diff --git a/.gitignore b/.gitignore
index 9bdfbc716..44294dde7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -39,5 +39,6 @@ selfdrive/sensord/sensord
 
 one
 openpilot
+notebooks
 xx
 
diff --git a/README.md b/README.md
index ba97ded04..23c81e430 100644
--- a/README.md
+++ b/README.md
@@ -58,69 +58,70 @@ 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 | Giraffe           |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chrysler             | Pacifica 2017-18         | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Chrysler             | Pacifica Hybrid 2019     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
-| GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Honda                | Accord 2018-19           | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
-| Honda                | Accord Hybrid 2018-19    | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
-| Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
-| Honda                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
-| Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | CR-V 2017-19             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V Hybrid 2017-2019    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Fit 2018                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Odyssey 2018-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
-| Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Hyundai              | Elantra 2017-19          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Jeep                 | Grand Cherokee 2016-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Jeep                 | Grand Cherokee 2019      | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
-| Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Lexus                | ES Hybrid 2019           | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Avalon 2017-18           | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Camry 2018-19            | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | Camry Hybrid 2018-19     | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-19             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | C-HR Hybrid 2017-19      | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander 2017-19       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander Hybrid 2017-19| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius Prime 2017-19      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 Hybrid 2016         | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Sienna 2018              | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Make                 | Model (US Market Reference)| Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| ---------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Acura                | ILX 2016-18                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2016-18                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Buick<sup>3</sup>    | Regal 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Malibu 2017                | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Volt 2017-18               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Cadillac<sup>3</sup> | ATS 2018                   | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chrysler             | Pacifica 2017-18           | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2017-18    | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2019       | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| GMC<sup>3</sup>      | Acadia Denali 2018         | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Holden<sup>3</sup>   | Astra 2017                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Honda                | Accord 2018-19             | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Accord Hybrid 2018-19      | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Civic Sedan/Coupe 2016-18  | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
+| Honda                | Civic Sedan/Coupe 2019     | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
+| Honda                | Civic Hatchback 2017-19    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V 2015-16               | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | CR-V 2017-19               | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V Hybrid 2017-2019      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2018-19            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | Passport 2019              | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Pilot 2016-18              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | Pilot 2019                 | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Ridgeline 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Hyundai              | Santa Fe 2019              | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Hyundai              | Elantra 2017-19            | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Genesis 2018               | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Jeep                 | Grand Cherokee 2016-18     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Jeep                 | Grand Cherokee 2019        | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| Kia                  | Optima 2019                | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Sorento 2018               | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Stinger 2018               | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Lexus                | ES Hybrid 2019             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Lexus                | RX Hybrid 2016-19          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Lexus                | IS 2017-2019               | All                  | Yes     | Stock          | 22mph            | 0mph           | Toyota            |
+| Lexus                | IS Hybrid 2017             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Subaru               | Crosstrek 2018             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Subaru               | Impreza 2019               | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Toyota               | Avalon 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Avalon 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Camry 2018-19              | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | Camry Hybrid 2018-19       | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-19               | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | C-HR Hybrid 2017-19        | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Corolla 2020               | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla Hatchback 2019     | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander 2017-19         | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander Hybrid 2017-19  | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2016                 | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2017-19              | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius Prime 2017-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 2016                  | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18               | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2019                  | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2016           | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2017-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Sienna 2018                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 
 <sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
-<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). <br />
-<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
+<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). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
 <sup>4</sup>Subaru Giraffe is DIY. <br />
 <sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
@@ -144,6 +145,7 @@ In Progress Cars
 - All Hyundai with SmartSense.
 - All Kia with SCC and LKAS.
 - All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
+- All Subaru with EyeSight.
 
 How can I add support for my car?
 ------
diff --git a/RELEASES.md b/RELEASES.md
index d847bb3f0..14ddf78b6 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,13 @@
+Version 0.6.4 (2019-09-08)
+========================
+ * Forward stock AEB for Honda Nidec
+ * Improve lane centering on banked roads
+ * Always-on forward collision warning
+ * Always-on driver monitoring, except for right hand drive countries
+ * Driver monitoring learns the user's normal driving position
+ * Honda Fit support thanks to energee!
+ * Lexus IS support
+
 Version 0.6.3 (2019-08-12)
 ========================
  * Alert sounds from EON: requires NEOS update
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index 5dd8b8f20..682761bbc 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 68d217650..21d3951c4 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -79,6 +79,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     tooDistracted @54;
     posenetInvalid @55;
     soundsUnavailable @56;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
   }
 }
 
@@ -300,6 +303,7 @@ struct CarParams {
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
   safetyModel @9 :SafetyModel;
+  safetyModelPassive @42 :SafetyModel = noOutput;
   safetyParam @10 :Int16;
 
   steerMaxBP @11 :List(Float32);
@@ -343,6 +347,7 @@ struct CarParams {
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   isPandaBlack @39: Bool;
+  dashcamOnly @41: Bool;
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -398,6 +403,7 @@ struct CarParams {
     chrysler @9;
     tesla @10;
     subaru @11;
+    gmPassive @12;
   }
 
   enum SteerControlType {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 479e5ec64..cc17deebc 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -442,7 +442,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   alertSoundDEPRECATED @45 :Text;
   alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
   awarenessStatus @26 :Float32;
-  angleModelBias @27 :Float32;
+  angleModelBiasDEPRECATED @27 :Float32;
   gpsPlannerActive @40 :Bool;
   engageable @41 :Bool;  # can OP be engaged?
   driverMonitoringOn @43 :Bool;
@@ -516,8 +516,10 @@ struct ControlsState @0x97ff69c53601abf1 {
     steerAngle @1 :Float32;
     i @2 :Float32;
     output @3 :Float32;
+    lqrOutput @4 :Float32;
    }
 
+
 }
 
 struct LiveEventData {
@@ -527,6 +529,7 @@ struct LiveEventData {
 
 struct ModelData {
   frameId @0 :UInt32;
+  timestampEof @9 :UInt64;
 
   path @1 :PathData;
   leftLane @2 :PathData;
@@ -697,6 +700,32 @@ struct PathPlan {
   sensorValid @14 :Bool;
   commIssue @15 :Bool;
   posenetValid @16 :Bool;
+  desire @17 :Desire;
+  laneChangeState @18 :LaneChangeState;
+  laneChangeDirection @19 :LaneChangeDirection;
+
+  enum Desire {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+    laneChangeLeft @3;
+    laneChangeRight @4;
+    keepLeft @5;
+    keepRight @6;
+  }
+
+  enum LaneChangeState {
+    off @0;
+    preLaneChange @1;
+    laneChangeStarting @2;
+    laneChangeFinishing @3;
+  }
+
+  enum LaneChangeDirection {
+    none @0;
+    left @1;
+    right @2;
+  }
 }
 
 struct LiveLocationData {
@@ -1726,6 +1755,8 @@ struct LiveMapData {
 }
 
 struct CameraOdometry {
+  frameId @4 :UInt32;
+  timestampEof @5 :UInt64;
   trans @0 :List(Float32); # m/s in device frame
   rot @1 :List(Float32); # rad/s in device frame
   transStd @2 :List(Float32); # std m/s in device frame
diff --git a/common/api/__init__.py b/common/api/__init__.py
index e457272a1..8eb981739 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -5,9 +5,10 @@ from datetime import datetime, timedelta
 from selfdrive.version import version
 
 class Api(object):
-  def __init__(self, dongle_id, private_key):
+  def __init__(self, dongle_id):
     self.dongle_id = dongle_id
-    self.private_key = private_key
+    with open('/persist/comma/id_rsa') as f:
+      self.private_key = f.read()
 
   def get(self, *args, **kwargs):
     return self.request('GET', *args, **kwargs)
@@ -19,7 +20,14 @@ class Api(object):
     return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
   def get_token(self):
-    return jwt.encode({'identity': self.dongle_id, 'exp': datetime.utcnow() + timedelta(hours=1)}, self.private_key, algorithm='RS256')
+    now = datetime.utcnow()
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=1)
+    }
+    return jwt.encode(payload, self.private_key, algorithm='RS256')
 
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   backend = "https://api.commadotai.com/"
diff --git a/common/file_helpers.py b/common/file_helpers.py
index 3300ae595..beeee8908 100644
--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@@ -24,21 +24,12 @@ def rm_tree_or_link(path):
     shutil.rmtree(path)
 
 def get_tmpdir_on_same_filesystem(path):
-  # TODO(mgraczyk): HACK, we should actually check for which filesystem.
   normpath = os.path.normpath(path)
   parts = normpath.split("/")
-  if len(parts) > 1:
-    if parts[1].startswith("raid") or parts[1].startswith("datasets"):
-      if len(parts) > 2 and parts[2] == "runner":
-        return "/{}/runner/tmp".format(parts[1])
-      elif len(parts) > 2 and parts[2] == "aws":
-        return "/{}/aws/tmp".format(parts[1])
-      else:
-        return "/{}/tmp".format(parts[1])
-    elif parts[1] == "aws":
-      return "/aws/tmp"
-    elif parts[1] == "scratch":
-      return "/scratch/tmp"
+  if len(parts) > 1 and parts[1] == "scratch":
+    return "/scratch/tmp"
+  elif len(parts) > 2 and parts[2] == "runner":
+    return "/{}/runner/tmp".format(parts[1])
   return "/tmp"
 
 class AutoMoveTempdir(object):
diff --git a/common/params.py b/common/params.py
index 7f1b3ab98..9af435361 100755
--- a/common/params.py
+++ b/common/params.py
@@ -27,6 +27,7 @@ import sys
 import shutil
 import fcntl
 import tempfile
+import threading
 from enum import Enum
 
 
@@ -63,10 +64,9 @@ keys = {
   "GitCommit": [TxType.PERSISTENT],
   "GitRemote": [TxType.PERSISTENT],
   "HasAcceptedTerms": [TxType.PERSISTENT],
-  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
-  "IsFcwEnabled": [TxType.PERSISTENT],
   "IsGeofenceEnabled": [TxType.PERSISTENT],
   "IsMetric": [TxType.PERSISTENT],
+  "IsRHD": [TxType.PERSISTENT],
   "IsUpdateAvailable": [TxType.PERSISTENT],
   "IsUploadRawEnabled": [TxType.PERSISTENT],
   "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
@@ -346,6 +346,17 @@ class Params(object):
 
     write_db(self.db, key, dat)
 
+
+def put_nonblocking(key, val):
+  def f(key, val):
+    params = Params()
+    params.put(key, val)
+
+  t = threading.Thread(target=f, args=(key, val))
+  t.start()
+  return t
+
+
 if __name__ == "__main__":
   params = Params()
   if len(sys.argv) > 2:
diff --git a/common/stat_live.py b/common/stat_live.py
new file mode 100644
index 000000000..06b4f993b
--- /dev/null
+++ b/common/stat_live.py
@@ -0,0 +1,73 @@
+import numpy as np
+
+class RunningStat():
+  # tracks realtime mean and standard deviation without storing any data
+  def __init__(self, priors=None, max_trackable=-1):
+    self.max_trackable = max_trackable
+    if priors is not None:
+      # initialize from history
+      self.M = priors[0]
+      self.S = priors[1]
+      self.n = priors[2]
+      self.M_last = self.M
+      self.S_last = self.S
+      
+    else:
+      self.reset()
+
+  def reset(self):
+    self.M = 0.
+    self.S = 0.
+    self.M_last = 0.
+    self.S_last = 0.
+    self.n = 0
+
+  def push_data(self, new_data):
+    # short term memory hack
+    if self.max_trackable < 0 or self.n < self.max_trackable:
+      self.n += 1
+    if self.n == 0:
+      self.M_last = new_data
+      self.M = self.M_last
+      self.S_last = 0.
+    else:
+      self.M = self.M_last + (new_data - self.M_last) / self.n
+      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M);
+      self.M_last = self.M
+      self.S_last = self.S
+
+  def mean(self):
+    return self.M
+
+  def variance(self):
+    if self.n >= 2:
+      return self.S / (self.n - 1.)
+    else:
+      return 0
+
+  def std(self):
+    return np.sqrt(self.variance())
+
+  def params_to_save(self):
+    return [self.M, self.S, self.n]
+
+class RunningStatFilter():
+  def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
+    self.raw_stat = RunningStat(raw_priors, max_trackable)
+    self.filtered_stat = RunningStat(filtered_priors, max_trackable)
+
+  def reset(self):
+    self.raw_stat.reset()
+    self.filtered_stat.reset()
+
+  def push_and_update(self, new_data):
+    _std_last = self.raw_stat.std()
+    self.raw_stat.push_data(new_data)
+    _delta_std = self.raw_stat.std() - _std_last
+    if _delta_std<=0:
+      self.filtered_stat.push_data(new_data)
+    else:
+      pass
+      # self.filtered_stat.push_data(self.filtered_stat.mean())
+
+# class SequentialBayesian():
\ No newline at end of file
diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index 2e04c5ac2..a5c14bb4b 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -154,17 +154,40 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
                     W_border: size[1] - W_border]
 
 
+def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  calib_frame_from_ground = np.dot(eon_intrinsics,
+                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
+  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
+  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
+  return camera_frame_from_calib_frame
+
+
+def pretransform_from_calib(calib):
+  roll, pitch, yaw, height = calib
+  view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
+  camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
+  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
+  return np.linalg.inv(camera_frame_from_calib_frame)
+
+
 def transform_img(base_img,
                  augment_trans=np.array([0,0,0]),
                  augment_eulers=np.array([0,0,0]),
                  from_intr=eon_intrinsics,
                  to_intr=eon_intrinsics,
-                 calib_rot_view=None,
                  output_size=None,
                  pretransform=None,
-                 top_hacks=True):
+                 top_hacks=False,
+                 yuv=False,
+                 alpha=1.0,
+                 beta=0,
+                 blur=0):
   import cv2
 
+  if yuv:
+    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
+
   size = base_img.shape[:2]
   if not output_size:
     output_size = size[::-1]
@@ -180,8 +203,6 @@ def transform_img(base_img,
                                         h*np.ones(4),
                                         h/quadrangle_norm[:,1]))
     rot = orient.rot_from_euler(augment_eulers)
-    if calib_rot_view is not None:
-      rot = calib_rot_view.dot(rot)
     to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
     to_KE = to_intr.dot(to_extrinsics)
     warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
@@ -202,7 +223,19 @@ def transform_img(base_img,
       M = M.dot(pretransform)
     augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
 
-  return augmented_rgb
+  # brightness and contrast augment
+  augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
+
+  # gaussian blur
+  if blur > 0:
+    augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
+
+  if yuv:
+    augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
+  else:
+    augmented_img = augmented_rgb
+  return augmented_img
+
 
 def yuv_crop(frame, output_size, center=None):
   # output_size in camera coordinates so u,v
diff --git a/common/transformations/model.py b/common/transformations/model.py
index e832cb7ee..c13cc7e38 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,8 +1,8 @@
 import numpy as np
 
-from common.transformations.camera import eon_focal_length, \
-        vp_from_ke, get_view_frame_from_road_frame, \
-        FULL_FRAME_SIZE
+from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
+                                           get_view_frame_from_road_frame,
+                                           vp_from_ke)
 
 # segnet
 
diff --git a/installer/updater/updater b/installer/updater/updater
index 51886bd33..15858eabb 100755
Binary files a/installer/updater/updater and b/installer/updater/updater differ
diff --git a/installer/updater/updater.cc b/installer/updater/updater.cc
index 89ac7f635..e2d3e7dae 100644
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -117,11 +117,19 @@ size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
   return fwrite(ptr, size, nmeb, (FILE*)up);
 }
 
-bool check_battery() {
+int battery_capacity() {
   std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
-  int bat_cap = atoi(bat_cap_s.c_str());
+  return atoi(bat_cap_s.c_str());
+}
+
+int battery_current() {
   std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
-  int current_now = atoi(current_now_s.c_str());
+  return atoi(current_now_s.c_str());
+}
+
+bool check_battery() {
+  int bat_cap = battery_capacity();
+  int current_now = battery_current();
   return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
 }
 
@@ -163,6 +171,7 @@ struct Updater {
   // i hate state machines give me coroutines already
   enum UpdateState {
     CONFIRMATION,
+    LOW_BATTERY,
     RUNNING,
     ERROR,
   };
@@ -173,6 +182,12 @@ struct Updater {
 
   std::string error_text;
 
+  std::string low_battery_text;
+  std::string low_battery_title;
+  std::string low_battery_context;
+  std::string battery_cap_text;
+  int min_battery_cap = 35;
+
   // button
   int b_x, b_w, b_y, b_h;
   int balt_x;
@@ -296,6 +311,16 @@ struct Updater {
     state = ERROR;
   }
 
+  void set_battery_low() {
+    std::lock_guard<std::mutex> guard(lock);
+    state = LOW_BATTERY;
+  }
+
+  void set_running() {
+    std::lock_guard<std::mutex> guard(lock);
+    state = RUNNING;
+  }
+
   std::string stage_download(std::string url, std::string hash, std::string name) {
     std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
 
@@ -323,8 +348,14 @@ struct Updater {
     assert(curl);
 
     if (!check_battery()) {
-      set_error("Please plug power in to your EON and wait for charge");
-      return;
+      set_battery_low();
+      int battery_cap = battery_capacity();
+      while(battery_cap < min_battery_cap) {
+        battery_cap = battery_capacity();
+        battery_cap_text = std::to_string(battery_cap);
+        usleep(1000000);
+      }
+      set_running();
     }
 
     if (!check_space()) {
@@ -400,8 +431,14 @@ struct Updater {
     }
 
     if (!check_battery()) {
-      set_error("must have at least 35% battery to update");
-      return;
+      set_battery_low();
+      int battery_cap = battery_capacity();
+      while(battery_cap < min_battery_cap) {
+        battery_cap = battery_capacity();
+        battery_cap_text = std::to_string(battery_cap);
+        usleep(1000000);
+      }
+      set_running();
     }
 
     if (!recovery_fn.empty()) {
@@ -526,6 +563,27 @@ struct Updater {
     }
   }
 
+  void draw_battery_screen() {
+    low_battery_title = "Low Battery";
+    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
+    low_battery_context = "Current battery charge: " + battery_cap_text + "%";
+
+    nvgFillColor(vg, nvgRGBA(255,255,255,255));
+    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+
+    nvgFontFace(vg, "opensans_bold");
+    nvgFontSize(vg, 120.0f);
+    nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
+
+    nvgFontFace(vg, "opensans_regular");
+    nvgFontSize(vg, 86.0f);
+    nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
+
+    nvgFontFace(vg, "opensans_bold");
+    nvgFontSize(vg, 86.0f);
+    nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
+  }
+
   void draw_progress_screen() {
     // draw progress message
     nvgFontSize(vg, 64.0f);
@@ -584,11 +642,14 @@ struct Updater {
                       "Continue",
                       "Connect to WiFi");
       break;
+    case LOW_BATTERY:
+      draw_battery_screen();
+      break;
     case RUNNING:
       draw_progress_screen();
       break;
     case ERROR:
-      draw_ack_screen("There was an error.", ("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
+      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
       break;
     }
 
@@ -648,6 +709,7 @@ struct Updater {
       glDisable(GL_BLEND);
 
       eglSwapBuffers(display, surface);
+
       assert(glGetError() == GL_NO_ERROR);
 
       // no simple way to do 30fps vsync with surfaceflinger...
diff --git a/models/driving_model.dlc b/models/driving_model.dlc
index 79181185f..3dc890079 100644
Binary files a/models/driving_model.dlc and b/models/driving_model.dlc differ
diff --git a/opendbc/acura_ilx_2016_can_generated.dbc b/opendbc/acura_ilx_2016_can_generated.dbc
index 75557b1e7..2a2a941a5 100644
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -123,7 +124,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -226,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -235,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/acura_rdx_2018_can_generated.dbc b/opendbc/acura_rdx_2018_can_generated.dbc
index 0fa62693c..48c9b3967 100644
--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -123,7 +124,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -226,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -235,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/chrysler_pacifica_2017_hybrid.dbc b/opendbc/chrysler_pacifica_2017_hybrid.dbc
index be99769b5..a19219cbb 100644
--- a/opendbc/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc
@@ -132,13 +132,12 @@ BO_ 705 AUTO_PARK_BUTTON: 8 XXX
 BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
  SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX
 
-BO_ 671 AUTO_PARK_SIGNALS_2: 8 XXX
- SG_ AUTO_PARK_PARALLEL : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_PARK_PERPENDICULAR_1 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+BO_ 671 AUTO_PARK_REQUEST: 8 XXX
  SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ AUTO_PARK_MAYBE_TURNING : 3|12@0+ (1,0) [0|1023] "" XXX
- SG_ AUTO_PARK_TURNING_STATUS : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_STATUS : 7|5@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_MODE : 22|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUTO_PARK_CMD : 2|11@0+ (1,-1024) [0|1] "NM" XXX
 
 BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX
  SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX
@@ -393,10 +392,8 @@ CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right
 CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
 CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking";
 CM_ SG_ 705 INCREASING_UNKNOWN "sometimes decreasing";
-CM_ SG_ 671 AUTO_PARK_PARALLEL "parallel parking mode";
-CM_ SG_ 671 AUTO_PARK_PERPENDICULAR_1 "perpendicular parking mode";
-CM_ SG_ 671 AUTO_PARK_MAYBE_TURNING "something with autopark turning the steering wheel maybe.";
-CM_ SG_ 671 AUTO_PARK_TURNING_STATUS "0 when not steering. when steering starts, 4 for two packets, and then 5 for the rest";
+CM_ SG_ 671 AUTO_PARK_CMD "Request Appears to be in NM";
+CM_ SG_ 671 AUTO_PARK_STATUS "1 = IDLE / NO REQUEST 9 = START REQUEST 10 = REQUEST MODE 11 = REQUEST MODE";
 CM_ SG_ 784 INCREASING_UNKNOWN "perhaps distance traveled";
 CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f";
 CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f";
diff --git a/opendbc/generator/honda/_bosch_2018.dbc b/opendbc/generator/honda/_bosch_2018.dbc
index 302c254c2..8a7ff7656 100644
--- a/opendbc/generator/honda/_bosch_2018.dbc
+++ b/opendbc/generator/honda/_bosch_2018.dbc
@@ -33,6 +33,12 @@ NS_ :
 
 BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
 
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
 BO_ 228 STEERING_CONTROL: 5 EON
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
@@ -114,15 +120,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -169,16 +186,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
  SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
@@ -196,8 +213,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -261,4 +278,8 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
diff --git a/opendbc/generator/honda/_dual_can_nidec_2018.dbc b/opendbc/generator/honda/_dual_can_nidec_2018.dbc
new file mode 100644
index 000000000..67c019c92
--- /dev/null
+++ b/opendbc/generator/honda/_dual_can_nidec_2018.dbc
@@ -0,0 +1,215 @@
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/generator/honda/_honda_2017.dbc b/opendbc/generator/honda/_honda_2017.dbc
index ee9a1e648..d805d45e8 100644
--- a/opendbc/generator/honda/_honda_2017.dbc
+++ b/opendbc/generator/honda/_honda_2017.dbc
@@ -56,6 +56,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -101,7 +102,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -204,6 +205,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -213,6 +215,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc b/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc
new file mode 100644
index 000000000..6b0a896b7
--- /dev/null
+++ b/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc
@@ -0,0 +1,111 @@
+CM_ "IMPORT _dual_can_nidec_2018.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 545 ECON_STATUS: 5 XXX
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 927 RADAR_HUD: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc b/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
new file mode 100644
index 000000000..2d0d7e2b5
--- /dev/null
+++ b/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
@@ -0,0 +1,76 @@
+CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-2985|2985] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 XXX
+ SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc
index 9084d65b4..6a54ce22e 100644
--- a/opendbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -197,7 +197,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/generator/toyota/lexus_is_2018_pt.dbc b/opendbc/generator/toyota/lexus_is_2018_pt.dbc
index aebf81a16..e1aff7c4f 100644
--- a/opendbc/generator/toyota/lexus_is_2018_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_2018_pt.dbc
@@ -30,6 +30,9 @@ BO_ 1009 PCM_CRUISE_ALT: 8 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";
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 8549f117e..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- (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
-
-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/honda_accord_lx15t_2018_can_generated.dbc b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
index 6159efb0e..3957c6124 100644
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :
 
 BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
 
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
 BO_ 228 STEERING_CONTROL: 5 EON
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
  SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_accord_lx15t_2018_can.dbc starts here"
diff --git a/opendbc/honda_accord_s2t_2018_can_generated.dbc b/opendbc/honda_accord_s2t_2018_can_generated.dbc
index 7b3e99bc8..7ce9a31ea 100644
--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :
 
 BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
 
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
 BO_ 228 STEERING_CONTROL: 5 EON
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
  SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_accord_s2t_2018_can.dbc starts here"
diff --git a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
index 55f74cf99..d36e45c36 100644
--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :
 
 BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
 
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
 BO_ 228 STEERING_CONTROL: 5 EON
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
  SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
diff --git a/opendbc/honda_civic_touring_2016_can_generated.dbc b/opendbc/honda_civic_touring_2016_can_generated.dbc
index a613aa067..22f4a0b9f 100644
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -123,7 +124,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -226,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -235,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/honda_crv_ex_2017_can_generated.dbc b/opendbc/honda_crv_ex_2017_can_generated.dbc
index 2a6449f52..f8d8438dc 100644
--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :
 
 BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
 
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
 BO_ 228 STEERING_CONTROL: 5 EON
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
  SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_crv_ex_2017_can.dbc starts here"
diff --git a/opendbc/honda_crv_hybrid_2019_can_generated.dbc b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
index 4fd8ae924..35036c6fe 100644
--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :
 
 BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
 
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
 BO_ 228 STEERING_CONTROL: 5 EON
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
  SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_crv_hybrid_2019_can.dbc starts here"
diff --git a/opendbc/honda_crv_touring_2016_can_generated.dbc b/opendbc/honda_crv_touring_2016_can_generated.dbc
index 94e20b137..9b5075ba6 100644
--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -123,7 +124,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -226,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -235,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/honda_fit_ex_2018_can_generated.dbc b/opendbc/honda_fit_ex_2018_can_generated.dbc
index 4103fa29c..de9aca953 100644
--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -123,7 +124,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -226,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -235,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/honda_fit_hybrid_2018_can_generated.dbc b/opendbc/honda_fit_hybrid_2018_can_generated.dbc
new file mode 100644
index 000000000..8d3db09ec
--- /dev/null
+++ b/opendbc/honda_fit_hybrid_2018_can_generated.dbc
@@ -0,0 +1,350 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _dual_can_nidec_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_fit_hybrid_2018_can.dbc starts here"
+
+
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 545 ECON_STATUS: 5 XXX
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 927 RADAR_HUD: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/honda_insight_ex_2019_can_generated.dbc b/opendbc/honda_insight_ex_2019_can_generated.dbc
index cbeff828b..3cc764698 100644
--- a/opendbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :
 
 BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
 
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
 BO_ 228 STEERING_CONTROL: 5 EON
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 
 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
  SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
  SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_insight_ex_2019_can.dbc starts here"
diff --git a/opendbc/honda_odyssey_exl_2018_generated.dbc b/opendbc/honda_odyssey_exl_2018_generated.dbc
index 1bc6e96c1..2899dba67 100644
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -123,7 +124,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -226,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -235,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
similarity index 84%
rename from opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
rename to opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
index 6bdcaab04..f8565c03b 100644
--- a/opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
+++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
@@ -1,48 +1,67 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_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_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON INTERCEPTOR
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
 
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
 
 BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- SG_ ZEROS : 23|16@0+ (1,0) [0|15000] "" EON
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
@@ -57,6 +76,16 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -79,38 +108,27 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
  SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
  SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
 
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
-
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -184,7 +202,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
  SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
  SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH2 : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -199,6 +217,35 @@ BO_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"
+
+
+
 BO_ 316 GAS_PEDAL: 8 PCM
  SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
 
@@ -229,15 +276,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -274,23 +312,7 @@ BO_ 1302 ODOMETER: 8 XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-
-
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
diff --git a/opendbc/honda_pilot_touring_2017_can_generated.dbc b/opendbc/honda_pilot_touring_2017_can_generated.dbc
index c19871b9e..223aa1b27 100644
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -123,7 +124,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -226,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -235,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
index 6d8186c19..8572b0b5e 100644
--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -123,7 +124,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -226,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -235,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
diff --git a/opendbc/hyundai_kia_generic.dbc b/opendbc/hyundai_kia_generic.dbc
index bb1c06e09..cb2e0b5d7 100644
--- a/opendbc/hyundai_kia_generic.dbc
+++ b/opendbc/hyundai_kia_generic.dbc
@@ -1421,3 +1421,26 @@ BO_ 512 EMS20: 6 EMS
  SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul"  CLU,CUBIS,FPCM,IBOX
  SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa"  FPCM,IBOX
  SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  FPCM
+
+BO_ 909 FCA11: 8 FCA
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] ""  ESC
+ SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] ""  ESC
+ SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
+ SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] ""  ESC
+ SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g"  ESC
+ SG_ FCA_Status : 18|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
+ SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] ""  ESC
+ SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] ""  CLU,ESC
+ SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] ""  CLU,ESC
+ SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] ""  ESC
+ SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] ""  ACU,CLU,ESC
+ SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] ""  ESC
+ SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] ""  ESC
+
+BO_ 905 SCC14: 8 SCC
+ SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
+ SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
+ SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
+ SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
+ SG_ SCCMode : 32|3@1+ (1,0) [0|7] ""  ESC
+
diff --git a/opendbc/lexus_ct200h_2018_pt_generated.dbc b/opendbc/lexus_ct200h_2018_pt_generated.dbc
index 6e41a0218..79706e0b1 100644
--- a/opendbc/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/lexus_gs300h_2017_pt_generated.dbc b/opendbc/lexus_gs300h_2017_pt_generated.dbc
index d6de09493..7dd2f7d5e 100644
--- a/opendbc/lexus_gs300h_2017_pt_generated.dbc
+++ b/opendbc/lexus_gs300h_2017_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/lexus_is_2018_pt_generated.dbc b/opendbc/lexus_is_2018_pt_generated.dbc
index 10a0096f0..e003881c1 100644
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -377,6 +377,9 @@ BO_ 1009 PCM_CRUISE_ALT: 8 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";
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 7477d231b..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- (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
-
-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_rx_350_2016_pt_generated.dbc b/opendbc/lexus_rx_350_2016_pt_generated.dbc
index b132c86dd..be989c1b2 100644
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
index e11ee65b6..62fd8f913 100644
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/mazda_cx5_gt_2017.dbc b/opendbc/mazda_cx5_gt_2017.dbc
index 3926e2dfb..971b13611 100644
--- a/opendbc/mazda_cx5_gt_2017.dbc
+++ b/opendbc/mazda_cx5_gt_2017.dbc
@@ -40,21 +40,21 @@ BO_ 117 STEER_RELATED: 8 XXX
  SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_2 : 49|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
  SG_ NEW_SIGNAL_5 : 50|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE : 19|12@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE_2 : 39|16@0+ (1,0) [0|131071] "" XXX
+ SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
+ SG_ STEER_ANGLE_2 : 39|16@0+ (0.1,-1800) [0|131071] "" XXX
+ SG_ STEER_TORQUE : 19|12@0+ (1,-2000) [0|255] "" XXX
 
 BO_ 118 RPM_RELATED: 8 XXX
  SG_ CTR : 7|8@0+ (1,0) [0|127] "" XXX
  SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX
 
 BO_ 514 ENGINE_DATA: 8 XXX
- SG_ RPM : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ CHKSUM : 56|8@1+ (1,0) [0|127] "" XXX
- SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "KPH" XXX
- SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (0.002778,0) [0|255] "%" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX
+ SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX
+ SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX
 
 BO_ 357 PEDALS: 8 XXX
  SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
@@ -71,28 +71,30 @@ BO_ 357 PEDALS: 8 XXX
  SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
 
 BO_ 533 WHEEL_SPEEDS: 8 XXX
- SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "" XXX
- SG_ RL : 39|16@0+ (0.01,-100) [0|15] "" XXX
- SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
- SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX
+ SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "kph" XXX
+ SG_ RL : 39|16@0+ (0.01,-100) [0|15] "kph" XXX
+ SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "kph" XXX
 
 BO_ 134 STEER2: 8 XXX
- SG_ NEW_SIGNAL_2 : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ CTR : 22|4@0+ (1,0) [0|7] "" XXX
  SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_7 : 24|3@1+ (1,0) [0|7] "" XXX
  SG_ CTR_2 : 28|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_ROUGH : 26|11@0+ (1,-1000) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
  SG_ STEER_ANGLE : 7|16@0+ (0.1,-1600) [-500|500] "deg" XXX
- SG_ STEER_ANGLE_ROUGH : 39|8@0- (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|7] "" XXX
 
 BO_ 576 STEER_TORQUE: 8 XXX
- SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_1 : 20|4@1+ (1,0) [0|255] "" XXX
- SG_ STEER_TORQUE_SENSOR : 7|16@0+ (0.5,-15000) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_MOTOR : 46|20@0- (0.01,0) [-3000|3000] "deg/s" XXX
+ SG_ SENSOR1 : 39|8@0+ (1,-128) [0|127] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 46|15@0- (0.1,0) [-3000|3000] "tbd" XXX
+ SG_ NEW_SIGNAL_2 : 62|4@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|127] "" XXX
+ SG_ STEER_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX
 
 BO_ 577 STEER_RATE: 8 XXX
  SG_ STEER_ANGLE_RATE : 23|16@0+ (0.25,-8192) [0|1] "deg/s" XXX
@@ -119,6 +121,7 @@ BO_ 605 CAM_PEDESTRIAN: 8 XXX
  SG_ PED_BRAKE : 3|3@0+ (1,0) [0|7] "" XXX
  SG_ RST_CTR : 23|6@0+ (1,0) [0|63] "" XXX
  SG_ S1 : 29|4@0+ (1,0) [0|31] "" XXX
+ SG_ BRAKE_WARNING : 25|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 578 CAM_LANETRACK: 8 XXX
  SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -132,14 +135,15 @@ BO_ 578 CAM_LANETRACK: 8 XXX
  SG_ LINE1 : 3|10@0+ (1,-686) [0|1] "" XXX
 
 BO_ 579 CAM_LKAS: 8 XXX
- SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
  SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
  SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
  SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
  SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
  SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
 
 BO_ 580 CAM_DISTANCE: 8 XXX
  SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
@@ -170,7 +174,17 @@ BO_ 863 CAM_STATUS: 8 XXX
  SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
  SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
 
-BO_ 1157 CAM_Empty2: 8 XXX
+BO_ 1157 CAM_SETTINGS: 8 XXX
+ SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
+ SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
+ SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_SENSETIVITY : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
+ SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 12|1@0+ (1,0) [0|7] "" XXX
+ SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1160 CAM_Empty3: 8 XXX
  SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
@@ -189,6 +203,8 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
  SG_ BIT1 : 6|1@0+ (1,0) [0|65535] "" XXX
  SG_ LINE_NOT_VISIBLE : 1|1@0+ (1,0) [0|1] "" XXX
  SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
+ SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1479 NEW_MSG_470: 8 XXX
 
@@ -199,7 +215,6 @@ BO_ 1446 NEW_MSG_a600: 8 XXX
 BO_ 1416 MSG_18: 8 XXX
 
 BO_ 1086 DOORS: 8 XXX
- SG_ DOOR_OPEN : 30|1@0+ (1,0) [0|255] "" XXX
  SG_ LEFTGATE : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_3 : 53|1@0+ (1,0) [0|255] "" XXX
  SG_ KEYFOB_HORN : 2|1@0+ (1,0) [0|1] "" XXX
@@ -211,6 +226,7 @@ BO_ 1086 DOORS: 8 XXX
  SG_ BL : 35|1@0+ (1,0) [0|1] "" XXX
  SG_ FR : 36|1@0+ (1,0) [0|1] "" XXX
  SG_ FL : 37|1@0+ (1,0) [0|255] "" XXX
+ SG_ DOORS_UNLOCKED : 30|1@0+ (1,0) [0|255] "" XXX
 
 BO_ 977 TWO_STATES: 8 XXX
  SG_ NEW_SIGNAL_1 : 50|1@1+ (1,0) [0|7] "" XXX
@@ -232,6 +248,7 @@ BO_ 1085 MSG_12: 8 XXX
 
 BO_ 159 MSG_11: 8 XXX
  SG_ NEW_SIGNAL_1 : 50|4@1+ (1,0) [0|15] "" XXX
+ SG_ INCREASEING : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 1278 NEW_MSG_3: 8 XXX
  SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
@@ -247,7 +264,7 @@ BO_ 1277 NEW_MSG_10: 8 XXX
  SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 1275 MSG_2017_5: 8 XXX
+BO_ 1275 2017_5: 8 XXX
  SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX
 
 BO_ 1274 NEW_MSG_12: 8 XXX
@@ -266,15 +283,18 @@ BO_ 1078 HVAC: 8 XXX
  SG_ NEW_SIGNAL_3 : 23|1@0+ (1,0) [0|65535] "" XXX
  SG_ NEW_SIGNAL_4 : 56|5@0+ (1,0) [0|255] "" XXX
 
-BO_ 1056 NEW_MSG_13: 8 XXX
- SG_ BIG_COUNTER_MAYBE : 55|16@0+ (1,0) [0|255] "" XXX
+BO_ 1056 CHECK_AND_TEMP: 8 XXX
  SG_ NEW_SIGNAL_1 : 29|6@0+ (1,0) [0|255] "" XXX
  SG_ counter_or_GEAR : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ INCREASING : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ CTR : 23|8@0+ (1,0) [0|255] "" XXX
  SG_ STANDSTILL : 32|1@0+ (1,0) [0|255] "" XXX
+ SG_ COOLANT_TEMP : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LOW_ENGINE_OIL_PRESSURE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECK_FUEL_CAP : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHARGING_SYSTEM_MALFUNCTION : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ OUTDOOR_TEMP : 63|8@0+ (0.25,-63) [0|255] "cel" XXX
 
-BO_ 1045 MOVING: 8 XXX
+BO_ 1045 TRACTION: 8 XXX
  SG_ NEW_SIGNAL_2 : 20|1@0+ (1,0) [0|3] "" XXX
  SG_ CTR2 : 19|4@0+ (1,0) [0|31] "" XXX
  SG_ CTR3 : 8|4@1+ (1,0) [0|15] "" XXX
@@ -282,6 +302,12 @@ BO_ 1045 MOVING: 8 XXX
  SG_ CTR1 : 53|6@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 54|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_WARNING : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ ABS_MALFUNCTION : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ DSC_OFF : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ TCS_DCS_MALFUNCTION : 6|2@0+ (1,0) [0|3] "" XXX
+ SG_ LOUD_BEEP : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ TPMS_WARNING_DOUBLE_BLINK : 31|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1034 MSG_07: 8 XXX
  SG_ NEW_SIGNAL_1 : 6|3@0+ (1,0) [0|3] "" XXX
@@ -315,17 +341,17 @@ BO_ 867 NEW_MSG_17: 8 XXX
 BO_ 130 STEER: 8 XXX
  SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR_2 : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 47|4@0+ (1,0) [0|255] "" XXX
  SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [500|-500] "deg" XXX
+ SG_ CHKSUM_MAYBE : 39|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 120 NEW_MSG_18: 8 XXX
+BO_ 120 BRAKE: 8 XXX
  SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
  SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSURE : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 304 GEAR_RELATED: 8 XXX
  SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
@@ -397,22 +423,24 @@ BO_ 154 BLINK_INFO: 8 XXX
  SG_ REAR_WIPER_ON : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ WIPER_LO : 33|1@1+ (1,0) [0|31] "" XXX
  SG_ WIPER_HI : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAMS : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAMS : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LBEAM1 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ LBEAM2 : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ LBEAM3 : 60|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 145 TURN_SWITCH: 8 XXX
- SG_ NEW_SIGNAL_1 : 37|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 36|1@0+ (1,0) [0|3] "" XXX
- SG_ TURN : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
- SG_ TURN_RIGHT_SWITCH : 12|1@1+ (1,0) [0|3] "" XXX
  SG_ HAZARD : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_RIGHT_SWITCH : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
  SG_ CTR : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX
 
 BO_ 80 MSG_04: 8 XXX
  SG_ NEW_SIGNAL_1 : 25|1@0+ (1,0) [0|1] "" XXX
  SG_ SIGNAL : 24|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 978 MSG_03: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
@@ -420,6 +448,7 @@ BO_ 978 MSG_03: 8 XXX
  SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 1|2@0+ (1,0) [0|255] "" XXX
 
 BO_ 607 NEW_MSG_25: 8 XXX
 
@@ -539,6 +568,8 @@ BO_ 540 CRZ_CTRL: 8 XXX
  SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
  SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
  SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
 
 BO_ 539 CRZ_INFO: 8 XXX
  SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
@@ -546,10 +577,10 @@ BO_ 539 CRZ_INFO: 8 XXX
  SG_ NEW_SIGNAL_5 : 34|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX
  SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 37|1@0+ (1,0) [0|255] "" XXX
  SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCEL_CMD : 31|10@0- (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 121 EPB: 8 XXX
  SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
@@ -565,30 +596,30 @@ BO_ 121 EPB: 8 XXX
  SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX
 
-BO_ 1070 MSG_2017_1: 8 XXX
+BO_ 1070 2017_1: 8 XXX
 
-BO_ 1183 MSG_2017_2: 8 XXX
+BO_ 1183 2017_2: 8 XXX
 
-BO_ 1243 MSG_2017_3: 8 XXX
+BO_ 1243 2017_3: 8 XXX
  SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
 
 BO_ 1269 MSG_2017_4: 8 XXX
  SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX
 
-BO_ 1178 MSG_2017_6: 8 XXX
+BO_ 1178 2017_6: 8 XXX
  SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
 
-BO_ 1179 MSG_2017_7: 8 XXX
+BO_ 1179 2017_7: 8 XXX
  SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
 
-BO_ 1435 MSG_2017_8: 8 XXX
+BO_ 1435 2017_8: 8 XXX
 
 BO_ 253 NEW_MSG_7: 8 XXX
  SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 61|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX
 
 BO_ 359 NEW_MSG_11: 8 XXX
  SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
@@ -614,8 +645,10 @@ BO_ 512 NEW_MSG_30: 8 XXX
  SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 515 MSG_01: 8 XXX
- SG_ CTR : 39|8@0+ (1,0) [0|65535] "" XXX
- SG_ CTR_2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 39|4@0+ (1,0) [0|65535] "" XXX
+ SG_ CHKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ START1 : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ START2 : 28|5@0+ (1,0) [0|255] "" XXX
 
 BO_ 529 NEW_MSG_36: 8 XXX
  SG_ NEW_SIGNAL_1 : 22|5@0+ (1,0) [0|65535] "" XXX
@@ -684,11 +717,44 @@ BO_ 1272 MSG_17: 8 XXX
 
 BO_ 1425 MSG_19: 8 XXX
 
+BO_ 70 MOB1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 1|3@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 14|6@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 30|6@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 38|6@0+ (1,0) [0|7] "" XXX
+
+BO_ 64 MOB2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 10|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_7 : 13|3@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_8 : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_9 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_10 : 31|6@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_11 : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1171 MOB3: 8 XXX
+
+BO_ 1248 MOB4: 8 XXX
+
 
 
 
 CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
+CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision";
+CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
+CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
+CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
+CM_ SG_ 1157 LKAS_SENSETIVITY "0 low, 1 high";
+CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on";
+CM_ SG_ 1157 WARNING "1 Rare, 0 often";
 CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
+CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
 CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled  TURN it OFF ";
 CM_ SG_ 552 GEAR "0 P/N, 12 R, 2 D M1, 4 M2, 14 Shift";
 CM_ SG_ 552 MORE_GEAR "";
+CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
diff --git a/opendbc/subaru_crosstrek_2018.dbc b/opendbc/subaru_crosstrek_2018.dbc
new file mode 100644
index 000000000..b766cdca8
--- /dev/null
+++ b/opendbc/subaru_crosstrek_2018.dbc
@@ -0,0 +1,369 @@
+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 X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
+
+BO_ 64 Throttle: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
+
+BO_ 65 NEW_MSG_1: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
+
+BO_ 72 NEW_MSG_2: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 316 NEW_MSG_3: 8 XXX
+
+BO_ 326 Cruise_Buttons: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
+ SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
+
+BO_ 315 G_Sensor: 8 XXX
+ SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
+
+BO_ 314 Wheel_Speeds: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
+
+BO_ 73 NEW_MSG_5: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
+
+BO_ 280 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
+
+BO_ 281 Steering_Torque: 8 XXX
+ SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
+ SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
+ SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
+
+BO_ 312 Brake_Pressure_L_R: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 313 Brake_Pedal: 8 XXX
+ SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
+
+BO_ 290 ES_LKAS: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
+ SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
+ SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 722 NEW_MSG_10: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 544 ES_Brake: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
+ SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
+
+BO_ 545 ES_Distance: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
+ SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
+ SG_ ACC_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_Set : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_Resume : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 59|5@1+ (1,0) [0|1] "" XXX
+
+BO_ 546 ES_Status: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 554 ES_Blank: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
+ SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 557 NEW_MSG_14: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 576 CruiseControl: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 577 NEW_MSG_16: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
+
+BO_ 552 NEW_MSG_17: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 912 Dashlights: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 940 BodyInfo: 8 XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
+ SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 801 ES_DashStatus: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_Hold : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 802 ES_LKAS_State: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
+ SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_In_Front_Has_Moved : 35|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 805 ES_NEW_MSG_22: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 808 NEW_MSG_23: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 837 NEW_MSG_24: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 838 NEW_MSG_25: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 842 NEW_MSG_26: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 915 NEW_MSG_27: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
+
+BO_ 1788 NEW_MSG_28: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 816 NEW_MSG_29: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 826 NEW_MSG_30: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 839 NEW_MSG_31: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 2015 NEW_MSG_32: 8 XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 2024 NEW_MSG_33: 8 XXX
+ SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1614 NEW_MSG_34: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1617 NEW_MSG_35: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1632 NEW_MSG_36: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1650 NEW_MSG_37: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1657 NEW_MSG_38: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1658 NEW_MSG_39: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 1677 Dash_State: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 1743 NEW_MSG_41: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1785 NEW_MSG_42: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 1759 NEW_MSG_43: 8 XXX
+ SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 1786 NEW_MSG_44: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 1787 NEW_MSG_45: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+
+
+
+
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 801 ACC_Hold "0 = No Hold, 3 = Hold";
+CM_ SG_ 802 Vehicle_In_Front_Has_Moved "Crosstrek 2018 = car in front has moved";
+CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
+CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
+CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
diff --git a/opendbc/subaru_global_2017.dbc b/opendbc/subaru_global_2017.dbc
index 0e2c87f81..39823f904 100644
--- a/opendbc/subaru_global_2017.dbc
+++ b/opendbc/subaru_global_2017.dbc
@@ -43,14 +43,16 @@ BO_ 2 Steering: 8 XXX
 
