From 8c05ca15b4cb4e4cd9b2584bc7a6fd8077369c0b Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Thu, 30 Aug 2018 16:11:04 +1000
Subject: [PATCH 01/83] * init commit

---
 cereal/car.capnp                          |   1 +
 opendbc/lexus_ave30_2017_pt_generated.dbc | 187 ++++++++++++++++++++++
 panda/board/safety.h                      |   2 +
 panda/board/safety/safety_toyota.h        |  26 ++-
 panda/python/__init__.py                  |   1 +
 selfdrive/boardd/boardd.cc                |   4 +
 selfdrive/car/toyota/carstate.py          |  83 +++++++---
 selfdrive/car/toyota/interface.py         |  16 +-
 selfdrive/car/toyota/toyotacan.py         |   4 +
 selfdrive/car/toyota/values.py            |  24 ++-
 10 files changed, 316 insertions(+), 32 deletions(-)
 create mode 100644 opendbc/lexus_ave30_2017_pt_generated.dbc

diff --git a/cereal/car.capnp b/cereal/car.capnp
index c14ed5b99..e4e7d7681 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -310,6 +310,7 @@ struct CarParams {
     hyundai @8;
     chrysler @9;
     tesla @10;
+    lexusAve30 @11;
   }
 
   # things about the car in the manual
diff --git a/opendbc/lexus_ave30_2017_pt_generated.dbc b/opendbc/lexus_ave30_2017_pt_generated.dbc
new file mode 100644
index 000000000..bc8470e76
--- /dev/null
+++ b/opendbc/lexus_ave30_2017_pt_generated.dbc
@@ -0,0 +1,187 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0A : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X29 : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X08 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X03 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.58,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_LEXUS_AVE30: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
diff --git a/panda/board/safety.h b/panda/board/safety.h
index 4c24bd9b2..19b6e8547 100644
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -100,6 +100,7 @@ typedef struct {
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
+#define SAFETY_LEXUS_AVE30 8
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -115,6 +116,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
+  {SAFETY_LEXUS_AVE30, &lexus_ave30_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
 #endif
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index d51a12a44..c1eb1b25b 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -48,9 +48,9 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((to_push->RIR>>21) == 0x1D2) {
+  if ((to_push->RIR>>21) == acc_addr) {
     // 4 bits: 55-52
-    int cruise_engaged = to_push->RDHR & 0xF00000;
+    int cruise_engaged = to_push->RDHR & acc_vl;
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     } else if (!cruise_engaged) {
@@ -156,6 +156,17 @@ static void toyota_init(int16_t param) {
   toyota_actuation_limits = 1;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
+  acc_addr = 0x1D2;
+  acc_vl = 0xF00000;
+}
+
+static void lexus_ave30_init(int16_t param) {
+  controls_allowed = 0;
+  toyota_actuation_limits = 1;
+  toyota_giraffe_switch_1 = 0;
+  toyota_dbc_eps_torque_factor = param;
+  acc_addr = 0x3F1;
+  acc_vl = 0x400;
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -183,6 +194,8 @@ static void toyota_nolimits_init(int16_t param) {
   toyota_actuation_limits = 0;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
+  acc_addr = 0x1D2;
+  acc_vl = 0xF00000;
 }
 
 const safety_hooks toyota_nolimits_hooks = {
@@ -193,3 +206,12 @@ const safety_hooks toyota_nolimits_hooks = {
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
 };
+
+const safety_hooks lexus_ave30_hooks = {
+  .init = lexus_ave30_init,
+  .rx = toyota_rx_hook,
+  .tx = toyota_tx_hook,
+  .tx_lin = toyota_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = toyota_fwd_hook,
+};
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index 86b76285e..985fdff86 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -106,6 +106,7 @@ class Panda(object):
   SAFETY_HONDA = 1
   SAFETY_TOYOTA = 2
   SAFETY_HONDA_BOSCH = 4
+  SAFETY_LEXUS_AVE30 = 8
   SAFETY_TOYOTA_NOLIMITS = 0x1336
   SAFETY_ALLOUTPUT = 0x1337
   SAFETY_ELM327 = 0xE327
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 669f0fdd8..a889e6cca 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -39,6 +39,7 @@
 #define SAFETY_HONDA_BOSCH 4
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
+#define SAFETY_LEXUS_AVE30 8
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
 
@@ -113,6 +114,9 @@ void *safety_setter_thread(void *s) {
   case (int)cereal::CarParams::SafetyModels::CADILLAC:
     safety_setting = SAFETY_CADILLAC;
     break;
+  case (int)cereal::CarParams::SafetyModels::LEXUS_AVE30:
+    safety_setting = SAFETY_LEXUS_AVE30;
+    break;
   default:
     LOGE("unknown safety model: %d", safety_model);
   }
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 7e518a57d..abae5a043 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -34,30 +34,52 @@ def get_can_parser(CP):
     ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
     ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
     ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
-    ("GAS_RELEASED", "PCM_CRUISE", 0),
-    ("CRUISE_STATE", "PCM_CRUISE", 0),
-    ("MAIN_ON", "PCM_CRUISE_2", 0),
-    ("SET_SPEED", "PCM_CRUISE_2", 0),
-    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
 
-  checks = [
-    ("BRAKE_MODULE", 40),
-    ("GAS_PEDAL", 33),
-    ("WHEEL_SPEEDS", 80),
-    ("STEER_ANGLE_SENSOR", 80),
-    ("PCM_CRUISE", 33),
-    ("PCM_CRUISE_2", 33),
-    ("STEER_TORQUE_SENSOR", 50),
-    ("EPS_STATUS", 25),
-  ]
+  if CP.carFingerprint == CAR.LEXUS_AVE30:
+    signals += [
+      ("BRAKE_PRESSED", "BRAKE_MODULE2", 0),
+      ("GAS_RELEASED", "PCM_CRUISE", 0),
+      ("CRUISE_STATE", "PCM_CRUISE_LEXUS_AVE30", 0),
+      ("MAIN_ON", "PCM_CRUISE_LEXUS_AVE30", 0),
+      ("SET_SPEED", "PCM_CRUISE_LEXUS_AVE30", 0),
+    ]
+    checks = [
+      ("BRAKE_MODULE2", 50),
+      ("GAS_PEDAL", 50),
+      ("WHEEL_SPEEDS", 80),
+      ("STEER_ANGLE_SENSOR", 80),
+      ("PCM_CRUISE", 33),
+      ("STEER_TORQUE_SENSOR", 50),
+      ("EPS_STATUS", 25),
+      ("PCM_CRUISE_LEXUS_AVE30", 1),
+    ]
+  else:
+    signals += [
+      ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
+      ("GAS_RELEASED", "PCM_CRUISE", 0),
+      ("CRUISE_STATE", "PCM_CRUISE", 0),
+      ("MAIN_ON", "PCM_CRUISE_2", 0),
+      ("SET_SPEED", "PCM_CRUISE_2", 0),
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+    ]
+    checks = [
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+      ("WHEEL_SPEEDS", 80),
+      ("STEER_ANGLE_SENSOR", 80),
+      ("PCM_CRUISE", 33),
+      ("PCM_CRUISE_2", 33),
+      ("STEER_TORQUE_SENSOR", 50),
+      ("EPS_STATUS", 25),
+    ]
 
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
@@ -99,7 +121,10 @@ class CarState(object):
                                     cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
     self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
 
-    self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
+    if self.CP.carFingerprint == CAR.LEXUS_AVE30:
+      self.brake_pressed = cp.vl["BRAKE_MODULE2"]['BRAKE_PRESSED']
+    else:
+      self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
     self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
     self.car_gas = self.pedal_gas
     self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
@@ -125,14 +150,20 @@ class CarState(object):
     self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
     can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
-    self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
+    if self.CP.carFingerprint == CAR.LEXUS_AVE30:
+      self.main_on = cp.vl["PCM_CRUISE_LEXUS_AVE30"]['MAIN_ON']
+    else:
+      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
     self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
 
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    if self.CP.carFingerprint == CAR.LEXUS_AVE30:
+      self.ipas_active = False
+    else:
+      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -140,10 +171,16 @@ class CarState(object):
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
 
     self.user_brake = 0
-    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
-    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    if self.CP.carFingerprint == CAR.LEXUS_AVE30:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_LEXUS_AVE30"]['SET_SPEED']
+      self.pcm_acc_status = cp.vl["PCM_CRUISE_LEXUS_AVE30"]['CRUISE_STATE']
+      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+      self.low_speed_lockout = 0
+    else:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 6a1585978..f9bd3df74 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -54,7 +54,10 @@ class CarInterface(object):
     ret.carName = "toyota"
     ret.carFingerprint = candidate
 
-    ret.safetyModel = car.CarParams.SafetyModels.toyota
+    if candidate == CAR.LEXUS_AVE30:
+      ret.safetyModel = car.CarParams.SafetyModels.lexusAve30
+    else:
+      ret.safetyModel = car.CarParams.SafetyModels.toyota
 
     # pedal
     ret.enableCruise = True
@@ -128,6 +131,15 @@ class CarInterface(object):
       ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
       ret.steerKf = 0.00006
 
+    elif candidate == CAR.LEXUS_AVE30:
+      ret.safetyParam = 58
+      ret.wheelbase = 2.80 # in spec
+      ret.steerRatio = 13.3 # in spec
+      tire_stiffness_factor = 0.444 # from camry
+      ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
+      ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
+      ret.steerKf = 0.00006 # from camry
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -140,6 +152,8 @@ class CarInterface(object):
       ret.minEnableSpeed = -1.
     elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
+    elif candidate == CAR.LEXUS_AVE30:
+      ret.minEnableSpeed = 19. * CV.MPH_TO_MS # MY17 AVE30R does not have stop and g
 
     centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 150167b9e..5b6d848c7 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -99,5 +99,9 @@ def create_ui_command(packer, steer, sound1, sound2):
     "REPEATED_BEEPS": sound1,
     "TWO_BEEPS": sound2,
     "LDA_ALERT": steer,
+    "SET_ME_X0A": 0x0a,
+    "SET_ME_X29": 0x29,
+    "SET_ME_X08": 0x08,
+    "SET_ME_X03": 0x03,
   }
   return packer.make_can_msg("LKAS_HUD", 0, values)
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2e0cf3e6f..6a17eafcd 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -10,6 +10,7 @@ class CAR:
   CHRH = "TOYOTA C-HR HYBRID 2018"
   CAMRY = "TOYOTA CAMRY 2018"
   CAMRYH = "TOYOTA CAMRY HYBRID 2018"
+  LEXUS_AVE30 = "LEXUS IS HYBRID 2017 AVE30"
 
 
 class ECU:
@@ -27,11 +28,13 @@ STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4,
                (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
                (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
 
-               (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+               (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+               (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+               (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
                (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+               (0x245, ECU.CAM, (CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00'),
                (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
+               (0x248, ECU.CAM, (CAR.LEXUS_AVE30), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
                (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
 
                (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
@@ -45,15 +48,19 @@ STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4,
                (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),
 
                (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,  40, '\x06\x00'),
+               (0x367, ECU.CAM, (CAR.LEXUS_AVE30), 0,  40, '\x02\x00'),
 
-               (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
-               (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-               (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+               (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+               (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+               (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
                (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
+               (0x48b, ECU.CAM, (CAR.LEXUS_AVE30), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
                (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
                (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
+               (0x130, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
                (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
                (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
+               (0x466, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x41\x20\xCE'),
                (0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
                (0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
                (0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
@@ -76,6 +83,10 @@ def check_ecu_msgs(fingerprint, ecu):
 
 
 FINGERPRINTS = {
+  CAR.LEXUS_AVE30: [
+  {
+    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
   CAR.RAV4: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
@@ -133,6 +144,7 @@ DBC = {
   CAR.CHRH: dbc_dict('toyota_chr_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
   CAR.CAMRY: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
   CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
+  CAR.LEXUS_AVE30: dbc_dict('lexus_ave30_2017_pt_generated', 'toyota_prius_2017_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]

From 99a25a480bf5c958b8ddd71b5044451d3c511697 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 30 Aug 2018 20:06:28 +1000
Subject: [PATCH 02/83] * init acc_addr & acc_vl value

---
 panda/board/safety/safety_toyota.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index c1eb1b25b..983d39cf0 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -30,6 +30,8 @@ uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
+uint32_t acc_addr = 0;
+uint32_t acc_vl = 0;
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // get eps motor torque (0.66 factor in dbc)

From bc81560e3b9a919021048697037928334c7d03d8 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 30 Aug 2018 20:14:57 +1000
Subject: [PATCH 03/83] * removed duplicated msg in signal

---
 selfdrive/car/toyota/carstate.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index abae5a043..925c90b43 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -19,7 +19,6 @@ def get_can_parser(CP):
   signals = [
     # sig_name, sig_address, default
     ("GEAR", "GEAR_PACKET", 0),
-    ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
     ("GAS_PEDAL", "GAS_PEDAL", 0),
     ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
     ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),

From c5d2d2ea5f5d1f37eb5f443a2aeb95fdd62d9859 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 30 Aug 2018 20:26:09 +1000
Subject: [PATCH 04/83] * use standard ui command, looks no different before
 and after.

---
 opendbc/lexus_ave30_2017_pt_generated.dbc | 8 ++++----
 selfdrive/car/toyota/toyotacan.py         | 4 ----
 2 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/opendbc/lexus_ave30_2017_pt_generated.dbc b/opendbc/lexus_ave30_2017_pt_generated.dbc
index bc8470e76..d77d1239a 100644
--- a/opendbc/lexus_ave30_2017_pt_generated.dbc
+++ b/opendbc/lexus_ave30_2017_pt_generated.dbc
@@ -115,10 +115,10 @@ BO_ 1042 LKAS_HUD: 8 XXX
  SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
  SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X0A : 23|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X29 : 47|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X08 : 55|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X03 : 63|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1553 UI_SEETING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 5b6d848c7..150167b9e 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -99,9 +99,5 @@ def create_ui_command(packer, steer, sound1, sound2):
     "REPEATED_BEEPS": sound1,
     "TWO_BEEPS": sound2,
     "LDA_ALERT": steer,
-    "SET_ME_X0A": 0x0a,
-    "SET_ME_X29": 0x29,
-    "SET_ME_X08": 0x08,
-    "SET_ME_X03": 0x03,
   }
   return packer.make_can_msg("LKAS_HUD", 0, values)

From defe5dff68ff6a74a9bdfb75a07b603958818b63 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 30 Aug 2018 20:40:46 +1000
Subject: [PATCH 05/83] * fix control mismatch issue.

---
 panda/board/safety/safety_toyota.h | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 983d39cf0..1bfc39a78 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -32,6 +32,7 @@ struct sample_t toyota_torque_meas;       // last 3 motor torques produced by th
 
 uint32_t acc_addr = 0;
 uint32_t acc_vl = 0;
+int is_lexus_ave30 = 0;
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // get eps motor torque (0.66 factor in dbc)
@@ -52,7 +53,11 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == acc_addr) {
     // 4 bits: 55-52
-    int cruise_engaged = to_push->RDHR & acc_vl;
+    if (is_lexus_ave30 == 1) {
+        int cruise_engaged = to_push->RDLR & 0x400;
+    } else {
+        int cruise_engaged = to_push->RDHR & 0xF00000;
+    }
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     } else if (!cruise_engaged) {
@@ -159,7 +164,7 @@ static void toyota_init(int16_t param) {
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
   acc_addr = 0x1D2;
-  acc_vl = 0xF00000;
+  is_lexus_ave30 = 0;
 }
 
 static void lexus_ave30_init(int16_t param) {
@@ -169,6 +174,7 @@ static void lexus_ave30_init(int16_t param) {
   toyota_dbc_eps_torque_factor = param;
   acc_addr = 0x3F1;
   acc_vl = 0x400;
+  is_lexus_ave30 = 1;
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -197,7 +203,7 @@ static void toyota_nolimits_init(int16_t param) {
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
   acc_addr = 0x1D2;
-  acc_vl = 0xF00000;
+  is_lexus_ave30 = 0;
 }
 
 const safety_hooks toyota_nolimits_hooks = {

From 7a1a14418e798588eb13a8350592b7ede9081777 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 30 Aug 2018 20:45:06 +1000
Subject: [PATCH 06/83] * removed unused var definition.

---
 panda/board/safety/safety_toyota.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 1bfc39a78..914bcdb52 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -31,7 +31,6 @@ int toyota_cruise_engaged_last = 0;       // cruise state
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
 uint32_t acc_addr = 0;
-uint32_t acc_vl = 0;
 int is_lexus_ave30 = 0;
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

From 80f13dc8effaea9d4a61722a95fae09c1316158e Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 30 Aug 2018 20:46:33 +1000
Subject: [PATCH 07/83] * delete unused def.

---
 panda/board/safety/safety_toyota.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 914bcdb52..a56a7c1bf 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -172,7 +172,6 @@ static void lexus_ave30_init(int16_t param) {
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
   acc_addr = 0x3F1;
-  acc_vl = 0x400;
   is_lexus_ave30 = 1;
 }
 

From 397494478aad076ac4cd76874d00b22279f41bcc Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 30 Aug 2018 20:49:29 +1000
Subject: [PATCH 08/83] * fix compile error.

---
 panda/board/safety/safety_toyota.h | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index a56a7c1bf..89ab0b50d 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -52,11 +52,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == acc_addr) {
     // 4 bits: 55-52
-    if (is_lexus_ave30 == 1) {
-        int cruise_engaged = to_push->RDLR & 0x400;
-    } else {
-        int cruise_engaged = to_push->RDHR & 0xF00000;
-    }
+    int cruise_engaged = is_lexus_ave30 == 1? to_push->RDLR & 0x400 : to_push->RDHR & 0xF00000;
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     } else if (!cruise_engaged) {

From f3af6c1fd525739de4ceac674a2e5c347c0abf82 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 31 Aug 2018 00:04:46 +1000
Subject: [PATCH 09/83] * updated comments.

---
 panda/board/safety/safety_toyota.h | 7 ++++---
 selfdrive/car/toyota/interface.py  | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 89ab0b50d..e64bc2985 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -30,8 +30,8 @@ uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
-uint32_t acc_addr = 0;
-int is_lexus_ave30 = 0;
+uint32_t acc_addr = 0;                    // acc state address
+int is_lexus_ave30 = 0;                   // is a lexus is300h/ave30 model?
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // get eps motor torque (0.66 factor in dbc)
@@ -51,7 +51,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == acc_addr) {
-    // 4 bits: 55-52
+    // lexus ave30 1 bit: 11
+    // toyota: 4 bits: 55-52
     int cruise_engaged = is_lexus_ave30 == 1? to_push->RDLR & 0x400 : to_push->RDHR & 0xF00000;
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index f9bd3df74..6d79ace80 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -153,7 +153,7 @@ class CarInterface(object):
     elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
     elif candidate == CAR.LEXUS_AVE30:
-      ret.minEnableSpeed = 19. * CV.MPH_TO_MS # MY17 AVE30R does not have stop and g
+      ret.minEnableSpeed = 19. * CV.MPH_TO_MS # MY17 is300h/AVE30R (AU ver.) does not have stop and go
 
     centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for

From e488a6d88d6c4bb18a53f407459afa3e2d75afe5 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Fri, 31 Aug 2018 10:28:17 +1000
Subject: [PATCH 10/83] * minor changes to static msgs.

---
 selfdrive/car/toyota/values.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 6a17eafcd..38b449758 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -54,10 +54,10 @@ STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4,
                (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
                (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
                (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-               (0x48b, ECU.CAM, (CAR.LEXUS_AVE30), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
-               (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+               (0x48b, ECU.CAM, (CAR.LEXUS_AVE30), 0, 100, '\x66\x07\x0A\x0F\x01\x00\x00\x00'),
+               (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
                (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-               (0x130, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
+               (0x130, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x00\x00\x03\xff\x00\x00\x3A'),
                (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
                (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
                (0x466, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x41\x20\xCE'),

From 4931c8ed3b9a917702f655a71e45d79505daa8db Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Fri, 31 Aug 2018 10:40:55 +1000
Subject: [PATCH 11/83] * all to lower case

---
 selfdrive/car/toyota/values.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 38b449758..58b16761a 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -54,13 +54,13 @@ STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4,
                (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
                (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
                (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-               (0x48b, ECU.CAM, (CAR.LEXUS_AVE30), 0, 100, '\x66\x07\x0A\x0F\x01\x00\x00\x00'),
+               (0x48b, ECU.CAM, (CAR.LEXUS_AVE30), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
                (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
                (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-               (0x130, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x00\x00\x03\xff\x00\x00\x3A'),
+               (0x130, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
                (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
                (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
-               (0x466, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x41\x20\xCE'),
+               (0x466, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x41\x20\xce'),
                (0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
                (0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
                (0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),

From 9c2cae25d06b0c6d8205838c9a1fbf5e5b83c280 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Mon, 3 Sep 2018 11:53:13 +1000
Subject: [PATCH 12/83] * update minEnableSpeed

---
 selfdrive/car/toyota/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 6d79ace80..966e2e6da 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -153,7 +153,7 @@ class CarInterface(object):
     elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
     elif candidate == CAR.LEXUS_AVE30:
-      ret.minEnableSpeed = 19. * CV.MPH_TO_MS # MY17 is300h/AVE30R (AU ver.) does not have stop and go
+      ret.minEnableSpeed = 29. * CV.MPH_TO_MS # MY17 is300h/AVE30R (AU ver.) does not have stop and go, minimum ACC speed allow is 46kph
 
     centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for

From db6f46b862c453058fbee3c85999fe4f6caff348 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Mon, 3 Sep 2018 11:53:13 +1000
Subject: [PATCH 13/83] * update minEnableSpeed

---
 selfdrive/car/toyota/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 6d79ace80..abefe19d6 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -153,7 +153,7 @@ class CarInterface(object):
     elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
     elif candidate == CAR.LEXUS_AVE30:
-      ret.minEnableSpeed = 19. * CV.MPH_TO_MS # MY17 is300h/AVE30R (AU ver.) does not have stop and go
+      ret.minEnableSpeed = 46. * CV.KPH_TO_MS # MY17 is300h/AVE30R (AU ver.) does not have stop and go, minimum ACC speed allow is 46kph
 
     centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for

From 164a84d049ddd67d479514a17db2af6d754480e8 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Mon, 3 Sep 2018 13:23:35 +1000
Subject: [PATCH 14/83] * updated minEnableSpeed to 19mph as per @rbiasini
 recommendation.

---
 selfdrive/car/toyota/interface.py | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index abefe19d6..1bd7cfc16 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -150,10 +150,8 @@ class CarInterface(object):
     # to a negative value, so it won't matter.
     if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]: # rav4 hybrid can do stop and go
       ret.minEnableSpeed = -1.
-    elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
+    elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
-    elif candidate == CAR.LEXUS_AVE30:
-      ret.minEnableSpeed = 46. * CV.KPH_TO_MS # MY17 is300h/AVE30R (AU ver.) does not have stop and go, minimum ACC speed allow is 46kph
 
     centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for

From 30be8b9d04ad398c7b1a33f3ac795726bd6f2214 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Tue, 4 Sep 2018 12:50:50 +1000
Subject: [PATCH 15/83] * fix conflict.

