsgSentCount = 0
 
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 6a1106076..045e03ae3 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -51,13 +51,6 @@ FINGERPRINTS = {
   }],
 }
 
-class ECU:
-  CAM = 0
-
-ECU_FINGERPRINT = {
-  ECU.CAM: [294, 919],                    # HCA_01 Heading Control Assist, LDW_02 Lane Departure Warning
-}
-
 DBC = {
   CAR.GOLF: dbc_dict('vw_mqb_2010', None),
 }
diff --git a/selfdrive/common/visionbuf_cl.c b/selfdrive/common/visionbuf_cl.c
new file mode 100644
index 000000000..58c66a854
--- /dev/null
+++ b/selfdrive/common/visionbuf_cl.c
@@ -0,0 +1,89 @@
+#include "visionbuf.h"
+
+#include <fcntl.h>
+#include <assert.h>
+#include <stdlib.h>
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+VisionBuf visionbuf_allocate(size_t len) {
+  // const size_t alignment = 4096;
+  // void* addr = aligned_alloc(alignment, alignment * ((len - 1) / alignment + 1));
+  void* addr = calloc(1, len);
+
+  return (VisionBuf){
+      .len = len, .addr = addr, .handle = 1, .fd = -1,
+  };
+}
+
+cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx) {
+  // HACK because this platform is just for convenience
+  VisionBuf *w_buf = (VisionBuf*)buf;
+  cl_mem ret;
+  *w_buf = visionbuf_allocate_cl(buf->len, device_id, ctx, &ret);
+  return ret;
+}
+
+VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem) {
+  int err;
+  assert(out_mem);
+
+#if __OPENCL_VERSION__ >= 200
+  void* host_ptr =
+      clSVMAlloc(ctx, CL_MEM_READ_WRITE | CL_MEM_SVM_FINE_GRAIN_BUFFER, len, 0);
+  assert(host_ptr);
+#else
+  void* host_ptr = calloc(1, len);
+
+  cl_command_queue q = clCreateCommandQueue(ctx, device_id, 0, &err);
+  assert(err == 0);
+#endif
+
+  cl_mem mem = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, len, host_ptr, &err);
+  assert(err == 0);
+
+  *out_mem = mem;
+
+  return (VisionBuf){
+      .len = len, .addr = host_ptr, .handle = 0, .fd = -1,
+      .device_id = device_id, .ctx = ctx, .buf_cl = mem,
+
+#if __OPENCL_VERSION__ < 200
+      .copy_q = q,
+#endif
+
+  };
+}
+
+void visionbuf_sync(const VisionBuf* buf, int dir) {
+  int err = 0;
+  if (!buf->buf_cl) return;
+
+#if __OPENCL_VERSION__ < 200
+  if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
+    err = clEnqueueReadBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
+  } else {
+    err = clEnqueueWriteBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
+  }
+  assert(err == 0);
+  clFinish(buf->copy_q);
+#endif
+}
+
+void visionbuf_free(const VisionBuf* buf) {
+  if (buf->handle) {
+    free(buf->addr);
+  } else {
+    int err = clReleaseMemObject(buf->buf_cl);
+    assert(err == 0);
+#if __OPENCL_VERSION__ >= 200
+    clSVMFree(buf->ctx, buf->addr);
+#else
+    free(buf->addr);
+#endif
+  }
+}
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
index db1192f83..d98b2efd8 100644
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@@ -32,7 +32,7 @@ class LatControlINDI():
     self.A_K = A - np.dot(K, C)
     self.x = np.matrix([[0.], [0.], [0.]])
 