 BO_ 64 Throttle: 8 XXX
  SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
  SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
  SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
-
+ SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
 
 BO_ 65 NEW_MSG_1: 8 XXX
  SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
@@ -358,6 +360,7 @@ BO_ 1787 NEW_MSG_45: 8 XXX
 
 CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
 CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
 CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
 CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
diff --git a/opendbc/toyota_2017_ref_pt.dbc b/opendbc/toyota_2017_ref_pt.dbc
index 2622c9f42..0c23d05d0 100644
--- a/opendbc/toyota_2017_ref_pt.dbc
+++ b/opendbc/toyota_2017_ref_pt.dbc
@@ -384,11 +384,187 @@ BO_ 1043 AVN1S31: 8 CGW
  SG_ GMTDIF_M : 50|6@0+ (1,0) [0|0] "minute" Vector__XXX
  SG_ SUMMERTM : 60|1@0+ (1,0) [0|0] "" Vector__XXX
 
+BO_ 1075054137 BDB1F01_14: 8 CGW
+ SG_ BDBF01ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDBF01IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SALR : 23|6@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HDCY_BDB : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AARE_B : 31|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_SEN_B : 27|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ INTSET_B : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ INCSET_B : 25|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ISSD_BDB : 39|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SEID : 37|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WS_ID : 44|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WS_SWON : 41|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WS_DATA : 55|16@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1075185211 BDB1F03_16: 8 CGW
+ SG_ BDBF03ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
+ SG_ BDBF03IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ TRIP_CNT : 23|16@0+ (1,0) [0|0] "trip" AFS,BSR,CSR,DS1,FCM,MAV
+ SG_ TIME_CNT : 39|32@0+ (100,0) [0|0] "ms" AFS,BSR,CSR,DS1,FCM,MAV
+
+BO_ 1074791968 BDB1S01_10: 8 CGW
+ SG_ BDB01_ID : 7|8@0+ (1,0) [0|0] "" FCM,MAV
+ SG_ BDB01_IF : 15|8@0+ (1,0) [0|0] "" FCM
+ SG_ LX : 23|16@0+ (0.2,0) [0|0] "ms" FCM
+ SG_ ADIM : 39|2@0+ (1,0) [0|0] "" AFS,BSR,CSR
+ SG_ IG_BDB : 37|1@0+ (1,0) [0|0] "" AFS,MAV
+ SG_ ACC_BDB : 36|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SKSW : 46|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCTY : 45|1@0+ (1,0) [0|0] "" FCM,MAV,SCS
+ SG_ PCTY : 44|1@0+ (1,0) [0|0] "" MAV,SCS
+ SG_ RRCY : 43|1@0+ (1,0) [0|0] "" MAV,SCS
+ SG_ RLCY : 42|1@0+ (1,0) [0|0] "" MAV,SCS
+ SG_ BCTY : 41|1@0+ (1,0) [0|0] "" MAV,SCS
+ SG_ PSW : 51|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SRBZ : 49|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DBKL : 63|2@0+ (1,0) [0|0] "" FCM
+ SG_ PKB_BDB : 60|1@0+ (1,0) [0|0] "" CSR
+ SG_ SREXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SRPOS : 58|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1074857505 BDB1S02_11: 8 CGW
+ SG_ BDB02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LUD : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TRNKOPN : 45|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1074923042 BDB1S03_12: 8 CGW
+ SG_ BDB03_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ BDB03_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ LTS : 23|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PANL : 19|1@0+ (1,0) [0|0] "" BSR,CSR
+ SG_ UDRL : 31|1@0+ (1,0) [0|0] "" AFS
+ SG_ HEDH : 30|1@0+ (1,0) [0|0] "" AFS,DS1,FCM
+ SG_ HEDL : 29|1@0+ (1,0) [0|0] "" AFS,DS1
+ SG_ TAIL : 28|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1
+ SG_ FFOG : 27|1@0+ (1,0) [0|0] "" DS1
+ SG_ RFOG : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SB_IND : 39|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SB_OK : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RTRRQ : 35|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SRWARN : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PWWARN : 50|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WEL_REQ : 48|1@0+ (1,0) [0|0] "" AFS
+ SG_ DRPBZ_R : 62|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1075381795 BDB1S04_19: 8 CGW
+ SG_ BDB04_ID : 7|8@0+ (1,0) [0|0] "" MAV
+ SG_ BDB04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MRMV_R : 23|2@0+ (1,0) [0|0] "" MAV
+ SG_ RSEL : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LSEL : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MHR : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MHL : 18|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MVU : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MVD : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GHSW : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GCTY : 30|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GHOPN : 42|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ABIF : 55|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FLSHRQ : 63|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SB_ADV : 60|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1074988600 BDB1S05_13: 8 CGW
+ SG_ BDB05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PARK : 23|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSWB : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LSWD : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LSWP : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LSWR : 18|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LSWL : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LSWB : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRVKS_R : 31|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PWDRD : 39|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PWDRP : 37|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PWDRR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PWDRL : 33|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DKLS : 43|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BKLS : 54|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ KIDSCN_R : 51|7@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1075250736 BDB1S06_17: 8 CGW
+ SG_ BDB06_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB06_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TBSW : 25|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WBZF : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WVOL : 42|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1075316273 BDB1S07_18: 8 CGW
+ SG_ BDB07_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB07_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WCD : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ W1D : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ W2D : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ W3D : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB7SUM1 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB7SUM2 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1075447332 BDB1S08_1A: 8 CGW
+ SG_ BDB08_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
+ SG_ BDB08_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ DEST_BDB : 23|8@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV
+ SG_ DS_PACK1 : 31|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV
+ SG_ DS_PACK2 : 39|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV
+ SG_ STRG_WHL : 47|2@0+ (1,0) [0|0] "" AFS,CSR,DS1,FCM,MAV
+ SG_ DEICER : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ KEYPLATE : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DBLLCK : 62|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ U2OP_CST : 61|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ U2OP_DFT : 60|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1075643943 BDB1S11_1D: 8 CGW
+ SG_ BDB11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDBREQ11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDBREQ12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1083704892 BDB1S17_98: 8 CGW
+ SG_ BDB17_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB17_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CHABASE1 : 23|8@0+ (1,0) [0|0] "" AFS
+ SG_ CHABASE2 : 31|8@0+ (1,0) [0|0] "" AFS
+ SG_ CHABASE3 : 39|8@0+ (1,0) [0|0] "" AFS
+ SG_ CHA_NO1 : 47|4@0+ (1,0) [0|0] "" AFS
+ SG_ CHA_NO2 : 43|4@0+ (1,0) [0|0] "" AFS
+ SG_ CHA_NO3 : 55|4@0+ (1,0) [0|0] "" AFS
+ SG_ SP_BODY : 63|5@0+ (1,0) [0|0] "" AFS
+
+BO_ 1083770429 BDB1S18_99: 8 CGW
+ SG_ BDB18_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB18_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ POP_NAME : 23|8@0+ (1,0) [0|0] "" AFS
+ SG_ BODY : 31|8@0+ (1,0) [0|0] "" AFS
+ SG_ GEAR : 39|8@0+ (1,0) [0|0] "" AFS
+ SG_ GRADE : 47|8@0+ (1,0) [0|0] "" AFS
+ SG_ ENGINE : 55|8@0+ (1,0) [0|0] "" AFS
+
 BO_ 1020 BDB1S19: 8 CGW
  SG_ SOLAR_R : 23|9@0+ (100,0) [0|0] "" Vector__XXX
  SG_ SOLAR_L : 39|9@0+ (100,0) [0|0] "" Vector__XXX
  SG_ N_LX : 55|13@0+ (1,0) [0|0] "" Vector__XXX
 
+BO_ 1083835966 BDB1S20_9A: 8 CGW
+ SG_ BDB20_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB20_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RNBDYC : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RNBDYD : 39|32@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1083901503 BDB1S21_9B: 8 CGW
+ SG_ BDB21_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BDB21_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RFOG_SW : 22|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FFOG_SW : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HF_SW : 20|1@0+ (1,0) [0|0] "" AFS
+ SG_ HU_SW : 19|1@0+ (1,0) [0|0] "" AFS
+ SG_ AUTO_SW : 18|1@0+ (1,0) [0|0] "" AFS
+ SG_ HEAD_SW : 17|1@0+ (1,0) [0|0] "" AFS
+ SG_ TAIL_SW : 16|1@0+ (1,0) [0|0] "" AFS
+ SG_ DRL_OFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+
 BO_ 1005 BGM1S01: 2 CGW
  SG_ WCAA : 7|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ R_DISP : 1|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -438,6 +614,9 @@ BO_ 918 CSR1S01: 7 CSR
  SG_ MUTE : 49|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ BZ_OFF : 48|1@0+ (1,0) [0|0] "" Vector__XXX
 
+BO_ 1087768273 DMS1S02_D6: 8 CGW
+ SG_ SS_MODE : 25|2@0+ (1,0) [0|0] "" Vector__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
@@ -1066,6 +1245,102 @@ BO_ 1263 MAV1N01: 8 MAV
  SG_ MAVSNG : 15|1@0+ (1,0) [0|0] "" CGW
  SG_ MAVSPF : 23|16@0+ (1,0) [0|0] "" CGW
 
+BO_ 1075840528 MET1S01_20: 8 CGW
+ SG_ MET01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET_SPD : 23|8@0+ (1,0) [0|0] "km/h" CSR
+ SG_ RHEOSTAT : 30|7@0+ (1,0) [0|0] "%" Vector__XXX
+ SG_ TAIL_CN : 39|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ILL_OF : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ UNIT_TMP : 33|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IN_FC : 47|16@0+ (0.1,0) [0|0] "Note" Vector__XXX
+ SG_ UNIT_0 : 63|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SP_TL : 60|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET_TC : 56|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1075906065 MET1S02_21: 8 CGW
+ SG_ MET02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET_DEST : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ODO_UNIT : 29|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OMRS : 27|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ UNIT_CH : 26|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ODO : 39|32@0+ (1,0) [0|0] "km/mile" Vector__XXX
+
+BO_ 1076037145 MET1S04_23: 8 CGW
+ SG_ MET04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AF_FC : 23|16@0+ (0.1,0) [0|0] "Note" Vector__XXX
+ SG_ UNIT_3 : 39|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RANGE : 47|16@0+ (1,0) [0|0] "Note" Vector__XXX
+ SG_ UNIT_4 : 63|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1076102682 MET1S05_24: 8 CGW
+ SG_ MET05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TO_SP : 23|16@0+ (0.1,0) [0|0] "km/h,MPH" Vector__XXX
+ SG_ UNIT_5 : 39|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TO_FC : 47|16@0+ (0.1,0) [0|0] "MPGEkm/lEl/100kmEkm/gallon" Vector__XXX
+ SG_ UNIT_6 : 63|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1076299282 MET1S08_27: 8 CGW
+ SG_ MET08_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET08_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TO_DT : 23|16@0+ (1,0) [0|0] "km,mile" Vector__XXX
+ SG_ UNIT_10 : 39|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1076364819 MET1S09_28: 8 CGW
+ SG_ MET09_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET09_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WASH : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BLVW : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ C_CW : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ENGW : 29|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ABSW : 28|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VSCW : 27|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OPW : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OLW : 36|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LW : 35|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FSRS : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HALW : 46|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRW : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TIRW : 42|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FWW : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SUSW : 53|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKAW : 61|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET_PCSW : 59|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WTPW : 57|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1076430356 MET1S10_29: 8 CGW
+ SG_ MET10_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ MET10_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ OM_MLG : 23|7@0+ (100,0) [0|0] "miles" Vector__XXX
+ SG_ PR_OM_FL : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TNS : 29|2@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM
+ SG_ HZS : 27|1@0+ (1,0) [0|0] "" AFS,FCM
+
+BO_ 1076495893 MET1S11_2A: 8 CGW
+ SG_ MET11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ UNIT_CH2 : 23|2@0+ (1,0) [0|0] "" FCM
+ SG_ TOLER_A : 21|6@0+ (0.002,0.94) [0|0] "" FCM
+ SG_ CDISP_EX : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TOLER_B : 29|6@0- (0.2,0) [0|0] "km/h" FCM
+ SG_ TRIP_B : 39|32@0+ (0.1,0) [0|0] "km/MILE" Vector__XXX
+
+BO_ 1076561430 MET1S12_2B: 8 CGW
+ SG_ MET12_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MET12_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ESLW : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CSOW : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LHLW : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SMBW : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ KDSW : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OMRW : 46|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BSDW : 54|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MTSW : 48|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ATSW : 63|1@0+ (1,0) [0|0] "" Vector__XXX
+
 BO_ 992 MET1S18: 8 CGW
  SG_ M_LANG : 7|6@0+ (1,0) [0|0] "" Vector__XXX
  SG_ M_LNG_ST : 1|2@0+ (1,0) [0|0] "" Vector__XXX
@@ -1077,6 +1352,35 @@ BO_ 992 MET1S18: 8 CGW
  SG_ M_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
  SG_ M_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX
 
+BO_ 1075840755 MET1S22_20: 8 CGW
+ SG_ ID6F320 : 7|8@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ IF6F320 : 15|8@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ TSR_OSM : 22|2@0+ (1,0) [0|0] "" FCM
+ SG_ TSR_OSL : 20|2@0+ (1,0) [0|0] "" FCM
+ SG_ TSR_SNM : 18|2@0+ (1,0) [0|0] "" FCM
+ SG_ TSR_MAIN : 16|1@0+ (1,0) [0|0] "" FCM
+ SG_ LDAMCUS : 31|2@0+ (1,0) [0|0] "" FCM
+ SG_ LDAMSW : 29|2@0+ (1,0) [0|0] "" FCM
+ SG_ FCMUSER : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ FCMMCUS : 26|2@0+ (1,0) [0|0] "" FCM
+ SG_ FCMMSW : 24|1@0+ (1,0) [0|0] "" FCM
+ SG_ BSMMSW : 37|1@0+ (1,0) [0|0] "" BSR
+ SG_ CSRMSW : 34|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSMCUS : 41|1@0+ (1,0) [0|0] "" DS1
+ SG_ PCSMSW : 40|1@0+ (1,0) [0|0] "" DS1
+ SG_ LKACTCSW : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LDA_SFB : 50|3@0+ (1,0) [0|0] "" FCM
+
+BO_ 1088685760 PMN1F03_E4: 8 CGW
+ SG_ PMNF03ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PMNF03IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PSSW_PMN : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PSW_PMN : 31|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ KCC_PMN : 29|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PMOD_PMN : 27|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MOD_EIG : 39|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SWBZ_EIG : 36|1@0+ (1,0) [0|0] "" Vector__XXX
+
 BO_ 1193 SCS1D50: 8 SCS
  SG_ DRSCS01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
  SG_ DRSCS02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
@@ -1111,7 +1415,7 @@ BO_ 917 SCS1S90: 4 SCS
  SG_ LAR_HS : 18|2@0+ (1,0) [0|0] "" Vector__XXX
  SG_ AVSNI : 16|1@0+ (1,0) [0|0] "" Vector__XXX
 
-BO_ 37 Steering_Angle_sensor: 8 CGW
+BO_ 37 STR1S01: 8 CGW
  SG_ STS3 : 7|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV
  SG_ STS2 : 6|1@0+ (1,0) [0|0] "" AFS,DS1,FCM,KSS,MAV,SCS
  SG_ STS1 : 5|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,KSS,MAV,SCS
@@ -1129,7 +1433,7 @@ BO_ 1059 STR1S02: 1 CGW
  SG_ SFR : 5|1@0+ (1,0) [0|0] "" MAV
  SG_ STRWVG : 4|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM
 
-BO_ 170 Wheel_speeds: 8 CGW
+BO_ 170 VSC1F01: 8 CGW
  SG_ VXFREF : 7|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
  SG_ VXFR : 6|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
  SG_ VXFLEF : 23|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
@@ -1154,7 +1458,7 @@ BO_ 426 VSC1F02: 6 CGW
  SG_ VXRLHDS : 22|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
  SG_ VSCF02SM : 47|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV
 
-BO_ 550 Brake_module: 8 CGW
+BO_ 550 VSC1F06: 8 CGW
  SG_ VSCF01FG : 7|2@0+ (1,0) [0|0] "" Vector__XXX
  SG_ AHCURQ : 4|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ PMCF : 3|1@0+ (1,0) [0|0] "" DS1
@@ -1172,7 +1476,7 @@ BO_ 550 Brake_module: 8 CGW
  SG_ FSTP : 60|1@0+ (1,0) [0|0] "" DS1
  SG_ ABSACT : 59|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
 
-BO_ 180 Speed : 8 CGW
+BO_ 180 VSC1S03: 8 CGW
  SG_ SP1P : 39|6@0+ (1,0) [0|0] "" DS1,FCM
  SG_ SP1S : 33|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
  SG_ SP1 : 47|16@0- (0.01,0) [0|0] "km/h" BSR,DS1,FCM,MAV
@@ -1292,7 +1596,7 @@ BO_ 544 VSC2F07: 4 CGW
  SG_ DAC_CND : 9|2@0+ (1,0) [0|0] "" Vector__XXX
  SG_ VSC2F07S : 31|8@0+ (1,0) [0|0] "" DS1,FCM
 
-BO_ 36 Kinematics: 8 CGW
+BO_ 36 YGS1S03: 8 CGW
  SG_ YRS11S : 7|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
  SG_ YRS14S : 6|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
  SG_ YRS21S : 5|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
@@ -1311,3 +1615,24 @@ BO_ 36 Kinematics: 8 CGW
  SG_ YR_DIF : 55|8@0+ (0.244,-31) [0|0] "deg/sec" DS1,FCM,MAV
  SG_ YGS03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
 
+BO_ 1073743490 YGW1S01_0: 8 CGW
+ SG_ YGW01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YGW01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YR_STSW : 22|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YR_EGST : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YR_DRLK : 18|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YR_KLEG : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YR_HZRD : 26|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1073743491 YGW1S02_0: 8 CGW
+ SG_ YGW02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YGW02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YR_DEFOG : 19|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YR_ARCON : 17|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1073743494 YGW1S05_0: 8 CGW
+ SG_ YGW05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YGW05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YI_IMO_E : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YI_UREQ : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX
\ No newline at end of file
diff --git a/opendbc/toyota_avalon_2017_pt_generated.dbc b/opendbc/toyota_avalon_2017_pt_generated.dbc
index 7749d9610..8111fbaa4 100644
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
index e2561f18c..ecc6b774f 100644
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_corolla_2017_pt_generated.dbc b/opendbc/toyota_corolla_2017_pt_generated.dbc
index e0a405dea..19e6e5ea3 100644
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_highlander_2017_pt_generated.dbc b/opendbc/toyota_highlander_2017_pt_generated.dbc
index f5063df3f..c22a331a6 100644
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
index 193735a0f..31b534002 100644
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
index 14193330a..abd3af8db 100644
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc
index 8d304954b..6e14a2c51 100644
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_prius_2017_pt_generated.dbc b/opendbc/toyota_prius_2017_pt_generated.dbc
index 9b02b364e..f29b7c078 100644
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_rav4_2017_pt_generated.dbc b/opendbc/toyota_rav4_2017_pt_generated.dbc
index 5825028db..de8e55b73 100644
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
index 6004bfd94..a78e78c7f 100644
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
index 3bff57f44..d427b1bef 100644
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -231,7 +231,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
diff --git a/panda/.gitignore b/panda/.gitignore
index 70d010fab..397996a0b 100644
--- a/panda/.gitignore
+++ b/panda/.gitignore
@@ -4,6 +4,7 @@
 *.o
 *.so
 *.d
+*.dump
 a.out
 *~
 .#*
@@ -12,4 +13,5 @@ pandacan.egg-info/
 board/obj/
 examples/output.csv
 .DS_Store
+.vscode
 nosetests.xml
diff --git a/panda/VERSION b/panda/VERSION
index 5beebea89..880b85159 100644
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.4.3
\ No newline at end of file
+v1.4.7
\ No newline at end of file
diff --git a/panda/board/board.h b/panda/board/board.h
index 5379f9464..154f32132 100644
--- a/panda/board/board.h
+++ b/panda/board/board.h
@@ -48,8 +48,12 @@ void detect_configuration(void) {
   has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
 
   #ifdef PANDA
-    // check if the ESP is trying to put me in boot mode
-    is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
+    if(hw_type == HW_TYPE_WHITE_PANDA) {
+      // check if the ESP is trying to put me in boot mode
+      is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
+    } else {
+      is_entering_bootmode = 0;
+    }
   #else
     is_entering_bootmode = 0;
   #endif
@@ -58,4 +62,4 @@ void detect_configuration(void) {
 // ///// Board functions ///// //
 bool board_has_gps(void) {
   return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA));
-}
+}
\ No newline at end of file
diff --git a/panda/board/board_declarations.h b/panda/board/board_declarations.h
index 7a44113f6..cc93ec7c9 100644
--- a/panda/board/board_declarations.h
+++ b/panda/board/board_declarations.h
@@ -24,7 +24,7 @@ struct board {
 };
 
 // ******************* Definitions ********************
-// These should match the enum in cereal/log.capnp
+// These should match the enums in cereal/log.capnp and __init__.py
 #define HW_TYPE_UNKNOWN 0U
 #define HW_TYPE_WHITE_PANDA 1U
 #define HW_TYPE_GREY_PANDA 2U
@@ -54,4 +54,4 @@ struct board {
 #define CAN_MODE_OBD_CAN2 3U
 
 // ********************* Globals **********************
-uint8_t usb_power_mode = USB_POWER_NONE;
\ No newline at end of file
+uint8_t usb_power_mode = USB_POWER_NONE;
diff --git a/panda/board/boards/black.h b/panda/board/boards/black.h
index 0372aa3d0..62b3b6740 100644
--- a/panda/board/boards/black.h
+++ b/panda/board/boards/black.h
@@ -23,8 +23,9 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
 }
 
 void black_enable_can_transcievers(bool enabled) {
-  for(uint8_t i=1; i<=4U; i++)
+  for(uint8_t i=1U; i<=4U; i++){
     black_enable_can_transciever(i, enabled);
+  }
 }
 
 void black_set_led(uint8_t color, bool enabled) {
@@ -43,26 +44,41 @@ void black_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void black_set_usb_power_mode(uint8_t mode){
+void black_set_gps_load_switch(bool enabled) {
+  set_gpio_output(GPIOC, 12, enabled);
+}
+
+void black_set_usb_load_switch(bool enabled) {
+  set_gpio_output(GPIOB, 1, !enabled);
+}
+
+void black_set_usb_power_mode(uint8_t mode) {
   usb_power_mode = mode;
-  puts("Trying to set USB power mode on black panda. This is not supported.\n");
+  if (mode == USB_POWER_NONE) {
+    black_set_usb_load_switch(false);
+  } else {
+    black_set_usb_load_switch(true);
+  }
 }
 
 void black_set_esp_gps_mode(uint8_t mode) {
   switch (mode) {
     case ESP_GPS_DISABLED:
-      // ESP OFF
+      // GPS OFF
       set_gpio_output(GPIOC, 14, 0);
       set_gpio_output(GPIOC, 5, 0);
+      black_set_gps_load_switch(false);
       break;
     case ESP_GPS_ENABLED:
-      // ESP ON
+      // GPS ON
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 1);
+      black_set_gps_load_switch(true);
       break;
     case ESP_GPS_BOOTMODE:
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 0);
+      black_set_gps_load_switch(true);
       break;
     default:
       puts("Invalid ESP/GPS mode\n");
@@ -132,9 +148,11 @@ void black_init(void) {
   // C8: FAN aka TIM3_CH3
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
 