---
 selfdrive/car/toyota/values.py | 70 ++++++++++------------------------
 1 file changed, 20 insertions(+), 50 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 7dfdd279e..d8d26cb0d 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -23,44 +23,36 @@ class ECU:
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
   (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x130, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
   (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x245, ECU.CAM, (CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00'),
   (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
+  (0x248, ECU.CAM, (CAR.LEXUS_AVE30), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
   (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,  40, '\x06\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x367, ECU.CAM, (CAR.LEXUS_AVE30), 0,  40, '\x02\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
   (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
-  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x466, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x41\x20\xce'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
   (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+  (0x48b, ECU.CAM, (CAR.LEXUS_AVE30), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
 
-               (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
+  (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
   (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   3, '\x03\x00\x20\x00\x00\x52'),
   (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   2, '\x00\x00\x00\x46'),
   (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
   (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),
   (0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER), 1,  7, '\x00\x1e\x00\xd4\x00\x00\x5b'),
   (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,   3, '\x00\x00\x00\x00\x00\x00\x8c'),
-               (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-               (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-
-               (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x245, ECU.CAM, (CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00'),
-               (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
-               (0x248, ECU.CAM, (CAR.LEXUS_AVE30), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
-               (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
-
-               (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
-               (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),
-
-               (0x32E, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-               (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, '\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, '\x0f\xff\x26\x40\x00\x1f\x00'),
   (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
   (0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x00\x80\x03\x00\x08'),
   (0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
@@ -77,28 +69,7 @@ STATIC_MSGS = [
   (0x43B, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
   (0x497, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
   (0x4CC, ECU.APGS, (CAR.PRIUS), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
-               (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,  40, '\x06\x00'),
-               (0x367, ECU.CAM, (CAR.LEXUS_AVE30), 0,  40, '\x02\x00'),
-
-               (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
-               (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-               (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-               (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-               (0x48b, ECU.CAM, (CAR.LEXUS_AVE30), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
-               (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
-               (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-               (0x130, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
-               (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
-               (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
-               (0x466, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x41\x20\xce'),
-               (0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
-               (0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
-               (0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-               (0x497, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-               (0x4CC, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
-               (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
-               (0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
-              ]
+]
 
 ECU_FINGERPRINT = {
   ECU.CAM: 0x2e4,   # steer torque cmd
@@ -113,8 +84,7 @@ def check_ecu_msgs(fingerprint, ecu):
 
 
 FINGERPRINTS = {
-  CAR.LEXUS_AVE30: [
-  {
+  CAR.LEXUS_AVE30: [{
     36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.RAV4: [{
@@ -122,7 +92,7 @@ FINGERPRINTS = {
   }],
   CAR.RAV4H: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
- }],
+  }],
   CAR.PRIUS: [{
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },

From 4bf897953ce1f9d671c82f52212b935e92a82a5f Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Tue, 4 Sep 2018 13:22:39 +1000
Subject: [PATCH 16/83] * remove extra space.

---
 selfdrive/car/toyota/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 6fa4fcfaa..b50fc8b27 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -123,7 +123,7 @@ class CarInterface(object):
       ret.steerKf = 0.00006
 
     elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
-      ret.safetyParam = 100 
+      ret.safetyParam = 100
       ret.wheelbase = 2.82448
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933

From 175a3b074f3119e56db76d8b4574bcfc3c13f86a Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Tue, 4 Sep 2018 13:24:14 +1000
Subject: [PATCH 17/83] * changed safetyParam to 100/1.0

---
 opendbc/lexus_ave30_2017_pt_generated.dbc | 2 +-
 selfdrive/car/toyota/interface.py         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/lexus_ave30_2017_pt_generated.dbc b/opendbc/lexus_ave30_2017_pt_generated.dbc
index d77d1239a..cc4eebc18 100644
--- a/opendbc/lexus_ave30_2017_pt_generated.dbc
+++ b/opendbc/lexus_ave30_2017_pt_generated.dbc
@@ -161,7 +161,7 @@ BO_ 581 GAS_PEDAL: 5 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.58,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index b50fc8b27..67cda2280 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -141,7 +141,7 @@ class CarInterface(object):
       ret.steerKf = 0.00006
 
     elif candidate == CAR.LEXUS_AVE30:
-      ret.safetyParam = 58
+      ret.safetyParam = 100
       ret.wheelbase = 2.80 # in spec
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry

From 47fa5c78a11891d1d32cf647ffe7e1ec35de1f78 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Tue, 4 Sep 2018 17:16:37 +1000
Subject: [PATCH 18/83] * update safetyParam, 100 doesnt hold bumpy road

---
 opendbc/lexus_ave30_2017_pt_generated.dbc | 2 +-
 selfdrive/car/toyota/interface.py         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/lexus_ave30_2017_pt_generated.dbc b/opendbc/lexus_ave30_2017_pt_generated.dbc
index cc4eebc18..733f08e17 100644
--- a/opendbc/lexus_ave30_2017_pt_generated.dbc
+++ b/opendbc/lexus_ave30_2017_pt_generated.dbc
@@ -161,7 +161,7 @@ BO_ 581 GAS_PEDAL: 5 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 67cda2280..cdee25186 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -141,7 +141,7 @@ class CarInterface(object):
       ret.steerKf = 0.00006
 
     elif candidate == CAR.LEXUS_AVE30:
-      ret.safetyParam = 100
+      ret.safetyParam = 66
       ret.wheelbase = 2.80 # in spec
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry

From c87526ea54537868db05551fa708335335d1aa44 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 19 Sep 2018 09:05:48 +1000
Subject: [PATCH 19/83] * v2 init

---
 opendbc/lexus_ave30_2017_pt_generated.dbc | 11 ++++-------
 panda/board/safety/safety_toyota.h        |  9 ++-------
 selfdrive/car/toyota/carstate.py          |  4 ++--
 3 files changed, 8 insertions(+), 16 deletions(-)

diff --git a/opendbc/lexus_ave30_2017_pt_generated.dbc b/opendbc/lexus_ave30_2017_pt_generated.dbc
index 733f08e17..563176cd6 100644
--- a/opendbc/lexus_ave30_2017_pt_generated.dbc
+++ b/opendbc/lexus_ave30_2017_pt_generated.dbc
@@ -54,13 +54,6 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
- SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
  SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -175,6 +168,10 @@ BO_ 610 EPS_STATUS: 5 EPS
 BO_ 956 GEAR_PACKET: 8 XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
 
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_STATE : 15|3@0+ (1,0) [0|0] "" DS1
+
 BO_ 1009 PCM_CRUISE_LEXUS_AVE30: 8 XXX
  SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
  SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 78a8a53d9..738fc26a5 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -30,7 +30,6 @@ uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
-uint32_t acc_addr = 0;                    // acc state address
 int is_lexus_ave30 = 0;                   // is a lexus is300h/ave30 model?
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -50,10 +49,9 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((to_push->RIR>>21) == acc_addr) {
-    // lexus ave30 1 bit: 11
+  if ((to_push->RIR>>21) == 0x1D2) {
     // toyota: 4 bits: 55-52
-    int cruise_engaged = is_lexus_ave30 == 1? to_push->RDLR & 0x400 : to_push->RDHR & 0xF00000;
+    int cruise_engaged = is_lexus_ave30 == 1? to_push->RDLR & 0x2000 : to_push->RDHR & 0xF00000;
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     } else if (!cruise_engaged) {
@@ -154,7 +152,6 @@ static void toyota_init(int16_t param) {
   toyota_actuation_limits = 1;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  acc_addr = 0x1D2;
   is_lexus_ave30 = 0;
 }
 
@@ -163,7 +160,6 @@ static void lexus_ave30_init(int16_t param) {
   toyota_actuation_limits = 1;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  acc_addr = 0x3F1;
   is_lexus_ave30 = 1;
 }
 
@@ -192,7 +188,6 @@ static void toyota_nolimits_init(int16_t param) {
   toyota_actuation_limits = 0;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  acc_addr = 0x1D2;
   is_lexus_ave30 = 0;
 }
 
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 925c90b43..8ad2d32cd 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -43,9 +43,9 @@ def get_can_parser(CP):
 
   if CP.carFingerprint == CAR.LEXUS_AVE30:
     signals += [
-      ("BRAKE_PRESSED", "BRAKE_MODULE2", 0),
+      ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
       ("GAS_RELEASED", "PCM_CRUISE", 0),
-      ("CRUISE_STATE", "PCM_CRUISE_LEXUS_AVE30", 0),
+      ("CRUISE_STATE", "PCM_CRUISE", 0),
       ("MAIN_ON", "PCM_CRUISE_LEXUS_AVE30", 0),
       ("SET_SPEED", "PCM_CRUISE_LEXUS_AVE30", 0),
     ]

From 4cbbce39d7003569e488ec987230f2572a207305 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Wed, 19 Sep 2018 10:13:07 +1000
Subject: [PATCH 20/83] * renamed AVE30 to ISH

---
 cereal/car.capnp                              |  2 +-
 ...ed.dbc => lexus_ish_2017_pt_generated.dbc} | 10 +--
 panda/board/safety.h                          |  4 +-
 panda/board/safety/safety_toyota.h            | 16 ++---
 panda/python/__init__.py                      |  2 +-
 selfdrive/boardd/boardd.cc                    |  6 +-
 selfdrive/car/toyota/carstate.py              | 61 ++++++++-----------
 selfdrive/car/toyota/interface.py             |  8 +--
 selfdrive/car/toyota/values.py                | 32 +++++-----
 9 files changed, 67 insertions(+), 74 deletions(-)
 rename opendbc/{lexus_ave30_2017_pt_generated.dbc => lexus_ish_2017_pt_generated.dbc} (96%)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 274c58626..1657946cb 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -312,7 +312,7 @@ struct CarParams {
     hyundai @8;
     chrysler @9;
     tesla @10;
-    lexusAve30 @11;
+    lexusIsh @11;
   }
 
   # things about the car in the manual
diff --git a/opendbc/lexus_ave30_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
similarity index 96%
rename from opendbc/lexus_ave30_2017_pt_generated.dbc
rename to opendbc/lexus_ish_2017_pt_generated.dbc
index 563176cd6..e711fb837 100644
--- a/opendbc/lexus_ave30_2017_pt_generated.dbc
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -58,10 +58,10 @@ BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
  SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
 
-BO_ 560 BRAKE_MODULE2: 7 XXX
- SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 643 PRE_COLLISION: 7 XXX
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -172,7 +172,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_STATE : 15|3@0+ (1,0) [0|0] "" DS1
 
-BO_ 1009 PCM_CRUISE_LEXUS_AVE30: 8 XXX
+BO_ 1009 PCM_CRUISE_LEXUS_ISH: 8 XXX
  SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
  SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
diff --git a/panda/board/safety.h b/panda/board/safety.h
index 19b6e8547..d1866971e 100644
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -100,7 +100,7 @@ typedef struct {
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
-#define SAFETY_LEXUS_AVE30 8
+#define SAFETY_LEXUS_ISH 8
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -116,7 +116,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
-  {SAFETY_LEXUS_AVE30, &lexus_ave30_hooks},
+  {SAFETY_LEXUS_ISH, &lexus_ish_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
 #endif
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 738fc26a5..c0b12f451 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -30,7 +30,7 @@ uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
-int is_lexus_ave30 = 0;                   // is a lexus is300h/ave30 model?
+int is_lexus_ish = 0;                   // is a lexus is hybrid model?
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // get eps motor torque (0.66 factor in dbc)
@@ -51,7 +51,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == 0x1D2) {
     // toyota: 4 bits: 55-52
-    int cruise_engaged = is_lexus_ave30 == 1? to_push->RDLR & 0x2000 : to_push->RDHR & 0xF00000;
+    int cruise_engaged = is_lexus_ish == 1? to_push->RDLR & 0x2000 : to_push->RDHR & 0xF00000;
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     } else if (!cruise_engaged) {
@@ -152,15 +152,15 @@ static void toyota_init(int16_t param) {
   toyota_actuation_limits = 1;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  is_lexus_ave30 = 0;
+  is_lexus_ish = 0;
 }
 
-static void lexus_ave30_init(int16_t param) {
+static void lexus_ish_init(int16_t param) {
   controls_allowed = 0;
   toyota_actuation_limits = 1;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  is_lexus_ave30 = 1;
+  is_lexus_ish = 1;
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -188,7 +188,7 @@ static void toyota_nolimits_init(int16_t param) {
   toyota_actuation_limits = 0;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  is_lexus_ave30 = 0;
+  is_lexus_ish = 0;
 }
 
 const safety_hooks toyota_nolimits_hooks = {
@@ -200,8 +200,8 @@ const safety_hooks toyota_nolimits_hooks = {
   .fwd = toyota_fwd_hook,
 };
 
-const safety_hooks lexus_ave30_hooks = {
-  .init = lexus_ave30_init,
+const safety_hooks lexus_ish_hooks = {
+  .init = lexus_ish_init,
   .rx = toyota_rx_hook,
   .tx = toyota_tx_hook,
   .tx_lin = toyota_tx_lin_hook,
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index 985fdff86..73c2dab73 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -106,7 +106,7 @@ class Panda(object):
   SAFETY_HONDA = 1
   SAFETY_TOYOTA = 2
   SAFETY_HONDA_BOSCH = 4
-  SAFETY_LEXUS_AVE30 = 8
+  SAFETY_LEXUS_ISH = 8
   SAFETY_TOYOTA_NOLIMITS = 0x1336
   SAFETY_ALLOUTPUT = 0x1337
   SAFETY_ELM327 = 0xE327
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 5407cf25d..b45848cc0 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -40,7 +40,7 @@
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
-#define SAFETY_LEXUS_AVE30 8
+#define SAFETY_LEXUS_ISH 8
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
 
@@ -118,8 +118,8 @@ void *safety_setter_thread(void *s) {
   case (int)cereal::CarParams::SafetyModels::HYUNDAI:
     safety_setting = SAFETY_HYUNDAI;
     break;
-  case (int)cereal::CarParams::SafetyModels::LEXUS_AVE30:
-    safety_setting = SAFETY_LEXUS_AVE30;
+  case (int)cereal::CarParams::SafetyModels::LEXUS_ISH:
+    safety_setting = SAFETY_LEXUS_ISH;
     break;
   default:
     LOGE("unknown safety model: %d", safety_model);
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 8ad2d32cd..158e64c17 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -19,6 +19,7 @@ def get_can_parser(CP):
   signals = [
     # sig_name, sig_address, default
     ("GEAR", "GEAR_PACKET", 0),
+    ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
     ("GAS_PEDAL", "GAS_PEDAL", 0),
     ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
     ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
@@ -33,6 +34,8 @@ def get_can_parser(CP):
     ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
     ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
     ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
+    ("GAS_RELEASED", "PCM_CRUISE", 0),
+    ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
@@ -41,44 +44,39 @@ def get_can_parser(CP):
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
 
-  if CP.carFingerprint == CAR.LEXUS_AVE30:
+  checks = [
+    ("BRAKE_MODULE", 40),
+    ("GAS_PEDAL", 33),
+    ("WHEEL_SPEEDS", 80),
+    ("STEER_ANGLE_SENSOR", 80),
+    ("PCM_CRUISE", 33),
+    ("PCM_CRUISE_2", 33),
+    ("STEER_TORQUE_SENSOR", 50),
+    ("EPS_STATUS", 25),
+  ]
+
+  if CP.carFingerprint == CAR.LEXUS_ISH:
     signals += [
-      ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
-      ("GAS_RELEASED", "PCM_CRUISE", 0),
-      ("CRUISE_STATE", "PCM_CRUISE", 0),
-      ("MAIN_ON", "PCM_CRUISE_LEXUS_AVE30", 0),
-      ("SET_SPEED", "PCM_CRUISE_LEXUS_AVE30", 0),
+      ("MAIN_ON", "PCM_CRUISE_LEXUS_ISH", 0),
+      ("SET_SPEED", "PCM_CRUISE_LEXUS_ISH", 0),
     ]
     checks = [
-      ("BRAKE_MODULE2", 50),
+      ("BRAKE_MODULE", 50),
       ("GAS_PEDAL", 50),
       ("WHEEL_SPEEDS", 80),
       ("STEER_ANGLE_SENSOR", 80),
       ("PCM_CRUISE", 33),
       ("STEER_TORQUE_SENSOR", 50),
       ("EPS_STATUS", 25),
-      ("PCM_CRUISE_LEXUS_AVE30", 1),
+      ("PCM_CRUISE_LEXUS_ISH", 1),
     ]
   else:
     signals += [
-      ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
-      ("GAS_RELEASED", "PCM_CRUISE", 0),
-      ("CRUISE_STATE", "PCM_CRUISE", 0),
       ("MAIN_ON", "PCM_CRUISE_2", 0),
       ("SET_SPEED", "PCM_CRUISE_2", 0),
       ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
       ("IPAS_STATE", "EPS_STATUS", 1),
     ]
-    checks = [
-      ("BRAKE_MODULE", 40),
-      ("GAS_PEDAL", 33),
-      ("WHEEL_SPEEDS", 80),
-      ("STEER_ANGLE_SENSOR", 80),
-      ("PCM_CRUISE", 33),
-      ("PCM_CRUISE_2", 33),
-      ("STEER_TORQUE_SENSOR", 50),
-      ("EPS_STATUS", 25),
-    ]
 
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
@@ -120,10 +118,7 @@ class CarState(object):
                                     cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
     self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
 
-    if self.CP.carFingerprint == CAR.LEXUS_AVE30:
-      self.brake_pressed = cp.vl["BRAKE_MODULE2"]['BRAKE_PRESSED']
-    else:
-      self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
+    self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
     self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
     self.car_gas = self.pedal_gas
     self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
@@ -149,8 +144,8 @@ class CarState(object):
     self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
     can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
-    if self.CP.carFingerprint == CAR.LEXUS_AVE30:
-      self.main_on = cp.vl["PCM_CRUISE_LEXUS_AVE30"]['MAIN_ON']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.main_on = cp.vl["PCM_CRUISE_LEXUS_ISH"]['MAIN_ON']
     else:
       self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
@@ -159,7 +154,7 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    if self.CP.carFingerprint == CAR.LEXUS_AVE30:
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
       self.ipas_active = False
     else:
       self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
@@ -170,15 +165,13 @@ class CarState(object):
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
 
     self.user_brake = 0
-    if self.CP.carFingerprint == CAR.LEXUS_AVE30:
-      self.v_cruise_pcm = cp.vl["PCM_CRUISE_LEXUS_AVE30"]['SET_SPEED']
-      self.pcm_acc_status = cp.vl["PCM_CRUISE_LEXUS_AVE30"]['CRUISE_STATE']
-      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_LEXUS_ISH"]['SET_SPEED']
       self.low_speed_lockout = 0
     else:
       self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
-      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
-      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index a03235f87..600c7c962 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -54,8 +54,8 @@ class CarInterface(object):
     ret.carName = "toyota"
     ret.carFingerprint = candidate
 
-    if candidate == CAR.LEXUS_AVE30:
-      ret.safetyModel = car.CarParams.SafetyModels.lexusAve30
+    if candidate == CAR.LEXUS_ISH:
+      ret.safetyModel = car.CarParams.SafetyModels.lexusIsh
     else:
       ret.safetyModel = car.CarParams.SafetyModels.toyota
 
@@ -140,7 +140,7 @@ class CarInterface(object):
       ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006
 
-    elif candidate == CAR.LEXUS_AVE30:
+    elif candidate == CAR.LEXUS_ISH:
       ret.safetyParam = 66
       ret.wheelbase = 2.80 # in spec
       ret.steerRatio = 13.3 # in spec
@@ -161,7 +161,7 @@ class CarInterface(object):
     if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
                      CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
       ret.minEnableSpeed = -1.
-    elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30]: # TODO: hack ICE to do stop and go
+    elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.LEXUS_ISH]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
 
     centerToRear = ret.wheelbase - ret.centerToFront
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 9b0699a45..fa58b9ccf 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -12,7 +12,7 @@ class CAR:
   CAMRYH = "TOYOTA CAMRY HYBRID 2018"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
-  LEXUS_AVE30 = "LEXUS IS HYBRID 2017 AVE30"
+  LEXUS_ISH = "LEXUS IS HYBRID 2017"
 
 class ECU:
   CAM = 0 # camera
@@ -23,25 +23,25 @@ class ECU:
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
   (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-  (0x130, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
-  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
   (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x245, ECU.CAM, (CAR.LEXUS_AVE30), 1,   5, '\x00\x10\x01\x00'),
+  (0x245, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00'),
   (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
-  (0x248, ECU.CAM, (CAR.LEXUS_AVE30), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
+  (0x248, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
   (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,  40, '\x06\x00'),
-  (0x367, ECU.CAM, (CAR.LEXUS_AVE30), 0,  40, '\x02\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x367, ECU.CAM, (CAR.LEXUS_ISH), 0,  40, '\x02\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
   (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
-  (0x466, ECU.CAM, (CAR.LEXUS_AVE30), 1, 100, '\x41\x20\xce'),
-  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_AVE30), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
   (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-  (0x48b, ECU.CAM, (CAR.LEXUS_AVE30), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
-  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+  (0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
 
   (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
   (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   3, '\x03\x00\x20\x00\x00\x52'),
@@ -84,7 +84,7 @@ def check_ecu_msgs(fingerprint, ecu):
 
 
 FINGERPRINTS = {
-  CAR.LEXUS_AVE30: [{
+  CAR.LEXUS_ISH: [{
     36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.RAV4: [{
@@ -156,7 +156,7 @@ DBC = {
   CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
-  CAR.LEXUS_AVE30: dbc_dict('lexus_ave30_2017_pt_generated', 'toyota_prius_2017_adas'),
+  CAR.LEXUS_ISH: dbc_dict('lexus_ish_2017_pt_generated', 'toyota_prius_2017_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]

From 6e476b69c7c6d292039a3130ad9a0528a83f5ec2 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Wed, 19 Sep 2018 13:59:00 +1000
Subject: [PATCH 21/83] * fixed .tx_lin assignment

---
 panda/board/safety/safety_toyota.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index c0b12f451..e814fe46a 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -204,7 +204,7 @@ const safety_hooks lexus_ish_hooks = {
   .init = lexus_ish_init,
   .rx = toyota_rx_hook,
   .tx = toyota_tx_hook,
-  .tx_lin = toyota_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
 };

From 976847dc691613eb42ba20508c4730ee3cae2fe1 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Wed, 19 Sep 2018 14:10:37 +1000
Subject: [PATCH 22/83] * revert unnecessary changes.

---
 selfdrive/boardd/boardd.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index b45848cc0..0f91f4ea2 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -592,7 +592,7 @@ void *pigeon_thread(void *crap) {
       //printf("got %d\n", len);
       alen += len;
     }
-    if (alen > 0) { 
+    if (alen > 0) {
       if (dat[0] == (char)0x00){
         LOGW("received invalid ublox message, resetting pigeon");
         pigeon_init();

From ddef346fc384d1859c3208ada18d3935134b6b87 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Thu, 20 Sep 2018 10:27:43 +1000
Subject: [PATCH 23/83] * fixed opendbc content order, otherwise cabana can't
 load it.

---
 opendbc/lexus_ish_2017_pt_generated.dbc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
index e711fb837..53aac3bbb 100644
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -54,6 +54,10 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_STATE : 15|3@0+ (1,0) [0|0] "" DS1
+
 BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
  SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -168,10 +172,6 @@ BO_ 610 EPS_STATUS: 5 EPS
 BO_ 956 GEAR_PACKET: 8 XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
 
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_STATE : 15|3@0+ (1,0) [0|0] "" DS1
-
 BO_ 1009 PCM_CRUISE_LEXUS_ISH: 8 XXX
  SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
  SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
@@ -181,4 +181,4 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
\ No newline at end of file

From 2ea95f18e479e3be2c26309e06488ecaa6687e61 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Fri, 19 Oct 2018 12:02:00 +1000
Subject: [PATCH 24/83] * update auto high beam dbc address.