-    self.enfore_rate_limit = CP.carName == "toyota"
+    self.enforce_rate_limit = CP.carName == "toyota"
 
     self.RC = CP.lateralTuning.indi.timeConstant
     self.G = CP.lateralTuning.indi.actuatorEffectiveness
@@ -81,7 +81,7 @@ class LatControlINDI():
       delta_u = g_inv * accel_error
 
       # Enforce rate limit
-      if self.enfore_rate_limit:
+      if self.enforce_rate_limit:
         steer_max = float(SteerLimitParams.STEER_MAX)
         new_output_steer_cmd = steer_max * (self.delayed_output + delta_u)
         prev_output_steer_cmd = steer_max * self.output_steer
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index cb6b6b16e..fbb37c51d 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -377,8 +377,8 @@ def manager_thread():
     running_list = ["   running %s %s" % (p, running[p]) for p in running]
     cloudlog.debug('\n'.join(running_list))
 
-    # is this still needed?
-    if params.get("DoUninstall") == "1":
+    # Exit main loop when uninstall is needed
+    if params.get("DoUninstall", encoding='utf8') == "1":
       break
 
 def get_installed_apks():
@@ -555,7 +555,7 @@ def main():
   finally:
     cleanup_all_processes(None, None)
 
-  if params.get("DoUninstall") == "1":
+  if params.get("DoUninstall", encoding='utf8') == "1":
     uninstall()
 
 if __name__ == "__main__":
diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py
index 0886335e1..eeec3f3b1 100755
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -189,11 +189,10 @@ def thermald_thread():
     max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
     bat_temp = msg.thermal.bat/1000.
 
-    if health is not None:
-      if health.health.hwType == log.HealthData.HwType.uno:
-        fan_speed = handle_fan_uno(max_cpu_temp, bat_temp, fan_speed)
-      else:
-        fan_speed = handle_fan_eon(max_cpu_temp, bat_temp, fan_speed)
+    if health is not None and health.health.hwType == log.HealthData.HwType.uno:
+      fan_speed = handle_fan_uno(max_cpu_temp, bat_temp, fan_speed)
+    else:
+      fan_speed = handle_fan_eon(max_cpu_temp, bat_temp, fan_speed)
 
     msg.thermal.fanSpeed = fan_speed
 
diff --git a/selfdrive/visiond/build_from_src.mk b/selfdrive/visiond/build_from_src.mk
index 639f0a95d..725b345fa 100644
--- a/selfdrive/visiond/build_from_src.mk
+++ b/selfdrive/visiond/build_from_src.mk
@@ -54,9 +54,9 @@ else
 
   OPENCL_LIBS = -lOpenCL
 
-  TF_FLAGS = -I$(EXTERNAL)/tensorflow/include
-  TF_LIBS = -L$(EXTERNAL)/tensorflow/lib -ltensorflow \
-            -Wl,-rpath $(EXTERNAL)/tensorflow/lib
+  #TF_FLAGS = -I$(EXTERNAL)/tensorflow/include
+  #TF_LIBS = -L$(EXTERNAL)/tensorflow/lib -ltensorflow \
+  #          -Wl,-rpath $(EXTERNAL)/tensorflow/lib
 
   SNPE_FLAGS = -I$(PHONELIBS)/snpe/include/
   SNPE_LIBS = -L$(PHONELIBS)/snpe/x86_64-linux-clang/ \
@@ -69,7 +69,7 @@ else
   PLATFORM_OBJS = cameras/camera_frame_stream.o \
                   ../common/visionbuf_cl.o \
                   ../common/visionimg.o \
-                  runners/tfmodel.o
+                  # runners/tfmodel.o
 endif
 
   SSL_FLAGS = -I/usr/include/openssl/
diff --git a/selfdrive/visiond/cameras/camera_frame_stream.h b/selfdrive/visiond/cameras/camera_frame_stream.h
index 6351a183d..5cb7e27c5 100644
--- a/selfdrive/visiond/cameras/camera_frame_stream.h
+++ b/selfdrive/visiond/cameras/camera_frame_stream.h
@@ -33,6 +33,8 @@ typedef struct CameraState {
   int fps;
   float digital_gain;
 
+  float cur_gain_frac;
+
   mat3 transform;
 } CameraState;