-  // C12: GPS load switch. Turn on permanently for now
-  set_gpio_output(GPIOC, 12, true);
-  //set_gpio_output(GPIOC, 12, false); //TODO: stupid inverted switch on prototype
+  // Turn on GPS load switch.
+  black_set_gps_load_switch(true);
+
+  // Turn on USB load switch.
+  black_set_usb_load_switch(true);
 
   // Initialize harness
   harness_init();
diff --git a/panda/board/boards/white.h b/panda/board/boards/white.h
index a4e65d67b..46668c3a8 100644
--- a/panda/board/boards/white.h
+++ b/panda/board/boards/white.h
@@ -285,6 +285,13 @@ void white_init(void) {
 
   // Set normal CAN mode
   white_set_can_mode(CAN_MODE_NORMAL);
+
+  // Setup ignition interrupts
+  SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
+  EXTI->IMR |= (1U << 1);
+  EXTI->RTSR |= (1U << 1);
+  EXTI->FTSR |= (1U << 1);
+  NVIC_EnableIRQ(EXTI1_IRQn);
 }
 
 const harness_configuration white_harness_config = {
diff --git a/panda/board/bootstub.c b/panda/board/bootstub.c
index 9644326d4..3b6b1e875 100644
--- a/panda/board/bootstub.c
+++ b/panda/board/bootstub.c
@@ -63,7 +63,7 @@ extern void *_app_start[];
 // BOUNTY: $200 coupon on shop.comma.ai or $100 check.
 
 int main(void) {
-  __disable_irq();
+  disable_interrupts();
   clock_init();
   detect_configuration();
   detect_board_type();
diff --git a/panda/board/drivers/can.h b/panda/board/drivers/can.h
index 2d7728134..d0d706497 100644
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -62,7 +62,7 @@ int can_overflow_cnt = 0;
 bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
   bool ret = 0;
 
-  enter_critical_section();
+  ENTER_CRITICAL();
   if (q->w_ptr != q->r_ptr) {
     *elem = q->elems[q->r_ptr];
     if ((q->r_ptr + 1U) == q->fifo_size) {
@@ -72,7 +72,7 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
     }
     ret = 1;
   }
-  exit_critical_section();
+  EXIT_CRITICAL();
 
   return ret;
 }
@@ -81,7 +81,7 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
   bool ret = false;
   uint32_t next_w_ptr;
 
-  enter_critical_section();
+  ENTER_CRITICAL();
   if ((q->w_ptr + 1U) == q->fifo_size) {
     next_w_ptr = 0;
   } else {
@@ -92,7 +92,7 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
     q->w_ptr = next_w_ptr;
     ret = true;
   }
-  exit_critical_section();
+  EXIT_CRITICAL();
   if (!ret) {
     can_overflow_cnt++;
     #ifdef DEBUG
@@ -103,10 +103,10 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
 }
 
 void can_clear(can_ring *q) {
-  enter_critical_section();
+  ENTER_CRITICAL();
   q->w_ptr = 0;
   q->r_ptr = 0;
-  exit_critical_section();
+  EXIT_CRITICAL();
 }
 
 // assign CAN numbering
@@ -124,7 +124,7 @@ uint8_t bus_lookup[] = {0,1,2};
 uint8_t can_num_lookup[] = {0,1,2,-1};
 int8_t can_forwarding[] = {-1,-1,-1,-1};
 uint32_t can_speed[] = {5000, 5000, 5000, 333};
-#define CAN_MAX 3
+#define CAN_MAX 3U
 
 #define CANIF_FROM_CAN_NUM(num) (cans[num])
 #define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
@@ -158,9 +158,10 @@ void can_init(uint8_t can_number) {
 }
 
 void can_init_all(void) {
-  for (int i=0; i < CAN_MAX; i++) {
+  for (uint8_t i=0U; i < CAN_MAX; i++) {
     can_init(i);
   }
+  current_board->enable_can_transcievers(true);
 }
 
 void can_flip_buses(uint8_t bus1, uint8_t bus2){
@@ -248,7 +249,7 @@ void can_set_obd(uint8_t harness_orientation, bool obd){
 
 // CAN error
 void can_sce(CAN_TypeDef *CAN) {
-  enter_critical_section();
+  ENTER_CRITICAL();
 
   #ifdef DEBUG
     if (CAN==CAN1) puts("CAN1:  ");
@@ -271,7 +272,7 @@ void can_sce(CAN_TypeDef *CAN) {
 
   can_err_cnt += 1;
   llcan_clear_send(CAN);
-  exit_critical_section();
+  EXIT_CRITICAL();
 }
 
 // ***************************** CAN *****************************
@@ -279,7 +280,7 @@ void can_sce(CAN_TypeDef *CAN) {
 void process_can(uint8_t can_number) {
   if (can_number != 0xffU) {
 
-    enter_critical_section();
+    ENTER_CRITICAL();
 
     CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
     uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
@@ -327,7 +328,7 @@ void process_can(uint8_t can_number) {
       }
     }
 
-    exit_critical_section();
+    EXIT_CRITICAL();
   }
 }
 
diff --git a/panda/board/drivers/llgpio.h b/panda/board/drivers/llgpio.h
index a89c8a8e2..9304cbe01 100644
--- a/panda/board/drivers/llgpio.h
+++ b/panda/board/drivers/llgpio.h
@@ -11,42 +11,52 @@
 #define OUTPUT_TYPE_OPEN_DRAIN 1U
 
 void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  ENTER_CRITICAL();
   uint32_t tmp = GPIO->MODER;
   tmp &= ~(3U << (pin * 2U));
   tmp |= (mode << (pin * 2U));
   GPIO->MODER = tmp;
+  EXIT_CRITICAL();
 }
 
 void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
+  ENTER_CRITICAL();
   if (enabled) {
     GPIO->ODR |= (1U << pin);
   } else {
     GPIO->ODR &= ~(1U << pin);
   }
   set_gpio_mode(GPIO, pin, MODE_OUTPUT);
+  EXIT_CRITICAL();
 }
 
 void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
+  ENTER_CRITICAL();
   if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
     GPIO->OTYPER |= (1U << pin);
   } else {
     GPIO->OTYPER &= ~(1U << pin);
   }
+  EXIT_CRITICAL();
 }
 
 void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  ENTER_CRITICAL();
   uint32_t tmp = GPIO->AFR[pin >> 3U];
   tmp &= ~(0xFU << ((pin & 7U) * 4U));
   tmp |= mode << ((pin & 7U) * 4U);
   GPIO->AFR[pin >> 3] = tmp;
   set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
+  EXIT_CRITICAL();
 }
 
 void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  ENTER_CRITICAL();
   uint32_t tmp = GPIO->PUPDR;
   tmp &= ~(3U << (pin * 2U));
   tmp |= (mode << (pin * 2U));
   GPIO->PUPDR = tmp;
+  EXIT_CRITICAL();
 }
 
 int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
diff --git a/panda/board/drivers/uart.h b/panda/board/drivers/uart.h
index 5c5452483..451150d1a 100644
--- a/panda/board/drivers/uart.h
+++ b/panda/board/drivers/uart.h
@@ -74,7 +74,7 @@ uart_ring *get_ring_by_number(int a) {
 // ***************************** serial port *****************************
 
 void uart_ring_process(uart_ring *q) {
-  enter_critical_section();
+  ENTER_CRITICAL();
   // TODO: check if external serial is connected
   int sr = q->uart->SR;
 
@@ -108,7 +108,7 @@ void uart_ring_process(uart_ring *q) {
     // set dropped packet flag?
   }
 
-  exit_critical_section();
+  EXIT_CRITICAL();
 }
 
 // interrupt boilerplate
@@ -121,13 +121,13 @@ void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }
 bool getc(uart_ring *q, char *elem) {
   bool ret = false;
 
-  enter_critical_section();
+  ENTER_CRITICAL();
   if (q->w_ptr_rx != q->r_ptr_rx) {
     if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
     q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
     ret = true;
   }
-  exit_critical_section();
+  EXIT_CRITICAL();
 
   return ret;
 }
@@ -136,14 +136,14 @@ bool injectc(uart_ring *q, char elem) {
   int ret = false;
   uint16_t next_w_ptr;
 
-  enter_critical_section();
+  ENTER_CRITICAL();
   next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
   if (next_w_ptr != q->r_ptr_rx) {
     q->elems_rx[q->w_ptr_rx] = elem;
     q->w_ptr_rx = next_w_ptr;
     ret = true;
   }
-  exit_critical_section();
+  EXIT_CRITICAL();
 
   return ret;
 }
@@ -152,14 +152,14 @@ bool putc(uart_ring *q, char elem) {
   bool ret = false;
   uint16_t next_w_ptr;
 
-  enter_critical_section();
+  ENTER_CRITICAL();
   next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
   if (next_w_ptr != q->r_ptr_tx) {
     q->elems_tx[q->w_ptr_tx] = elem;
     q->w_ptr_tx = next_w_ptr;
     ret = true;
   }
-  exit_critical_section();
+  EXIT_CRITICAL();
 
   uart_ring_process(q);
 
@@ -185,12 +185,12 @@ void uart_send_break(uart_ring *u) {
 }
 
 void clear_uart_buff(uart_ring *q) {
-  enter_critical_section();
+  ENTER_CRITICAL();
   q->w_ptr_tx = 0;
   q->r_ptr_tx = 0;
   q->w_ptr_rx = 0;
   q->r_ptr_rx = 0;
-  exit_critical_section();
+  EXIT_CRITICAL();
 }
 
 // ***************************** start UART code *****************************
@@ -215,7 +215,7 @@ char usart1_dma[USART1_DMA_LEN];
 void uart_dma_drain(void) {
   uart_ring *q = &esp_ring;
 
-  enter_critical_section();
+  ENTER_CRITICAL();
 
   if ((DMA2->HISR & DMA_HISR_TCIF5) || (DMA2->HISR & DMA_HISR_HTIF5) || (DMA2_Stream5->NDTR != USART1_DMA_LEN)) {
     // disable DMA
@@ -245,7 +245,7 @@ void uart_dma_drain(void) {
     q->uart->CR3 |= USART_CR3_DMAR;
   }
 
-  exit_critical_section();
+  EXIT_CRITICAL();
 }
 
 void DMA2_Stream5_IRQHandler(void) {
diff --git a/panda/board/gpio.h b/panda/board/gpio.h
index 1acf0288a..f33196e8f 100644
--- a/panda/board/gpio.h
+++ b/panda/board/gpio.h
@@ -20,6 +20,12 @@ void jump_to_bootloader(void) {
 }
 
 void early(void) {
+  // Reset global critical depth
+  global_critical_depth = 0;
+
+  // neccesary for DFU flashing on a non-power cycled white panda
+  enable_interrupts();
+
   // after it's been in the bootloader, things are initted differently, so we reset
   if ((enter_bootloader_mode != BOOT_NORMAL) &&
       (enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
diff --git a/panda/board/libc.h b/panda/board/libc.h
index 83adb9c09..f8d9dbce2 100644
--- a/panda/board/libc.h
+++ b/panda/board/libc.h
@@ -42,24 +42,26 @@ int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
 
 // ********************* IRQ helpers *********************
 
-int interrupts_enabled = 0;
+volatile bool interrupts_enabled = false;
+
 void enable_interrupts(void) {
-  interrupts_enabled = 1;
+  interrupts_enabled = true;
   __enable_irq();
 }
 
-int critical_depth = 0;
-void enter_critical_section(void) {
+void disable_interrupts(void) {
+  interrupts_enabled = false;
   __disable_irq();
-  // this is safe because interrupts are disabled
-  critical_depth += 1;
 }
 
-void exit_critical_section(void) {
-  // this is safe because interrupts are disabled
-  critical_depth -= 1;
-  if ((critical_depth == 0) && interrupts_enabled) {
-    __enable_irq();
+uint8_t global_critical_depth = 0U;
+#define ENTER_CRITICAL()                                      \
+  __disable_irq();                                            \
+  global_critical_depth += 1U;
+
+#define EXIT_CRITICAL()                                       \
+  global_critical_depth -= 1U;                                \
+  if ((global_critical_depth == 0U) && interrupts_enabled) {  \
+    __enable_irq();                                           \
   }
-}
 
diff --git a/panda/board/main.c b/panda/board/main.c
index 7473b0775..dcf6e668b 100644
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -78,9 +78,11 @@ void started_interrupt_handler(uint8_t interrupt_line) {
     // jenky debounce
     delay(100000);
 
-    // set power savings mode here
-    int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
-    set_power_save_state(power_save_state);
+    // set power savings mode here if on EON build
+    #ifdef EON
+      int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
+      set_power_save_state(power_save_state);
+    #endif
   }
   EXTI->PR = (1U << interrupt_line);
 }
@@ -100,14 +102,6 @@ void EXTI3_IRQHandler(void) {
   started_interrupt_handler(3);
 }
 
-void started_interrupt_init(void) {
-  SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
-  EXTI->IMR |= (1U << 1);
-  EXTI->RTSR |= (1U << 1);
-  EXTI->FTSR |= (1U << 1);
-  NVIC_EnableIRQ(EXTI1_IRQn);
-}
-
 // ****************************** safety mode ******************************
 
 // this is the only way to leave silent mode
@@ -116,30 +110,29 @@ void set_safety_mode(uint16_t mode, int16_t param) {
   if (err == -1) {
     puts("Error: safety set mode failed\n");
   } else {
-    if (mode == SAFETY_NOOUTPUT) {
-      can_silent = ALL_CAN_SILENT;
-    } else {
-      can_silent = ALL_CAN_LIVE;
-    }
-
     switch (mode) {
         case SAFETY_NOOUTPUT:
           set_intercept_relay(false);
           if(hw_type == HW_TYPE_BLACK_PANDA){
             current_board->set_can_mode(CAN_MODE_NORMAL);
           }
+          can_silent = ALL_CAN_SILENT;
           break;
         case SAFETY_ELM327:
           set_intercept_relay(false);
+          heartbeat_counter = 0U;
           if(hw_type == HW_TYPE_BLACK_PANDA){
             current_board->set_can_mode(CAN_MODE_OBD_CAN2);
           }
+          can_silent = ALL_CAN_LIVE;
           break;
         default:
           set_intercept_relay(true);
+          heartbeat_counter = 0U;
           if(hw_type == HW_TYPE_BLACK_PANDA){
             current_board->set_can_mode(CAN_MODE_NORMAL);
           }
+          can_silent = ALL_CAN_LIVE;
           break;
       }          
     if (safety_ignition_hook() != -1) {
@@ -289,11 +282,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       // so it's blocked over wifi
       switch (setup->b.wValue.w) {
         case 0:
-          if (hardwired) {
-            puts("-> entering bootloader\n");
-            enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-            NVIC_SystemReset();
-          }
+          // only allow bootloader entry on debug builds
+          #ifdef ALLOW_DEBUG
+            if (hardwired) {
+              puts("-> entering bootloader\n");
+              enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+              NVIC_SystemReset();
+            }
+          #endif
           break;
         case 1:
           puts("-> entering softloader\n");
@@ -464,7 +460,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xe6: set USB power
     case 0xe6:
-      if (setup->b.wValue.w == 1U) {
+      if (setup->b.wValue.w == 0U) {
+        puts("user setting NONE mode\n");
+        current_board->set_usb_power_mode(USB_POWER_NONE);
+      } else if (setup->b.wValue.w == 1U) {
         puts("user setting CDP mode\n");
         current_board->set_usb_power_mode(USB_POWER_CDP);
       } else if (setup->b.wValue.w == 2U) {
@@ -610,11 +609,10 @@ void TIM3_IRQHandler(void) {
       pending_can_live = 0;
     }
     #ifdef DEBUG
-      //TODO: re-enable
-      //puts("** blink ");
-      //puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
-      //puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
-      //puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
+      puts("** blink ");
+      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
+      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
+      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
     #endif
 
     // set green LED to be controls allowed
@@ -645,7 +643,7 @@ void TIM3_IRQHandler(void) {
 
 int main(void) {
   // shouldn't have interrupts here, but just in case
-  __disable_irq();
+  disable_interrupts();
 
   // init early devices
   clock_init();
@@ -730,11 +728,6 @@ int main(void) {
   /*if (current_board->check_ignition()) {
     set_power_save_state(POWER_SAVE_STATUS_ENABLED);
   }*/
-
-  if (hw_type != HW_TYPE_BLACK_PANDA) {
-    // interrupt on started line
-    started_interrupt_init();
-  }
 #endif
 
   // 48mhz / 65536 ~= 732 / 732 = 1
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
new file mode 100644
index 000000000..a1e01931c
Binary files /dev/null and b/panda/board/obj/panda.bin.signed differ
diff --git a/panda/board/pedal/main.c b/panda/board/pedal/main.c
index 194370fa3..b6cfa5164 100644
--- a/panda/board/pedal/main.c
+++ b/panda/board/pedal/main.c
@@ -55,18 +55,18 @@ void debug_ring_callback(uart_ring *ring) {
   }
 }
 
-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
   UNUSED(usbdata);
   UNUSED(len);
   UNUSED(hardwired);
   return 0;
 }
-void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
   UNUSED(usbdata);
   UNUSED(len);
   UNUSED(hardwired);
 }
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   UNUSED(usbdata);
   UNUSED(len);
   UNUSED(hardwired);
@@ -299,7 +299,7 @@ void pedal(void) {
 }
 
 int main(void) {
-  __disable_irq();
+  disable_interrupts();
 
   // init devices
   clock_init();
@@ -307,6 +307,9 @@ int main(void) {
   detect_configuration();
   detect_board_type();
 
+  // init board
+  current_board->init();
+
 #ifdef PEDAL_USB
   // enable USB
   usb_init();
@@ -331,7 +334,7 @@ int main(void) {
   watchdog_init();
 
   puts("**** INTERRUPTS ON ****\n");
-  __enable_irq();
+  enable_interrupts();
 
   // main pedal loop
   while (1) {
diff --git a/panda/board/power_saving.h b/panda/board/power_saving.h
index 94ebbb53c..0a926c119 100644
--- a/panda/board/power_saving.h
+++ b/panda/board/power_saving.h
@@ -28,6 +28,13 @@ void set_power_save_state(int state) {
     // Switch CAN transcievers
     current_board->enable_can_transcievers(enable);
 
+    // Switch EPS/GPS
+    if (enable) {
+      current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+    } else {
+      current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
+    }
+    
     if(hw_type != HW_TYPE_BLACK_PANDA){
       // turn on GMLAN
       set_gpio_output(GPIOB, 14, enable);
diff --git a/panda/board/safety.h b/panda/board/safety.h
index 6b2b5a045..e542dde8e 100644
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -13,6 +13,7 @@
 #include "safety/safety_hyundai.h"
 #include "safety/safety_chrysler.h"
 #include "safety/safety_subaru.h"
+#include "safety/safety_mazda.h"
 #include "safety/safety_elm327.h"
 
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -55,6 +56,8 @@ typedef struct {
 #define SAFETY_TESLA 8U
 #define SAFETY_CHRYSLER 9U
 #define SAFETY_SUBARU 10U
+#define SAFETY_GM_PASSIVE 11U
+#define SAFETY_MAZDA 12U
 #define SAFETY_GM_ASCM 0x1334U
 #define SAFETY_TOYOTA_IPAS 0x1335U
 #define SAFETY_ALLOUTPUT 0x1337U
@@ -71,7 +74,9 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
+  {SAFETY_MAZDA, &mazda_hooks},
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
+  {SAFETY_GM_PASSIVE, &gm_passive_hooks},
   {SAFETY_GM_ASCM, &gm_ascm_hooks},
   {SAFETY_TESLA, &tesla_hooks},
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index 9ca5ca323..3cef57924 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -231,6 +231,20 @@ static int gm_ign_hook(void) {
   return gm_ignition_started;
 }
 
+// All sending is disallowed.
+// The only difference from "no output" model
+// is using GM ignition hook.
+
+static void gm_passive_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  int bus_number = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
+
+  if ((addr == 0x1F1) && (bus_number == 0)) {
+    bool ign = (GET_BYTE(to_push, 0) & 0x20) != 0;
+    gm_ignition_started = ign;
+  }
+}
+
 const safety_hooks gm_hooks = {
   .init = gm_init,
   .rx = gm_rx_hook,
@@ -239,3 +253,12 @@ const safety_hooks gm_hooks = {
   .ignition = gm_ign_hook,
   .fwd = default_fwd_hook,
 };
+
+const safety_hooks gm_passive_hooks = {
+  .init = gm_init,
+  .rx = gm_passive_rx_hook,
+  .tx = nooutput_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = gm_ign_hook,
+  .fwd = default_fwd_hook,
+};
diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
index 80237dccb..ebaa15642 100644
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -8,16 +8,19 @@
 //      brake > 0mph
 
 const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;  // ratio between offset and gain from dbc file
-int honda_brake_prev = 0;
+int honda_brake = 0;
 int honda_gas_prev = 0;
+bool honda_brake_pressed_prev = false;
 bool honda_moving = false;
 bool honda_bosch_hardware = false;
 bool honda_alt_brake_msg = false;
+bool honda_fwd_brake = false;
 
 static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   int addr = GET_ADDR(to_push);
   int len = GET_LEN(to_push);
+  int bus = GET_BUS(to_push);
 
   // sample speed
   if (addr == 0x158) {
@@ -51,11 +54,11 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of brake press or on brake press when speed > 0
   bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
   if (is_user_brake_msg) {
-    int brake = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
-    if (brake && (!(honda_brake_prev) || honda_moving)) {
+    bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
+    if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
       controls_allowed = 0;
     }
-    honda_brake_prev = brake;
+    honda_brake_pressed_prev = brake_pressed;
   }
 
   // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
@@ -81,6 +84,20 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       honda_gas_prev = gas;
     }
   }
+  if ((bus == 2) && (addr == 0x1FA)) {
+    bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
+    int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
+
+    // Forward AEB when stock braking is higher than openpilot braking
+    // only stop forwarding when AEB event is over
+    if (!honda_stock_aeb) {
+      honda_fwd_brake = false;
+    } else if (honda_stock_brake >= honda_brake) {
+      honda_fwd_brake = true;
+    } else {
+      // Leave honda forward brake as is
+    }
+  }
 }
 