---
 opendbc/lexus_ish_2017_pt_generated.dbc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
index 53aac3bbb..4d5a9c9ae 100644
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -127,8 +127,8 @@ BO_ 1568 SEATS_DOORS: 8 XXX
  SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 1570 LIGHT_STALK: 8 SCM
- SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+BO_ 1599 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
 
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";

From 6e4ac6e5bed40991e0959e111db1b795976f41f8 Mon Sep 17 00:00:00 2001
From: Rick Lan <rick.lan@simpro.co>
Date: Mon, 22 Oct 2018 10:42:22 +1000
Subject: [PATCH 25/83] * merged with 0.5.5

---
 README.md                                     |  105 +-
 RELEASES.md                                   |    6 +
 cereal/log.capnp                              |    9 +
 common/ffi_wrapper.py                         |   10 +-
 opendbc/toyota_prius_2017_adas.dbc            |   17 +-
 panda/VERSION                                 |    2 +-
 panda/tests/safety/test.c                     |   10 +
 selfdrive/car/honda/interface.py              |    3 +-
 selfdrive/car/honda/values.py                 |    2 +-
 selfdrive/car/toyota/radar_interface.py       |   71 +-
 selfdrive/common/version.h                    |    2 +-
 selfdrive/controls/controlsd.py               |    1 +
 selfdrive/controls/lib/alertmanager.py        | 1021 +++++++++--------
 selfdrive/controls/lib/lateral_mpc/Makefile   |   11 +-
 .../controls/lib/longitudinal_mpc/Makefile    |    9 +-
 selfdrive/controls/lib/planner.py             |    3 -
 selfdrive/locationd/ubloxd.py                 |    6 +-
 selfdrive/loggerd/loggerd                     |  Bin 1630952 -> 1630952 bytes
 selfdrive/registration.py                     |    5 +-
 selfdrive/sensord/gpsd                        |  Bin 1171544 -> 1171544 bytes
 selfdrive/sensord/sensord                     |  Bin 1159016 -> 1159016 bytes
 selfdrive/service_list.yaml                   |    1 +
 selfdrive/visiond/visiond                     |  Bin 9122536 -> 9041704 bytes
 23 files changed, 718 insertions(+), 576 deletions(-)

diff --git a/README.md b/README.md
index ae6b0ed66..442fbd447 100644
--- a/README.md
+++ b/README.md
@@ -1,9 +1,9 @@
-[![](https://i.imgur.com/VlKV6V8.png)](#)
+[![](https://i.imgur.com/UetIFyH.jpg)](#)
 
 Welcome to openpilot
 ======
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras, Toyotas, and a Chevy. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
 
 The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
@@ -14,7 +14,7 @@ openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
 
 We have a [Twitter you should follow](https://twitter.com/comma_ai).
 
-Also, we have a 3500+ person [community on slack](https://slack.comma.ai).
+Also, we have a several thousand people community on [slack](https://slack.comma.ai).
 
 <table>
   <tr>
@@ -41,54 +41,54 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
 Supported Cars
 ------
 
-| Make               | Model                 | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
-| -------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
-| Acura              | ILX 2016              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
-| Acura              | ILX 2017              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
-| Acura              | RDX 2018              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| GM<sup>3</sup>     | Volt 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
-| GM<sup>3</sup>     | Volt 2018             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
-| Honda              | Accord 2018           | All                  | Yes     | Stock          | 0mph             | 3mph           |
-| Honda              | Civic 2016            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda              | Civic 2017            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda              | Civic 2017 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda              | Civic 2018            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda              | Civic 2018 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda              | CR-V 2015             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | CR-V 2016             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | CR-V 2017             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda              | CR-V 2018             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda              | Odyssey 2017          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda              | Odyssey 2018          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda              | Odyssey 2019          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda              | Pilot 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | Pilot 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | Pilot 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | Ridgeline 2017        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | Ridgeline 2018        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Hyundai<sup>6</sup>| Santa Fe 2019         | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Hyundai<sup>6</sup>| Elantra 2017          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          |
-| Hyundai<sup>6</sup>| Genesis 2018          | All                  | Yes     | Stock          | 19mph            | 34mph          |
-| Kia<sup>6</sup>    | Sorento 2018          | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Kia<sup>6</sup>    | Stinger 2018          | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           |
-| Lexus              | RX Hybrid 2017        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Lexus              | RX Hybrid 2018        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Camry 2018<sup>4</sup>| All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
-| Toyota             | C-HR 2018<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Toyota             | Corolla 2017          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Corolla 2018          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Highlander Hybrid 2018| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius 2016            | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius Prime 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius Prime 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Rav4 2016             | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Rav4 2017             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Rav4 2018             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Rav4 Hybrid 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Rav4 Hybrid 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Make                 | Model                 | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| ---------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
+| Acura                | ILX 2016              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura                | ILX 2017              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura                | RDX 2018              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Chevrolet<sup>3</sup>| Volt 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Chevrolet<sup>3</sup>| Volt 2018             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Honda                | Accord 2018           | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda                | Civic 2016            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda                | Civic 2017            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda                | Civic 2017 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                | Civic 2018            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda                | Civic 2018 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                | CR-V 2015             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                | CR-V 2016             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                | CR-V 2017             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                | CR-V 2018             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                | Odyssey 2017          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda                | Odyssey 2018          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda                | Odyssey 2019          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda                | Pilot 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                | Pilot 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                | Pilot 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                | Ridgeline 2017        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                | Ridgeline 2018        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Hyundai<sup>6</sup>  | Santa Fe 2019         | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Hyundai<sup>6</sup>  | Elantra 2017          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          |
+| Hyundai<sup>6</sup>  | Genesis 2018          | All                  | Yes     | Stock          | 19mph            | 34mph          |
+| Kia<sup>6</sup>      | Sorento 2018          | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Kia<sup>6</sup>      | Stinger 2018          | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           |
+| Lexus                | RX Hybrid 2017        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus                | RX Hybrid 2018        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota               | Camry 2018<sup>4</sup>| All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
+| Toyota               | C-HR 2018<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota               | Corolla 2017          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota               | Corolla 2018          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota               | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota               | Highlander Hybrid 2018| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota               | Prius 2016            | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota               | Prius 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota               | Prius 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota               | Prius Prime 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota               | Prius Prime 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota               | Rav4 2016             | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota               | Rav4 2017             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota               | Rav4 2018             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota               | Rav4 Hybrid 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota               | Rav4 Hybrid 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
 
 <sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
 <sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
@@ -103,8 +103,11 @@ Community Maintained Cars
 | Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
 | -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
 | Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Tesla         | Model S 2012              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |
+| Tesla         | Model S 2013              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |
 
 [[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
+[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)
 
 Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
 
diff --git a/RELEASES.md b/RELEASES.md
index 6230b33fe..82f012086 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,9 @@
+Version 0.5.5 (2018-10-20)
+========================
+ * Increase allowed Honda positive accelerations
+ * Fix sporadic unexpected braking when passing semi-trucks in Toyota
+ * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
+
 Version 0.5.4 (2018-09-25)
 ========================
  * New Driving Model
diff --git a/cereal/log.capnp b/cereal/log.capnp
index ea7012bad..f1b4b50b6 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -410,6 +410,7 @@ struct Live100Data {
   alertStatus @38 :AlertStatus;
   alertSize @39 :AlertSize;
   alertBlinkingRate @42 :Float32;
+  alertType @44 :Text;
   awarenessStatus @26 :Float32;
   angleOffset @27 :Float32;
   gpsPlannerActive @40 :Bool;
@@ -1558,6 +1559,13 @@ struct Boot {
   lastPmsg @2 :Data;
 }
 
+struct LiveParametersData {
+  valid @0 :Bool;
+  gyroBias @1 :Float32;
+  angleOffset @2 :Float32;
+}
+
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -1623,5 +1631,6 @@ struct Event {
     orbFeaturesSummary @58 :OrbFeaturesSummary;
     driverMonitoring @59 :DriverMonitoring;
     boot @60 :Boot;
+    liveParameters @61 :LiveParametersData;
   }
 }
diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py
index 264dbd7fc..65b790a80 100644
--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@@ -6,7 +6,7 @@ from cffi import FFI
 
 TMPDIR = "/tmp/ccache"
 
-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
+def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
   cache = name + "_" + hashlib.sha1(c_code).hexdigest()
   try:
     os.mkdir(tmpdir)
@@ -21,19 +21,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
       mod = __import__(cache)
     except Exception:
       print "cache miss", cache
-      compile_code(cache, c_code, c_header, tmpdir)
+      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
       mod = __import__(cache)
   finally:
     os.close(fd)
 
   return mod.ffi, mod.lib
 
-def compile_code(name, c_code, c_header, directory):
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
   ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp')
+  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
   ffibuilder.cdef(c_header)
   os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
-  os.environ['CFLAGS'] = ""
+  os.environ['CFLAGS'] = cflags
   ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
 
 def wrap_compiled(name, directory):
diff --git a/opendbc/toyota_prius_2017_adas.dbc b/opendbc/toyota_prius_2017_adas.dbc
index 9d1646f04..4aae65aa4 100644
--- a/opendbc/toyota_prius_2017_adas.dbc
+++ b/opendbc/toyota_prius_2017_adas.dbc
@@ -182,80 +182,95 @@ BO_ 543 TRACK_A_15: 8 XXX
 BO_ 544 TRACK_B_0: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 545 TRACK_B_1: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 546 TRACK_B_2: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 547 TRACK_B_3: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 548 TRACK_B_4: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 549 TRACK_B_5: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 550 TRACK_B_6: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 551 TRACK_B_7: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 552 TRACK_B_8: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 553 TRACK_B_9: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 554 TRACK_B_10: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 555 TRACK_B_11: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 556 TRACK_B_12: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 557 TRACK_B_13: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 558 TRACK_B_14: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 559 TRACK_B_15: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
-
diff --git a/panda/VERSION b/panda/VERSION
index 261f34757..46882bcf3 100644
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.1.5
\ No newline at end of file
+v1.1.6
\ No newline at end of file
diff --git a/panda/tests/safety/test.c b/panda/tests/safety/test.c
index c3f280644..c1555db5d 100644
--- a/panda/tests/safety/test.c
+++ b/panda/tests/safety/test.c
@@ -183,3 +183,13 @@ void init_tests_honda(void){
   brake_prev = 0;
   gas_prev = 0;
 }
+
+
+void set_gmlan_digital_output(int to_set){
+}
+
+void reset_gmlan_switch_timeout(void){
+}
+
+void gmlan_switch_init(int timeout_enable){
+}
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 2bff2e746..42eb041f3 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -10,7 +10,6 @@ from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET,
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.honda.carstate import CarState, get_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH, CAR, HONDA_BOSCH
-from selfdrive.controls.lib.planner import A_ACC_MAX
 
 try:
   from selfdrive.car.honda.carcontroller import CarController
@@ -128,7 +127,7 @@ class CarInterface(object):
     # accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
     # unless aTargetMax is very high and then we scale with it; this help in quicker restart
 
-    return float(max(0.714, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
+    return float(min(speedLimiter, accelLimiter))
 
   @staticmethod
   def get_params(candidate, fingerprint):
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index eec1a7e0c..c9dbcdc7a 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -90,7 +90,7 @@ FINGERPRINTS = {
     57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
   }],
   CAR.PILOT_2019: [{
-    57: 3, 145: 8, 228: 5, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 983: 8, 985: 3, 1029: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
+    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1039: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
   }],
   # Ridgeline w/ Added Comma Pedal Support (512L & 513L)
   CAR.RIDGELINE: [{
diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py
index 25bbfbfb3..2ae8fd3db 100755
--- a/selfdrive/car/toyota/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@@ -10,24 +10,30 @@ import selfdrive.messaging as messaging
 from selfdrive.car.toyota.values import NO_DSU_CAR
 
 
-RADAR_MSGS = list(range(0x210, 0x220))
+RADAR_A_MSGS = list(range(0x210, 0x220))
+RADAR_B_MSGS = list(range(0x220, 0x230))
 
 def _create_radard_can_parser():
   dbc_f = 'toyota_prius_2017_adas.dbc'
-  msg_n = len(RADAR_MSGS)
-  signals = zip(['LONG_DIST'] * msg_n + ['NEW_TRACK'] * msg_n + ['LAT_DIST'] * msg_n +
-                ['REL_SPEED'] * msg_n + ['VALID'] * msg_n,
-                RADAR_MSGS * 5,
-                [255] * msg_n + [1] * msg_n + [0] * msg_n + [0] * msg_n + [0] * msg_n)
-  checks = zip(RADAR_MSGS, [20]*msg_n)
+
+  msg_a_n = len(RADAR_A_MSGS)
+  msg_b_n = len(RADAR_B_MSGS)
+
+  signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
+                ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
+                RADAR_A_MSGS * 5 + RADAR_B_MSGS,
+                [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
+
+  checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))
 
   return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
 
+
 class RadarInterface(object):
   def __init__(self, CP):
     # radar
     self.pts = {}
-    self.validCnt = {key: 0 for key in RADAR_MSGS}
+    self.seen_valid = {key: False for key in RADAR_A_MSGS}
     self.track_id = 0
 
     self.delay = 0.0  # Delay of radar
@@ -52,7 +58,7 @@ class RadarInterface(object):
       tm = int(sec_since_boot() * 1e9)
       updated_messages.update(self.rcp.update(tm, True))
       # TODO: do not hardcode last msg
-      if 0x21f in updated_messages:
+      if 0x22f in updated_messages:
         break
 
     errors = []
@@ -62,32 +68,33 @@ class RadarInterface(object):
     ret.canMonoTimes = canMonoTimes
 
     for ii in updated_messages:
-      cpt = self.rcp.vl[ii]
+      if ii in RADAR_A_MSGS:
+        cpt = self.rcp.vl[ii]
 
-      if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
-        self.validCnt[ii] = 0    # reset counter
+        if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
+          self.seen_valid[ii] = False    # reset validity
 
-      if cpt['VALID'] and cpt['LONG_DIST'] < 255:
-        self.validCnt[ii] += 1
-      else:
-        self.validCnt[ii] = max(self.validCnt[ii] -1, 0)
-      #print ii, self.validCnt[ii], cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
+        if cpt['LONG_DIST'] < 255 and cpt['VALID']:
+          self.seen_valid[ii] = True
 
-      # radar point only valid if there have been enough valid measurements
-      if self.validCnt[ii] > 0:
-        if ii not in self.pts or cpt['NEW_TRACK']:
-          self.pts[ii] = car.RadarState.RadarPoint.new_message()
-          self.pts[ii].trackId = self.track_id
-          self.track_id += 1
-        self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
-        self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
-        self.pts[ii].vRel = cpt['REL_SPEED']
-        self.pts[ii].aRel = float('nan')
-        self.pts[ii].yvRel = float('nan')
-        self.pts[ii].measured = bool(cpt['VALID'])
-      else:
-        if ii in self.pts:
-          del self.pts[ii]
+        score = self.rcp.vl[ii+16]['SCORE']
+        # print ii, score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
+
+        # radar point only valid if it's a valid measurement and score is above 50
+        if (cpt['VALID'] or score > 50) and cpt['LONG_DIST'] < 255 and self.seen_valid[ii]:
+          if ii not in self.pts or cpt['NEW_TRACK']:
+            self.pts[ii] = car.RadarState.RadarPoint.new_message()
+            self.pts[ii].trackId = self.track_id
+            self.track_id += 1
+          self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
+          self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
+          self.pts[ii].vRel = cpt['REL_SPEED']
+          self.pts[ii].aRel = float('nan')
+          self.pts[ii].yvRel = float('nan')
+          self.pts[ii].measured = bool(cpt['VALID'])
+        else:
+          if ii in self.pts:
+            del self.pts[ii]
 
     ret.points = self.pts.values()
     return ret
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index a8edf6884..ab4726817 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.5.4-release"
+#define COMMA_VERSION "0.5.5-release"
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 70afd6fcc..470be768b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -352,6 +352,7 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
     "alertSize": AM.alert_size,
     "alertStatus": AM.alert_status,
     "alertBlinkingRate": AM.alert_rate,
+    "alertType": AM.alert_type,
     "awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
     "driverMonitoringOn": bool(driver_status.monitor_on),
     "canMonoTimes": list(CS.canMonoTimes),
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index 9f92fe44c..99bb9bfc1 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -18,6 +18,7 @@ AlertStatus = log.Live100Data.AlertStatus
 
 class Alert(object):
   def __init__(self,
+               alert_type,
                alert_text_1,
                alert_text_2,
                alert_status,
@@ -30,6 +31,7 @@ class Alert(object):
                duration_text,
                alert_rate=0.):
 
+    self.alert_type = alert_type
     self.alert_text_1 = alert_text_1
     self.alert_text_2 = alert_text_2
     self.alert_status = alert_status
@@ -60,475 +62,554 @@ class Alert(object):
 