 // all commands: gas, brake and steering
@@ -98,18 +115,21 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
   int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-                      (honda_brake_prev && honda_moving);
+                      (honda_brake_pressed_prev && honda_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check
-  if (addr == 0x1FA) {
-    int brake = (GET_BYTE(to_send, 0) << 2) + (GET_BYTE(to_send, 1) & 0x3);
+  if ((addr == 0x1FA) && (bus == 0)) {
+    honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
     if (!current_controls_allowed || !long_controls_allowed) {
-      if (brake != 0) {
+      if (honda_brake != 0) {
         tx = 0;
       }
     }
-    if (brake > 255) {
+    if (honda_brake > 255) {
+      tx = 0;
+    }
+    if (honda_fwd_brake) {
       tx = 0;
     }
   }
@@ -175,9 +195,12 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   if (bus_num == 2) {
     // block stock lkas messages and stock acc messages (if OP is doing ACC)
     int addr = GET_ADDR(to_fwd);
-    int is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
-    int is_acc_msg = (addr == 0x1FA) || (addr == 0x30C) || (addr == 0x39F);
-    int block_fwd = is_lkas_msg || (is_acc_msg && long_controls_allowed);
+    bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
+    bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
+    bool is_brake_msg = addr == 0x1FA;
+    bool block_fwd = is_lkas_msg ||
+                     (is_acc_hud_msg && long_controls_allowed) ||
+                     (is_brake_msg && long_controls_allowed && !honda_fwd_brake);
     if (!block_fwd) {
       bus_fwd = 0;
     }
diff --git a/panda/board/safety/safety_mazda.h b/panda/board/safety/safety_mazda.h
new file mode 100644
index 000000000..63fbcdfd6
--- /dev/null
+++ b/panda/board/safety/safety_mazda.h
@@ -0,0 +1,169 @@
+
+// CAN msgs we care about
+#define MAZDA_LKAS 0x243
+#define MAZDA_LANEINFO 0x440
+#define MAZDA_CRZ_CTRL 0x21c
+#define MAZDA_WHEEL_SPEED 0x215
+#define MAZDA_STEER_TORQUE 0x240
+
+// CAN bus numbers
+#define MAZDA_MAIN 0
+#define MAZDA_AUX 1
+#define MAZDA_CAM 2
+
+#define MAZDA_MAX_STEER 2048
+
+// max delta torque allowed for real time checks
+#define MAZDA_MAX_RT_DELTA 940
+// 250ms between real time checks
+#define MAZDA_RT_INTERVAL 250000
+#define MAZDA_MAX_RATE_UP 10
+#define MAZDA_MAX_RATE_DOWN 25
+#define MAZDA_DRIVER_TORQUE_ALLOWANCE 15
+#define MAZDA_DRIVER_TORQUE_FACTOR 1
+
+
+int mazda_cruise_engaged_last = 0;
+int mazda_rt_torque_last = 0;
+int mazda_desired_torque_last = 0;
+uint32_t mazda_ts_last = 0;
+struct sample_t mazda_torque_driver;         // last few driver torques measured
+
+// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
+int mazda_op_lkas_detected = 0;
+int mazda_op_laneinfo_detected = 0;
+
+int mazda_forward_cam = 0;
+int mazda_giraffe_switch_2_on = 0;
+
+void mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  int bus = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
+
+  if ((addr == MAZDA_STEER_TORQUE) && (bus == MAZDA_MAIN)) {
+    int torque_driver_new = GET_BYTE(to_push, 0) - 127;
+    // update array of samples
+    update_sample(&mazda_torque_driver, torque_driver_new);
+  }
+
+  // enter controls on rising edge of ACC, exit controls on ACC off
+  if ((addr == MAZDA_CRZ_CTRL) && (bus == MAZDA_MAIN)) {
+    int cruise_engaged = GET_BYTE(to_push, 0) & 8;
+    if (cruise_engaged != 0) {
+      if (!mazda_cruise_engaged_last) {
+	controls_allowed = 1;
+      }
+    }
+    else {
+      controls_allowed = 0;
+    }
+    mazda_cruise_engaged_last = cruise_engaged;
+  }
+
+  // we have msgs on bus MAZDA_CAM
+  if (bus == MAZDA_CAM) {
+    // the stock CAM is connected
+    if (addr == MAZDA_LKAS) {
+      mazda_forward_cam = 1;
+    }
+    // if we see wheel speed msgs on MAZDA_CAM bus then giraffe switch 2 is high
+    // (hardware passthru)
+    if (addr == MAZDA_WHEEL_SPEED) {
+      mazda_giraffe_switch_2_on = 1;
+    }
+  }
+}
+
+static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  int tx = 1;
+  int addr = GET_ADDR(to_send);
+  int bus = GET_BUS(to_send);
+
+  // Check if msg is sent on the main BUS
+  if (bus == MAZDA_MAIN) {
+    if ((addr == MAZDA_LKAS) && !mazda_op_lkas_detected){
+      mazda_op_lkas_detected = 1;
+    }
+    if ((addr == MAZDA_LANEINFO) && !mazda_op_laneinfo_detected){
+      mazda_op_laneinfo_detected = 1;
+    }
+
+    // steer cmd checks
+    if (addr == MAZDA_LKAS) {
+      int desired_torque = (((GET_BYTE(to_send, 0) & 0x0f) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
+      bool violation = 0;
+      uint32_t ts = TIM2->CNT;
+
+      if (controls_allowed) {
+
+	// *** global torque limit check ***
+	violation |= max_limit_check(desired_torque, MAZDA_MAX_STEER, -MAZDA_MAX_STEER);
+
+	// *** torque rate limit check ***
+	int desired_torque_last = mazda_desired_torque_last;
+	violation |= driver_limit_check(desired_torque, desired_torque_last, &mazda_torque_driver,
+					MAZDA_MAX_STEER, MAZDA_MAX_RATE_UP, MAZDA_MAX_RATE_DOWN,
+					MAZDA_DRIVER_TORQUE_ALLOWANCE, MAZDA_DRIVER_TORQUE_FACTOR);
+	// used next time
+	mazda_desired_torque_last = desired_torque;
+
+	// *** torque real time rate limit check ***
+	violation |= rt_rate_limit_check(desired_torque, mazda_rt_torque_last, MAZDA_MAX_RT_DELTA);
+
+	// every RT_INTERVAL set the new limits
+	uint32_t ts_elapsed = get_ts_elapsed(ts, mazda_ts_last);
+	if (ts_elapsed > ((uint32_t) MAZDA_RT_INTERVAL)) {
+	  mazda_rt_torque_last = desired_torque;
+	  mazda_ts_last = ts;
+	}
+      }
+
+      // no torque if controls is not allowed
+      if (!controls_allowed && (desired_torque != 0)) {
+	violation = 1;
+      }
+
+      // reset to 0 if either controls is not allowed or there's a violation
+      if (violation || !controls_allowed) {
+	mazda_desired_torque_last = 0;
+	mazda_rt_torque_last = 0;
+	mazda_ts_last = ts;
+      }
+
+      if (violation) {
+	tx = 0;
+      }
+    }
+  }
+  return tx;
+}
+
+static int mazda_fwd_hook(int bus, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  int bus_fwd = -1;
+  if (mazda_forward_cam && !mazda_giraffe_switch_2_on) {
+    int addr = GET_ADDR(to_fwd);
+    if (bus == MAZDA_MAIN) {
+      bus_fwd = MAZDA_CAM;
+    }
+    else if (bus == MAZDA_CAM) {
+      // drop stock CAM_LKAS and CAM_LANEINFI if OP is sending them
+      if (!((addr == MAZDA_LKAS) && mazda_op_lkas_detected) &&
+          !((addr == MAZDA_LANEINFO) && mazda_op_laneinfo_detected)) {
+	bus_fwd = MAZDA_MAIN;
+      }
+    }
+    else {
+      bus_fwd = -1;
+    }
+  }
+  return bus_fwd;
+}
+
+const safety_hooks mazda_hooks = {
+  .init = nooutput_init,
+  .rx = mazda_rx_hook,
+  .tx = mazda_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = mazda_fwd_hook,
+};
diff --git a/panda/board/safety/safety_subaru.h b/panda/board/safety/safety_subaru.h
index 3eda8369b..5b482973e 100644
--- a/panda/board/safety/safety_subaru.h
+++ b/panda/board/safety/safety_subaru.h
@@ -14,21 +14,22 @@ int subaru_desired_torque_last = 0;
 uint32_t subaru_ts_last = 0;
 struct sample_t subaru_torque_driver;         // last few driver torques measured
 
-
 static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);
 
-  if ((addr == 0x119) && (bus == 0)){
-    int torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
+  if (((addr == 0x119) || (addr == 0x371)) && (bus == 0)){
+    int bit_shift = (addr == 0x119) ? 16 : 29;
+    int torque_driver_new = ((GET_BYTES_04(to_push) >> bit_shift) & 0x7FF);
     torque_driver_new = to_signed(torque_driver_new, 11);
     // update array of samples
     update_sample(&subaru_torque_driver, torque_driver_new);
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((addr == 0x240) && (bus == 0)) {
-    int cruise_engaged = GET_BYTE(to_push, 5) & 2;
+  if (((addr == 0x240) || (addr == 0x144)) && (bus == 0)) {
+    int bit_shift = (addr == 0x240) ? 9 : 17;
+    int cruise_engaged = ((GET_BYTES_48(to_push) >> bit_shift) & 1);
     if (cruise_engaged && !subaru_cruise_engaged_last) {
       controls_allowed = 1;
     }
@@ -44,8 +45,9 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int addr = GET_ADDR(to_send);
 
   // steer cmd checks
-  if (addr == 0x122) {
-    int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
+  if ((addr == 0x122) || (addr == 0x164)) {
+    int bit_shift = (addr == 0x122) ? 16 : 8;
+    int desired_torque = ((GET_BYTES_04(to_send) >> bit_shift) & 0x1FFF);
     bool violation = 0;
     uint32_t ts = TIM2->CNT;
     desired_torque = to_signed(desired_torque, 13);
@@ -102,8 +104,8 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     bus_fwd = 2;  // Camera CAN
   }
   if (bus_num == 2) {
+    // 290 is LKAS for Global Platform
     // 356 is LKAS for outback 2015
-    // 356 is LKAS for Global Platform
     // 545 is ES_Distance
     // 802 is ES_LKAS
     int addr = GET_ADDR(to_fwd);
diff --git a/panda/board/spi_flasher.h b/panda/board/spi_flasher.h
index 4eab35671..b1bba71d4 100644
--- a/panda/board/spi_flasher.h
+++ b/panda/board/spi_flasher.h
@@ -183,7 +183,7 @@ void CAN1_RX0_IRQHandler(void) {
     if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
       uint8_t dat[8];
       for (int i = 0; i < 8; i++) {
-        dat[0] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
+        dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
       }
       uint8_t odat[8];
       uint8_t type = dat[0] & 0xF0;
@@ -307,7 +307,7 @@ void soft_flasher_start(void) {
   // green LED on for flashing
   current_board->set_led(LED_GREEN, 1);
 
-  __enable_irq();
+  enable_interrupts();
 
   uint64_t cnt = 0;
 
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index e83a4a169..573d6f159 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -135,6 +135,12 @@ class Panda(object):
   REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
   REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
 
+  HW_TYPE_UNKNOWN = '\x00'
+  HW_TYPE_WHITE_PANDA = '\x01'
+  HW_TYPE_GREY_PANDA = '\x02'
+  HW_TYPE_BLACK_PANDA = '\x03'
+  HW_TYPE_PEDAL = '\x04'
+
   def __init__(self, serial=None, claim=True):
     self._serial = serial
     self._handle = None
@@ -363,11 +369,14 @@ class Panda(object):
   def get_type(self):
     return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
 
+  def is_white(self):
+    return self.get_type() == Panda.HW_TYPE_WHITE_PANDA
+
   def is_grey(self):
-    return self.get_type() == "\x02"
+    return self.get_type() == Panda.HW_TYPE_GREY_PANDA
 
   def is_black(self):
-    return self.get_type() == "\x03"
+    return self.get_type() == Panda.HW_TYPE_BLACK_PANDA
 
   def get_serial(self):
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
@@ -470,6 +479,7 @@ class Panda(object):
         break
       except (usb1.USBErrorIO, usb1.USBErrorOverflow):
         print("CAN: BAD RECV, RETRYING")
+	time.sleep(0.1)
     return parse_can_buffer(dat)
 
   def can_clear(self, bus):
diff --git a/panda/tests/automated/1_program.py b/panda/tests/automated/1_program.py
index 1e0beb8ae..6b8a3ad48 100644
--- a/panda/tests/automated/1_program.py
+++ b/panda/tests/automated/1_program.py
@@ -1,15 +1,13 @@
 import os
 from panda import Panda
-from helpers import panda_color_to_serial, test_white_and_grey
+from helpers import panda_type_to_serial, test_white_and_grey, test_all_pandas, panda_connect_and_init
 
-@test_white_and_grey
-@panda_color_to_serial
-def test_recover(serial=None):
-  p = Panda(serial=serial)
+@test_all_pandas
+@panda_connect_and_init
+def test_recover(p):
   assert p.recover(timeout=30)
 
-@test_white_and_grey
-@panda_color_to_serial
-def test_flash(serial=None):
-  p = Panda(serial=serial)
+@test_all_pandas
+@panda_connect_and_init
+def test_flash(p):
   p.flash()
diff --git a/panda/tests/automated/2_usb_to_can.py b/panda/tests/automated/2_usb_to_can.py
index 9e3e07aa4..f0411b32c 100644
--- a/panda/tests/automated/2_usb_to_can.py
+++ b/panda/tests/automated/2_usb_to_can.py
@@ -4,16 +4,11 @@ import sys
 import time
 from panda import Panda
 from nose.tools import assert_equal, assert_less, assert_greater
-from helpers import time_many_sends, connect_wo_esp, test_white_and_grey, panda_color_to_serial
-
-SPEED_NORMAL = 500
-SPEED_GMLAN = 33.3
-
-@test_white_and_grey
-@panda_color_to_serial
-def test_can_loopback(serial=None):
-  p = connect_wo_esp(serial)
+from helpers import SPEED_NORMAL, SPEED_GMLAN, time_many_sends, test_white_and_grey, panda_type_to_serial, test_all_pandas, panda_connect_and_init
 
+@test_all_pandas
+@panda_connect_and_init
+def test_can_loopback(p):
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
@@ -26,9 +21,6 @@ def test_can_loopback(serial=None):
     busses = [0,1,2]
 
   for bus in busses:
-    # send heartbeat
-    p.send_heartbeat()
-
     # set bus 0 speed to 250
     p.set_can_speed_kbps(bus, 250)
 
@@ -47,17 +39,12 @@ def test_can_loopback(serial=None):
     assert 0x1aa == sr[0][0] == lb[0][0]
     assert "message" == sr[0][2] == lb[0][2]
 
-@test_white_and_grey
-@panda_color_to_serial
-def test_safety_nooutput(serial=None):
-  p = connect_wo_esp(serial)
-
+@test_all_pandas
+@panda_connect_and_init
+def test_safety_nooutput(p):
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
 
-  # send heartbeat
-  p.send_heartbeat()
-
   # enable CAN loopback mode
   p.set_can_loopback(True)
 
@@ -69,11 +56,9 @@ def test_safety_nooutput(serial=None):
   r = p.can_recv()
   assert len(r) == 0
 
-@test_white_and_grey
-@panda_color_to_serial
-def test_reliability(serial=None):
-  p = connect_wo_esp(serial)
-
+@test_all_pandas
+@panda_connect_and_init
+def test_reliability(p):
   LOOP_COUNT = 100
   MSG_COUNT = 100
 
@@ -82,17 +67,11 @@ def test_reliability(serial=None):
   p.set_can_loopback(True)
   p.set_can_speed_kbps(0, 1000)
 
-  # send heartbeat
-  p.send_heartbeat()
-
   addrs = range(100, 100+MSG_COUNT)
   ts = [(j, 0, "\xaa"*8, 0) for j in addrs]
 
   # 100 loops
   for i in range(LOOP_COUNT):
-    # send heartbeat
-    p.send_heartbeat()
-
     st = time.time()
 
     p.can_send_many(ts)
@@ -115,17 +94,12 @@ def test_reliability(serial=None):
     sys.stdout.write("P")
     sys.stdout.flush()
 
-@test_white_and_grey
-@panda_color_to_serial
-def test_throughput(serial=None):
-  p = connect_wo_esp(serial)
-
+@test_all_pandas
+@panda_connect_and_init
+def test_throughput(p):
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
-  # send heartbeat
-  p.send_heartbeat()
-
   # enable CAN loopback mode
   p.set_can_loopback(True)
 
@@ -134,9 +108,6 @@ def test_throughput(serial=None):
     p.set_can_speed_kbps(0, speed)
     time.sleep(0.05)
 
-    # send heartbeat
-    p.send_heartbeat()
-
     comp_kbps = time_many_sends(p, 0)
 
     # bit count from https://en.wikipedia.org/wiki/CAN_bus
@@ -147,19 +118,15 @@ def test_throughput(serial=None):
     print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
 
 @test_white_and_grey
-@panda_color_to_serial
-def test_gmlan(serial=None):
-  p = connect_wo_esp(serial)
-
+@panda_type_to_serial
+@panda_connect_and_init
+def test_gmlan(p):
   if p.legacy:
     return
 
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
-  # send heartbeat
-  p.send_heartbeat()
-
   # enable CAN loopback mode
   p.set_can_loopback(True)
 
@@ -169,9 +136,6 @@ def test_gmlan(serial=None):
 
   # set gmlan on CAN2
   for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
-    # send heartbeat
-    p.send_heartbeat()
-
     p.set_gmlan(bus)
     comp_kbps_gmlan = time_many_sends(p, 3)
     assert_greater(comp_kbps_gmlan, 0.8 * SPEED_GMLAN)
@@ -185,27 +149,20 @@ def test_gmlan(serial=None):
     print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
 
 @test_white_and_grey
-@panda_color_to_serial
-def test_gmlan_bad_toggle(serial=None):
-  p = connect_wo_esp(serial)
-
+@panda_type_to_serial
+@panda_connect_and_init
+def test_gmlan_bad_toggle(p):
   if p.legacy:
     return
 
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
-  # send heartbeat
-  p.send_heartbeat()
-
   # enable CAN loopback mode
   p.set_can_loopback(True)
 
   # GMLAN_CAN2
   for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
-    # send heartbeat
-    p.send_heartbeat()
-
     p.set_gmlan(bus)
     comp_kbps_gmlan = time_many_sends(p, 3)
     assert_greater(comp_kbps_gmlan, 0.6 * SPEED_GMLAN)
@@ -213,9 +170,6 @@ def test_gmlan_bad_toggle(serial=None):
 
   # normal
   for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
-    # send heartbeat
-    p.send_heartbeat()
-
     p.set_gmlan(None)
     comp_kbps_normal = time_many_sends(p, bus)
     assert_greater(comp_kbps_normal, 0.6 * SPEED_NORMAL)
@@ -223,10 +177,9 @@ def test_gmlan_bad_toggle(serial=None):
 
 
 # this will fail if you have hardware serial connected
-@test_white_and_grey
-@panda_color_to_serial
-def test_serial_debug(serial=None):
-  p = connect_wo_esp(serial)
+@test_all_pandas
+@panda_connect_and_init
+def test_serial_debug(p):
   junk = p.serial_read(Panda.SERIAL_DEBUG)
   p.call_control_api(0xc0)
   assert(p.serial_read(Panda.SERIAL_DEBUG).startswith("can "))
diff --git a/panda/tests/automated/3_wifi.py b/panda/tests/automated/3_wifi.py
index 1251663ba..2e9c81f3f 100644
--- a/panda/tests/automated/3_wifi.py
+++ b/panda/tests/automated/3_wifi.py
@@ -2,46 +2,44 @@ from __future__ import print_function
 import os
 import time
 from panda import Panda
-from helpers import connect_wifi, test_white, test_white_and_grey, panda_color_to_serial
+from helpers import connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
 import requests
 
-@test_white_and_grey
-@panda_color_to_serial
-def test_get_serial(serial=None):
-  p = Panda(serial)
+@test_all_pandas
+@panda_connect_and_init
+def test_get_serial(p):
   print(p.get_serial())
 
-@test_white_and_grey
-@panda_color_to_serial
-def test_get_serial_in_flash_mode(serial=None):
-  p = Panda(serial)
+@test_all_pandas
+@panda_connect_and_init
+def test_get_serial_in_flash_mode(p):
   p.reset(enter_bootstub=True)
   assert(p.bootstub)
   print(p.get_serial())
   p.reset()
 
 @test_white
-@panda_color_to_serial
-def test_connect_wifi(serial=None):
-  connect_wifi(serial)
+@panda_type_to_serial
+def test_connect_wifi(serials=None):
+  connect_wifi(serials[0])
 
 @test_white
-@panda_color_to_serial
-def test_flash_wifi(serial=None):
-  connect_wifi(serial)
+@panda_type_to_serial
+def test_flash_wifi(serials=None):
+  connect_wifi(serials[0])
   assert Panda.flash_ota_wifi(release=False), "OTA Wifi Flash Failed"
-  connect_wifi(serial)
+  connect_wifi(serials[0])
 
 @test_white
-@panda_color_to_serial
-def test_wifi_flash_st(serial=None):
-  connect_wifi(serial)
+@panda_type_to_serial
+def test_wifi_flash_st(serials=None):
+  connect_wifi(serials[0])
   assert Panda.flash_ota_st(), "OTA ST Flash Failed"
   connected = False
   st = time.time()
   while not connected and (time.time() - st) < 20:
     try:
-      p = Panda(serial=serial)
+      p = Panda(serial=serials[0])
       p.get_serial()
       connected = True
     except:
@@ -51,9 +49,9 @@ def test_wifi_flash_st(serial=None):
     assert False, "Panda failed to connect on USB after flashing"
 
 @test_white
-@panda_color_to_serial
-def test_webpage_fetch(serial=None):
-  connect_wifi(serial)
+@panda_type_to_serial
+def test_webpage_fetch(serials=None):
+  connect_wifi(serials[0])
   r = requests.get("http://192.168.0.10/")
   print(r.text)
 
diff --git a/panda/tests/automated/4_wifi_functionality.py b/panda/tests/automated/4_wifi_functionality.py
index ab9bed700..ee9857d09 100644
--- a/panda/tests/automated/4_wifi_functionality.py
+++ b/panda/tests/automated/4_wifi_functionality.py
@@ -1,38 +1,32 @@
 from __future__ import print_function
 import time
 from panda import Panda
-from helpers import time_many_sends, connect_wifi, test_white, panda_color_to_serial
+from helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
 from nose.tools import timed, assert_equal, assert_less, assert_greater
 
 @test_white
-@panda_color_to_serial
-def test_get_serial_wifi(serial=None):
-  connect_wifi(serial)
+@panda_type_to_serial
+def test_get_serial_wifi(serials=None):
+  connect_wifi(serials[0])
 
   p = Panda("WIFI")
   print(p.get_serial())
 
 @test_white
-@panda_color_to_serial
-def test_throughput(serial=None):
-  connect_wifi(serial)
-  p = Panda(serial)
+@panda_type_to_serial
+def test_throughput(serials=None):
+  connect_wifi(serials[0])
+  p = Panda(serials[0])
 
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
-  # send heartbeat
-  p.send_heartbeat()
-
   # enable CAN loopback mode
   p.set_can_loopback(True)
 
   p = Panda("WIFI")
 
   for speed in [100,250,500,750,1000]:
-    # send heartbeat
-    p.send_heartbeat()
-
     # set bus 0 speed to speed
     p.set_can_speed_kbps(0, speed)
     time.sleep(0.1)
@@ -47,23 +41,17 @@ def test_throughput(serial=None):
     print("WIFI loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
 
 @test_white
-@panda_color_to_serial
-def test_recv_only(serial=None):
-  connect_wifi(serial)
-  p = Panda(serial)
+@panda_type_to_serial
+def test_recv_only(serials=None):
+  connect_wifi(serials[0])
+  p = Panda(serials[0])
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
-  # send heartbeat
-  p.send_heartbeat()
-
   p.set_can_loopback(True)
   pwifi = Panda("WIFI")
 
   # TODO: msg_count=1000 drops packets, is this fixable?
   for msg_count in [10,100,200]:
-    # send heartbeat
-    p.send_heartbeat()
-
     speed = 500
     p.set_can_speed_kbps(0, speed)
     comp_kbps = time_many_sends(p, 0, pwifi, msg_count)
diff --git a/panda/tests/automated/5_wifi_udp.py b/panda/tests/automated/5_wifi_udp.py
index d55baa659..8b62cf082 100644
--- a/panda/tests/automated/5_wifi_udp.py
+++ b/panda/tests/automated/5_wifi_udp.py
@@ -1,16 +1,16 @@
 from __future__ import print_function
 import sys
 import time
-from helpers import time_many_sends, connect_wifi, test_white, panda_color_to_serial
+from helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
 from panda import Panda, PandaWifiStreaming
 from nose.tools import timed, assert_equal, assert_less, assert_greater
 
 @test_white
-@panda_color_to_serial
-def test_udp_doesnt_drop(serial=None):
-  connect_wifi(serial)
+@panda_type_to_serial
+def test_udp_doesnt_drop(serials=None):
+  connect_wifi(serials[0])
 
-  p = Panda(serial)
+  p = Panda(serials[0])
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
   p.set_can_loopback(True)
 
diff --git a/panda/tests/automated/6_two_panda.py b/panda/tests/automated/6_two_panda.py
index 09cf1861f..8b308ce50 100644
--- a/panda/tests/automated/6_two_panda.py
+++ b/panda/tests/automated/6_two_panda.py
@@ -1,21 +1,18 @@
 from __future__ import print_function
+import os
 import time
+import random
 from panda import Panda
 from nose.tools import assert_equal, assert_less, assert_greater
-from helpers import time_many_sends, test_two_panda, panda_color_to_serial
+from helpers import time_many_sends, test_two_panda, test_two_black_panda, panda_type_to_serial, clear_can_buffers, panda_connect_and_init
 
 @test_two_panda
-@panda_color_to_serial
-def test_send_recv(serial_sender=None, serial_reciever=None):
-  p_send = Panda(serial_sender)
-  p_recv = Panda(serial_reciever)
-
+@panda_type_to_serial
+@panda_connect_and_init
+def test_send_recv(p_send, p_recv):
   p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p_recv.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
   p_send.set_can_loopback(False)
-
-  # send heartbeat
-  p_send.send_heartbeat()
-
   p_recv.set_can_loopback(False)
 
   assert not p_send.legacy
@@ -30,9 +27,6 @@ def test_send_recv(serial_sender=None, serial_reciever=None):
 
   for bus in busses:
     for speed in [100, 250, 500, 750, 1000]:
-      # send heartbeat
-      p_send.send_heartbeat()
-
       p_send.set_can_speed_kbps(bus, speed)
       p_recv.set_can_speed_kbps(bus, speed)
       time.sleep(0.05)
@@ -46,18 +40,12 @@ def test_send_recv(serial_sender=None, serial_reciever=None):
       print("two pandas bus {}, 100 messages at speed {:4d}, comp speed is {:7.2f}, percent {:6.2f}".format(bus, speed, comp_kbps, saturation_pct))
 
 @test_two_panda
-@panda_color_to_serial
-def test_latency(serial_sender=None, serial_reciever=None):
-  p_send = Panda(serial_sender)
-  p_recv = Panda(serial_reciever)
-
-  # send heartbeat
-  p_send.send_heartbeat()
-  p_recv.send_heartbeat()
-
+@panda_type_to_serial
+@panda_connect_and_init
+def test_latency(p_send, p_recv):
   p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p_recv.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
   p_send.set_can_loopback(False)
-
   p_recv.set_can_loopback(False)
 
   assert not p_send.legacy
@@ -72,29 +60,17 @@ def test_latency(serial_sender=None, serial_reciever=None):
   p_recv.can_recv()
   p_send.can_recv()
 
-  # send heartbeat
-  p_send.send_heartbeat()  
-  p_recv.send_heartbeat()
-
   busses = [0,1,2]
 
   for bus in busses:
     for speed in [100, 250, 500, 750, 1000]:
-      # send heartbeat
-      p_send.send_heartbeat() 
-      p_recv.send_heartbeat()
-
       p_send.set_can_speed_kbps(bus, speed)
       p_recv.set_can_speed_kbps(bus, speed)
       time.sleep(0.1)
+
       #clear can buffers
-      r = [1]
-      while len(r) > 0:
-        r = p_send.can_recv()
-      r = [1]
-      while len(r) > 0:
-        r = p_recv.can_recv()
-      time.sleep(0.05)
+      clear_can_buffers(p_send)
+      clear_can_buffers(p_recv)
 
       latencies = []
       comp_kbps_list = []
@@ -137,3 +113,83 @@ def test_latency(serial_sender=None, serial_reciever=None):
 
       print("two pandas bus {}, {} message average at speed {:4d}, latency is {:5.3f}ms, comp speed is {:7.2f}, percent {:6.2f}"\
             .format(bus, num_messages, speed, average_latency, average_comp_kbps, average_saturation_pct))
+
+@test_two_black_panda
+@panda_type_to_serial
+@panda_connect_and_init
+def test_black_loopback(panda0, panda1):
+  # disable safety modes
+  panda0.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  panda1.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  # disable loopback
+  panda0.set_can_loopback(False)
+  panda1.set_can_loopback(False)
+
+  # clear stuff
+  panda0.can_send_many([(0x1ba, 0, "testmsg", 0)]*10)
+  time.sleep(0.05)
+  panda0.can_recv()
+  panda1.can_recv()
+
+  # test array (send bus, sender obd, reciever obd, expected busses)
+  test_array = [
+    (0, False, False, [0]),
+    (1, False, False, [1]),
+    (2, False, False, [2]),
+    (0, False, True, [0, 1]),
+    (1, False, True, []),
+    (2, False, True, [2]),
+    (0, True, False, [0]),
+    (1, True, False, [0]),
+    (2, True, False, [2]),
+    (0, True, True, [0, 1]),
+    (1, True, True, [0, 1]),
+    (2, True, True, [2])
+  ]
+
+  # test functions
+  def get_test_string():
+      return b"test"+os.urandom(10)
+
+  def _test_buses(send_panda, recv_panda, _test_array):
+    for send_bus, send_obd, recv_obd, recv_buses in _test_array:
+      print("\nSend bus:", send_bus, " Send OBD:", send_obd, " Recv OBD:", recv_obd)
+      
+      # set OBD on pandas
+      send_panda.set_gmlan(True if send_obd else None)
+      recv_panda.set_gmlan(True if recv_obd else None)
+
+      # clear buffers
+      clear_can_buffers(send_panda)
+      clear_can_buffers(recv_panda)
+
+      # send the characters
+      at = random.randint(1, 2000)
+      st = get_test_string()[0:8]
+      send_panda.can_send(at, st, send_bus)
+      time.sleep(0.1)
+
+      # check for receive
+      cans_echo = send_panda.can_recv()
+      cans_loop = recv_panda.can_recv()
+
+      loop_buses = []
+      for loop in cans_loop:
+        print("  Loop on bus", str(loop[3]))
+        loop_buses.append(loop[3])
+      if len(cans_loop) == 0:
+        print("  No loop")
+      
+      # test loop buses
+      recv_buses.sort()
+      loop_buses.sort()
+      assert recv_buses == loop_buses
+      print("  TEST PASSED")
+    print("\n")
+
+  # test both orientations
+  print("***************** TESTING (0 --> 1) *****************")
+  _test_buses(panda0, panda1, test_array)
+  print("***************** TESTING (1 --> 0) *****************")
+  _test_buses(panda1, panda0, test_array)
\ No newline at end of file
diff --git a/panda/tests/automated/helpers.py b/panda/tests/automated/helpers.py
index 9e92f56bf..c9e0c6762 100644
--- a/panda/tests/automated/helpers.py
+++ b/panda/tests/automated/helpers.py
@@ -4,43 +4,41 @@ import time
 import random
 import subprocess
 import requests
+import thread
 from functools import wraps
 from panda import Panda
 from nose.tools import timed, assert_equal, assert_less, assert_greater
 from parameterized import parameterized, param
 
-test_white_and_grey = parameterized([param(panda_color="White"),
-                                     param(panda_color="Grey")])
-test_white = parameterized([param(panda_color="White")])
-test_grey = parameterized([param(panda_color="Grey")])
-test_two_panda = parameterized([param(panda_color=["Grey", "White"]),
-                                param(panda_color=["White", "Grey"])])
+SPEED_NORMAL = 500
+SPEED_GMLAN = 33.3
 
-_serials = {}
-def get_panda_serial(is_grey=None):
-  global _serials
-  if is_grey not in _serials:
-    for serial in Panda.list():
-      p = Panda(serial=serial)
-      if is_grey is None or p.is_grey() == is_grey:
-        _serials[is_grey] = serial
-        return serial
-    raise IOError("Panda not found. is_grey: {}".format(is_grey))
-  else:
-    return _serials[is_grey]
-
-def connect_wo_esp(serial=None):
-  # connect to the panda
-  p = Panda(serial=serial)
-
-  # power down the ESP
-  p.set_esp_power(False)
-
-  # clear old junk
-  while len(p.can_recv()) > 0:
-    pass
-
-  return p
+test_all_types = parameterized([
+    param(panda_type=Panda.HW_TYPE_WHITE_PANDA),
+    param(panda_type=Panda.HW_TYPE_GREY_PANDA),
+    param(panda_type=Panda.HW_TYPE_BLACK_PANDA)
+  ])
+test_all_pandas = parameterized(
+    Panda.list()
+  )
+test_white_and_grey = parameterized([
+    param(panda_type=Panda.HW_TYPE_WHITE_PANDA),
+    param(panda_type=Panda.HW_TYPE_GREY_PANDA)
+  ])
+test_white = parameterized([
+    param(panda_type=Panda.HW_TYPE_WHITE_PANDA)
+  ])
+test_grey = parameterized([
+    param(panda_type=Panda.HW_TYPE_GREY_PANDA)
+  ])
+test_two_panda = parameterized([
+    param(panda_type=[Panda.HW_TYPE_GREY_PANDA, Panda.HW_TYPE_WHITE_PANDA]),
+    param(panda_type=[Panda.HW_TYPE_WHITE_PANDA, Panda.HW_TYPE_GREY_PANDA]),
+    param(panda_type=[Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_BLACK_PANDA])
+  ])
+test_two_black_panda = parameterized([
+    param(panda_type=[Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_BLACK_PANDA])
+  ])
 
 def connect_wifi(serial=None):
   p = Panda(serial=serial)
@@ -170,23 +168,93 @@ def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None, two_pandas=F
 
   return comp_kbps
 
-
-def panda_color_to_serial(fn):
+_panda_serials = None
+def panda_type_to_serial(fn):
   @wraps(fn)
-  def wrapper(panda_color=None, **kwargs):
-    pandas_is_grey = []
-    if panda_color is not None:
-      if not isinstance(panda_color, list):
-        panda_color = [panda_color]
-      panda_color = [s.lower() for s in panda_color]
-    for p in panda_color:
-      if p is None:
-        pandas_is_grey.append(None)
-      elif p in ["grey", "gray"]:
-        pandas_is_grey.append(True)
-      elif p in ["white"]:
-        pandas_is_grey.append(False)
-      else:
-        raise ValueError("Invalid Panda Color {}".format(p))
-    return fn(*[get_panda_serial(is_grey) for is_grey in pandas_is_grey], **kwargs)
+  def wrapper(panda_type=None, **kwargs):
+    # Change panda_types to a list
+    if panda_type is not None:
+      if not isinstance(panda_type, list):
+        panda_type = [panda_type]
+    
+    # If not done already, get panda serials and their type
+    global _panda_serials
+    if _panda_serials == None:
+      _panda_serials = []
+      for serial in Panda.list():
+        p = Panda(serial=serial)
+        _panda_serials.append((serial, p.get_type()))
+        p.close()
+    
+    # Find a panda with the correct types and add the corresponding serial
+    serials = []
+    for p_type in panda_type:
+      found = False
+      for serial, pt in _panda_serials:
+        # Never take the same panda twice
+        if (pt == p_type) and (serial not in serials):
+          serials.append(serial)
+          found = True
+          break
+      if not found:
+        raise IOError("No unused panda found for type: {}".format(p_type))
+    return fn(serials, **kwargs)
   return wrapper
+
+def heartbeat_thread(p):
+  while True:
+    try:
+      p.send_heartbeat()
+      time.sleep(1)
+    except:
+      break
+
+def panda_connect_and_init(fn):
+  @wraps(fn)
+  def wrapper(panda_serials=None, **kwargs):
+    # Change panda_serials to a list
+    if panda_serials is not None:
+      if not isinstance(panda_serials, list):
+        panda_serials = [panda_serials]
+    
+    # Connect to pandas
+    pandas = []
+    for panda_serial in panda_serials:
+      pandas.append(Panda(serial=panda_serial))
+
+    # Initialize pandas
+    for panda in pandas:
+      panda.set_can_loopback(False)
+      panda.set_gmlan(None)
+      panda.set_esp_power(False)
+      for bus, speed in [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL), (3, SPEED_GMLAN)]:
+        panda.set_can_speed_kbps(bus, speed)
+      clear_can_buffers(panda)
+      thread.start_new_thread(heartbeat_thread, (panda,))
+
+    # Run test function
+    ret = fn(*pandas, **kwargs)
+
+    # Close all connections
+    for panda in pandas:
+      panda.close()
+
+    # Return test function result
+    return ret
+  return wrapper
+
+def clear_can_buffers(panda):
+  # clear tx buffers
+  for i in range(4):
+    panda.can_clear(i)
+  
+  # clear rx buffers
+  panda.can_clear(0xFFFF)
+  r = [1]
+  st = time.time()
+  while len(r) > 0:
+    r = panda.can_recv()
+    time.sleep(0.05)
+    if (time.time() - st) > 10:
+      print("Unable to clear can buffers for panda ", panda.get_serial())
+      assert False
\ No newline at end of file
diff --git a/panda/tests/black_loopback_test.py b/panda/tests/black_loopback_test.py
index 8683561a4..d16ac21af 100755
--- a/panda/tests/black_loopback_test.py
+++ b/panda/tests/black_loopback_test.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Loopback test between black panda (+ harness and power) and white/grey panda
+# Loopback test between two black pandas (+ harness and power)
 # Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
 # To be sure, the test should be run with both harness orientations
 
@@ -33,81 +33,70 @@ def run_test(sleep_duration):
   pandas[0] = Panda(pandas[0])
   pandas[1] = Panda(pandas[1])
 
-  # find out which one is black
+  # find out the hardware types
   type0 = pandas[0].get_type()
   type1 = pandas[1].get_type()
-
-  black_panda = None
-  other_panda = None
   
-  if type0 == "\x03" and type1 != "\x03":
-    black_panda = pandas[0]
-    other_panda = pandas[1]
-  elif type0 != "\x03" and type1 == "\x03":
-    black_panda = pandas[1]
-    other_panda = pandas[0]
-  else:
-    print("Connect white/grey and black panda to run this test!")
+  if type0 != "\x03" or type1 != "\x03":
+    print("Connect two black pandas to run this test!")
     assert False
 
-  # disable safety modes
-  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  for panda in pandas:
+    # disable safety modes
+    panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
-  # test health packet
-  print("black panda health", black_panda.health())
-  print("other panda health", other_panda.health())
+    # test health packet
+    print("panda health", panda.health())
 
-  # test black -> other
-  test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
-  test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
+  # setup test array (send bus, sender obd, reciever obd, expected busses)
+  test_array = [
+    (0, False, False, [0]),
+    (1, False, False, [1]),
+    (2, False, False, [2]),
+    (0, False, True, [0, 1]),
+    (1, False, True, []),
+    (2, False, True, [2]),
+    (0, True, False, [0]),
+    (1, True, False, [0]),
+    (2, True, False, [2]),
+    (0, True, True, [0, 1]),
+    (1, True, True, [0, 1]),
+    (2, True, True, [2])
+  ]
+
+  # test both orientations
+  print("***************** TESTING (0 --> 1) *****************")
+  test_buses(pandas[0], pandas[1], test_array, sleep_duration)
+  print("***************** TESTING (1 --> 0) *****************")
+  test_buses(pandas[1], pandas[0], test_array, sleep_duration)
 	
 
-def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
-  if direction:
-    print("***************** TESTING (BLACK --> OTHER) *****************")
-  else:
-    print("***************** TESTING (OTHER --> BLACK) *****************")
-
-  for send_bus, obd, recv_buses in test_array:
-    black_panda.send_heartbeat()
-    other_panda.send_heartbeat()
-    print("\ntest can: ", send_bus, " OBD: ", obd)
+def test_buses(send_panda, recv_panda, test_array, sleep_duration):
+  for send_bus, send_obd, recv_obd, recv_buses in test_array:
+    send_panda.send_heartbeat()
+    recv_panda.send_heartbeat()
+    print("\nSend bus:", send_bus, " Send OBD:", send_obd, " Recv OBD:", recv_obd)
     
-    # set OBD on black panda
-    black_panda.set_gmlan(True if obd else None)
+    # set OBD on pandas
+    send_panda.set_gmlan(True if send_obd else None)
+    recv_panda.set_gmlan(True if recv_obd else None)
 
     # clear and flush
-    if direction:
-      black_panda.can_clear(send_bus)
-    else:
-      other_panda.can_clear(send_bus)
-
+    send_panda.can_clear(send_bus)
     for recv_bus in recv_buses:
-      if direction:
-        other_panda.can_clear(recv_bus)
-      else:
-	black_panda.can_clear(recv_bus)
-    
-    black_panda.can_recv()
-    other_panda.can_recv()
+      recv_panda.can_clear(recv_bus)
+    send_panda.can_recv()
+    recv_panda.can_recv()
 
     # send the characters
     at = random.randint(1, 2000)
     st = get_test_string()[0:8]
-    if direction:
-      black_panda.can_send(at, st, send_bus)
-    else:
-      other_panda.can_send(at, st, send_bus)
+    send_panda.can_send(at, st, send_bus)
     time.sleep(0.1)
 
     # check for receive
-    if direction:
-      cans_echo = black_panda.can_recv()
-      cans_loop = other_panda.can_recv()
-    else:
-      cans_echo = other_panda.can_recv()
-      cans_loop = black_panda.can_recv()
+    cans_echo = send_panda.can_recv()
+    cans_loop = recv_panda.can_recv()
 