 class AlertManager(object):
   alerts = {
-
-    # Miscellaneous alerts
-    "enable": Alert(
-        "",
-        "",
-        AlertStatus.normal, AlertSize.none,
-        Priority.MID, None, "beepSingle", .2, 0., 0.),
-
-    "disable": Alert(
-        "",
-        "",
-        AlertStatus.normal, AlertSize.none,
-        Priority.MID, None, "beepSingle", .2, 0., 0.),
-
-    "fcw": Alert(
-        "BRAKE!",
-        "Risk of Collision",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "fcw", "chimeRepeated", 1., 2., 2.),
-
-    "steerSaturated": Alert(
-        "TAKE CONTROL",
-        "Turn Exceeds Steering Limit",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, "steerRequired", "chimeSingle", 1., 2., 3.),
-
-    "steerTempUnavailable": Alert(
-        "TAKE CONTROL",
-        "Steering Temporarily Unavailable",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, "steerRequired", "chimeDouble", .4, 2., 3.),
-
-    "steerTempUnavailableMute": Alert(
-        "TAKE CONTROL",
-        "Steering Temporarily Unavailable",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, None, None, .2, .2, .2),
-
-    "preDriverDistracted": Alert(
-        "KEEP EYES ON ROAD: User Appears Distracted",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
-
-    "promptDriverDistracted": Alert(
-        "KEEP EYES ON ROAD",
-        "User Appears Distracted",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "driverDistracted": Alert(
-        "DISENGAGE IMMEDIATELY",
-        "User Was Distracted",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "preDriverUnresponsive": Alert(
-        "TOUCH STEERING WHEEL: No Driver Monitoring",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
-
-    "promptDriverUnresponsive": Alert(
-        "TOUCH STEERING WHEEL",
-        "User Is Unresponsive",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "driverUnresponsive": Alert(
-        "DISENGAGE IMMEDIATELY",
-        "User Was Unresponsive",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "driverMonitorOff": Alert(
-        "DRIVER MONITOR IS UNAVAILABLE",
-        "Accuracy Is Low",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, None, .4, 0., 4.),
-
-    "driverMonitorOn": Alert(
-        "DRIVER MONITOR IS AVAILABLE",
-        "Accuracy Is High",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, None, .4, 0., 4.),
-
-    "geofence": Alert(
-        "DISENGAGEMENT REQUIRED",
-        "Not in Geofenced Area",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "startup": Alert(
-        "Be ready to take over at any time",
-        "Always keep hands on wheel and eyes on road",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW_LOWEST, None, None, 0., 0., 15.),
-
-    "ethicalDilemma": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Ethical Dilemma Detected",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "steerTempUnavailableNoEntry": Alert(
-        "openpilot Unavailable",
-        "Steering Temporarily Unavailable",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 0., 3.),
-
-    "manualRestart": Alert(
-        "TAKE CONTROL",
-        "Resume Driving Manually",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, None, None, 0., 0., .2),
-
-    "resumeRequired": Alert(
-        "STOPPED",
-        "Press Resume to Move",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, None, None, 0., 0., .2),
-
-    "belowSteerSpeed": Alert(
-        "TAKE CONTROL",
-        "Steer Unavailable Below ",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.MID, "steerRequired", None, 0., 0., .1),
-
-    "debugAlert": Alert(
-        "DEBUG ALERT",
-        "",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, None, None, .1, .1, .1),
-
-    # Non-entry only alerts
-    "wrongCarModeNoEntry": Alert(
-        "openpilot Unavailable",
-        "Main Switch Off",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 0., 3.),
-
-    "dataNeededNoEntry": Alert(
-        "openpilot Unavailable",
-        "Data Needed for Calibration. Upload Drive, Try Again",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 0., 3.),
-
-    "outOfSpaceNoEntry": Alert(
-        "openpilot Unavailable",
-        "Out of Storage Space",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 0., 3.),
-
-    "pedalPressedNoEntry": Alert(
-        "openpilot Unavailable",
-        "Pedal Pressed During Attempt",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, "brakePressed", "chimeDouble", .4, 2., 3.),
-
-    "speedTooLowNoEntry": Alert(
-        "openpilot Unavailable",
-        "Speed Too Low",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "brakeHoldNoEntry": Alert(
-        "openpilot Unavailable",
-        "Brake Hold Active",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "parkBrakeNoEntry": Alert(
-        "openpilot Unavailable",
-        "Park Brake Engaged",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "lowSpeedLockoutNoEntry": Alert(
-        "openpilot Unavailable",
-        "Cruise Fault: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "lowBatteryNoEntry": Alert(
-        "openpilot Unavailable",
-        "Low Battery",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    # Cancellation alerts causing soft disabling
-    "overheat": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "System Overheated",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "wrongGear": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Gear not D",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "calibrationInvalid": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Calibration Invalid: Reposition EON and Recalibrate",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "calibrationIncomplete": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Calibration in Progress",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "doorOpen": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Door Open",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "seatbeltNotLatched": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Seatbelt Unlatched",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "espDisabled": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "ESP Off",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "lowBattery": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Low Battery",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    # Cancellation alerts causing immediate disabling
-    "radarCommIssue": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Radar Error: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "radarFault": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Radar Error: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "modelCommIssue": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Model Error: Check Internet Connection",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "controlsFailed": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Controls Failed",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "controlsMismatch": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Controls Mismatch",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "commIssue": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "CAN Error: Check Connections",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "steerUnavailable": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "LKAS Fault: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "brakeUnavailable": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Cruise Fault: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "gasUnavailable": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Gas Fault: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "reverseGear": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Reverse Gear",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "cruiseDisabled": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Cruise Is Off",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "plannerError": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Planner Solution Error",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    # not loud cancellations (user is in control)
-    "noTarget": Alert(
-        "openpilot Canceled",
-        "No close lead car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.HIGH, None, "chimeDouble", .4, 2., 3.),
-
-    "speedTooLow": Alert(
-        "openpilot Canceled",
-        "Speed too low",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.HIGH, None, "chimeDouble", .4, 2., 3.),
-
-    # Cancellation alerts causing non-entry
-    "overheatNoEntry": Alert(
-        "openpilot Unavailable",
-        "System overheated",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "wrongGearNoEntry": Alert(
-        "openpilot Unavailable",
-        "Gear not D",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "calibrationInvalidNoEntry": Alert(
-        "openpilot Unavailable",
-        "Calibration Invalid: Reposition EON and Recalibrate",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "calibrationIncompleteNoEntry": Alert(
-        "openpilot Unavailable",
-        "Calibration in Progress",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "doorOpenNoEntry": Alert(
-        "openpilot Unavailable",
-        "Door open",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "seatbeltNotLatchedNoEntry": Alert(
-        "openpilot Unavailable",
-        "Seatbelt unlatched",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "espDisabledNoEntry": Alert(
-        "openpilot Unavailable",
-        "ESP Off",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "geofenceNoEntry": Alert(
-        "openpilot Unavailable",
-        "Not in Geofenced Area",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.MID, None, "chimeDouble", .4, 2., 3.),
-
-    "radarCommIssueNoEntry": Alert(
-        "openpilot Unavailable",
-        "Radar Error: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "radarFaultNoEntry": Alert(
-        "openpilot Unavailable",
-        "Radar Error: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "modelCommIssueNoEntry": Alert(
-        "openpilot Unavailable",
-        "Model Error: Check Internet Connection",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "controlsFailedNoEntry": Alert(
-        "openpilot Unavailable",
-        "Controls Failed",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "commIssueNoEntry": Alert(
-        "openpilot Unavailable",
-        "CAN Error: Check Connections",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "steerUnavailableNoEntry": Alert(
-        "openpilot Unavailable",
-        "LKAS Fault: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "brakeUnavailableNoEntry": Alert(
-        "openpilot Unavailable",
-        "Cruise Fault: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "gasUnavailableNoEntry": Alert(
-        "openpilot Unavailable",
-        "Gas Error: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "reverseGearNoEntry": Alert(
-        "openpilot Unavailable",
-        "Reverse Gear",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "cruiseDisabledNoEntry": Alert(
-        "openpilot Unavailable",
-        "Cruise is Off",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "noTargetNoEntry": Alert(
-        "openpilot Unavailable",
-        "No Close Lead Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "plannerErrorNoEntry": Alert(
-        "openpilot Unavailable",
-        "Planner Solution Error",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    # permanent alerts
-    "steerUnavailablePermanent": Alert(
-        "LKAS Fault: Restart the car to engage",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW_LOWEST, None, None, 0., 0., .2),
-
-    "brakeUnavailablePermanent": Alert(
-        "Cruise Fault: Restart the car to engage",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW_LOWEST, None, None, 0., 0., .2),
-
-    "lowSpeedLockoutPermanent": Alert(
-        "Cruise Fault: Restart the car to engage",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW_LOWEST, None, None, 0., 0., .2),
-
-    "calibrationIncompletePermanent": Alert(
-        "Calibration in Progress: ",
-        "Drive Above ",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOWEST, None, None, 0., 0., .2),
+    alert.alert_type: alert
+    for alert in [
+        # Miscellaneous alerts
+        Alert(
+            "enable",
+            "",
+            "",
+            AlertStatus.normal, AlertSize.none,
+            Priority.MID, None, "beepSingle", .2, 0., 0.),
+
+        Alert(
+            "disable",
+            "",
+            "",
+            AlertStatus.normal, AlertSize.none,
+            Priority.MID, None, "beepSingle", .2, 0., 0.),
+
+        Alert(
+            "fcw",
+            "BRAKE!",
+            "Risk of Collision",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "fcw", "chimeRepeated", 1., 2., 2.),
+
+        Alert(
+            "steerSaturated",
+            "TAKE CONTROL",
+            "Turn Exceeds Steering Limit",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.LOW, "steerRequired", "chimeSingle", 1., 2., 3.),
+
+        Alert(
+            "steerTempUnavailable",
+            "TAKE CONTROL",
+            "Steering Temporarily Unavailable",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.LOW, "steerRequired", "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "steerTempUnavailableMute",
+            "TAKE CONTROL",
+            "Steering Temporarily Unavailable",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.LOW, None, None, .2, .2, .2),
+
+        Alert(
+            "preDriverDistracted",
+            "KEEP EYES ON ROAD: User Appears Distracted",
+            "",
+            AlertStatus.normal, AlertSize.small,
+            Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
+
+        Alert(
+            "promptDriverDistracted",
+            "KEEP EYES ON ROAD",
+            "User Appears Distracted",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
+
+        Alert(
+            "driverDistracted",
+            "DISENGAGE IMMEDIATELY",
+            "User Was Distracted",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
+
+        Alert(
+            "preDriverUnresponsive",
+            "TOUCH STEERING WHEEL: No Driver Monitoring",
+            "",
+            AlertStatus.normal, AlertSize.small,
+            Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
+
+        Alert(
+            "promptDriverUnresponsive",
+            "TOUCH STEERING WHEEL",
+            "User Is Unresponsive",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
+
+        Alert(
+            "driverUnresponsive",
+            "DISENGAGE IMMEDIATELY",
+            "User Was Unresponsive",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
+
+        Alert(
+            "driverMonitorOff",
+            "DRIVER MONITOR IS UNAVAILABLE",
+            "Accuracy Is Low",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, None, .4, 0., 4.),
+
+        Alert(
+            "driverMonitorOn",
+            "DRIVER MONITOR IS AVAILABLE",
+            "Accuracy Is High",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, None, .4, 0., 4.),
+
+        Alert(
+            "geofence",
+            "DISENGAGEMENT REQUIRED",
+            "Not in Geofenced Area",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
+
+        Alert(
+            "startup",
+            "Be ready to take over at any time",
+            "Always keep hands on wheel and eyes on road",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW_LOWEST, None, None, 0., 0., 15.),
+
+        Alert(
+            "ethicalDilemma",
+            "TAKE CONTROL IMMEDIATELY",
+            "Ethical Dilemma Detected",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
+        Alert(
+            "steerTempUnavailableNoEntry",
+            "openpilot Unavailable",
+            "Steering Temporarily Unavailable",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 0., 3.),
+
+        Alert(
+            "manualRestart",
+            "TAKE CONTROL",
+            "Resume Driving Manually",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.LOW, None, None, 0., 0., .2),
+
+        Alert(
+            "resumeRequired",
+            "STOPPED",
+            "Press Resume to Move",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.LOW, None, None, 0., 0., .2),
+
+        Alert(
+            "belowSteerSpeed",
+            "TAKE CONTROL",
+            "Steer Unavailable Below ",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.MID, "steerRequired", None, 0., 0., .1),
+
+        Alert(
+            "debugAlert",
+            "DEBUG ALERT",
+            "",
+            AlertStatus.userPrompt, AlertSize.mid,
+            Priority.LOW, None, None, .1, .1, .1),
+
+        # Non-entry only alerts
+        Alert(
+            "wrongCarModeNoEntry",
+            "openpilot Unavailable",
+            "Main Switch Off",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 0., 3.),
+
+        Alert(
+            "dataNeededNoEntry",
+            "openpilot Unavailable",
+            "Data Needed for Calibration. Upload Drive, Try Again",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 0., 3.),
+
+        Alert(
+            "outOfSpaceNoEntry",
+            "openpilot Unavailable",
+            "Out of Storage Space",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 0., 3.),
+
+        Alert(
+            "pedalPressedNoEntry",
+            "openpilot Unavailable",
+            "Pedal Pressed During Attempt",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, "brakePressed", "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "speedTooLowNoEntry",
+            "openpilot Unavailable",
+            "Speed Too Low",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "brakeHoldNoEntry",
+            "openpilot Unavailable",
+            "Brake Hold Active",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "parkBrakeNoEntry",
+            "openpilot Unavailable",
+            "Park Brake Engaged",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "lowSpeedLockoutNoEntry",
+            "openpilot Unavailable",
+            "Cruise Fault: Restart the Car",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "lowBatteryNoEntry",
+            "openpilot Unavailable",
+            "Low Battery",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        # Cancellation alerts causing soft disabling
+        Alert(
+            "overheat",
+            "TAKE CONTROL IMMEDIATELY",
+            "System Overheated",
+            AlertStatus.critical, AlertSize.full,
+            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
+        Alert(
+            "wrongGear",
+            "TAKE CONTROL IMMEDIATELY",
+            "Gear not D",
+            AlertStatus.critical, AlertSize.full,
+            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
+        Alert(
+            "calibrationInvalid",
+            "TAKE CONTROL IMMEDIATELY",
+            "Calibration Invalid: Reposition EON and Recalibrate",
+            AlertStatus.critical, AlertSize.full,
+            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
+        Alert(
+            "calibrationIncomplete",
+            "TAKE CONTROL IMMEDIATELY",
+            "Calibration in Progress",
+            AlertStatus.critical, AlertSize.full,
+            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
+        Alert(
+            "doorOpen",
+            "TAKE CONTROL IMMEDIATELY",
+            "Door Open",
+            AlertStatus.critical, AlertSize.full,
+            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
+        Alert(
+            "seatbeltNotLatched",
+            "TAKE CONTROL IMMEDIATELY",
+            "Seatbelt Unlatched",
+            AlertStatus.critical, AlertSize.full,
+            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
+        Alert(
+            "espDisabled",
+            "TAKE CONTROL IMMEDIATELY",
+            "ESP Off",
+            AlertStatus.critical, AlertSize.full,
+            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
+        Alert(
+            "lowBattery",
+            "TAKE CONTROL IMMEDIATELY",
+            "Low Battery",
+            AlertStatus.critical, AlertSize.full,
+            Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
+        # Cancellation alerts causing immediate disabling
+        Alert(
+            "radarCommIssue",
+            "TAKE CONTROL IMMEDIATELY",
+            "Radar Error: Restart the Car",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "radarFault",
+            "TAKE CONTROL IMMEDIATELY",
+            "Radar Error: Restart the Car",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "modelCommIssue",
+            "TAKE CONTROL IMMEDIATELY",
+            "Model Error: Check Internet Connection",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "controlsFailed",
+            "TAKE CONTROL IMMEDIATELY",
+            "Controls Failed",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "controlsMismatch",
+            "TAKE CONTROL IMMEDIATELY",
+            "Controls Mismatch",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "commIssue",
+            "TAKE CONTROL IMMEDIATELY",
+            "CAN Error: Check Connections",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "steerUnavailable",
+            "TAKE CONTROL IMMEDIATELY",
+            "LKAS Fault: Restart the Car",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "brakeUnavailable",
+            "TAKE CONTROL IMMEDIATELY",
+            "Cruise Fault: Restart the Car",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "gasUnavailable",
+            "TAKE CONTROL IMMEDIATELY",
+            "Gas Fault: Restart the Car",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "reverseGear",
+            "TAKE CONTROL IMMEDIATELY",
+            "Reverse Gear",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "cruiseDisabled",
+            "TAKE CONTROL IMMEDIATELY",
+            "Cruise Is Off",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        Alert(
+            "plannerError",
+            "TAKE CONTROL IMMEDIATELY",
+            "Planner Solution Error",
+            AlertStatus.critical, AlertSize.full,
+            Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
+
+        # not loud cancellations (user is in control)
+        Alert(
+            "noTarget",
+            "openpilot Canceled",
+            "No close lead car",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.HIGH, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "speedTooLow",
+            "openpilot Canceled",
+            "Speed too low",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.HIGH, None, "chimeDouble", .4, 2., 3.),
+
+        # Cancellation alerts causing non-entry
+        Alert(
+            "overheatNoEntry",
+            "openpilot Unavailable",
+            "System overheated",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "wrongGearNoEntry",
+            "openpilot Unavailable",
+            "Gear not D",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "calibrationInvalidNoEntry",
+            "openpilot Unavailable",
+            "Calibration Invalid: Reposition EON and Recalibrate",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "calibrationIncompleteNoEntry",
+            "openpilot Unavailable",
+            "Calibration in Progress",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "doorOpenNoEntry",
+            "openpilot Unavailable",
+            "Door open",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "seatbeltNotLatchedNoEntry",
+            "openpilot Unavailable",
+            "Seatbelt unlatched",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "espDisabledNoEntry",
+            "openpilot Unavailable",
+            "ESP Off",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "geofenceNoEntry",
+            "openpilot Unavailable",
+            "Not in Geofenced Area",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.MID, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "radarCommIssueNoEntry",
+            "openpilot Unavailable",
+            "Radar Error: Restart the Car",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "radarFaultNoEntry",
+            "openpilot Unavailable",
+            "Radar Error: Restart the Car",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "modelCommIssueNoEntry",
+            "openpilot Unavailable",
+            "Model Error: Check Internet Connection",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "controlsFailedNoEntry",
+            "openpilot Unavailable",
+            "Controls Failed",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "commIssueNoEntry",
+            "openpilot Unavailable",
+            "CAN Error: Check Connections",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "steerUnavailableNoEntry",
+            "openpilot Unavailable",
+            "LKAS Fault: Restart the Car",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "brakeUnavailableNoEntry",
+            "openpilot Unavailable",
+            "Cruise Fault: Restart the Car",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "gasUnavailableNoEntry",
+            "openpilot Unavailable",
+            "Gas Error: Restart the Car",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "reverseGearNoEntry",
+            "openpilot Unavailable",
+            "Reverse Gear",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "cruiseDisabledNoEntry",
+            "openpilot Unavailable",
+            "Cruise is Off",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "noTargetNoEntry",
+            "openpilot Unavailable",
+            "No Close Lead Car",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        Alert(
+            "plannerErrorNoEntry",
+            "openpilot Unavailable",
+            "Planner Solution Error",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
+        # permanent alerts
+        Alert(
+            "steerUnavailablePermanent",
+            "LKAS Fault: Restart the car to engage",
+            "",
+            AlertStatus.normal, AlertSize.small,
+            Priority.LOW_LOWEST, None, None, 0., 0., .2),
+
+        Alert(
+            "brakeUnavailablePermanent",
+            "Cruise Fault: Restart the car to engage",
+            "",
+            AlertStatus.normal, AlertSize.small,
+            Priority.LOW_LOWEST, None, None, 0., 0., .2),
+
+        Alert(
+            "lowSpeedLockoutPermanent",
+            "Cruise Fault: Restart the car to engage",
+            "",
+            AlertStatus.normal, AlertSize.small,
+            Priority.LOW_LOWEST, None, None, 0., 0., .2),
+
+        Alert(
+            "calibrationIncompletePermanent",
+            "Calibration in Progress: ",
+            "Drive Above ",
+            AlertStatus.normal, AlertSize.mid,
+            Priority.LOWEST, None, None, 0., 0., .2),
+    ]
   }
 
   def __init__(self):
@@ -565,6 +646,7 @@ class AlertManager(object):
     ca = self.activealerts[0] if self.alertPresent() else None
 
     # start with assuming no alerts
+    self.alert_type = ""
     self.alert_text_1 = ""
     self.alert_text_2 = ""
     self.alert_status = AlertStatus.normal
@@ -581,6 +663,7 @@ class AlertManager(object):
         self.visual_alert = ca.visual_alert
 
       if ca.start_time + ca.duration_text > cur_time:
+        self.alert_type = ca.alert_type
         self.alert_text_1 = ca.alert_text_1
         self.alert_text_2 = ca.alert_text_2
         self.alert_status = ca.alert_status
diff --git a/selfdrive/controls/lib/lateral_mpc/Makefile b/selfdrive/controls/lib/lateral_mpc/Makefile
index 65ebd876d..97579e751 100644
--- a/selfdrive/controls/lib/lateral_mpc/Makefile
+++ b/selfdrive/controls/lib/lateral_mpc/Makefile
@@ -4,6 +4,7 @@ CXX = clang++
 
 PHONELIBS = ../../../../phonelibs
 
+UNAME_S := $(shell uname -s)
 UNAME_M := $(shell uname -m)
 
 CFLAGS = -O3 -fPIC -I.
@@ -13,10 +14,12 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL
 
 ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado
 
-ifeq ($(UNAME_M),aarch64)
-ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+ifeq ($(UNAME_S),Darwin)
+	ACADO_LIBS := -lacado_toolkit_s
+else ifeq ($(UNAME_M),aarch64)
+	ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
 else
-ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+	ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
 endif
 
 OBJS = \
@@ -67,7 +70,7 @@ lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
            -c -o '$@' '$<'
 
 generator: generator.cpp
-	$(CXX) -Wall -std=c++11 \
+	$(CXX) -v -Wall -std=c++11 \
          generator.cpp \
          -o generator \
          $(ACADO_FLAGS) \
diff --git a/selfdrive/controls/lib/longitudinal_mpc/Makefile b/selfdrive/controls/lib/longitudinal_mpc/Makefile
index 77718adfb..17f78eada 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/Makefile
+++ b/selfdrive/controls/lib/longitudinal_mpc/Makefile
@@ -3,6 +3,7 @@ CXX = clang++
 
 PHONELIBS = ../../../../phonelibs
 
+UNAME_S := $(shell uname -s)
 UNAME_M := $(shell uname -m)
 
 CFLAGS = -O3 -fPIC -I.
@@ -12,10 +13,12 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL
 
 ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado
 
-ifeq ($(UNAME_M),aarch64)
-ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+ifeq ($(UNAME_S),Darwin)
+	ACADO_LIBS := -lacado_toolkit_s
+else ifeq ($(UNAME_M),aarch64)
+	ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
 else
-ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+	ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
 endif
 
 OBJS = \
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index e2defeeb9..89ca64950 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -44,9 +44,6 @@ _A_TOTAL_MAX_BP = [0., 20., 40.]
 _FCW_A_ACT_V = [-3., -2.]
 _FCW_A_ACT_BP = [0., 30.]
 
-# max acceleration allowed in acc, which happens in restart
-A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
-
 
 def calc_cruise_accel_limits(v_ego, following):
   a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
diff --git a/selfdrive/locationd/ubloxd.py b/selfdrive/locationd/ubloxd.py
index 5b597c5be..08a202295 100755
--- a/selfdrive/locationd/ubloxd.py
+++ b/selfdrive/locationd/ubloxd.py
@@ -142,14 +142,16 @@ def gen_solution(msg):
              'longitude': msg_data['lon']*1e-07,  # longitude in degrees
              'speed': msg_data['gSpeed']*1e-03,  # ground speed in meters
              'accuracy': msg_data['hAcc']*1e-03,  # horizontal accuracy (1 sigma?)
-             'timestamp': timestamp,  # UTC time in ms since start of UTC stime 
+             'timestamp': timestamp,  # UTC time in ms since start of UTC stime
              'vNED': [msg_data['velN']*1e-03,
                      msg_data['velE']*1e-03,
                      msg_data['velD']*1e-03],  # velocity in NED frame in m/s
              'speedAccuracy': msg_data['sAcc']*1e-03,  # speed accuracy in m/s
              'verticalAccuracy': msg_data['vAcc']*1e-03,  # vertical accuracy in meters
              'bearingAccuracy': msg_data['headAcc']*1e-05,  # heading accuracy in degrees
-             'source': 'ublox'}
+             'source': 'ublox',
+             'flags': msg_data['flags'],
+  }
   return log.Event.new_message(gpsLocationExternal=gps_fix)
 
 def gen_nav_data(msg, nav_frame_buffer):
diff --git a/selfdrive/loggerd/loggerd b/selfdrive/loggerd/loggerd
index 1db19dae1cf737f295887bcd35c9d87172494615..7a058b743f741923ab17503c214f56134a6a54ac 100755
GIT binary patch
delta 77
zcmaEHH2KBR<c1c;7N!>F7M2#)7Pc1l7LFFq7OocV7M>Q~7QPn#7J(MQEkY_M7){$%
ZPY40AFc6CXu_zFW0kQaY)e{njr2s`M8?pcZ

delta 77
zcmaEHH2KBR<c1c;7N!>F7M2#)7Pc1l7LFFq7OocV7M>Q~7QPn#7J(MQEkY_M7){z$
ZPY40AFc6CXu_zFW0kQaY)e{njr2s_?8?gWY

diff --git a/selfdrive/registration.py b/selfdrive/registration.py
index 4327ed3a8..9b7e6964e 100644
--- a/selfdrive/registration.py
+++ b/selfdrive/registration.py
@@ -7,7 +7,10 @@ from common.api import api_get
 from common.params import Params
 
 def get_imei():
-  return subprocess.check_output(["getprop", "oem.device.imeicache"]).strip()
+  ret = subprocess.check_output(["getprop", "oem.device.imeicache"]).strip()
+  if ret == "":
+    ret = "000000000000000"
+  return ret
 
 def get_serial():
   return subprocess.check_output(["getprop", "ro.serialno"]).strip()
diff --git a/selfdrive/sensord/gpsd b/selfdrive/sensord/gpsd
index 9d577af8d867347ae8ddb17276907ce68f6c45b2..cc5d8d9eb88ad798f6411688a6431fa4cc998b92 100755
GIT binary patch
delta 59
zcmca{!2QMn_l6e67N!>F7M2#)7Pc1l7LFFq7OocV7M?A<x=f6w?RreSK+Ffk{6H+Q
KU5`mn>mC42O%VA2

delta 59
zcmca{!2QMn_l6e67N!>F7M2#)7Pc1l7LFFq7OocV7M?A<x=f5F?RreSK+Ffk{6H+Q
KU5`mn>mC42HW2s#

diff --git a/selfdrive/sensord/sensord b/selfdrive/sensord/sensord
index 94cb27d1cb9dfe185992eb58aa07547599028321..63e2ac82d6ff1513cef120a2efe4d9f0ebfa23c9 100755
GIT binary patch
delta 57
zcmaEH&+WxMw}uwR7N!>F7M2#)7Pc1l7LFFq7OocVEj(*)Gn%%qyUhc{yg<wc#QfXW
J-4@t&833`m8CU=S

delta 57
zcmaEH&+WxMw}uwR7N!>F7M2#)7Pc1l7LFFq7OocVEj(*)Gn%xoyUhc{yg<wc#QfXW
J-4@t&833`P8CL)R

diff --git a/selfdrive/service_list.yaml b/selfdrive/service_list.yaml
index ae2351f58..c14f913f4 100644
--- a/selfdrive/service_list.yaml
+++ b/selfdrive/service_list.yaml
@@ -70,6 +70,7 @@ uiLayoutState: [8060, true]
 frontEncodeIdx: [8061, true]
 orbFeaturesSummary: [8062, true]
 driverMonitoring: [8063, true]
+liveParameters: [8064, true]
 
 testModel: [8040, false]
 testLiveLocation: [8045, false]
diff --git a/selfdrive/visiond/visiond b/selfdrive/visiond/visiond
index 12a057bddac58003bd149954f514454ffdeaea21..85f62f56af24f9edce239d8d1cab82c76d06e2fa 100755
GIT binary patch
delta 508869
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From 660aaae90c0c3a56689882e17aad5cf2076a8585 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Tue, 23 Oct 2018 14:36:27 +1000
Subject: [PATCH 26/83] removed extra defined

---
 panda/board/safety.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/panda/board/safety.h b/panda/board/safety.h
index e752a1191..48c5bb301 100644
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -101,7 +101,6 @@ typedef struct {
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
-#define SAFETY_LEXUS_ISH 8
 #define SAFETY_TESLA 8
 #define SAFETY_LEXUS_ISH 9
 #define SAFETY_TOYOTA_IPAS 0x1335

From 615f90629c112e093c4601ddb5ba1deb06be3c95 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 24 Oct 2018 10:03:52 +1000
Subject: [PATCH 27/83] update lexus ish defined value to match the value in
 safety.h in panda/

---
 selfdrive/boardd/boardd.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 0f91f4ea2..a99b751c6 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -40,7 +40,7 @@
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
-#define SAFETY_LEXUS_ISH 8
+#define SAFETY_LEXUS_ISH 9
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
 

From bbc001e12a099b8691db80d991d8d21b0fee79f4 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 24 Oct 2018 10:12:04 +1000
Subject: [PATCH 28/83] making sure every SAFETY_LEXUS_ISH defined as 9

---
 panda/python/__init__.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index 73c2dab73..691df8b40 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -106,7 +106,7 @@ class Panda(object):
   SAFETY_HONDA = 1
   SAFETY_TOYOTA = 2
   SAFETY_HONDA_BOSCH = 4
-  SAFETY_LEXUS_ISH = 8
+  SAFETY_LEXUS_ISH = 9
   SAFETY_TOYOTA_NOLIMITS = 0x1336
   SAFETY_ALLOUTPUT = 0x1337
   SAFETY_ELM327 = 0xE327

From 46655232b6d40112b2181ce48be440ad13038437 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 26 Oct 2018 10:19:49 +1000
Subject: [PATCH 29/83] * clean up changes, rename PCM_CRUISE_LEXUS_ISH in dbc
 to PCM_CRUISE_2 to reduce changes required in carstate.py

---
 opendbc/lexus_ish_2017_pt_generated.dbc |  2 +-
 selfdrive/car/toyota/carstate.py        | 19 +++++--------------
 2 files changed, 6 insertions(+), 15 deletions(-)

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
index 4d5a9c9ae..33ae4f05f 100644
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -172,7 +172,7 @@ BO_ 610 EPS_STATUS: 5 EPS
 BO_ 956 GEAR_PACKET: 8 XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
 
-BO_ 1009 PCM_CRUISE_LEXUS_ISH: 8 XXX
+BO_ 1009 PCM_CRUISE_2: 8 XXX
  SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
  SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 158e64c17..79692a9a3 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -36,6 +36,8 @@ def get_can_parser(CP):
     ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
     ("GAS_RELEASED", "PCM_CRUISE", 0),
     ("CRUISE_STATE", "PCM_CRUISE", 0),
+    ("MAIN_ON", "PCM_CRUISE_2", 0),
+    ("SET_SPEED", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
@@ -56,10 +58,6 @@ def get_can_parser(CP):
   ]
 
   if CP.carFingerprint == CAR.LEXUS_ISH:
-    signals += [
-      ("MAIN_ON", "PCM_CRUISE_LEXUS_ISH", 0),
-      ("SET_SPEED", "PCM_CRUISE_LEXUS_ISH", 0),
-    ]
     checks = [
       ("BRAKE_MODULE", 50),
       ("GAS_PEDAL", 50),
@@ -68,12 +66,9 @@ def get_can_parser(CP):
       ("PCM_CRUISE", 33),
       ("STEER_TORQUE_SENSOR", 50),
       ("EPS_STATUS", 25),
-      ("PCM_CRUISE_LEXUS_ISH", 1),
     ]
   else:
     signals += [
-      ("MAIN_ON", "PCM_CRUISE_2", 0),
-      ("SET_SPEED", "PCM_CRUISE_2", 0),
       ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
       ("IPAS_STATE", "EPS_STATUS", 1),
     ]
@@ -144,10 +139,7 @@ class CarState(object):
     self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
     can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.main_on = cp.vl["PCM_CRUISE_LEXUS_ISH"]['MAIN_ON']
-    else:
-      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
+    self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
     self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
 
@@ -167,11 +159,10 @@ class CarState(object):
     self.user_brake = 0
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
     if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.v_cruise_pcm = cp.vl["PCM_CRUISE_LEXUS_ISH"]['SET_SPEED']
-      self.low_speed_lockout = 0
+      self.low_speed_lockout = False
     else:
-      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:

From 72ab35d8d6a08f1f9af30c7c00b29b34f0f212a3 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 26 Oct 2018 10:23:39 +1000
Subject: [PATCH 30/83] * added missing values in checks[]

---
 selfdrive/car/toyota/carstate.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 79692a9a3..2dfcb6004 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -64,6 +64,7 @@ def get_can_parser(CP):
       ("WHEEL_SPEEDS", 80),
       ("STEER_ANGLE_SENSOR", 80),
       ("PCM_CRUISE", 33),
+      ("PCM_CRUISE_2", 1),
       ("STEER_TORQUE_SENSOR", 50),
       ("EPS_STATUS", 25),
     ]

From ad7f1bb4465f7f5dcfe2e9d45bd778cdde508caa Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 26 Oct 2018 10:24:57 +1000
Subject: [PATCH 31/83] * revert unnecessary changes

---
 selfdrive/car/toyota/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 2dfcb6004..f1f159625 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -158,9 +158,9 @@ class CarState(object):
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
 
     self.user_brake = 0
+    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
     if self.CP.carFingerprint == CAR.LEXUS_ISH:
       self.low_speed_lockout = False
     else:

From 43d81590bbe45166ee351b5a79a30904e055d113 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 29 Oct 2018 08:54:27 +1000
Subject: [PATCH 32/83] min enable speed set to -1.