     loop_buses = []
     for loop in cans_loop:
diff --git a/panda/tests/black_white_loopback_test.py b/panda/tests/black_white_loopback_test.py
new file mode 100755
index 000000000..7e1213439
--- /dev/null
+++ b/panda/tests/black_white_loopback_test.py
@@ -0,0 +1,169 @@
+#!/usr/bin/env python
+
+# Loopback test between black panda (+ harness and power) and white/grey panda
+# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
+# To be sure, the test should be run with both harness orientations
+
+from __future__ import print_function
+import os
+import sys
+import time
+import random
+import argparse
+
+from hexdump import hexdump
+from itertools import permutations
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda
+
+def get_test_string():
+  return b"test"+os.urandom(10)
+
+counter = 0
+nonzero_bus_errors = 0
+zero_bus_errors = 0
+content_errors = 0
+
+def run_test(sleep_duration):
+  global counter, nonzero_bus_errors, zero_bus_errors, content_errors
+
+  pandas = Panda.list()
+  print(pandas)
+
+  # make sure two pandas are connected
+  if len(pandas) != 2:
+    print("Connect white/grey and black panda to run this test!")
+    assert False
+
+  # connect
+  pandas[0] = Panda(pandas[0])
+  pandas[1] = Panda(pandas[1])
+
+  # find out which one is black
+  type0 = pandas[0].get_type()
+  type1 = pandas[1].get_type()
+
+  black_panda = None
+  other_panda = None
+  
+  if type0 == "\x03" and type1 != "\x03":
+    black_panda = pandas[0]
+    other_panda = pandas[1]
+  elif type0 != "\x03" and type1 == "\x03":
+    black_panda = pandas[1]
+    other_panda = pandas[0]
+  else:
+    print("Connect white/grey and black panda to run this test!")
+    assert False
+
+  # disable safety modes
+  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  # test health packet
+  print("black panda health", black_panda.health())
+  print("other panda health", other_panda.health())
+
+  # test black -> other
+  while True:
+    test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
+    test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
+    counter += 1
+    print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors)
+    
+    # Toggle relay
+    black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
+    time.sleep(1)
+    black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+    time.sleep(1)
+	
+
+def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
+  global nonzero_bus_errors, zero_bus_errors, content_errors
+
+  if direction:
+    print("***************** TESTING (BLACK --> OTHER) *****************")
+  else:
+    print("***************** TESTING (OTHER --> BLACK) *****************")
+
+  for send_bus, obd, recv_buses in test_array:
+    black_panda.send_heartbeat()
+    other_panda.send_heartbeat()
+    print("\ntest can: ", send_bus, " OBD: ", obd)
+    
+    # set OBD on black panda
+    black_panda.set_gmlan(True if obd else None)
+
+    # clear and flush
+    if direction:
+      black_panda.can_clear(send_bus)
+    else:
+      other_panda.can_clear(send_bus)
+
+    for recv_bus in recv_buses:
+      if direction:
+        other_panda.can_clear(recv_bus)
+      else:
+	black_panda.can_clear(recv_bus)
+    
+    black_panda.can_recv()
+    other_panda.can_recv()
+
+    # send the characters
+    at = random.randint(1, 2000)
+    st = get_test_string()[0:8]
+    if direction:
+      black_panda.can_send(at, st, send_bus)
+    else:
+      other_panda.can_send(at, st, send_bus)
+    time.sleep(0.1)
+
+    # check for receive
+    if direction:
+      cans_echo = black_panda.can_recv()
+      cans_loop = other_panda.can_recv()
+    else:
+      cans_echo = other_panda.can_recv()
+      cans_loop = black_panda.can_recv()
+
+    loop_buses = []
+    for loop in cans_loop:
+      if (loop[0] != at) or (loop[2] != st):
+	      content_errors += 1
+
+      print("  Loop on bus", str(loop[3]))
+      loop_buses.append(loop[3])
+    if len(cans_loop) == 0:
+      print("  No loop")
+      if not os.getenv("NOASSERT"):
+        assert False
+    
+    # test loop buses
+    recv_buses.sort()
+    loop_buses.sort()
+    if(recv_buses != loop_buses):
+      if len(loop_buses) == 0:
+	      zero_bus_errors += 1
+      else:
+	      nonzero_bus_errors += 1
+      if not os.getenv("NOASSERT"):
+        assert False
+    else:
+      print("  TEST PASSED")
+
+    time.sleep(sleep_duration)
+  print("\n")
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("-n", type=int, help="Number of test iterations to run")
+  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
+  args = parser.parse_args()
+
+  if args.n is None:
+    while True:
+      run_test(sleep_duration=args.sleep)
+  else:
+    for i in range(args.n):
+      run_test(sleep_duration=args.sleep)
diff --git a/panda/tests/black_white_relay_endurance.py b/panda/tests/black_white_relay_endurance.py
new file mode 100755
index 000000000..8868b9848
--- /dev/null
+++ b/panda/tests/black_white_relay_endurance.py
@@ -0,0 +1,175 @@
+#!/usr/bin/env python
+
+# Loopback test between black panda (+ harness and power) and white/grey panda
+# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
+# To be sure, the test should be run with both harness orientations
+
+from __future__ import print_function
+import os
+import sys
+import time
+import random
+import argparse
+
+from hexdump import hexdump
+from itertools import permutations
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda
+
+def get_test_string():
+  return b"test"+os.urandom(10)
+
+counter = 0
+nonzero_bus_errors = 0
+zero_bus_errors = 0
+content_errors = 0
+
+def run_test(sleep_duration):
+  global counter, nonzero_bus_errors, zero_bus_errors, content_errors
+
+  pandas = Panda.list()
+  print(pandas)
+
+  # make sure two pandas are connected
+  if len(pandas) != 2:
+    print("Connect white/grey and black panda to run this test!")
+    assert False
+
+  # connect
+  pandas[0] = Panda(pandas[0])
+  pandas[1] = Panda(pandas[1])
+
+  # find out which one is black
+  type0 = pandas[0].get_type()
+  type1 = pandas[1].get_type()
+
+  black_panda = None
+  other_panda = None
+  
+  if type0 == "\x03" and type1 != "\x03":
+    black_panda = pandas[0]
+    other_panda = pandas[1]
+  elif type0 != "\x03" and type1 == "\x03":
+    black_panda = pandas[1]
+    other_panda = pandas[0]
+  else:
+    print("Connect white/grey and black panda to run this test!")
+    assert False
+
+  # disable safety modes
+  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  # test health packet
+  print("black panda health", black_panda.health())
+  print("other panda health", other_panda.health())
+
+  # test black -> other
+  start_time = time.time()
+  temp_start_time = start_time
+  while True:
+    test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
+    test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
+    counter += 1
+    
+    runtime = time.time() - start_time
+    print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors, "Runtime: ", runtime)
+
+    if (time.time() - temp_start_time) > 3600*6:
+    	# Toggle relay
+    	black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
+    	time.sleep(1)
+	black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+    	time.sleep(1)
+	temp_start_time = time.time()
+	
+
+def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
+  global nonzero_bus_errors, zero_bus_errors, content_errors
+
+  if direction:
+    print("***************** TESTING (BLACK --> OTHER) *****************")
+  else:
+    print("***************** TESTING (OTHER --> BLACK) *****************")
+
+  for send_bus, obd, recv_buses in test_array:
+    black_panda.send_heartbeat()
+    other_panda.send_heartbeat()
+    print("\ntest can: ", send_bus, " OBD: ", obd)
+    
+    # set OBD on black panda
+    black_panda.set_gmlan(True if obd else None)
+
+    # clear and flush
+    if direction:
+      black_panda.can_clear(send_bus)
+    else:
+      other_panda.can_clear(send_bus)
+
+    for recv_bus in recv_buses:
+      if direction:
+        other_panda.can_clear(recv_bus)
+      else:
+	black_panda.can_clear(recv_bus)
+    
+    black_panda.can_recv()
+    other_panda.can_recv()
+
+    # send the characters
+    at = random.randint(1, 2000)
+    st = get_test_string()[0:8]
+    if direction:
+      black_panda.can_send(at, st, send_bus)
+    else:
+      other_panda.can_send(at, st, send_bus)
+    time.sleep(0.1)
+
+    # check for receive
+    if direction:
+      cans_echo = black_panda.can_recv()
+      cans_loop = other_panda.can_recv()
+    else:
+      cans_echo = other_panda.can_recv()
+      cans_loop = black_panda.can_recv()
+
+    loop_buses = []
+    for loop in cans_loop:
+      if (loop[0] != at) or (loop[2] != st):
+	      content_errors += 1
+
+      print("  Loop on bus", str(loop[3]))
+      loop_buses.append(loop[3])
+    if len(cans_loop) == 0:
+      print("  No loop")
+      if not os.getenv("NOASSERT"):
+        assert False
+    
+    # test loop buses
+    recv_buses.sort()
+    loop_buses.sort()
+    if(recv_buses != loop_buses):
+      if len(loop_buses) == 0:
+	      zero_bus_errors += 1
+      else:
+	      nonzero_bus_errors += 1
+      if not os.getenv("NOASSERT"):
+        assert False
+    else:
+      print("  TEST PASSED")
+
+    time.sleep(sleep_duration)
+  print("\n")
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("-n", type=int, help="Number of test iterations to run")
+  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
+  args = parser.parse_args()
+
+  if args.n is None:
+    while True:
+      run_test(sleep_duration=args.sleep)
+  else:
+    for i in range(args.n):
+      run_test(sleep_duration=args.sleep)
diff --git a/panda/tests/black_white_relay_test.py b/panda/tests/black_white_relay_test.py
new file mode 100755
index 000000000..21a2ef6d7
--- /dev/null
+++ b/panda/tests/black_white_relay_test.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python
+
+# Relay test with loopback between black panda (+ harness and power) and white/grey panda
+# Tests the relay switching multiple times / second by looking at the buses on which loop occurs.
+
+from __future__ import print_function
+import os
+import sys
+import time
+import random
+import argparse
+
+from hexdump import hexdump
+from itertools import permutations
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda
+
+def get_test_string():
+  return b"test"+os.urandom(10)
+
+counter = 0
+open_errors = 0
+closed_errors = 0
+content_errors = 0
+
+def run_test(sleep_duration):
+  global counter, open_errors, closed_errors, content_errors
+
+  pandas = Panda.list()
+  #pandas = ["540046000c51363338383037", "07801b800f51363038363036"]
+  print(pandas)
+
+  # make sure two pandas are connected
+  if len(pandas) != 2:
+    print("Connect white/grey and black panda to run this test!")
+    assert False
+
+  # connect
+  pandas[0] = Panda(pandas[0])
+  pandas[1] = Panda(pandas[1])
+
+  # find out which one is black
+  type0 = pandas[0].get_type()
+  type1 = pandas[1].get_type()
+
+  black_panda = None
+  other_panda = None
+  
+  if type0 == "\x03" and type1 != "\x03":
+    black_panda = pandas[0]
+    other_panda = pandas[1]
+  elif type0 != "\x03" and type1 == "\x03":
+    black_panda = pandas[1]
+    other_panda = pandas[0]
+  else:
+    print("Connect white/grey and black panda to run this test!")
+    assert False
+
+  # disable safety modes
+  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  # test health packet
+  print("black panda health", black_panda.health())
+  print("other panda health", other_panda.health())
+
+  # test black -> other
+  while True:
+    # Switch on relay
+    black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+    time.sleep(0.05)
+
+    if not test_buses(black_panda, other_panda, (0, False, [0])):
+      open_errors += 1
+      print("Open error")
+      assert False
+
+    # Switch off relay
+    black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
+    time.sleep(0.05)
+
+    if not test_buses(black_panda, other_panda, (0, False, [0, 2])):
+      closed_errors += 1
+      print("Close error")
+      assert False
+
+    counter += 1
+    print("Number of cycles:", counter, "Open errors:", open_errors, "Closed errors:", closed_errors, "Content errors:", content_errors)	
+
+def test_buses(black_panda, other_panda, test_obj):
+  global content_errors
+  send_bus, obd, recv_buses = test_obj
+    
+  black_panda.send_heartbeat()
+  other_panda.send_heartbeat()
+    
+  # Set OBD on send panda
+  other_panda.set_gmlan(True if obd else None)
+
+  # clear and flush
+  other_panda.can_clear(send_bus)
+
+  for recv_bus in recv_buses:
+    black_panda.can_clear(recv_bus)
+    
+  black_panda.can_recv()
+  other_panda.can_recv()
+
+  # send the characters
+  at = random.randint(1, 2000)
+  st = get_test_string()[0:8]
+  other_panda.can_send(at, st, send_bus)
+  time.sleep(0.05)
+
+  # check for receive
+  cans_echo = other_panda.can_recv()
+  cans_loop = black_panda.can_recv()
+
+  loop_buses = []
+  for loop in cans_loop:
+    if (loop[0] != at) or (loop[2] != st):
+      content_errors += 1
+    loop_buses.append(loop[3])
+    
+  # test loop buses
+  recv_buses.sort()
+  loop_buses.sort()
+  if(recv_buses != loop_buses):
+    return False
+  else:
+    return True
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("-n", type=int, help="Number of test iterations to run")
+  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
+  args = parser.parse_args()
+
+  if args.n is None:
+    while True:
+      run_test(sleep_duration=args.sleep)
+  else:
+    for i in range(args.n):
+      run_test(sleep_duration=args.sleep)
diff --git a/panda/tests/debug_console.py b/panda/tests/debug_console.py
index 0238ed789..e341b266c 100755
--- a/panda/tests/debug_console.py
+++ b/panda/tests/debug_console.py
@@ -12,33 +12,38 @@ setcolor = ["\033[1;32;40m", "\033[1;31;40m"]
 unsetcolor = "\033[00m"
 
 if __name__ == "__main__":
-  port_number = int(os.getenv("PORT", 0))
-  claim = os.getenv("CLAIM") is not None
-
-  serials = Panda.list()
-  if os.getenv("SERIAL"):
-    serials = filter(lambda x: x==os.getenv("SERIAL"), serials)
-
-  pandas = list(map(lambda x: Panda(x, claim=claim), serials))
-
-  if not len(pandas):
-    sys.exit("no pandas found")
-
-  if os.getenv("BAUD") is not None:
-    for panda in pandas:
-      panda.set_uart_baud(port_number, int(os.getenv("BAUD")))
-
   while True:
-    for i, panda in enumerate(pandas):
+    try:
+      port_number = int(os.getenv("PORT", 0))
+      claim = os.getenv("CLAIM") is not None
+
+      serials = Panda.list()
+      if os.getenv("SERIAL"):
+        serials = filter(lambda x: x==os.getenv("SERIAL"), serials)
+
+      pandas = list(map(lambda x: Panda(x, claim=claim), serials))
+
+      if not len(pandas):
+        sys.exit("no pandas found")
+
+      if os.getenv("BAUD") is not None:
+        for panda in pandas:
+          panda.set_uart_baud(port_number, int(os.getenv("BAUD")))
+
       while True:
-        ret = panda.serial_read(port_number)
-        if len(ret) > 0:
-          sys.stdout.write(setcolor[i] + str(ret) + unsetcolor)
-          sys.stdout.flush()
-        else:
-          break
-      if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
-        ln = sys.stdin.readline()
-        if claim:
-          panda.serial_write(port_number, ln)
-      time.sleep(0.01)
+        for i, panda in enumerate(pandas):
+          while True:
+      	    ret = panda.serial_read(port_number)
+  	    if len(ret) > 0:
+	      sys.stdout.write(setcolor[i] + str(ret) + unsetcolor)
+	      sys.stdout.flush()
+	    else:
+	      break
+          if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
+	    ln = sys.stdin.readline()
+	    if claim:
+	      panda.serial_write(port_number, ln)
+          time.sleep(0.01)
+    except:
+      print("panda disconnected!")
+      time.sleep(0.5);
diff --git a/panda/tests/health_test.py b/panda/tests/health_test.py
new file mode 100755
index 000000000..1042c860d
--- /dev/null
+++ b/panda/tests/health_test.py
@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+import time
+from panda import Panda
+	
+if __name__ == "__main__":
+  panda_serials = Panda.list()
+  pandas = []
+  for ps in panda_serials:
+    pandas.append(Panda(serial=ps))
+  if len(pandas) == 0:
+    print("No pandas connected")
+    assert False
+
+  while True:
+    for panda in pandas:
+      print(panda.health())
+    print("\n")
+    time.sleep(0.5)
+
diff --git a/panda/tests/safety/libpandasafety_py.py b/panda/tests/safety/libpandasafety_py.py
index 888bd36e9..bb332e52b 100644
--- a/panda/tests/safety/libpandasafety_py.py
+++ b/panda/tests/safety/libpandasafety_py.py
@@ -57,8 +57,9 @@ void set_toyota_rt_torque_last(int t);
 
 void init_tests_honda(void);
 bool get_honda_moving(void);
-int get_honda_brake_prev(void);
+bool get_honda_brake_pressed_prev(void);
 int get_honda_gas_prev(void);
+void set_honda_fwd_brake(bool);
 void set_honda_alt_brake_msg(bool);
 void set_honda_bosch_hardware(bool);
 int get_honda_bosch_hardware(void);
diff --git a/panda/tests/safety/test.c b/panda/tests/safety/test.c
index 7cd9b86d8..d92eb8680 100644
--- a/panda/tests/safety/test.c
+++ b/panda/tests/safety/test.c
@@ -227,8 +227,8 @@ bool get_honda_moving(void){
   return honda_moving;
 }
 
-int get_honda_brake_prev(void){
-  return honda_brake_prev;
+bool get_honda_brake_pressed_prev(void){
+  return honda_brake_pressed_prev;
 }
 
 int get_honda_gas_prev(void){
@@ -247,6 +247,10 @@ int get_honda_bosch_hardware(void) {
   return honda_bosch_hardware;
 }
 
+void set_honda_fwd_brake(bool c){
+  honda_fwd_brake = c;
+}
+
 void init_tests(void){
   // get HW_TYPE from env variable set in test.sh
   hw_type = atoi(getenv("HW_TYPE"));
@@ -315,8 +319,9 @@ void init_tests_subaru(void){
 void init_tests_honda(void){
   init_tests();
   honda_moving = false;
-  honda_brake_prev = 0;
+  honda_brake_pressed_prev = false;
   honda_gas_prev = 0;
+  honda_fwd_brake = false;
 }
 
 void set_gmlan_digital_output(int to_set){
diff --git a/panda/tests/safety/test_honda.py b/panda/tests/safety/test_honda.py
index f16030843..f2f593897 100755
--- a/panda/tests/safety/test_honda.py
+++ b/panda/tests/safety/test_honda.py
@@ -64,7 +64,7 @@ class TestHondaSafety(unittest.TestCase):
   def _send_brake_msg(self, brake):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 0x1FA << 21
-    to_send[0].RDLR = ((brake & 0x3) << 8) | ((brake & 0x3FF) >> 2)
+    to_send[0].RDLR = ((brake & 0x3) << 14) | ((brake & 0x3FF) >> 2)
 
     return to_send
 
@@ -112,9 +112,9 @@ class TestHondaSafety(unittest.TestCase):
     self.assertEqual(1, self.safety.get_honda_moving())
 
   def test_prev_brake(self):
-    self.assertFalse(self.safety.get_honda_brake_prev())
+    self.assertFalse(self.safety.get_honda_brake_pressed_prev())
     self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_honda_brake_prev())
+    self.assertTrue(self.safety.get_honda_brake_pressed_prev())
 
   def test_disengage_on_brake(self):
     self.safety.set_controls_allowed(1)
@@ -204,17 +204,22 @@ class TestHondaSafety(unittest.TestCase):
     self.safety.set_gas_interceptor_detected(False)
 
   def test_brake_safety_check(self):
-    for long_controls_allowed in [0, 1]:
-      self.safety.set_long_controls_allowed(long_controls_allowed)
-      for brake in np.arange(0, MAX_BRAKE + 10, 1):
-        for controls_allowed in [True, False]:
-          self.safety.set_controls_allowed(controls_allowed)
-          if controls_allowed and long_controls_allowed:
-            send = MAX_BRAKE >= brake >= 0
-          else:
-            send = brake == 0
-          self.assertEqual(send, self.safety.safety_tx_hook(self._send_brake_msg(brake)))
+    for fwd_brake in [False, True]:
+      self.safety.set_honda_fwd_brake(fwd_brake)
+      for long_controls_allowed in [0, 1]:
+        self.safety.set_long_controls_allowed(long_controls_allowed)
+        for brake in np.arange(0, MAX_BRAKE + 10, 1):
+          for controls_allowed in [True, False]:
+            self.safety.set_controls_allowed(controls_allowed)
+            if fwd_brake:
+              send = False  # block openpilot brake msg when fwd'ing stock msg
+            elif controls_allowed and long_controls_allowed:
+              send = MAX_BRAKE >= brake >= 0
+            else:
+              send = brake == 0
+            self.assertEqual(send, self.safety.safety_tx_hook(self._send_brake_msg(brake)))
     self.safety.set_long_controls_allowed(True)
+    self.safety.set_honda_fwd_brake(False)
 
   def test_gas_interceptor_safety_check(self):
     for long_controls_allowed in [0, 1]:
@@ -252,27 +257,33 @@ class TestHondaSafety(unittest.TestCase):
     buss = range(0x0, 0x3)
     msgs = range(0x1, 0x800)
     long_controls_allowed = [0, 1]
+    fwd_brake = [False, True]
 
     self.safety.set_honda_bosch_hardware(0)
 
-    for l in long_controls_allowed:
-      self.safety.set_long_controls_allowed(l)
-      blocked_msgs = [0xE4, 0x194, 0x33D]
-      if l:
-        blocked_msgs += [0x1FA ,0x30C, 0x39F]
-      for b in buss:
-        for m in msgs:
-          if b == 0:
-            fwd_bus = 2
-          elif b == 1:
-            fwd_bus = -1
-          elif b == 2:
-            fwd_bus = -1 if m in blocked_msgs else 0
+    for f in fwd_brake:
+      self.safety.set_honda_fwd_brake(f)
+      for l in long_controls_allowed:
+        self.safety.set_long_controls_allowed(l)
+        blocked_msgs = [0xE4, 0x194, 0x33D]
+        if l:
+          blocked_msgs += [0x30C, 0x39F]
+          if not f:
+            blocked_msgs += [0x1FA]
+        for b in buss:
+          for m in msgs:
+            if b == 0:
+              fwd_bus = 2
+            elif b == 1:
+              fwd_bus = -1
+            elif b == 2:
+              fwd_bus = -1 if m in blocked_msgs else 0
 
-          # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+            # assume len 8
+            self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
 
     self.safety.set_long_controls_allowed(True)
+    self.safety.set_honda_fwd_brake(False)
 
 
 