---
 selfdrive/car/toyota/interface.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 600c7c962..2013147cb 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -159,9 +159,9 @@ class CarInterface(object):
     # to a negative value, so it won't matter.
     # hybrid models can't do stop and go even though the stock ACC can't
     if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
-                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
+                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
       ret.minEnableSpeed = -1.
-    elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.LEXUS_ISH]: # TODO: hack ICE to do stop and go
+    elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
 
     centerToRear = ret.wheelbase - ret.centerToFront

From 327c6b8c5351165551ed944755a996d19fac4655 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 31 Oct 2018 12:44:21 +1000
Subject: [PATCH 33/83] added missing line break

---
 selfdrive/boardd/boardd.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 91c5490c9..af634e73a 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -42,7 +42,8 @@
 #define SAFETY_HYUNDAI 7
 #define SAFETY_TESLA 8
 #define SAFETY_LEXUS_ISH 9
-#define SAFETY_TOYOTA_IPAS 0x1335#define SAFETY_TOYOTA_NOLIMITS 0x1336
+#define SAFETY_TOYOTA_IPAS 0x1335
+#define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
 #define SAFETY_ELM327 0xE327
 

From 096aec71e5e13b12c9f2769556e8042d5eacb935 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 9 Nov 2018 13:31:33 +1000
Subject: [PATCH 34/83] Cruise state on lexus and toyota are both in 0:1D2 @
 0x20, so we can mergee lexus specific safety check with toyota.

---
 opendbc/lexus_ish_2017_pt_generated.dbc |  2 +-
 panda/board/safety.h                    |  2 --
 panda/board/safety/safety_toyota.h      | 26 +++----------------------
 panda/python/__init__.py                |  1 -
 selfdrive/boardd/boardd.cc              |  6 +-----
 selfdrive/car/toyota/interface.py       |  5 +----
 6 files changed, 6 insertions(+), 36 deletions(-)

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
index 33ae4f05f..157a27b23 100644
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -56,7 +56,7 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_STATE : 15|3@0+ (1,0) [0|0] "" DS1
+ SG_ CRUISE_STATE : 5|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
diff --git a/panda/board/safety.h b/panda/board/safety.h
index 48c5bb301..51a2bb896 100644
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -102,7 +102,6 @@ typedef struct {
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
 #define SAFETY_TESLA 8
-#define SAFETY_LEXUS_ISH 9
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -118,7 +117,6 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
-  {SAFETY_LEXUS_ISH, &lexus_ish_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
   {SAFETY_TESLA, &tesla_hooks},
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index e814fe46a..9c624926f 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -30,7 +30,6 @@ uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
-int is_lexus_ish = 0;                   // is a lexus is hybrid model?
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // get eps motor torque (0.66 factor in dbc)
@@ -50,8 +49,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == 0x1D2) {
-    // toyota: 4 bits: 55-52
-    int cruise_engaged = is_lexus_ish == 1? to_push->RDLR & 0x2000 : to_push->RDHR & 0xF00000;
+    // 6th bit
+    int cruise_engaged = to_push->RDLR & 0x20;
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     } else if (!cruise_engaged) {
@@ -152,15 +151,6 @@ static void toyota_init(int16_t param) {
   toyota_actuation_limits = 1;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  is_lexus_ish = 0;
-}
-
-static void lexus_ish_init(int16_t param) {
-  controls_allowed = 0;
-  toyota_actuation_limits = 1;
-  toyota_giraffe_switch_1 = 0;
-  toyota_dbc_eps_torque_factor = param;
-  is_lexus_ish = 1;
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -188,7 +178,6 @@ static void toyota_nolimits_init(int16_t param) {
   toyota_actuation_limits = 0;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  is_lexus_ish = 0;
 }
 
 const safety_hooks toyota_nolimits_hooks = {
@@ -198,13 +187,4 @@ const safety_hooks toyota_nolimits_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
-};
-
-const safety_hooks lexus_ish_hooks = {
-  .init = lexus_ish_init,
-  .rx = toyota_rx_hook,
-  .tx = toyota_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
-  .fwd = toyota_fwd_hook,
-};
+};
\ No newline at end of file
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index 691df8b40..86b76285e 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -106,7 +106,6 @@ class Panda(object):
   SAFETY_HONDA = 1
   SAFETY_TOYOTA = 2
   SAFETY_HONDA_BOSCH = 4
-  SAFETY_LEXUS_ISH = 9
   SAFETY_TOYOTA_NOLIMITS = 0x1336
   SAFETY_ALLOUTPUT = 0x1337
   SAFETY_ELM327 = 0xE327
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index af634e73a..7f3387891 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -41,7 +41,6 @@
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
 #define SAFETY_TESLA 8
-#define SAFETY_LEXUS_ISH 9
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -121,9 +120,6 @@ void *safety_setter_thread(void *s) {
   case (int)cereal::CarParams::SafetyModels::HYUNDAI:
     safety_setting = SAFETY_HYUNDAI;
     break;
-  case (int)cereal::CarParams::SafetyModels::LEXUS_ISH:
-    safety_setting = SAFETY_LEXUS_ISH;
-    break;
   default:
     LOGE("unknown safety model: %d", safety_model);
   }
@@ -693,4 +689,4 @@ int main() {
 
   libusb_close(dev_handle);
   libusb_exit(ctx);
-}
+}
\ No newline at end of file
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 2013147cb..d601f823e 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -54,10 +54,7 @@ class CarInterface(object):
     ret.carName = "toyota"
     ret.carFingerprint = candidate
 
-    if candidate == CAR.LEXUS_ISH:
-      ret.safetyModel = car.CarParams.SafetyModels.lexusIsh
-    else:
-      ret.safetyModel = car.CarParams.SafetyModels.toyota
+    ret.safetyModel = car.CarParams.SafetyModels.toyota
 
     # pedal
     ret.enableCruise = True

From 6d1a974f744df3f03f84e666fb87bb22028d7a25 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 9 Nov 2018 13:34:36 +1000
Subject: [PATCH 35/83] more changes for removing lexus specific safety.

---
 cereal/car.capnp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 319d53319..6b2e95f6c 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -314,7 +314,6 @@ struct CarParams {
     hyundai @8;
     chrysler @9;
     tesla @10;
-    lexusIsh @11;
   }
 
   # things about the car in the manual

From afa8692dbe0e900f1068905caa5ebdb7747f96c7 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 9 Nov 2018 13:34:36 +1000
Subject: [PATCH 36/83] more changes for removing lexus specific safety.

---
 cereal/car.capnp                   | 1 -
 panda/board/safety/safety_toyota.h | 2 +-
 selfdrive/boardd/boardd.cc         | 2 +-
 3 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 319d53319..6b2e95f6c 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -314,7 +314,6 @@ struct CarParams {
     hyundai @8;
     chrysler @9;
     tesla @10;
-    lexusIsh @11;
   }
 
   # things about the car in the manual
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 9c624926f..0a21cf9ee 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -187,4 +187,4 @@ const safety_hooks toyota_nolimits_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
-};
\ No newline at end of file
+};
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 7f3387891..aae2b665a 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -689,4 +689,4 @@ int main() {
 
   libusb_close(dev_handle);
   libusb_exit(ctx);
-}
\ No newline at end of file
+}

From 643224fd7d6ca26a97b526c298d841540079b3d6 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 Nov 2018 11:51:53 +1000
Subject: [PATCH 37/83] * init -- customd

---
 selfdrive/customd.py        | 121 ++++++++++++++++++++++++++++++++++++
 selfdrive/manager.py        |   2 +
 selfdrive/service_list.yaml |   2 +
 3 files changed, 125 insertions(+)
 create mode 100644 selfdrive/customd.py

diff --git a/selfdrive/customd.py b/selfdrive/customd.py
new file mode 100644
index 000000000..e84c49fce
--- /dev/null
+++ b/selfdrive/customd.py
@@ -0,0 +1,121 @@
+#!/usr/bin/env python
+
+# custom service run tasks every SLEEP_TIMER second(s)
+
+import time
+import subprocess
+
+POWER_OFF_TIMER = 1 # shut down after POWER_OFF_TIMER hours of no USB connection, set to 0 to disable this.
+SLEEP_TIMER = 5
+BAT_TEMP_LIMIT = 460
+BAT_CAP_LIMIT = 35
+POWER_OFF_BAT_LIMIT = 35
+RESTORE_CPU_FREQ_WHEN_BAT_CAP_AT = 5
+
+def main(gctx=None):
+
+  # when first execute
+  set_max_cpu_freq(True)
+
+  # allow charging
+  set_charging_status(True)
+
+  prev_usb_status = get_usb_status()
+  sec_counter = 0
+  power_off_sec = 0
+
+  # calculate power_off_sec value
+  if POWER_OFF_TIMER > 0:
+    power_off_sec = 60*60*POWER_OFF_TIMER/SLEEP_TIMER
+
+  # main logic
+  while True:
+    battery_temp = get_battery_temp()
+    battery_cap_now = get_battery_capacity()
+    charging_status = get_charging_status()
+
+    # if temp is high AND we still have enough battery capacity, then we stop charging the battery
+    if battery_temp > BAT_TEMP_LIMIT and battery_cap_now > BAT_CAP_LIMIT:
+      allow_charge = False
+    else:
+      allow_charge = True
+
+    # set battery charging status only when it's different then previous.
+    if charging_status != allow_charge:
+      set_charging_status(allow_charge)
+
+    # current usb status
+    cur_usb_status = get_usb_status()
+
+    # we set cpu back to original freq when usb is not charging
+    # and bat is less than the limit
+    # so when next time we boot up, it boot faster.
+    if battery_cap_now <= RESTORE_CPU_FREQ_WHEN_BAT_CAP_AT and prev_usb_status != 0:
+      prev_usb_status = 1
+      set_max_cpu_freq(True)
+    else:
+      # if USB status changed, we update CPU frequency accordingly.
+      if cur_usb_status != prev_usb_status:
+        set_max_cpu_freq(cur_usb_status == 1)
+        prev_usb_status = cur_usb_status
+
+    if power_off_sec > 0 and sec_counter >= power_off_sec:
+      set_max_cpu_freq(True)
+      shutdown()
+
+    if cur_usb_status == 0:
+      sec_counter = sec_counter + 1
+    else:
+      sec_counter = 0
+
+    time.sleep(SLEEP_TIMER)
+
+
+def shutdown():
+  os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
+def get_battery_temp():
+  with open("/sys/class/power_supply/battery/temp") as f:
+    return int(f.read())
+
+def get_battery_capacity():
+  with open("/sys/class/power_supply/battery/capacity") as f:
+    return int(f.read())
+
+def get_charging_status():
+  with open("/sys/class/power_supply/battery/charging_enabled") as f:
+    return int(f.read())
+
+def get_usb_status():
+  with open("/sys/class/power_supply/usb/present") as f:
+    return int(f.read())
+
+def set_charging_status(status):
+  if status == True:
+    val = "1"
+  else:
+    val = "0"
+  subprocess.call(["echo", val, ">", "/sys/class/power_supply/battery/charging_enabled"])
+
+def set_max_cpu_freq(ismax=True):
+  param = "{print $NF}"
+  if not ismax:
+    param = "{print $1}"
+
+  for i in range(0, 4):
+    cpuid = str(i)
+    try:
+      # fetch cpu's available max/min freq
+      proc = subprocess.Popen(
+        ["awk", param, "/sys/devices/system/cpu/cpu" + cpuid + "/cpufreq/scaling_available_frequencies"],
+        stdout=subprocess.PIPE)
+      freq = proc.stdout.read()
+      # set cpu's max freq to max/min available
+      print "Set cpu" , cpuid , " to " , freq
+      subprocess.call(["echo", freq, ">", "/sys/devices/system/cpu/cpu" + cpuid + "/freq/scaling_max_freq"])
+
+    except subprocess.CalledProcessError, e:
+      print "Unable to extract cpu freq for cpu ", cpuid
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index ac49c7a2a..9de4986f0 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -102,6 +102,7 @@ managed_processes = {
   "gpsd": ("selfdrive/sensord", ["./gpsd"]),
   "orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
   "updated": "selfdrive.updated",
+  "customd": "selfdrive.customd",
 }
 android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
 
@@ -124,6 +125,7 @@ persistent_processes = [
   'ui',
   'gpsd',
   'updated',
+  'customd',
 ]
 
 car_started_processes = [
diff --git a/selfdrive/service_list.yaml b/selfdrive/service_list.yaml
index c14f913f4..045047283 100644
--- a/selfdrive/service_list.yaml
+++ b/selfdrive/service_list.yaml
@@ -134,3 +134,5 @@ testJoystick: [8056, false]
 #   publishes: procLog
 
 # tombstoned -- reports native crashes
+
+# customd -- a custom service
\ No newline at end of file

From 977579e4aa43a3fd96c7f11d2ff3727f108e09ca Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 Nov 2018 13:10:16 +1000
Subject: [PATCH 38/83] Use os.system instead of subprocess.

---
 selfdrive/customd.py | 58 +++++++++++++++++++++++---------------------
 1 file changed, 30 insertions(+), 28 deletions(-)

diff --git a/selfdrive/customd.py b/selfdrive/customd.py
index e84c49fce..249584532 100644
--- a/selfdrive/customd.py
+++ b/selfdrive/customd.py
@@ -1,18 +1,18 @@
 #!/usr/bin/env python
+import os
+import time
 
 # custom service run tasks every SLEEP_TIMER second(s)
 
-import time
-import subprocess
-
 POWER_OFF_TIMER = 1 # shut down after POWER_OFF_TIMER hours of no USB connection, set to 0 to disable this.
-SLEEP_TIMER = 5
-BAT_TEMP_LIMIT = 460
-BAT_CAP_LIMIT = 35
-POWER_OFF_BAT_LIMIT = 35
-RESTORE_CPU_FREQ_WHEN_BAT_CAP_AT = 5
+SLEEP_TIMER = 5 # sleep timer, in seconds, how often you would like the script to query the system status.
+BAT_TEMP_LIMIT = 460 # temp limit - 46 degree, match thermald.py, it stop charging when reach this temp level.
+BAT_CAP_LIMIT = 35 # battery limit (percentage), if battery capacity is lower than this then it will keep charging.
+RESTORE_CPU_FREQ_WHEN_BAT_CAP_AT = 5 # when battery reach this capacity, we turn cpu freq back on prepare for a shutdown
 
 def main(gctx=None):
+  # a few system optimisation, may only effect from next reboot
+  battery_optimisation()
 
   # when first execute
   set_max_cpu_freq(True)
@@ -21,7 +21,7 @@ def main(gctx=None):
   set_charging_status(True)
 
   prev_usb_status = get_usb_status()
-  sec_counter = 0
+  count = 0
   power_off_sec = 0
 
   # calculate power_off_sec value
@@ -59,17 +59,27 @@ def main(gctx=None):
         set_max_cpu_freq(cur_usb_status == 1)
         prev_usb_status = cur_usb_status
 
-    if power_off_sec > 0 and sec_counter >= power_off_sec:
+    if power_off_sec > 0 and count >= power_off_sec:
       set_max_cpu_freq(True)
       shutdown()
 
     if cur_usb_status == 0:
-      sec_counter = sec_counter + 1
+      count = count + 1
     else:
-      sec_counter = 0
+      count = 0
 
     time.sleep(SLEEP_TIMER)
 
+def battery_optimisation():
+  # a few system optimisation, may only effect from next reboot
+  # Wi-Fi (scanning always available) off
+  os.system('settings put global wifi_scan_always_enabled 0')
+  # disable notify the user of open networks.
+  os.system('settings put global wifi_networks_available_notification_on 0')
+  # keep wifi on during sleep only when plugged in
+  os.system('settings put global wifi_sleep_policy 1')
+  # disable nfc
+  os.system('LD_LIBRARY_PATH="" svc nfc disable')
 
 def shutdown():
   os.system('LD_LIBRARY_PATH="" svc power shutdown')
@@ -95,27 +105,19 @@ def set_charging_status(status):
     val = "1"
   else:
     val = "0"
-  subprocess.call(["echo", val, ">", "/sys/class/power_supply/battery/charging_enabled"])
+  os.system("echo " + val + " > " + "/sys/class/power_supply/battery/charging_enabled")
 
 def set_max_cpu_freq(ismax=True):
-  param = "{print $NF}"
-  if not ismax:
-    param = "{print $1}"
-
   for i in range(0, 4):
     cpuid = str(i)
-    try:
-      # fetch cpu's available max/min freq
-      proc = subprocess.Popen(
-        ["awk", param, "/sys/devices/system/cpu/cpu" + cpuid + "/cpufreq/scaling_available_frequencies"],
-        stdout=subprocess.PIPE)
-      freq = proc.stdout.read()
-      # set cpu's max freq to max/min available
-      print "Set cpu" , cpuid , " to " , freq
-      subprocess.call(["echo", freq, ">", "/sys/devices/system/cpu/cpu" + cpuid + "/freq/scaling_max_freq"])
+    if ismax:
+      file = '/sys/devices/system/cpu/cpu' + cpuid + '/cpufreq/cpuinfo_max_freq'
+    else:
+      file = '/sys/devices/system/cpu/cpu' + cpuid + '/cpufreq/cpuinfo_min_freq'
 
-    except subprocess.CalledProcessError, e:
-      print "Unable to extract cpu freq for cpu ", cpuid
+    with open(file) as f:
+      freq = str(f.read()).rstrip()
+      os.system("echo " + freq + " > " + "/sys/devices/system/cpu/cpu" + cpuid + "/cpufreq/scaling_max_freq")
 
 if __name__ == "__main__":
   main()

From b47b371d7e8fed28037b5673bc0ce86fc396cb08 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 Nov 2018 15:44:33 +1000
Subject: [PATCH 39/83] some minor code update.

---
 selfdrive/customd.py | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/selfdrive/customd.py b/selfdrive/customd.py
index 249584532..c0227a47d 100644
--- a/selfdrive/customd.py
+++ b/selfdrive/customd.py
@@ -101,10 +101,7 @@ def get_usb_status():
     return int(f.read())
 
 def set_charging_status(status):
-  if status == True:
-    val = "1"
-  else:
-    val = "0"
+  val = "1" if status == True else "0"
   os.system("echo " + val + " > " + "/sys/class/power_supply/battery/charging_enabled")
 
 def set_max_cpu_freq(ismax=True):
@@ -116,7 +113,7 @@ def set_max_cpu_freq(ismax=True):
       file = '/sys/devices/system/cpu/cpu' + cpuid + '/cpufreq/cpuinfo_min_freq'
 
     with open(file) as f:
-      freq = str(f.read()).rstrip()
+      freq = f.read().rstrip()
       os.system("echo " + freq + " > " + "/sys/devices/system/cpu/cpu" + cpuid + "/cpufreq/scaling_max_freq")
 
 if __name__ == "__main__":

From 9d33ceee3302ad30b51fba641fc4c5eb1d76b66e Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 Nov 2018 15:51:55 +1000
Subject: [PATCH 40/83] removed all customd stuff

---
 selfdrive/customd.py        | 120 ------------------------------------
 selfdrive/manager.py        |   2 -
 selfdrive/service_list.yaml |   2 -
 3 files changed, 124 deletions(-)
 delete mode 100644 selfdrive/customd.py

diff --git a/selfdrive/customd.py b/selfdrive/customd.py
deleted file mode 100644
index c0227a47d..000000000
--- a/selfdrive/customd.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python
-import os
-import time
-
-# custom service run tasks every SLEEP_TIMER second(s)
-
-POWER_OFF_TIMER = 1 # shut down after POWER_OFF_TIMER hours of no USB connection, set to 0 to disable this.
-SLEEP_TIMER = 5 # sleep timer, in seconds, how often you would like the script to query the system status.
-BAT_TEMP_LIMIT = 460 # temp limit - 46 degree, match thermald.py, it stop charging when reach this temp level.
-BAT_CAP_LIMIT = 35 # battery limit (percentage), if battery capacity is lower than this then it will keep charging.
-RESTORE_CPU_FREQ_WHEN_BAT_CAP_AT = 5 # when battery reach this capacity, we turn cpu freq back on prepare for a shutdown
-
-def main(gctx=None):
-  # a few system optimisation, may only effect from next reboot
-  battery_optimisation()
-
-  # when first execute
-  set_max_cpu_freq(True)
-
-  # allow charging
-  set_charging_status(True)
-
-  prev_usb_status = get_usb_status()
-  count = 0
-  power_off_sec = 0
-
-  # calculate power_off_sec value
-  if POWER_OFF_TIMER > 0:
-    power_off_sec = 60*60*POWER_OFF_TIMER/SLEEP_TIMER
-
-  # main logic
-  while True:
-    battery_temp = get_battery_temp()
-    battery_cap_now = get_battery_capacity()
-    charging_status = get_charging_status()
-
-    # if temp is high AND we still have enough battery capacity, then we stop charging the battery
-    if battery_temp > BAT_TEMP_LIMIT and battery_cap_now > BAT_CAP_LIMIT:
-      allow_charge = False
-    else:
-      allow_charge = True
-
-    # set battery charging status only when it's different then previous.
-    if charging_status != allow_charge:
-      set_charging_status(allow_charge)
-
-    # current usb status
-    cur_usb_status = get_usb_status()
-
-    # we set cpu back to original freq when usb is not charging
-    # and bat is less than the limit
-    # so when next time we boot up, it boot faster.
-    if battery_cap_now <= RESTORE_CPU_FREQ_WHEN_BAT_CAP_AT and prev_usb_status != 0:
-      prev_usb_status = 1
-      set_max_cpu_freq(True)
-    else:
-      # if USB status changed, we update CPU frequency accordingly.
-      if cur_usb_status != prev_usb_status:
-        set_max_cpu_freq(cur_usb_status == 1)
-        prev_usb_status = cur_usb_status
-
-    if power_off_sec > 0 and count >= power_off_sec:
-      set_max_cpu_freq(True)
-      shutdown()
-
-    if cur_usb_status == 0:
-      count = count + 1
-    else:
-      count = 0
-
-    time.sleep(SLEEP_TIMER)
-
-def battery_optimisation():
-  # a few system optimisation, may only effect from next reboot
-  # Wi-Fi (scanning always available) off
-  os.system('settings put global wifi_scan_always_enabled 0')
-  # disable notify the user of open networks.
-  os.system('settings put global wifi_networks_available_notification_on 0')
-  # keep wifi on during sleep only when plugged in
-  os.system('settings put global wifi_sleep_policy 1')
-  # disable nfc
-  os.system('LD_LIBRARY_PATH="" svc nfc disable')
-
-def shutdown():
-  os.system('LD_LIBRARY_PATH="" svc power shutdown')
-
-def get_battery_temp():
-  with open("/sys/class/power_supply/battery/temp") as f:
-    return int(f.read())
-
-def get_battery_capacity():
-  with open("/sys/class/power_supply/battery/capacity") as f:
-    return int(f.read())
-
-def get_charging_status():
-  with open("/sys/class/power_supply/battery/charging_enabled") as f:
-    return int(f.read())
-
-def get_usb_status():
-  with open("/sys/class/power_supply/usb/present") as f:
-    return int(f.read())
-
-def set_charging_status(status):
-  val = "1" if status == True else "0"
-  os.system("echo " + val + " > " + "/sys/class/power_supply/battery/charging_enabled")
-
-def set_max_cpu_freq(ismax=True):
-  for i in range(0, 4):
-    cpuid = str(i)
-    if ismax:
-      file = '/sys/devices/system/cpu/cpu' + cpuid + '/cpufreq/cpuinfo_max_freq'
-    else:
-      file = '/sys/devices/system/cpu/cpu' + cpuid + '/cpufreq/cpuinfo_min_freq'
-
-    with open(file) as f:
-      freq = f.read().rstrip()
-      os.system("echo " + freq + " > " + "/sys/devices/system/cpu/cpu" + cpuid + "/cpufreq/scaling_max_freq")
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 9de4986f0..ac49c7a2a 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -102,7 +102,6 @@ managed_processes = {
   "gpsd": ("selfdrive/sensord", ["./gpsd"]),
   "orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
   "updated": "selfdrive.updated",
-  "customd": "selfdrive.customd",
 }
 android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
 
@@ -125,7 +124,6 @@ persistent_processes = [
   'ui',
   'gpsd',
   'updated',
-  'customd',
 ]
 
 car_started_processes = [
diff --git a/selfdrive/service_list.yaml b/selfdrive/service_list.yaml
index 045047283..c14f913f4 100644
--- a/selfdrive/service_list.yaml
+++ b/selfdrive/service_list.yaml
@@ -134,5 +134,3 @@ testJoystick: [8056, false]
 #   publishes: procLog
 
 # tombstoned -- reports native crashes
-
-# customd -- a custom service
\ No newline at end of file

From 0990c0ee5eb76b9ef3d9e852fb8a3fca0ad29870 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 Nov 2018 15:55:01 +1000
Subject: [PATCH 41/83] revert changes

---
 selfdrive/manager.py        | 1 -
 selfdrive/service_list.yaml | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index ac49c7a2a..0c0b2a099 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -521,4 +521,3 @@ if __name__ == "__main__":
   main()
   # manual exit because we are forked
   sys.exit(0)
-
diff --git a/selfdrive/service_list.yaml b/selfdrive/service_list.yaml
index c14f913f4..399483dbc 100644
--- a/selfdrive/service_list.yaml
+++ b/selfdrive/service_list.yaml
@@ -133,4 +133,4 @@ testJoystick: [8056, false]
 # proclogd -- fetches process information
 #   publishes: procLog
 
-# tombstoned -- reports native crashes
+# tombstoned -- reports native crashes
\ No newline at end of file

From 70a71b741b50a8d0f92de796d7d466e27d7da058 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 Nov 2018 16:03:55 +1000
Subject: [PATCH 42/83] fix

---
 selfdrive/manager.py        | 2 +-
 selfdrive/service_list.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 0c0b2a099..ed48fd553 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -520,4 +520,4 @@ def main():
 if __name__ == "__main__":
   main()
   # manual exit because we are forked
-  sys.exit(0)
+  sys.exit(0)
\ No newline at end of file
diff --git a/selfdrive/service_list.yaml b/selfdrive/service_list.yaml
index 399483dbc..c14f913f4 100644
--- a/selfdrive/service_list.yaml
+++ b/selfdrive/service_list.yaml
@@ -133,4 +133,4 @@ testJoystick: [8056, false]
 # proclogd -- fetches process information
 #   publishes: procLog
 
-# tombstoned -- reports native crashes
\ No newline at end of file
+# tombstoned -- reports native crashes

From 0e79da03b57acfb9082d501e2604b623fd525220 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 Nov 2018 16:04:42 +1000
Subject: [PATCH 43/83] remove changes

---
 selfdrive/manager.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index ed48fd553..7d255ec97 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -520,4 +520,5 @@ def main():
 if __name__ == "__main__":
   main()
   # manual exit because we are forked
-  sys.exit(0)
\ No newline at end of file
+  sys.exit(0)
+  
\ No newline at end of file

From 729fc8464c88f15333528a4a5899d4e322b120e9 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 Nov 2018 16:05:26 +1000
Subject: [PATCH 44/83] more changes

---
 selfdrive/manager.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 7d255ec97..0c0b2a099 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -521,4 +521,3 @@ if __name__ == "__main__":
   main()
   # manual exit because we are forked
   sys.exit(0)
-  
\ No newline at end of file

From 5e617d11043db02c4cf2ddad20d32dd91ff8d104 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 12 Nov 2018 16:06:12 +1000
Subject: [PATCH 45/83] use downloaded file

---
 selfdrive/manager.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 0c0b2a099..ac49c7a2a 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -521,3 +521,4 @@ if __name__ == "__main__":
   main()
   # manual exit because we are forked
   sys.exit(0)
+

From a79fc339ae21a91c3b1ccc14e855232b681404fe Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sun, 18 Nov 2018 15:55:06 +1000
Subject: [PATCH 46/83] fix dbc to adapt 0.5.6

---
 opendbc/lexus_ish_2017_pt_generated.dbc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
index 157a27b23..360379b67 100644
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -57,6 +57,7 @@ BO_ 180 SPEED: 8 XXX
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_STATE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX

From 1b3dd93fcc201ae4439b69cd1f651209c1ea1cb7 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 19 Nov 2018 12:19:27 +1000
Subject: [PATCH 47/83] ignore standstill in lexus ish

---
 selfdrive/car/toyota/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 4d8795522..4550698fd 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -261,7 +261,7 @@ class CarInterface(object):
     ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
     ret.cruiseState.available = bool(self.CS.main_on)
     ret.cruiseState.speedOffset = 0.
-    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
+    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
       # ignore standstill in hybrid vehicles, since pcm allows to restart without
       # receiving any special command
       ret.cruiseState.standstill = False

From 6fd1eaf49263947309e7398d914087e1a3f5b52f Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 19 Nov 2018 12:27:34 +1000
Subject: [PATCH 48/83] remove else statements

---
 selfdrive/car/toyota/carstate.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index ea3ac6012..a6253d238 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -159,10 +159,9 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
+    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     if self.CP.carFingerprint == CAR.LEXUS_ISH:
       self.ipas_active = False
-    else:
-      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -174,10 +173,9 @@ class CarState(object):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     if self.CP.carFingerprint == CAR.LEXUS_ISH:
       self.low_speed_lockout = False
-    else:
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0

From b7b24f5a8f88d069c895f8d9feafa2131a225a7f Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 19 Nov 2018 21:10:50 +1000
Subject: [PATCH 49/83] revert if else statement so it doesn't cause error.

---
 selfdrive/car/toyota/carstate.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a6253d238..ea3ac6012 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -159,9 +159,10 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     if self.CP.carFingerprint == CAR.LEXUS_ISH:
       self.ipas_active = False
+    else:
+      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -173,9 +174,10 @@ class CarState(object):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     if self.CP.carFingerprint == CAR.LEXUS_ISH:
       self.low_speed_lockout = False
+    else:
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0

From 0cf5bfaaf408657ea4806f4d699e204cae4cb94e Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 12 Dec 2018 11:45:51 +1000
Subject: [PATCH 50/83] revert devel back to stock devel

---
 opendbc/lexus_ish_2017_pt_generated.dbc | 185 ------------------------
 selfdrive/car/toyota/carstate.py        |  31 +---
 selfdrive/car/toyota/interface.py       |  15 +-
 selfdrive/car/toyota/values.py          |  28 ++--
 4 files changed, 17 insertions(+), 242 deletions(-)
 delete mode 100644 opendbc/lexus_ish_2017_pt_generated.dbc

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
deleted file mode 100644
index 360379b67..000000000
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ /dev/null
@@ -1,185 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
-VERSION ""
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX DSU HCU EPS IPAS
-
-BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
-
-BO_ 170 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
-
-BO_ 180 SPEED: 8 XXX
- SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
-
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_STATE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 552 ACCELEROMETER: 8 XXX
- SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
- SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 740 STEERING_LKA: 5 XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 835 ACC_CONTROL: 8 DSU
- SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
- SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
- SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 951 ESP_CONTROL: 8 ESP
- SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1041 ACC_HUD: 8 DSU
- SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1042 LKAS_HUD: 8 XXX
- SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
- SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
- SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1553 UI_SEETING: 8 XXX
- SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1568 SEATS_DOORS: 8 XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1599 LIGHT_STALK: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 36 ACCEL_Y "unit is tbd";
-CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
-CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
-CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
-VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
-VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-
-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
-
-CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
-
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
\ No newline at end of file
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index ea3ac6012..003221aa9 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,10 +39,12 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
+    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
+    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -58,23 +60,6 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
-  if CP.carFingerprint == CAR.LEXUS_ISH:
-    checks = [
-      ("BRAKE_MODULE", 50),
-      ("GAS_PEDAL", 50),
-      ("WHEEL_SPEEDS", 80),
-      ("STEER_ANGLE_SENSOR", 80),
-      ("PCM_CRUISE", 33),
-      ("PCM_CRUISE_2", 1),
-      ("STEER_TORQUE_SENSOR", 50),
-      ("EPS_STATUS", 25),
-    ]
-  else:
-    signals += [
-      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-      ("IPAS_STATE", "EPS_STATUS", 1),
-    ]
-
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
 
@@ -159,10 +144,7 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.ipas_active = False
-    else:
-      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -174,12 +156,9 @@ class CarState(object):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.low_speed_lockout = False
-    else:
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
     else:
-      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
\ No newline at end of file
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 4550698fd..00fa8a82d 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -141,15 +141,6 @@ class CarInterface(object):
       ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006
 
-    elif candidate == CAR.LEXUS_ISH:
-      ret.safetyParam = 66
-      ret.wheelbase = 2.80 # in spec
-      ret.steerRatio = 13.3 # in spec
-      tire_stiffness_factor = 0.444 # from camry
-      ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
-      ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
-      ret.steerKf = 0.00006 # from camry
-
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -160,7 +151,7 @@ class CarInterface(object):
     # to a negative value, so it won't matter.
     # hybrid models can't do stop and go even though the stock ACC can't
     if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
-                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
+                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
       ret.minEnableSpeed = -1.
     elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
@@ -261,7 +252,7 @@ class CarInterface(object):
     ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
     ret.cruiseState.available = bool(self.CS.main_on)
     ret.cruiseState.speedOffset = 0.
-    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
+    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
       # ignore standstill in hybrid vehicles, since pcm allows to restart without
       # receiving any special command
       ret.cruiseState.standstill = False
@@ -361,4 +352,4 @@ class CarInterface(object):
                    c.hudControl.audibleAlert, self.forwarding_camera)
 
     self.frame += 1
-    return False
+    return False
\ No newline at end of file
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index d9d1d922c..6ec19c2bc 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -12,7 +12,7 @@ class CAR:
   CAMRYH = "TOYOTA CAMRY HYBRID 2018"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
-  LEXUS_ISH = "LEXUS IS HYBRID 2017"
+
 
 class ECU:
   CAM = 0 # camera
@@ -23,25 +23,19 @@ class ECU:
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
   (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-  (0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
-  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
   (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x245, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00'),
   (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
-  (0x248, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
   (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,  40, '\x06\x00'),
-  (0x367, ECU.CAM, (CAR.LEXUS_ISH), 0,  40, '\x02\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
   (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
-  (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
-  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
   (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-  (0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
-  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
 
   (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
   (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   3, '\x03\x00\x20\x00\x00\x52'),
@@ -84,9 +78,6 @@ def check_ecu_msgs(fingerprint, ecu):
 
 
 FINGERPRINTS = {
-  CAR.LEXUS_ISH: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
   CAR.RAV4: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
@@ -168,7 +159,6 @@ DBC = {
   CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
-  CAR.LEXUS_ISH: dbc_dict('lexus_ish_2017_pt_generated', 'toyota_prius_2017_adas'),
 }
 
-NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]
+NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]
\ No newline at end of file

From 4935fa7353ce241c7bf4d4bbdcf37cdb3009a4a5 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 12 Dec 2018 11:45:51 +1000
Subject: [PATCH 51/83] revert devel back to stock devel

---
 opendbc/lexus_ish_2017_pt_generated.dbc | 185 ------------------------
 selfdrive/car/toyota/carstate.py        |  29 +---
 selfdrive/car/toyota/interface.py       |  13 +-
 selfdrive/car/toyota/values.py          |  26 +---
 4 files changed, 14 insertions(+), 239 deletions(-)
 delete mode 100644 opendbc/lexus_ish_2017_pt_generated.dbc

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
deleted file mode 100644
index 360379b67..000000000
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ /dev/null
@@ -1,185 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
-VERSION ""
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX DSU HCU EPS IPAS
-
-BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
-
-BO_ 170 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
-
-BO_ 180 SPEED: 8 XXX
- SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
-
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_STATE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 552 ACCELEROMETER: 8 XXX
- SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
- SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 740 STEERING_LKA: 5 XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 835 ACC_CONTROL: 8 DSU
- SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
- SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
- SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 951 ESP_CONTROL: 8 ESP
- SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1041 ACC_HUD: 8 DSU
- SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1042 LKAS_HUD: 8 XXX
- SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
- SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
- SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1553 UI_SEETING: 8 XXX
- SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1568 SEATS_DOORS: 8 XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1599 LIGHT_STALK: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 36 ACCEL_Y "unit is tbd";
-CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
-CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
-CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
-VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
-VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-
-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
-
-CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
-
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
\ No newline at end of file
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index ea3ac6012..71d33b0ab 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,10 +39,12 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
+    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
+    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -58,23 +60,6 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
-  if CP.carFingerprint == CAR.LEXUS_ISH:
-    checks = [
-      ("BRAKE_MODULE", 50),
-      ("GAS_PEDAL", 50),
-      ("WHEEL_SPEEDS", 80),
-      ("STEER_ANGLE_SENSOR", 80),
-      ("PCM_CRUISE", 33),
-      ("PCM_CRUISE_2", 1),
-      ("STEER_TORQUE_SENSOR", 50),
-      ("EPS_STATUS", 25),
-    ]
-  else:
-    signals += [
-      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-      ("IPAS_STATE", "EPS_STATUS", 1),
-    ]
-
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
 
@@ -159,10 +144,7 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.ipas_active = False
-    else:
-      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -174,10 +156,7 @@ class CarState(object):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.low_speed_lockout = False
-    else:
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 4550698fd..57e90339c 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -141,15 +141,6 @@ class CarInterface(object):
       ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006
 
-    elif candidate == CAR.LEXUS_ISH:
-      ret.safetyParam = 66
-      ret.wheelbase = 2.80 # in spec
-      ret.steerRatio = 13.3 # in spec
-      tire_stiffness_factor = 0.444 # from camry
-      ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
-      ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
-      ret.steerKf = 0.00006 # from camry
-
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -160,7 +151,7 @@ class CarInterface(object):
     # to a negative value, so it won't matter.
     # hybrid models can't do stop and go even though the stock ACC can't
     if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
-                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
+                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
       ret.minEnableSpeed = -1.
     elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
@@ -261,7 +252,7 @@ class CarInterface(object):
     ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
     ret.cruiseState.available = bool(self.CS.main_on)
     ret.cruiseState.speedOffset = 0.
-    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
+    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
       # ignore standstill in hybrid vehicles, since pcm allows to restart without
       # receiving any special command
       ret.cruiseState.standstill = False
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index d9d1d922c..ac67fbc66 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -12,7 +12,7 @@ class CAR:
   CAMRYH = "TOYOTA CAMRY HYBRID 2018"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
-  LEXUS_ISH = "LEXUS IS HYBRID 2017"
+
 
 class ECU:
   CAM = 0 # camera
@@ -23,25 +23,19 @@ class ECU:
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
   (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-  (0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
-  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
   (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x245, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00'),
   (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
-  (0x248, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
   (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,  40, '\x06\x00'),
-  (0x367, ECU.CAM, (CAR.LEXUS_ISH), 0,  40, '\x02\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
   (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
-  (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
-  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
   (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-  (0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
-  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
 
   (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
   (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   3, '\x03\x00\x20\x00\x00\x52'),
@@ -84,9 +78,6 @@ def check_ecu_msgs(fingerprint, ecu):
 
 
 FINGERPRINTS = {
-  CAR.LEXUS_ISH: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
   CAR.RAV4: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
@@ -168,7 +159,6 @@ DBC = {
   CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
-  CAR.LEXUS_ISH: dbc_dict('lexus_ish_2017_pt_generated', 'toyota_prius_2017_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]

From 7f72a7d28e6cc243ec646e5d0d945421063af098 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 12 Dec 2018 11:50:06 +1000
Subject: [PATCH 52/83] revert changes.

---
 selfdrive/car/toyota/carstate.py  | 2 +-
 selfdrive/car/toyota/interface.py | 2 +-
 selfdrive/car/toyota/values.py    | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 003221aa9..71d33b0ab 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -161,4 +161,4 @@ class CarState(object):
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
     else:
-      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
\ No newline at end of file
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 00fa8a82d..57e90339c 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -352,4 +352,4 @@ class CarInterface(object):
                    c.hudControl.audibleAlert, self.forwarding_camera)
 
     self.frame += 1
-    return False
\ No newline at end of file
+    return False
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 6ec19c2bc..ac67fbc66 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -161,4 +161,4 @@ DBC = {
   CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
 }
 
-NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]
\ No newline at end of file
+NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]

From b9a925481e0706ee87f98ac4f66cf751ef8e190b Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 12 Dec 2018 11:52:31 +1000
Subject: [PATCH 53/83] Move ave30r related changes to only this branch

---
 opendbc/lexus_ish_2017_pt_generated.dbc | 185 ++++++++++++++++++++++++
 selfdrive/car/toyota/carstate.py        |  29 +++-
 selfdrive/car/toyota/interface.py       |  13 +-
 selfdrive/car/toyota/values.py          |  26 +++-
 4 files changed, 239 insertions(+), 14 deletions(-)
 create mode 100644 opendbc/lexus_ish_2017_pt_generated.dbc

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
new file mode 100644
index 000000000..360379b67
--- /dev/null
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -0,0 +1,185 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_STATE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1599 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
\ No newline at end of file
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 71d33b0ab..ea3ac6012 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,12 +39,10 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
-    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -60,6 +58,23 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
+  if CP.carFingerprint == CAR.LEXUS_ISH:
+    checks = [
+      ("BRAKE_MODULE", 50),
+      ("GAS_PEDAL", 50),
+      ("WHEEL_SPEEDS", 80),
+      ("STEER_ANGLE_SENSOR", 80),
+      ("PCM_CRUISE", 33),
+      ("PCM_CRUISE_2", 1),
+      ("STEER_TORQUE_SENSOR", 50),
+      ("EPS_STATUS", 25),
+    ]
+  else:
+    signals += [
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+    ]
+
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
 
@@ -144,7 +159,10 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.ipas_active = False
+    else:
+      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -156,7 +174,10 @@ class CarState(object):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.low_speed_lockout = False
+    else:
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 57e90339c..4550698fd 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -141,6 +141,15 @@ class CarInterface(object):
       ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006
 
+    elif candidate == CAR.LEXUS_ISH:
+      ret.safetyParam = 66
+      ret.wheelbase = 2.80 # in spec
+      ret.steerRatio = 13.3 # in spec
+      tire_stiffness_factor = 0.444 # from camry
+      ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
+      ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
+      ret.steerKf = 0.00006 # from camry
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -151,7 +160,7 @@ class CarInterface(object):
     # to a negative value, so it won't matter.
     # hybrid models can't do stop and go even though the stock ACC can't
     if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
-                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
+                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
       ret.minEnableSpeed = -1.
     elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
@@ -252,7 +261,7 @@ class CarInterface(object):
     ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
     ret.cruiseState.available = bool(self.CS.main_on)
     ret.cruiseState.speedOffset = 0.
-    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
+    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
       # ignore standstill in hybrid vehicles, since pcm allows to restart without
       # receiving any special command
       ret.cruiseState.standstill = False
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ac67fbc66..d9d1d922c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -12,7 +12,7 @@ class CAR:
   CAMRYH = "TOYOTA CAMRY HYBRID 2018"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
-
+  LEXUS_ISH = "LEXUS IS HYBRID 2017"
 
 class ECU:
   CAM = 0 # camera
@@ -23,19 +23,25 @@ class ECU:
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
   (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
   (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x245, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00'),
   (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
+  (0x248, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
   (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,  40, '\x06\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x367, ECU.CAM, (CAR.LEXUS_ISH), 0,  40, '\x02\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
   (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
-  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
   (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+  (0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
 
   (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
   (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   3, '\x03\x00\x20\x00\x00\x52'),
@@ -78,6 +84,9 @@ def check_ecu_msgs(fingerprint, ecu):
 
 
 FINGERPRINTS = {
+  CAR.LEXUS_ISH: [{
+    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
   CAR.RAV4: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
@@ -159,6 +168,7 @@ DBC = {
   CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
+  CAR.LEXUS_ISH: dbc_dict('lexus_ish_2017_pt_generated', 'toyota_prius_2017_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]

From 4c2feaa1ab4b29bc5fe2f090c53f7524a4851d9f Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 25 Jan 2019 12:28:04 +1000
Subject: [PATCH 54/83] Update dbc file to support mini car and left/right line
 indicator on display

---
 opendbc/lexus_ish_2017_pt_generated.dbc | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
index 360379b67..8211e43e2 100644
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -54,6 +54,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_STATE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -78,7 +81,10 @@ BO_ 740 STEERING_LKA: 5 XXX
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU

From c3390a0cb5f446736dff95bf5c78f2dbd9c6b197 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 1 Feb 2019 16:44:59 +1000
Subject: [PATCH 55/83] update dbc file add a couple more definitions

---
 opendbc/lexus_ish_2017_pt_generated.dbc | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
index 8211e43e2..ea2f356b5 100644
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -103,7 +103,7 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
- SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW : 5|2@0+ (1,0) [0|0] "" FCM
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
@@ -184,8 +184,18 @@ BO_ 1009 PCM_CRUISE_2: 8 XXX
  SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
 
+BO_ 869 DS11D70: 7 DS1
+ SG_ D_RESSW : 3|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_SETSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_CANSW : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_MAINSW : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
\ No newline at end of file
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+CM_ SG_ 869 D_MAINSW "ACC Switch";
+CM_ SG_ 869 D_CANSW "ACC Cancel toggle";
+CM_ SG_ 869 D_SETSW "ACC SET/- toggle";
+CM_ SG_ 869 D_RESSW "ACC RES/+ toggle";
\ No newline at end of file

From 8fe520a678d811e6916d3b02b66132db48a6dba6 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Tue, 5 Feb 2019 15:52:17 +1000
Subject: [PATCH 56/83] * add matched canbus message descriptions from
 2017_toyota_master.dbc

---
 opendbc/lexus_ish_2017_pt_generated.dbc | 70 +++++++++++++++++++++++++
 1 file changed, 70 insertions(+)

diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_ish_2017_pt_generated.dbc
index ea2f356b5..44f32f6c7 100644
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ b/opendbc/lexus_ish_2017_pt_generated.dbc
@@ -185,10 +185,80 @@ BO_ 1009 PCM_CRUISE_2: 8 XXX
  SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
 
 BO_ 869 DS11D70: 7 DS1
+ SG_ D_TRGJDG : 7|4@0+ (1,0) [0|0] "" Vector__XXX
  SG_ D_RESSW : 3|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ D_SETSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ D_CANSW : 1|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ D_MAINSW : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_VMCC : 15|8@0+ (1,0) [0|0] "km/h" Vector__XXX
+ SG_ D_VNCC : 23|8@0+ (1,0) [0|0] "km/h" Vector__XXX
+ SG_ D_CCREQ : 31|8@0+ (100,-12800) [0|0] "N" Vector__XXX
+ SG_ D_TGTDST : 39|8@0+ (1,0) [0|0] "m" Vector__XXX
+ SG_ D_VRCC : 47|8@0- (1,0) [0|0] "km/h" Vector__XXX
+ SG_ D_WSTL : 55|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_DSW : 54|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_FDJDG : 52|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_DSSJDG : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 870 DS11D71: 7 DS1
+ SG_ XREQALM : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQABK : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TGT_DIST : 5|14@0+ (0.01,0) [0|0] "m" Vector__XXX
+ SG_ XREQPBA : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQFPB : 22|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQPB : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQEXT : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQPSB : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TGT_VGAP : 18|11@0+ (0.025,-51.175) [0|0] "m/s" Vector__XXX
+ SG_ PCSDISP : 39|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XPCSRDY : 35|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TGT_NUMB : 34|3@0+ (1,1) [0|0] "" Vector__XXX
+ SG_ TGT_POSX : 47|8@0- (0.04,0) [0|0] "m" Vector__XXX
+
+BO_ 643 DS11F01: 7 DS1
+ SG_ DSCOUNT : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSLCCW1 : 15|1@0+ (1,0) [0|0] "" FCM
+ SG_ DSSTPBZ : 14|1@0+ (1,0) [0|0] "" FCM
+ SG_ PBRTRGR2 : 12|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSSFTRQD : 11|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSS1FDRV : 23|16@0- (2,0) [0|0] "N" Vector__XXX
+ SG_ DSS1STBK : 39|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSS1STAT : 36|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSBHOK : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSRQBH : 47|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IBTRGR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK2 : 44|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSNOCHG : 41|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1F01SM : 55|8@0+ (1,0) [0|0] "" FCM
+
+BO_ 836 ACC1F01: 8 DS1
+ SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
+ SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
+ SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCF01SM : 63|8@0+ (1,0) [0|0] "" FCM
+
+BO_ 1227 ACC1N01: 8 DS1
+ SG_ ACCNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ ACCSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ ACCSPF : 23|16@0+ (1,0) [0|0] "" CGW
+ SG_ ACCREV : 39|32@0+ (1,0) [0|0] "" CGW
 
 CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";

From 28836f85e5285dfd5666ddcf8656bae3ba632ac8 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sun, 17 Feb 2019 10:28:20 +1000
Subject: [PATCH 57/83] remove unnecessary changes in carstate.py

---
 selfdrive/car/toyota/carstate.py | 50 +++++++++++++++++---------------
 1 file changed, 26 insertions(+), 24 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index ea3ac6012..de37618a4 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,10 +39,12 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
+    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
+    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -58,22 +60,22 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
-  if CP.carFingerprint == CAR.LEXUS_ISH:
-    checks = [
-      ("BRAKE_MODULE", 50),
-      ("GAS_PEDAL", 50),
-      ("WHEEL_SPEEDS", 80),
-      ("STEER_ANGLE_SENSOR", 80),
-      ("PCM_CRUISE", 33),
-      ("PCM_CRUISE_2", 1),
-      ("STEER_TORQUE_SENSOR", 50),
-      ("EPS_STATUS", 25),
-    ]
-  else:
-    signals += [
-      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-      ("IPAS_STATE", "EPS_STATUS", 1),
-    ]
+  # if not CP.carFingerprint == CAR.LEXUS_ISH:
+  #   checks = [
+  #     ("BRAKE_MODULE", 50),
+  #     ("GAS_PEDAL", 50),
+  #     ("WHEEL_SPEEDS", 80),
+  #     ("STEER_ANGLE_SENSOR", 80),
+  #     ("PCM_CRUISE", 33),
+  #     ("PCM_CRUISE_2", 1),
+  #     ("STEER_TORQUE_SENSOR", 50),
+  #     ("EPS_STATUS", 25),
+  #   ]
+  # else:
+  #   signals += [
+  #     ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+  #     ("IPAS_STATE", "EPS_STATUS", 1),
+  #   ]
 
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
@@ -159,10 +161,10 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.ipas_active = False
-    else:
-      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    # if self.CP.carFingerprint == CAR.LEXUS_ISH:
+    #   self.ipas_active = False
+    # else:
+    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -174,10 +176,10 @@ class CarState(object):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.low_speed_lockout = False
-    else:
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    # if self.CP.carFingerprint == CAR.LEXUS_ISH:
+    #   self.low_speed_lockout = False
+    # else:
+    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0

From 0f47ccc1ba4b50c215acef7c9ba00809b3d8998b Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sun, 17 Feb 2019 10:30:38 +1000
Subject: [PATCH 58/83] apply quillford's KpV and KiV value.

---
 selfdrive/car/toyota/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index b932a0d7f..ffe3eac9c 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -147,7 +147,7 @@ class CarInterface(object):
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry
       ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
-      ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
+      ret.steerKpV, ret.steerKiV = [[0.19], [0.04]]
       ret.steerKf = 0.00006 # from camry
 
     ret.steerRateCost = 1.

From 17fbe1a4dd490ac394ea38fcf63aa6fcdebbe14b Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sun, 17 Feb 2019 10:46:07 +1000
Subject: [PATCH 59/83] getting error from last change, revert a couple back.

---
 selfdrive/car/toyota/carstate.py | 30 +++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index de37618a4..1dcf9dff5 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,12 +39,12 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
-    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+    # ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
+    # ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -60,7 +60,7 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
-  # if not CP.carFingerprint == CAR.LEXUS_ISH:
+  if not CP.carFingerprint == CAR.LEXUS_ISH:
   #   checks = [
   #     ("BRAKE_MODULE", 50),
   #     ("GAS_PEDAL", 50),
@@ -72,10 +72,10 @@ def get_can_parser(CP):
   #     ("EPS_STATUS", 25),
   #   ]
   # else:
-  #   signals += [
-  #     ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-  #     ("IPAS_STATE", "EPS_STATUS", 1),
-  #   ]
+    signals += [
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+    ]
 
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
@@ -161,10 +161,10 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    # if self.CP.carFingerprint == CAR.LEXUS_ISH:
-    #   self.ipas_active = False
-    # else:
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.ipas_active = False
+    else:
+      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -176,10 +176,10 @@ class CarState(object):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    # if self.CP.carFingerprint == CAR.LEXUS_ISH:
-    #   self.low_speed_lockout = False
-    # else:
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.low_speed_lockout = False
+    else:
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0

From caae16218e9c8273e5283f6b43ddb2bfa2aca586 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sun, 17 Feb 2019 12:36:11 +1000
Subject: [PATCH 60/83] Revert "remove unnecessary changes in carstate.py"

This reverts commit 28836f85e5285dfd5666ddcf8656bae3ba632ac8.
---
 selfdrive/car/toyota/carstate.py  | 26 ++++++++++++--------------
 selfdrive/car/toyota/interface.py |  2 +-
 2 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 1dcf9dff5..ea3ac6012 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,12 +39,10 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
-    # ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
-    # ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -60,18 +58,18 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
-  if not CP.carFingerprint == CAR.LEXUS_ISH:
-  #   checks = [
-  #     ("BRAKE_MODULE", 50),
-  #     ("GAS_PEDAL", 50),
-  #     ("WHEEL_SPEEDS", 80),
-  #     ("STEER_ANGLE_SENSOR", 80),
-  #     ("PCM_CRUISE", 33),
-  #     ("PCM_CRUISE_2", 1),
-  #     ("STEER_TORQUE_SENSOR", 50),
-  #     ("EPS_STATUS", 25),
-  #   ]
-  # else:
+  if CP.carFingerprint == CAR.LEXUS_ISH:
+    checks = [
+      ("BRAKE_MODULE", 50),
+      ("GAS_PEDAL", 50),
+      ("WHEEL_SPEEDS", 80),
+      ("STEER_ANGLE_SENSOR", 80),
+      ("PCM_CRUISE", 33),
+      ("PCM_CRUISE_2", 1),
+      ("STEER_TORQUE_SENSOR", 50),
+      ("EPS_STATUS", 25),
+    ]
+  else:
     signals += [
       ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
       ("IPAS_STATE", "EPS_STATUS", 1),
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index ffe3eac9c..b932a0d7f 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -147,7 +147,7 @@ class CarInterface(object):
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry
       ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
-      ret.steerKpV, ret.steerKiV = [[0.19], [0.04]]
+      ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
       ret.steerKf = 0.00006 # from camry
 
     ret.steerRateCost = 1.

From cbd8cf8686fd5d731824719240b4c68b04fb2419 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sun, 17 Feb 2019 12:36:49 +1000
Subject: [PATCH 61/83] apply quillford's value again

---
 selfdrive/car/toyota/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index b932a0d7f..ffe3eac9c 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -147,7 +147,7 @@ class CarInterface(object):
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry
       ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
-      ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
+      ret.steerKpV, ret.steerKiV = [[0.19], [0.04]]
       ret.steerKf = 0.00006 # from camry
 
     ret.steerRateCost = 1.

From ac4d303a547eff906bdc980836d21e25ab517f93 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 21 Feb 2019 16:38:48 +1000
Subject: [PATCH 62/83] fix indentation

---
 selfdrive/car/toyota/interface.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 173980dfd..c7a69600e 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -218,8 +218,8 @@ class CarInterface(object):
     else:
       ret.gasMaxBP = [0.]
       ret.gasMaxV = [0.5]
-    ret.longitudinalKpV = [3.6, 2.4, 1.5]
-    ret.longitudinalKiV = [0.54, 0.36]
+      ret.longitudinalKpV = [3.6, 2.4, 1.5]
+      ret.longitudinalKiV = [0.54, 0.36]
 
     return ret
 

From 1e2dc36a9fa0d550d99edf3483f20402ce8d7697 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 21 Feb 2019 19:56:46 +1000
Subject: [PATCH 63/83] Update dbc

---
 .../toyota/lexus_is_hybrid_2017_pt.dbc        |  45 +++
 ... => lexus_is_hybrid_2017_pt_generated.dbc} | 259 ++++++++++--------
 selfdrive/car/toyota/carstate.py              |  38 ++-
 selfdrive/car/toyota/values.py                |   2 +-
 4 files changed, 219 insertions(+), 125 deletions(-)
 create mode 100644 opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
 rename opendbc/{lexus_ish_2017_pt_generated.dbc => lexus_is_hybrid_2017_pt_generated.dbc} (57%)

diff --git a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
new file mode 100644
index 000000000..a4720ea69
--- /dev/null
+++ b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
@@ -0,0 +1,45 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ISH: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/lexus_ish_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
similarity index 57%
rename from opendbc/lexus_ish_2017_pt_generated.dbc
rename to opendbc/lexus_is_hybrid_2017_pt_generated.dbc
index 0997d3882..55e140f1a 100644
--- a/opendbc/lexus_ish_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -72,6 +72,15 @@ BO_ 36 KINEMATICS: 8 XXX
  SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
  SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
 
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 170 WHEEL_SPEEDS: 8 XXX
  SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
  SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
@@ -88,17 +97,36 @@ BO_ 353 DSU_SPEED: 8 XXX
 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_STATE : 5|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
  SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
 
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -108,6 +136,11 @@ BO_ 740 STEERING_LKA: 5 XXX
  SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
  SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
@@ -119,20 +152,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
- SG_ FCW : 5|2@0+ (1,0) [0|0] "" FCM
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
@@ -156,6 +187,9 @@ BO_ 1042 LKAS_HUD: 8 XXX
 BO_ 1553 UI_SEETING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 1568 SEATS_DOORS: 8 XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
@@ -163,38 +197,120 @@ BO_ 1568 SEATS_DOORS: 8 XXX
  SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 1599 LIGHT_STALK: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
-CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
+
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
 CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
 
+
+
 BO_ 581 GAS_PEDAL: 5 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -208,93 +324,18 @@ BO_ 610 EPS_STATUS: 5 EPS
 BO_ 956 GEAR_PACKET: 8 XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
 
-BO_ 1009 PCM_CRUISE_2: 8 XXX
+BO_ 1009 PCM_CRUISE_ISH: 8 XXX
  SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
  SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
 
-BO_ 869 DS11D70: 7 DS1
- SG_ D_TRGJDG : 7|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_RESSW : 3|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_SETSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_CANSW : 1|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_MAINSW : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_VMCC : 15|8@0+ (1,0) [0|0] "km/h" Vector__XXX
- SG_ D_VNCC : 23|8@0+ (1,0) [0|0] "km/h" Vector__XXX
- SG_ D_CCREQ : 31|8@0+ (100,-12800) [0|0] "N" Vector__XXX
- SG_ D_TGTDST : 39|8@0+ (1,0) [0|0] "m" Vector__XXX
- SG_ D_VRCC : 47|8@0- (1,0) [0|0] "km/h" Vector__XXX
- SG_ D_WSTL : 55|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_DSW : 54|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_FDJDG : 52|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ D_DSSJDG : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 870 DS11D71: 7 DS1
- SG_ XREQALM : 7|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQABK : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TGT_DIST : 5|14@0+ (0.01,0) [0|0] "m" Vector__XXX
- SG_ XREQPBA : 23|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQFPB : 22|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQPB : 21|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQEXT : 20|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XREQPSB : 19|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TGT_VGAP : 18|11@0+ (0.025,-51.175) [0|0] "m/s" Vector__XXX
- SG_ PCSDISP : 39|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ XPCSRDY : 35|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TGT_NUMB : 34|3@0+ (1,1) [0|0] "" Vector__XXX
- SG_ TGT_POSX : 47|8@0- (0.04,0) [0|0] "m" Vector__XXX
-
-BO_ 643 DS11F01: 7 DS1
- SG_ DSCOUNT : 7|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSLCCW1 : 15|1@0+ (1,0) [0|0] "" FCM
- SG_ DSSTPBZ : 14|1@0+ (1,0) [0|0] "" FCM
- SG_ PBRTRGR2 : 12|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSSFTRQD : 11|4@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSS1FDRV : 23|16@0- (2,0) [0|0] "N" Vector__XXX
- SG_ DSS1STBK : 39|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSS1STAT : 36|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSBHOK : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PPTRGR2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DSRQBH : 47|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IBTRGR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSABK2 : 44|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSNOCHG : 41|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DS1F01SM : 55|8@0+ (1,0) [0|0] "" FCM
-
-BO_ 836 ACC1F01: 8 DS1
- SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
- SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
- SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
- SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
- SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCF01SM : 63|8@0+ (1,0) [0|0] "" FCM
-
-BO_ 1227 ACC1N01: 8 DS1
- SG_ ACCNID : 7|8@0+ (1,0) [0|0] "" CGW
- SG_ ACCSNG : 15|1@0+ (1,0) [0|0] "" CGW
- SG_ ACCSPF : 23|16@0+ (1,0) [0|0] "" CGW
- SG_ ACCREV : 39|32@0+ (1,0) [0|0] "" CGW
-
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-CM_ SG_ 869 D_MAINSW "ACC Switch";
-CM_ SG_ 869 D_CANSW "ACC Cancel toggle";
-CM_ SG_ 869 D_SETSW "ACC SET/- toggle";
-CM_ SG_ 869 D_RESSW "ACC RES/+ toggle";
\ No newline at end of file
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 71aca16f4..2ec77bed7 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,10 +39,12 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
+    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
+    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -65,14 +67,15 @@ def get_can_parser(CP):
       ("WHEEL_SPEEDS", 80),
       ("STEER_ANGLE_SENSOR", 80),
       ("PCM_CRUISE", 33),
-      ("PCM_CRUISE_2", 1),
+      ("PCM_CRUISE_ISH", 1),
       ("STEER_TORQUE_SENSOR", 50),
       ("EPS_STATUS", 25),
     ]
-  else:
+
     signals += [
-      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-      ("IPAS_STATE", "EPS_STATUS", 1),
+      ("MAIN_ON", "PCM_CRUISE_ISH", 0),
+      ("SET_SPEED", "PCM_CRUISE_ISH", 0),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
     ]
 
   if CP.carFingerprint == CAR.PRIUS:
@@ -160,17 +163,17 @@ class CarState(object):
     self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
     can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
-    self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.main_on = cp.vl["PCM_CRUISE_ISH"]['MAIN_ON']
+    else:
+      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
     self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
 
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.ipas_active = False
-    else:
-      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -178,16 +181,21 @@ class CarState(object):
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
 
     self.user_brake = 0
-    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
-    self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
     if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.low_speed_lockout = False
+      self.main_on = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
+      # ish does not have curise status value (always 0), so we use curise_active value instead
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
+      self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     else:
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+      self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
+    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
+    elif self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
     else:
       self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index fe893d3a1..e158807ea 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -169,7 +169,7 @@ DBC = {
   CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'),
   CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
-  CAR.LEXUS_ISH: dbc_dict('lexus_ish_2017_pt_generated', 'toyota_prius_2017_adas'),
+  CAR.LEXUS_ISH: dbc_dict('lexus_is_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]

From 4ab5a70cdb082fd499a10ffe9fa5ea640d019ab8 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 21 Feb 2019 20:15:45 +1000
Subject: [PATCH 64/83] remove duplicated definition

---
 opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc | 4 ----
 opendbc/lexus_is_hybrid_2017_pt_generated.dbc        | 4 ----
 2 files changed, 8 deletions(-)

diff --git a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
index a4720ea69..fa056fa7d 100644
--- a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
@@ -9,10 +9,6 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
index 55e140f1a..0a12a570f 100644
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -305,10 +305,6 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX

From 5f268f3d9e636a963fff9b6ec70810c2c5aba935 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 21 Feb 2019 22:14:08 +1000
Subject: [PATCH 65/83] Remove invalid signals/checks

---
 selfdrive/car/toyota/carstate.py | 27 ++++++++++++++++++---------
 1 file changed, 18 insertions(+), 9 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 2ec77bed7..c56f21dcc 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -37,16 +37,11 @@ def get_can_parser(CP):
     ("GAS_RELEASED", "PCM_CRUISE", 0),
     ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
     ("CRUISE_STATE", "PCM_CRUISE", 0),
-    ("MAIN_ON", "PCM_CRUISE_2", 0),
-    ("SET_SPEED", "PCM_CRUISE_2", 0),
-    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
-    ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
 
   checks = [
@@ -60,6 +55,15 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
+  if not CP.carFingerprint == CAR.LEXUS_ISH:
+    signals += [
+      ("MAIN_ON", "PCM_CRUISE_2", 0),
+      ("SET_SPEED", "PCM_CRUISE_2", 0),
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ]
+
   if CP.carFingerprint == CAR.LEXUS_ISH:
     checks = [
       ("BRAKE_MODULE", 50),
@@ -173,7 +177,10 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.ipas_active = False
+    else:
+      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -182,16 +189,18 @@ class CarState(object):
 
     self.user_brake = 0
     if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.main_on = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
       # ish does not have curise status value (always 0), so we use curise_active value instead
       self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
       self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
+      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+      self.low_speed_lockout = False
     else:
       self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
       self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
       self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0

From 7e555671fed49110e6ec37af547866a5c254c2df Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 21 Feb 2019 23:35:32 +1000
Subject: [PATCH 66/83] add stop_and_go and update retParam value

---
 selfdrive/car/toyota/interface.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index c7a69600e..56b50f48c 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -149,7 +149,8 @@ class CarInterface(object):
       ret.steerKf = 0.00006
 
     elif candidate == CAR.LEXUS_ISH:
-      ret.safetyParam = 66
+      stop_and_go = True
+      ret.safetyParam = 73
       ret.wheelbase = 2.80 # in spec
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry

From b4bef4c03475c002cb716d71b278d9d29a365311 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 22 Feb 2019 12:40:36 +1000
Subject: [PATCH 67/83] update safetyParam to 66

---
 opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc | 2 +-
 opendbc/lexus_is_hybrid_2017_pt_generated.dbc        | 2 +-
 selfdrive/car/toyota/interface.py                    | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
index fa056fa7d..7fb743770 100644
--- a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
@@ -10,7 +10,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
index 0a12a570f..83d415297 100644
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -306,7 +306,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 56b50f48c..20add65ba 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -150,7 +150,7 @@ class CarInterface(object):
 
     elif candidate == CAR.LEXUS_ISH:
       stop_and_go = True
-      ret.safetyParam = 73
+      ret.safetyParam = 66
       ret.wheelbase = 2.80 # in spec
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry

From cc7f15fe8845be0635c6a5de06311ff68ba68f39 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 22 Feb 2019 16:08:33 +1000
Subject: [PATCH 68/83] * refactor carstate

---
 selfdrive/car/toyota/carstate.py | 33 ++++++++++++++------------------
 1 file changed, 14 insertions(+), 19 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index c56f21dcc..f6dcf49cd 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -45,35 +45,18 @@ def get_can_parser(CP):
   ]
 
   checks = [
-    ("BRAKE_MODULE", 40),
-    ("GAS_PEDAL", 33),
     ("WHEEL_SPEEDS", 80),
     ("STEER_ANGLE_SENSOR", 80),
     ("PCM_CRUISE", 33),
-    ("PCM_CRUISE_2", 33),
     ("STEER_TORQUE_SENSOR", 50),
     ("EPS_STATUS", 25),
   ]
 
-  if not CP.carFingerprint == CAR.LEXUS_ISH:
-    signals += [
-      ("MAIN_ON", "PCM_CRUISE_2", 0),
-      ("SET_SPEED", "PCM_CRUISE_2", 0),
-      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-      ("IPAS_STATE", "EPS_STATUS", 1),
-      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
-    ]
-
   if CP.carFingerprint == CAR.LEXUS_ISH:
     checks = [
       ("BRAKE_MODULE", 50),
       ("GAS_PEDAL", 50),
-      ("WHEEL_SPEEDS", 80),
-      ("STEER_ANGLE_SENSOR", 80),
-      ("PCM_CRUISE", 33),
       ("PCM_CRUISE_ISH", 1),
-      ("STEER_TORQUE_SENSOR", 50),
-      ("EPS_STATUS", 25),
     ]
 
     signals += [
@@ -81,6 +64,19 @@ def get_can_parser(CP):
       ("SET_SPEED", "PCM_CRUISE_ISH", 0),
       ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
     ]
+  else:
+    checks = [
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+      ("PCM_CRUISE_2", 33),
+    ]
+    signals += [
+      ("MAIN_ON", "PCM_CRUISE_2", 0),
+      ("SET_SPEED", "PCM_CRUISE_2", 0),
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ]
 
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
@@ -193,14 +189,13 @@ class CarState(object):
       # ish does not have curise status value (always 0), so we use curise_active value instead
       self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
       self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
       self.low_speed_lockout = False
     else:
       self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
       self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
       self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0

From 1ca8839e53f9738dd3f6a5464d1bfc733e7c427d Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Fri, 22 Feb 2019 16:08:33 +1000
Subject: [PATCH 69/83] * refactor carstate

---
 selfdrive/car/toyota/carstate.py | 36 +++++++++++++-------------------
 1 file changed, 15 insertions(+), 21 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index c56f21dcc..6b6c18c5b 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -45,35 +45,18 @@ def get_can_parser(CP):
   ]
 
   checks = [
-    ("BRAKE_MODULE", 40),
-    ("GAS_PEDAL", 33),
     ("WHEEL_SPEEDS", 80),
     ("STEER_ANGLE_SENSOR", 80),
     ("PCM_CRUISE", 33),
-    ("PCM_CRUISE_2", 33),
     ("STEER_TORQUE_SENSOR", 50),
     ("EPS_STATUS", 25),
   ]
 
-  if not CP.carFingerprint == CAR.LEXUS_ISH:
-    signals += [
-      ("MAIN_ON", "PCM_CRUISE_2", 0),
-      ("SET_SPEED", "PCM_CRUISE_2", 0),
-      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-      ("IPAS_STATE", "EPS_STATUS", 1),
-      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
-    ]
-
   if CP.carFingerprint == CAR.LEXUS_ISH:
     checks = [
       ("BRAKE_MODULE", 50),
       ("GAS_PEDAL", 50),
-      ("WHEEL_SPEEDS", 80),
-      ("STEER_ANGLE_SENSOR", 80),
-      ("PCM_CRUISE", 33),
       ("PCM_CRUISE_ISH", 1),
-      ("STEER_TORQUE_SENSOR", 50),
-      ("EPS_STATUS", 25),
     ]
 
     signals += [
@@ -81,6 +64,19 @@ def get_can_parser(CP):
       ("SET_SPEED", "PCM_CRUISE_ISH", 0),
       ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
     ]
+  else:
+    checks = [
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+      ("PCM_CRUISE_2", 33),
+    ]
+    signals += [
+      ("MAIN_ON", "PCM_CRUISE_2", 0),
+      ("SET_SPEED", "PCM_CRUISE_2", 0),
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ]
 
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
@@ -192,15 +188,13 @@ class CarState(object):
       self.v_cruise_pcm = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
       # ish does not have curise status value (always 0), so we use curise_active value instead
       self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
-      self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
       self.low_speed_lockout = False
     else:
       self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
       self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
-      self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-      self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
+    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0

From 2606ba210074e6eb7d1412a0be31b25792e3e8f0 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Tue, 12 Mar 2019 11:09:23 +1000
Subject: [PATCH 70/83] fix symbol issue on checks array

---
 selfdrive/car/toyota/carstate.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 6b6c18c5b..42884fefc 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -53,7 +53,7 @@ def get_can_parser(CP):
   ]
 
   if CP.carFingerprint == CAR.LEXUS_ISH:
-    checks = [
+    checks += [
       ("BRAKE_MODULE", 50),
       ("GAS_PEDAL", 50),
       ("PCM_CRUISE_ISH", 1),
@@ -65,7 +65,7 @@ def get_can_parser(CP):
       ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
     ]
   else:
-    checks = [
+    checks += [
       ("BRAKE_MODULE", 40),
       ("GAS_PEDAL", 33),
       ("PCM_CRUISE_2", 33),

From c831bf6993975ba5cb6202a0e58781ace1f373fe Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Tue, 12 Mar 2019 11:21:43 +1000
Subject: [PATCH 71/83] move dbc files PR to opendbc repo.

---
 .../toyota/lexus_is_hybrid_2017_pt.dbc        |  41 ---
 opendbc/lexus_is_hybrid_2017_pt_generated.dbc | 337 ------------------
 2 files changed, 378 deletions(-)
 delete mode 100644 opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
 delete mode 100644 opendbc/lexus_is_hybrid_2017_pt_generated.dbc

diff --git a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
deleted file mode 100644
index 7fb743770..000000000
--- a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
+++ /dev/null
@@ -1,41 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_ISH: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
-
-BO_ 1599 LIGHT_STALK_ISH: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
deleted file mode 100644
index 83d415297..000000000
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ /dev/null
@@ -1,337 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
-  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX DSU HCU EPS IPAS
-
-BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 166 BRAKE: 8 XXX
- SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 170 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
-
-BO_ 180 SPEED: 8 XXX
- SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
-
-BO_ 353 DSU_SPEED: 8 XXX
- SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
- SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 552 ACCELEROMETER: 8 XXX
- SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
- SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
-
-BO_ 560 BRAKE_MODULE2: 7 XXX
- SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 614 STEERING_IPAS: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 643 PRE_COLLISION: 8 XXX
-
-BO_ 740 STEERING_LKA: 5 XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 742 LEAD_INFO: 8 DSU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
- SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
- SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
-
-BO_ 835 ACC_CONTROL: 8 DSU
- SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
- SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
- SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
- SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 921 PCM_CRUISE_SM: 8 XXX
- SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
- SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
- SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 951 ESP_CONTROL: 8 ESP
- SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1041 ACC_HUD: 8 DSU
- SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1042 LKAS_HUD: 8 XXX
- SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
- SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
- SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1553 UI_SEETING: 8 XXX
- SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1568 SEATS_DOORS: 8 XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1570 LIGHT_STALK: 8 SCM
- SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1161 RSA1: 8 FCM
- SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
- SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1162 RSA2: 8 FCM
- SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
- SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1163 RSA3: 8 FCM
- SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
- SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
-
-CM_ SG_ 36 ACCEL_Y "unit is tbd";
-CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
-CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
-CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
-CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
-CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
-CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
-CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
-CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1163 TSREQPD "always 1";
-CM_ SG_ 1163 TSRMSW "always 1";
-CM_ SG_ 1163 OTSGNNTM "always 3";
-CM_ SG_ 1163 NTLVLSPD "always 3";
-CM_ SG_ 1163 OVSPNTM "always 3";
-CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
-CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
-CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
-CM_ SG_ 1163 TSRSPU "always 1";
-
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
-VAL_ 614 STATE 3 "enabled" 1 "disabled";
-VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
-VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
-VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
-VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
-VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
-VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
-VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
-
-
-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
-
-CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
-
-
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_ISH: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
-
-BO_ 1599 LIGHT_STALK_ISH: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";

From 2a5a458172c76249872e908c2e3bd987167ba1d9 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sat, 2 Mar 2019 17:49:46 +1000
Subject: [PATCH 72/83] * change steering torque to 1600

---
 panda/board/safety/safety_toyota.h    | 2 +-
 selfdrive/car/toyota/carcontroller.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 50d457ab6..43dedcce4 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -2,7 +2,7 @@ int toyota_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
 int toyota_camera_forwarded = 0;          // should we forward the camera bus?
 
 // global torque limit
-const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
+const int TOYOTA_MAX_TORQUE = 1600;       // max torque cmd allowed ever
 
 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index cdd1bde51..7bdc82267 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -21,7 +21,7 @@ ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
 
 # Steer torque limits
 class SteerLimitParams:
-  STEER_MAX = 1500
+  STEER_MAX = 1600
   STEER_DELTA_UP = 10       # 1.5s time to peak torque
   STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor

From 7dd8f9f481208b3e21a3388a68025e6337d2baf8 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sat, 4 May 2019 11:40:41 +1000
Subject: [PATCH 73/83] revert unneeded change

---
 panda/board/safety/safety_toyota.h    | 2 +-
 selfdrive/car/toyota/carcontroller.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index f74b07e8c..02fcb36e5 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -2,7 +2,7 @@ int toyota_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
 int toyota_camera_forwarded = 0;          // should we forward the camera bus?
 
 // global torque limit
-const int TOYOTA_MAX_TORQUE = 1600;       // max torque cmd allowed ever
+const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 
 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 56f8db13e..8197a7922 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -21,7 +21,7 @@ ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
 
 # Steer torque limits
 class SteerLimitParams:
-  STEER_MAX = 1600
+  STEER_MAX = 1500
   STEER_DELTA_UP = 10       # 1.5s time to peak torque
   STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor

From bf70f4636b82c82b5f3bdf6e8ae2bc299d253443 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 22 May 2019 10:07:31 +1000
Subject: [PATCH 74/83] Update variable name

---
 selfdrive/car/toyota/interface.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 42e3bdbe1..5872dbf7b 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -192,8 +192,8 @@ class CarInterface(object):
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry
       ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
-      ret.steerKpV, ret.steerKiV = [[0.19], [0.04]]
-      ret.steerKf = 0.00006 # from camry
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04]]
+      ret.lateralTuning.pid.kf = 0.00006 # from camry
 
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44

From 7c573c684f8c679e27f17640464f4d55f1349d49 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 22 May 2019 10:09:01 +1000
Subject: [PATCH 75/83] Fix values.py

---
 selfdrive/car/toyota/values.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 1b6fa5625..a91098d51 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -39,13 +39,12 @@ STATIC_MSGS = [
   (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
   (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, '\x24\x20\xB1'),
+  (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
   (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
   (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
   (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
   (0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
   (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
-  (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
-  (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
 
   (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
   (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   3, '\x03\x00\x20\x00\x00\x52'),

From 72bfd147f36c3f4c1f9c3f27fa58d683e0ed7d67 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 10 Jul 2019 09:59:51 +1000
Subject: [PATCH 76/83] fix issue after merge

---
 selfdrive/car/toyota/carstate.py | 5 ++---
 selfdrive/car/toyota/values.py   | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 1389b7155..8ed5bccf5 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -87,8 +87,8 @@ def get_can_parser(CP):
 
   # add gas interceptor reading if we are using it
   if CP.enableGasInterceptor:
-      signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
-      checks.append(("GAS_SENSOR", 50))
+    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
+    checks.append(("GAS_SENSOR", 50))
 
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0, timeout=100)
 
@@ -197,7 +197,6 @@ class CarState(object):
       self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 397e29010..67d780927 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -37,7 +37,7 @@ STATIC_MSGS = [
   (0x248, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
   (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0,  40, '\x06\x00'),
   (0x367, ECU.CAM, (CAR.LEXUS_ISH), 0,  40, '\x02\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
   (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, '\x24\x20\xB1'),
   (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),

From 8621334d76a66eef9b3e198884002940209b9866 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Mon, 26 Aug 2019 13:33:30 +1000
Subject: [PATCH 77/83] Add support to 2017 Lexus is300h (AVE30R)

---
 .../toyota/lexus_is_hybrid_2017_pt.dbc        |  41 --
 opendbc/lexus_is_hybrid_2017_pt_generated.dbc | 388 ------------------
 selfdrive/car/toyota/carstate.py              |  58 ++-
 selfdrive/car/toyota/interface.py             |  10 +
 selfdrive/car/toyota/values.py                |  28 +-
 5 files changed, 74 insertions(+), 451 deletions(-)
 delete mode 100644 opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
 delete mode 100644 opendbc/lexus_is_hybrid_2017_pt_generated.dbc

diff --git a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
deleted file mode 100644
index 7fb743770..000000000
--- a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
+++ /dev/null
@@ -1,41 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_ISH: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
-
-BO_ 1599 LIGHT_STALK_ISH: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
deleted file mode 100644
index 4444ec852..000000000
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ /dev/null
@@ -1,388 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _comma.dbc starts here"
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _toyota_2017.dbc starts here"
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX DSU HCU EPS IPAS CGW
-
-BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 166 BRAKE: 8 XXX
- SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 170 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
-
-BO_ 180 SPEED: 8 XXX
- SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
-
-BO_ 353 DSU_SPEED: 8 XXX
- SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
- SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 552 ACCELEROMETER: 8 XXX
- SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
- SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
-
-BO_ 560 BRAKE_MODULE2: 7 XXX
- SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 614 STEERING_IPAS: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 643 PRE_COLLISION: 7 DSU
- SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
- SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
- SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
- SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 740 STEERING_LKA: 5 XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 742 LEAD_INFO: 8 DSU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
- SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
- SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
-
-BO_ 835 ACC_CONTROL: 8 DSU
- SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
- SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
- SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
- SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 836 PRE_COLLISION_2: 8 DSU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 869 DSU_CRUISE : 7 DSU
- SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
- SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
- SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
- SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
- SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
- SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
-
-BO_ 921 PCM_CRUISE_SM: 8 XXX
- SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
- SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
- SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 951 ESP_CONTROL: 8 ESP
- SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1041 ACC_HUD: 8 DSU
- SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1042 LKAS_HUD: 8 XXX
- SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
- SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
- SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1408 VIN_PART_1: 8 CGW
- SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1409 VIN_PART_2: 8 CGW
- SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1410 VIN_PART_3: 8 CGW
- SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 1553 UI_SEETING: 8 XXX
- SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1568 SEATS_DOORS: 8 XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1570 LIGHT_STALK: 8 SCM
- SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1161 RSA1: 8 FCM
- SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
- SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1162 RSA2: 8 FCM
- SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
- SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1163 RSA3: 8 FCM
- SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
- SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
-
-CM_ SG_ 36 ACCEL_Y "unit is tbd";
-CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
-CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
-CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
-CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
-CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
-CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
-CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
-CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
-CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
-CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
-CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1163 TSREQPD "always 1";
-CM_ SG_ 1163 TSRMSW "always 1";
-CM_ SG_ 1163 OTSGNNTM "always 3";
-CM_ SG_ 1163 NTLVLSPD "always 3";
-CM_ SG_ 1163 OVSPNTM "always 3";
-CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
-CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
-CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
-CM_ SG_ 1163 TSRSPU "always 1";
-
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
-VAL_ 614 STATE 3 "enabled" 1 "disabled";
-VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
-VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
-VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
-VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
-VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
-VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
-VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-
-
-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
-
-CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
-
-
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_ISH: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
-
-BO_ 1599 LIGHT_STALK_ISH: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 920a8ab5d..330102ea9 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -37,25 +37,17 @@ def get_can_parser(CP):
     ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
     ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
     ("CRUISE_STATE", "PCM_CRUISE", 0),
-    ("MAIN_ON", "PCM_CRUISE_2", 0),
-    ("SET_SPEED", "PCM_CRUISE_2", 0),
-    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
-    ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
 
   checks = [
-    ("BRAKE_MODULE", 40),
-    ("GAS_PEDAL", 33),
     ("WHEEL_SPEEDS", 80),
     ("STEER_ANGLE_SENSOR", 80),
     ("PCM_CRUISE", 33),
-    ("PCM_CRUISE_2", 33),
     ("STEER_TORQUE_SENSOR", 50),
     ("EPS_STATUS", 25),
   ]
@@ -63,6 +55,32 @@ def get_can_parser(CP):
   if CP.carFingerprint in NO_DSU_CAR:
     signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
 
+  if CP.carFingerprint == CAR.LEXUS_ISH:
+    checks += [
+      ("BRAKE_MODULE", 50),
+      ("GAS_PEDAL", 50),
+      ("PCM_CRUISE_ISH", 1),
+    ]
+
+    signals += [
+      ("MAIN_ON", "PCM_CRUISE_ISH", 0),
+      ("SET_SPEED", "PCM_CRUISE_ISH", 0),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
+    ]
+  else:
+    checks += [
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+      ("PCM_CRUISE_2", 33),
+    ]
+    signals += [
+      ("MAIN_ON", "PCM_CRUISE_2", 0),
+      ("SET_SPEED", "PCM_CRUISE_2", 0),
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ]
+
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
 
@@ -158,14 +176,20 @@ class CarState(object):
     self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
     can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
-    self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.main_on = cp.vl["PCM_CRUISE_ISH"]['MAIN_ON']
+    else:
+      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
     self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
 
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.ipas_active = False
+    else:
+      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -173,12 +197,20 @@ class CarState(object):
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
 
     self.user_brake = 0
-    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
+      # ish does not have curise status value (always 0), so we use curise_active value instead
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
+      self.low_speed_lockout = False
+    else:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
+    elif self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
     else:
       self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 1e3b61624..41044ae8f 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -207,6 +207,16 @@ class CarInterface(object):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00007818594
 
+    elif candidate == CAR.LEXUS_ISH:
+      stop_and_go = True
+      ret.safetyParam = 100
+      ret.wheelbase = 2.80 # in spec
+      ret.steerRatio = 13.3 # in spec
+      tire_stiffness_factor = 0.444 # from camry
+      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04]]
+      ret.lateralTuning.pid.kf = 0.00006 # from camry
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index df535eab0..3bf8e76d9 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -17,7 +17,7 @@ class CAR:
   COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
   SIENNA = "TOYOTA SIENNA XLE 2018"
-
+  LEXUS_ISH = "LEXUS IS HYBRID 2017"
 
 class ECU:
   CAM = 0 # camera
@@ -28,19 +28,25 @@ class ECU:
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
   (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
   (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x245, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x10\x01\x00'),
   (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
+  (0x248, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
   (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0,  40, '\x06\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x367, ECU.CAM, (CAR.LEXUS_ISH), 0,  40, '\x02\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
   (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, '\x24\x20\xB1'),
-  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
   (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+  (0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
 
   (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
   (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA), 1,   3, '\x03\x00\x20\x00\x00\x52'),
@@ -83,6 +89,9 @@ def check_ecu_msgs(fingerprint, ecu):
 
 
 FINGERPRINTS = {
+  CAR.LEXUS_ISH: [{
+    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
   CAR.RAV4: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8
   }],
@@ -203,8 +212,9 @@ DBC = {
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_ISH: dbc_dict('lexus_is_hybrid_2017_pt_generated', 'toyota_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
 TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
-NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA]  # no resume button press required
+NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.LEXUS_ISH]  # no resume button press required

From 6009c36423c0b60474b2fd270baecae350ad928b Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Mon, 26 Aug 2019 13:34:46 +1000
Subject: [PATCH 78/83] Revert "Add support to 2017 Lexus is300h (AVE30R)"

This reverts commit c187ea59
---
 selfdrive/car/toyota/carstate.py  | 58 +++++++------------------------
 selfdrive/car/toyota/interface.py | 10 ------
 2 files changed, 13 insertions(+), 55 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 330102ea9..920a8ab5d 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -37,17 +37,25 @@ def get_can_parser(CP):
     ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
     ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
     ("CRUISE_STATE", "PCM_CRUISE", 0),
+    ("MAIN_ON", "PCM_CRUISE_2", 0),
+    ("SET_SPEED", "PCM_CRUISE_2", 0),
+    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
+    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
+    ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
 
   checks = [
+    ("BRAKE_MODULE", 40),
+    ("GAS_PEDAL", 33),
     ("WHEEL_SPEEDS", 80),
     ("STEER_ANGLE_SENSOR", 80),
     ("PCM_CRUISE", 33),
+    ("PCM_CRUISE_2", 33),
     ("STEER_TORQUE_SENSOR", 50),
     ("EPS_STATUS", 25),
   ]
@@ -55,32 +63,6 @@ def get_can_parser(CP):
   if CP.carFingerprint in NO_DSU_CAR:
     signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
 
-  if CP.carFingerprint == CAR.LEXUS_ISH:
-    checks += [
-      ("BRAKE_MODULE", 50),
-      ("GAS_PEDAL", 50),
-      ("PCM_CRUISE_ISH", 1),
-    ]
-
-    signals += [
-      ("MAIN_ON", "PCM_CRUISE_ISH", 0),
-      ("SET_SPEED", "PCM_CRUISE_ISH", 0),
-      ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
-    ]
-  else:
-    checks += [
-      ("BRAKE_MODULE", 40),
-      ("GAS_PEDAL", 33),
-      ("PCM_CRUISE_2", 33),
-    ]
-    signals += [
-      ("MAIN_ON", "PCM_CRUISE_2", 0),
-      ("SET_SPEED", "PCM_CRUISE_2", 0),
-      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-      ("IPAS_STATE", "EPS_STATUS", 1),
-      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
-    ]
-
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
 
@@ -176,20 +158,14 @@ class CarState(object):
     self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
     can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.main_on = cp.vl["PCM_CRUISE_ISH"]['MAIN_ON']
-    else:
-      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
+    self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
     self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
 
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.ipas_active = False
-    else:
-      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -197,20 +173,12 @@ class CarState(object):
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
 
     self.user_brake = 0
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.v_cruise_pcm = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
-      # ish does not have curise status value (always 0), so we use curise_active value instead
-      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
-      self.low_speed_lockout = False
-    else:
-      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
-      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
+    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
+    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
-    elif self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
     else:
       self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 41044ae8f..1e3b61624 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -207,16 +207,6 @@ class CarInterface(object):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00007818594
 
-    elif candidate == CAR.LEXUS_ISH:
-      stop_and_go = True
-      ret.safetyParam = 100
-      ret.wheelbase = 2.80 # in spec
-      ret.steerRatio = 13.3 # in spec
-      tire_stiffness_factor = 0.444 # from camry
-      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04]]
-      ret.lateralTuning.pid.kf = 0.00006 # from camry
-
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 

From 9fa2a47525389d0fa2153f1ed12d92141c12a570 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 26 Aug 2019 13:47:02 +1000
Subject: [PATCH 79/83] Adjust SafetyParam to 100 as it can do 130

---
 selfdrive/car/toyota/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 624f773f2..41044ae8f 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -209,7 +209,7 @@ class CarInterface(object):
 
     elif candidate == CAR.LEXUS_ISH:
       stop_and_go = True
-      ret.safetyParam = 66
+      ret.safetyParam = 100
       ret.wheelbase = 2.80 # in spec
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry

From deb7e30b6f8cc50b2794e1fe6dd2bad027ff4842 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 4 Sep 2019 14:16:56 +1000
Subject: [PATCH 80/83] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E5=8F=B0=E7=81=A3=2020?=
 =?UTF-8?q?19=20Altis=20=E6=8C=87=E7=B4=8B?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 selfdrive/car/toyota/values.py | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 3bf8e76d9..f3477740e 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -179,10 +179,13 @@ FINGERPRINTS = {
   {
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 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, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   }],
-  CAR.COROLLA_TSS2: [
-  # hatch 2019+ and sedan 2020+
-  {
+  CAR.COROLLA_TSS2: [{
+    # hatch 2019+ and sedan 2020+
     36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 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, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8
+  },
+  {
+    # 2019 Taiwan Altis
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 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, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1112: 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, 1745: 8, 1775: 8, 1779: 8
   }],
   CAR.LEXUS_ESH_TSS2: [
   {

From f1329f043e3993cd1294bae938b3217af2aed2c9 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 4 Sep 2019 14:26:39 +1000
Subject: [PATCH 81/83] restore files deleted accidentally

---
 .../toyota/lexus_is_hybrid_2017_pt.dbc        |  41 ++
 opendbc/lexus_is_hybrid_2017_pt_generated.dbc | 388 ++++++++++++++++++
 2 files changed, 429 insertions(+)
 create mode 100644 opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
 create mode 100644 opendbc/lexus_is_hybrid_2017_pt_generated.dbc

diff --git a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
new file mode 100644
index 000000000..7fb743770
--- /dev/null
+++ b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
@@ -0,0 +1,41 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ISH: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
new file mode 100644
index 000000000..4444ec852
--- /dev/null
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -0,0 +1,388 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
+
+
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ISH: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";

From 983ab3001c8c5ecede60aff54e8825ebca5c9f47 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 4 Sep 2019 14:28:14 +1000
Subject: [PATCH 82/83] use PR values

---
 opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc | 2 +-
 opendbc/lexus_is_hybrid_2017_pt_generated.dbc        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
index 7fb743770..8549f117e 100644
--- a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
@@ -10,7 +10,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
index 4444ec852..7477d231b 100644
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -357,7 +357,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

From d13c6cc6b3d021080878fc6f5977a5e37bd33276 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 4 Sep 2019 14:39:52 +1000
Subject: [PATCH 83/83] =?UTF-8?q?=E5=8A=A0=E5=85=A5=202019=20Taiwan=20Alti?=
 =?UTF-8?q?s=20Hybrid=20(=E9=9C=80=E7=A2=BA=E8=AA=8D)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 selfdrive/car/toyota/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index f3477740e..6f009f0d7 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -186,6 +186,10 @@ FINGERPRINTS = {
   {
     # 2019 Taiwan Altis
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 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, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1112: 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, 1745: 8, 1775: 8, 1779: 8
+  },
+  {
+    # 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
   }],
   CAR.LEXUS_ESH_TSS2: [
   {