diff --git a/phonelibs/boringssl/LICENSE b/phonelibs/boringssl/LICENSE
new file mode 100644
index 000000000..2f4dfcdb0
--- /dev/null
+++ b/phonelibs/boringssl/LICENSE
@@ -0,0 +1,274 @@
+BoringSSL is a fork of OpenSSL. As such, large parts of it fall under OpenSSL
+licensing. Files that are completely new have a Google copyright and an ISC
+license. This license is reproduced at the bottom of this file.
+
+Contributors to BoringSSL are required to follow the CLA rules for Chromium:
+https://cla.developers.google.com/clas
+
+Files in third_party/ have their own licenses, as described therein. The MIT
+license, for third_party/fiat, which, unlike other third_party directories, is
+compiled into non-test libraries, is included below.
+
+The OpenSSL toolkit stays under a dual license, i.e. both the conditions of the
+OpenSSL License and the original SSLeay license apply to the toolkit. See below
+for the actual license texts. Actually both licenses are BSD-style Open Source
+licenses. In case of any license issues related to OpenSSL please contact
+openssl-core@openssl.org.
+
+The following are Google-internal bug numbers where explicit permission from
+some authors is recorded for use of their work. (This is purely for our own
+record keeping.)
+  27287199
+  27287880
+  27287883
+
+  OpenSSL License
+  ---------------
+
+/* ====================================================================
+ * Copyright (c) 1998-2011 The OpenSSL Project.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer. 
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. All advertising materials mentioning features or use of this
+ *    software must display the following acknowledgment:
+ *    "This product includes software developed by the OpenSSL Project
+ *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
+ *
+ * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    openssl-core@openssl.org.
+ *
+ * 5. Products derived from this software may not be called "OpenSSL"
+ *    nor may "OpenSSL" appear in their names without prior written
+ *    permission of the OpenSSL Project.
+ *
+ * 6. Redistributions of any form whatsoever must retain the following
+ *    acknowledgment:
+ *    "This product includes software developed by the OpenSSL Project
+ *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ * ====================================================================
+ *
+ * This product includes cryptographic software written by Eric Young
+ * (eay@cryptsoft.com).  This product includes software written by Tim
+ * Hudson (tjh@cryptsoft.com).
+ *
+ */
+
+ Original SSLeay License
+ -----------------------
+
+/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
+ * All rights reserved.
+ *
+ * This package is an SSL implementation written
+ * by Eric Young (eay@cryptsoft.com).
+ * The implementation was written so as to conform with Netscapes SSL.
+ * 
+ * This library is free for commercial and non-commercial use as long as
+ * the following conditions are aheared to.  The following conditions
+ * apply to all code found in this distribution, be it the RC4, RSA,
+ * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
+ * included with this distribution is covered by the same copyright terms
+ * except that the holder is Tim Hudson (tjh@cryptsoft.com).
+ * 
+ * Copyright remains Eric Young's, and as such any Copyright notices in
+ * the code are not to be removed.
+ * If this package is used in a product, Eric Young should be given attribution
+ * as the author of the parts of the library used.
+ * This can be in the form of a textual message at program startup or
+ * in documentation (online or textual) provided with the package.
+ * 
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. All advertising materials mentioning features or use of this software
+ *    must display the following acknowledgement:
+ *    "This product includes cryptographic software written by
+ *     Eric Young (eay@cryptsoft.com)"
+ *    The word 'cryptographic' can be left out if the rouines from the library
+ *    being used are not cryptographic related :-).
+ * 4. If you include any Windows specific code (or a derivative thereof) from 
+ *    the apps directory (application code) you must include an acknowledgement:
+ *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
+ * 
+ * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ * 
+ * The licence and distribution terms for any publically available version or
+ * derivative of this code cannot be changed.  i.e. this code cannot simply be
+ * copied and put under another distribution licence
+ * [including the GNU Public Licence.]
+ */
+
+
+ISC license used for completely new code in BoringSSL:
+
+/* Copyright (c) 2015, Google Inc.
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
+ * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
+ * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
+ * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
+
+
+The code in third_party/fiat carries the MIT license:
+
+Copyright (c) 2015-2016 the fiat-crypto authors (see
+https://github.com/mit-plv/fiat-crypto/blob/master/AUTHORS).
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+The code in third_party/sike also carries the MIT license:
+
+Copyright (c) Microsoft Corporation. All rights reserved.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE
+
+
+Licenses for support code
+-------------------------
+
+Parts of the TLS test suite are under the Go license. This code is not included
+in BoringSSL (i.e. libcrypto and libssl) when compiled, however, so
+distributing code linked against BoringSSL does not trigger this license:
+
+Copyright (c) 2009 The Go Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+   * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+   * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+BoringSSL uses the Chromium test infrastructure to run a continuous build,
+trybots etc. The scripts which manage this, and the script for generating build
+metadata, are under the Chromium license. Distributing code linked against
+BoringSSL does not trigger this license.
+
+Copyright 2015 The Chromium Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+   * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+   * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/phonelibs/bzip2/LICENSE b/phonelibs/bzip2/LICENSE
new file mode 100644
index 000000000..cc614178c
--- /dev/null
+++ b/phonelibs/bzip2/LICENSE
@@ -0,0 +1,42 @@
+
+--------------------------------------------------------------------------
+
+This program, "bzip2", the associated library "libbzip2", and all
+documentation, are copyright (C) 1996-2010 Julian R Seward.  All
+rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. The origin of this software must not be misrepresented; you must 
+   not claim that you wrote the original software.  If you use this 
+   software in a product, an acknowledgment in the product 
+   documentation would be appreciated but is not required.
+
+3. Altered source versions must be plainly marked as such, and must
+   not be misrepresented as being the original software.
+
+4. The name of the author may not be used to endorse or promote 
+   products derived from this software without specific prior written 
+   permission.
+
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS
+OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
+GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Julian Seward, jseward@bzip.org
+bzip2/libbzip2 version 1.0.6 of 6 September 2010
+
+--------------------------------------------------------------------------
diff --git a/phonelibs/hierarchy/lib/_hierarchy.so b/phonelibs/hierarchy/lib/_hierarchy.so
deleted file mode 100755
index 367b71775..000000000
Binary files a/phonelibs/hierarchy/lib/_hierarchy.so and /dev/null differ
diff --git a/phonelibs/libyuv/LICENSE b/phonelibs/libyuv/LICENSE
new file mode 100644
index 000000000..c911747a6
--- /dev/null
+++ b/phonelibs/libyuv/LICENSE
@@ -0,0 +1,29 @@
+Copyright 2011 The LibYuv Project Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+  * Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in
+    the documentation and/or other materials provided with the
+    distribution.
+
+  * Neither the name of Google nor the names of its contributors may
+    be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/phonelibs/openblas/libopenblas.so b/phonelibs/openblas/libopenblas.so
deleted file mode 120000
index 7a792bc90..000000000
--- a/phonelibs/openblas/libopenblas.so
+++ /dev/null
@@ -1 +0,0 @@
-libopenblas_armv8p-r0.2.19.so
\ No newline at end of file
diff --git a/phonelibs/openblas/libopenblas_armv8p-r0.2.19.so b/phonelibs/openblas/libopenblas_armv8p-r0.2.19.so
deleted file mode 100755
index ace58c8a1..000000000
Binary files a/phonelibs/openblas/libopenblas_armv8p-r0.2.19.so and /dev/null differ
diff --git a/phonelibs/yaml-cpp/LICENSE b/phonelibs/yaml-cpp/LICENSE
new file mode 100644
index 000000000..991fdbbe7
--- /dev/null
+++ b/phonelibs/yaml-cpp/LICENSE
@@ -0,0 +1,19 @@
+Copyright (c) 2008-2015 Jesse Beder.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
diff --git a/run_docker_tests.sh b/run_docker_tests.sh
index dfee5f866..21549ab08 100755
--- a/run_docker_tests.sh
+++ b/run_docker_tests.sh
@@ -13,4 +13,4 @@ docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && pyt
 docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
 docker run --rm -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
 docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/tests/process_replay/ && ./test_processes.py'
-docker run --rm tmppilot /bin/sh -c 'mkdir -p /data/params && cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/ && ./test_car_models_openpilot.py'
+docker run --rm tmppilot /bin/sh -c 'mkdir -p /data/params && cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/ && ./test_car_models.py'
diff --git a/selfdrive/assets/sounds/disengaged.wav b/selfdrive/assets/sounds/disengaged.wav
index 655aa3126..3aa8e51e6 100644
Binary files a/selfdrive/assets/sounds/disengaged.wav and b/selfdrive/assets/sounds/disengaged.wav differ
diff --git a/selfdrive/assets/sounds/engaged.wav b/selfdrive/assets/sounds/engaged.wav
index b33e8181f..1451f937f 100644
Binary files a/selfdrive/assets/sounds/engaged.wav and b/selfdrive/assets/sounds/engaged.wav differ
diff --git a/selfdrive/assets/sounds/error.wav b/selfdrive/assets/sounds/error.wav
index 309eaef8a..e805181ae 100644
Binary files a/selfdrive/assets/sounds/error.wav and b/selfdrive/assets/sounds/error.wav differ
diff --git a/selfdrive/assets/sounds/warning_1.wav b/selfdrive/assets/sounds/warning_1.wav
index 920c11846..43ca74cc5 100644
Binary files a/selfdrive/assets/sounds/warning_1.wav and b/selfdrive/assets/sounds/warning_1.wav differ
diff --git a/selfdrive/assets/sounds/warning_2.wav b/selfdrive/assets/sounds/warning_2.wav
index f5ed8521d..e9709d9fd 100644
Binary files a/selfdrive/assets/sounds/warning_2.wav and b/selfdrive/assets/sounds/warning_2.wav differ
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 6aa84d106..4f1059930 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python2.7
 import json
-import jwt
 import os
 import random
 import re
@@ -13,7 +12,6 @@ import traceback
 import zmq
 import requests
 import six.moves.queue
-from datetime import datetime, timedelta
 from functools import partial
 from jsonrpc import JSONRPCResponseManager, dispatcher
 from websocket import create_connection, WebSocketTimeoutException, ABNF
@@ -104,9 +102,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
 
     params = Params()
     dongle_id = params.get("DongleId")
-    private_key = open("/persist/comma/id_rsa").read()
-    identity_token = jwt.encode({'identity':dongle_id, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
-
+    identity_token = Api(dongle_id).get_token()
     ws = create_connection(remote_ws_uri,
                            cookie="jwt=" + identity_token,
                            enable_multithread=True)
@@ -232,8 +228,7 @@ def main(gctx=None):
   crash.bind_extra(version=version, dirty=dirty, is_eon=True)
   crash.install()
 
-  private_key = open("/persist/comma/id_rsa").read()
-  api = Api(dongle_id, private_key)
+  api = Api(dongle_id)
 
   conn_retries = 0
   while 1:
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index f4ca033f5..8468238f3 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -43,6 +43,7 @@
 #define SAFETY_TESLA 8
 #define SAFETY_CHRYSLER 9
 #define SAFETY_SUBARU 10
+#define SAFETY_GM_PASSIVE 11
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -135,6 +136,9 @@ void *safety_setter_thread(void *s) {
   case cereal::CarParams::SafetyModel::GM:
     safety_setting = SAFETY_GM;
     break;
+  case cereal::CarParams::SafetyModel::GM_PASSIVE:
+    safety_setting = SAFETY_GM_PASSIVE;
+    break;
   case cereal::CarParams::SafetyModel::HONDA_BOSCH:
     safety_setting = SAFETY_HONDA_BOSCH;
     break;
diff --git a/selfdrive/can/libdbc_py.py b/selfdrive/can/libdbc_py.py
index 61cf8cd05..fbf36a3d4 100644
--- a/selfdrive/can/libdbc_py.py
+++ b/selfdrive/can/libdbc_py.py
@@ -82,7 +82,7 @@ void* can_init(int bus, const char* dbc_name,
 
 int can_update(void* can, uint64_t sec, bool wait);
 
-size_t can_query(void* can, uint64_t sec, bool *out_can_valid, size_t out_values_size, SignalValue* out_values);
+size_t can_query_latest(void* can, bool *out_can_valid, size_t out_values_size, SignalValue* out_values);
 
 const DBC* dbc_lookup(const char* dbc_name);
 
diff --git a/selfdrive/can/parser.cc b/selfdrive/can/parser.cc
index 69b30fb51..830e8b14c 100644
--- a/selfdrive/can/parser.cc
+++ b/selfdrive/can/parser.cc
@@ -330,7 +330,7 @@ class CANParser {
     }
   }
 
-  void update_string(uint64_t sec, std::string data) {
+  void update_string(std::string data) {
     // format for board, make copy due to alignment issues, will be freed on out of scope
     auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
     memcpy(amsg.begin(), data.data(), data.length());
@@ -339,10 +339,12 @@ class CANParser {
     capnp::FlatArrayMessageReader cmsg(amsg);
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
-    auto cans = event.getCan();
-    UpdateCans(sec, cans);
+    last_sec = event.getLogMonoTime();
 
-    UpdateValid(sec);
+    auto cans = event.getCan();
+    UpdateCans(last_sec, cans);
+
+    UpdateValid(last_sec);
   }
 
   int update(uint64_t sec, bool wait) {
@@ -381,17 +383,18 @@ class CANParser {
       UpdateCans(sec, cans);
     }
 
+    last_sec = sec;
     UpdateValid(sec);
     zmq_msg_close(&msg);
     return result;
   }
 
-  std::vector<SignalValue> query(uint64_t sec) {
+  std::vector<SignalValue> query_latest() {
     std::vector<SignalValue> ret;
 
     for (const auto& kv : message_states) {
       const auto& state = kv.second;
-      if (sec != 0 && state.seen != sec) continue;
+      if (last_sec != 0 && state.seen != last_sec) continue;
 
       for (int i=0; i<state.parse_sigs.size(); i++) {
         const Signal &sig = state.parse_sigs[i];
@@ -408,6 +411,7 @@ class CANParser {
   }
 
   bool can_valid = false;
+  uint64_t last_sec = 0;
 
  private:
   const int bus;
@@ -451,31 +455,31 @@ int can_update(void* can, uint64_t sec, bool wait) {
   return cp->update(sec, wait);
 }
 
-void can_update_string(void *can, uint64_t sec, const char* dat, int len) {
+void can_update_string(void *can, const char* dat, int len) {
   CANParser* cp = (CANParser*)can;
-  cp->update_string(sec, std::string(dat, len));
+  cp->update_string(std::string(dat, len));
 }
 
-size_t can_query(void* can, uint64_t sec, bool *out_can_valid, size_t out_values_size, SignalValue* out_values) {
+size_t can_query_latest(void* can, bool *out_can_valid, size_t out_values_size, SignalValue* out_values) {
   CANParser* cp = (CANParser*)can;
 
   if (out_can_valid) {
     *out_can_valid = cp->can_valid;
   }
 
-  const std::vector<SignalValue> values = cp->query(sec);
+  const std::vector<SignalValue> values = cp->query_latest();
   if (out_values) {
     std::copy(values.begin(), values.begin()+std::min(out_values_size, values.size()), out_values);
   }
   return values.size();
 };
 
-void can_query_vector(void* can, uint64_t sec, bool *out_can_valid, std::vector<SignalValue> &values) {
+void can_query_latest_vector(void* can, bool *out_can_valid, std::vector<SignalValue> &values) {
   CANParser* cp = (CANParser*)can;
   if (out_can_valid) {
     *out_can_valid = cp->can_valid;
   }
-  values = cp->query(sec);
+  values = cp->query_latest();
 };
 
 }
diff --git a/selfdrive/can/parser_pyx.pxd b/selfdrive/can/parser_pyx.pxd
index ac619707a..6b1e50ce6 100644
--- a/selfdrive/can/parser_pyx.pxd
+++ b/selfdrive/can/parser_pyx.pxd
@@ -67,9 +67,9 @@ ctypedef void* (*can_init_with_vectors_func)(int bus, const char* dbc_name,
                 const char* tcp_addr,
                 int timeout)
 ctypedef int (*can_update_func)(void* can, uint64_t sec, bool wait);
-ctypedef void (*can_update_string_func)(void* can, uint64_t sec, const char* dat, int len);
-ctypedef size_t (*can_query_func)(void* can, uint64_t sec, bool *out_can_valid, size_t out_values_size, SignalValue* out_values);
-ctypedef void (*can_query_vector_func)(void* can, uint64_t sec, bool *out_can_valid,  vector[SignalValue] &values)
+ctypedef void (*can_update_string_func)(void* can, const char* dat, int len);
+ctypedef size_t (*can_query_latest_func)(void* can, bool *out_can_valid, size_t out_values_size, SignalValue* out_values);
+ctypedef void (*can_query_latest_vector_func)(void* can, bool *out_can_valid,  vector[SignalValue] &values)
 
 cdef class CANParser:
   cdef:
@@ -79,7 +79,7 @@ cdef class CANParser:
     can_init_with_vectors_func can_init_with_vectors
     can_update_func can_update
     can_update_string_func can_update_string
-    can_query_vector_func can_query_vector
+    can_query_latest_vector_func can_query_latest_vector
     map[string, uint32_t] msg_name_to_address
     map[uint32_t, string] address_to_msg_name
     vector[SignalValue] can_values
@@ -91,4 +91,4 @@ cdef class CANParser:
     bool can_valid
     int can_invalid_cnt
 
-  cdef unordered_set[uint32_t] update_vl(self, uint64_t sec)
+  cdef unordered_set[uint32_t] update_vl(self)
diff --git a/selfdrive/can/parser_pyx.pyx b/selfdrive/can/parser_pyx.pyx
index c6f1f58e0..4f9297096 100644
--- a/selfdrive/can/parser_pyx.pyx
+++ b/selfdrive/can/parser_pyx.pyx
@@ -18,7 +18,7 @@ cdef class CANParser:
     self.dbc_lookup = <dbc_lookup_func>dlsym(libdbc, 'dbc_lookup')
     self.can_update = <can_update_func>dlsym(libdbc, 'can_update')
     self.can_update_string = <can_update_string_func>dlsym(libdbc, 'can_update_string')
-    self.can_query_vector = <can_query_vector_func>dlsym(libdbc, 'can_query_vector')
+    self.can_query_latest_vector = <can_query_latest_vector_func>dlsym(libdbc, 'can_query_latest_vector')
     if checks is None:
       checks = []
 
@@ -72,14 +72,14 @@ cdef class CANParser:
       message_options_v.push_back(mpo)
 
     self.can = self.can_init_with_vectors(bus, dbc_name, message_options_v, signal_options_v, sendcan, tcp_addr, timeout)
-    self.update_vl(0)
+    self.update_vl()
 
-  cdef unordered_set[uint32_t] update_vl(self, uint64_t sec):
+  cdef unordered_set[uint32_t] update_vl(self):
     cdef string sig_name
     cdef unordered_set[uint32_t] updated_val
     cdef bool valid = False
 
-    self.can_query_vector(self.can, sec, &valid, self.can_values)
+    self.can_query_latest_vector(self.can, &valid, self.can_values)
 
     # Update invalid flag
     self.can_invalid_cnt += 1
@@ -100,20 +100,20 @@ cdef class CANParser:
 
     return updated_val
 
-  def update_string(self, uint64_t sec, dat):
-    self.can_update_string(self.can, sec, dat, len(dat))
-    return self.update_vl(sec)
+  def update_string(self, dat):
+    self.can_update_string(self.can, dat, len(dat))
+    return self.update_vl()
 
-  def update_strings(self, uint64_t sec, strings):
+  def update_strings(self, strings):
     updated_vals = set()
 
     for s in strings:
-      updated_val = self.update_string(sec, s)
+      updated_val = self.update_string(s)
       updated_vals.update(updated_val)
 
     return updated_vals
 
   def update(self, uint64_t sec, bool wait):
     r = (self.can_update(self.can, sec, wait) >= 0)
-    updated_val = self.update_vl(sec)
+    updated_val = self.update_vl()
     return r, updated_val
diff --git a/selfdrive/can/tests/parser_old.py b/selfdrive/can/tests/parser_old.py
index 5a899efa5..ccf613ab3 100644
--- a/selfdrive/can/tests/parser_old.py
+++ b/selfdrive/can/tests/parser_old.py
@@ -71,12 +71,12 @@ class CANParser(object):
 
     self.p_can_valid = ffi.new("bool*")
 
-    value_count = libdbc.can_query(self.can, 0, self.p_can_valid, 0, ffi.NULL)
+    value_count = libdbc.can_query_latest(self.can, self.p_can_valid, 0, ffi.NULL)
     self.can_values = ffi.new("SignalValue[%d]" % value_count)
     self.update_vl(0)
 
   def update_vl(self, sec):
-    can_values_len = libdbc.can_query(self.can, sec, self.p_can_valid, len(self.can_values), self.can_values)
+    can_values_len = libdbc.can_query_latest(self.can, self.p_can_valid, len(self.can_values), self.can_values)
     assert can_values_len <= len(self.can_values)
 
     self.can_invalid_cnt += 1
diff --git a/selfdrive/can/tests/test_packer_toyota.py b/selfdrive/can/tests/test_packer_toyota.py
index f5f0e8a7f..fc53399ee 100644
--- a/selfdrive/can/tests/test_packer_toyota.py
+++ b/selfdrive/can/tests/test_packer_toyota.py
@@ -47,32 +47,34 @@ class TestPackerMethods(unittest.TestCase):
       self.assertEqual(m_old, m)
 
       steer = (random.randint(0, 2) % 2 == 0)
+      chime = random.randint(1, 65536)
       left_line = (random.randint(0, 2) % 2 == 0)
       right_line = (random.randint(0, 2) % 2 == 0)
       left_lane_depart = (random.randint(0, 2) % 2 == 0)
       right_lane_depart = (random.randint(0, 2) % 2 == 0)
-      m_old = create_ui_command(self.cp_old, steer, left_line, right_line, left_lane_depart, right_lane_depart)
-      m = create_ui_command(self.cp, steer, left_line, right_line, left_lane_depart, right_lane_depart)
+      m_old = create_ui_command(self.cp_old, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart)
+      m = create_ui_command(self.cp, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart)
       self.assertEqual(m_old, m)
 
   def test_performance(self):
     n1 = sec_since_boot()
     recursions = 100000
     steer = (random.randint(0, 2) % 2 == 0)
+    chime = random.randint(1, 65536)
     left_line = (random.randint(0, 2) % 2 == 0)
     right_line = (random.randint(0, 2) % 2 == 0)
     left_lane_depart = (random.randint(0, 2) % 2 == 0)
     right_lane_depart = (random.randint(0, 2) % 2 == 0)
 
     for _ in xrange(recursions):
-      create_ui_command(self.cp_old, steer, left_line, right_line, left_lane_depart, right_lane_depart)
+      create_ui_command(self.cp_old, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart)
     n2 = sec_since_boot()
     elapsed_old = n2 - n1
 
     # print('Old API, elapsed time: {} secs'.format(elapsed_old))
     n1 = sec_since_boot()
     for _ in xrange(recursions):
-      create_ui_command(self.cp, steer, left_line, right_line, left_lane_depart, right_lane_depart)
+      create_ui_command(self.cp, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart)
     n2 = sec_since_boot()
     elapsed_new = n2 - n1
     # print('New API, elapsed time: {} secs'.format(elapsed_new))
diff --git a/selfdrive/can/tests/test_parser.py b/selfdrive/can/tests/test_parser.py
index 53c95ce91..ff3cbddf7 100755
--- a/selfdrive/can/tests/test_parser.py
+++ b/selfdrive/can/tests/test_parser.py
@@ -58,16 +58,15 @@ def run_route(route):
 
   route_ok = True
 
-  t = 0
   for msg in lr:
     if msg.which() == 'can':
-      t += DT
+      t = msg.logMonoTime
       msg_bytes = msg.as_builder().to_bytes()
       can.send(msg_bytes)
 
       _, updated_old = parser_old.update(t, True)
       _, updated_new = parser_new.update(t, True)
-      updated_string = parser_string.update_string(t, msg_bytes)
+      updated_string = parser_string.update_string(msg_bytes)
 
       if updated_old != updated_new:
         route_ok = False
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 45b9f94e1..a90f8d43e 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -1,4 +1,5 @@
 import os
+import zmq
 from cereal import car
 from common.params import Params
 from common.vin import get_vin, VIN_UNKNOWN
@@ -8,6 +9,16 @@ from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
 
 
+def get_one_can(logcan):
+  while True:
+    try:
+      can = messaging.recv_one(logcan)
+      if len(can.can) > 0:
+        return can
+    except zmq.error.Again:
+      continue
+
+
 def get_startup_alert(car_recognized, controller_available):
   alert = 'startup'
   if not car_recognized:
@@ -86,7 +97,7 @@ def fingerprint(logcan, sendcan, is_panda_black):
   done = False
 
   while not done:
-    a = messaging.recv_one(logcan)
+    a = get_one_can(logcan)
 
     for can in a.can:
       # need to independently try to fingerprint both bus 0 and 1 to work
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index dac43ca95..2ddc4bdaf 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -31,7 +31,7 @@ class CarController(object):
     self.packer = CANPacker(dbc_name)
 
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert):
+  def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
     # this seems needed to avoid steering faults and to force the sync with the EPS counter
     frame = CS.lkas_counter
     if self.prev_frame == frame:
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 6368847c8..13ea25b59 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -1,20 +1,22 @@
+from cereal import car
 from selfdrive.can.parser import CANParser
 from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
 from common.kalman.simple_kalman import KF1D
 
+GearShifter = car.CarState.GearShifter
 
 def parse_gear_shifter(can_gear):
   if can_gear == 0x1:
-    return "park"
+    return GearShifter.park
   elif can_gear == 0x2:
-    return "reverse"
+    return GearShifter.reverse
   elif can_gear == 0x3:
-    return "neutral"
+    return GearShifter.neutral
   elif can_gear == 0x4:
-    return "drive"
+    return GearShifter.drive
   elif can_gear == 0x5:
-    return "low"
-  return "unknown"
+    return GearShifter.low
+  return GearShifter.unknown
 
 
 def get_can_parser(CP):
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index c43c6c08a..e470b3c1d 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python
-from common.realtime import sec_since_boot
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
@@ -8,13 +7,14 @@ from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera
 from selfdrive.car.chrysler.values import ECU, check_ecu_msgs, CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 
+GearShifter = car.CarState.GearShifter
+ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(object):
   def __init__(self, CP, CarController):
     self.CP = CP
     self.VM = VehicleModel(CP)
 
-    self.frame = 0
     self.gas_pressed_prev = False
     self.brake_pressed_prev = False
     self.cruise_enabled_prev = False
@@ -115,8 +115,8 @@ class CarInterface(object):
   # returns a car.CarState
   def update(self, c, can_strings):
     # ******************* do can recv *******************
-    self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
-    self.cp_cam.update_strings(int(sec_since_boot() * 1e9), can_strings)
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
 
     self.CS.update(self.cp, self.cp_cam)
 
@@ -160,8 +160,6 @@ class CarInterface(object):
     ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
     ret.cruiseState.available = self.CS.main_on
     ret.cruiseState.speedOffset = 0.
-    # ignore standstill in hybrid rav4, since pcm allows to restart without
-    # receiving any special command
     ret.cruiseState.standstill = False
 
     # TODO: button presses
@@ -169,13 +167,13 @@ class CarInterface(object):
 
     if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'leftBlinker'
+      be.type = ButtonType.leftBlinker
       be.pressed = self.CS.left_blinker_on != 0
       buttonEvents.append(be)
 
     if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'rightBlinker'
+      be.type = ButtonType.rightBlinker
       be.pressed = self.CS.right_blinker_on != 0
       buttonEvents.append(be)
 
@@ -193,7 +191,7 @@ class CarInterface(object):
 
     # events
     events = []
-    if not (ret.gearShifter in ('drive', 'low')):
+    if not (ret.gearShifter in (GearShifter.drive, GearShifter.low)):
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if ret.doorOpen:
       events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
@@ -203,7 +201,7 @@ class CarInterface(object):
       events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if not self.CS.main_on:
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == 'reverse':
+    if ret.gearShifter == GearShifter.reverse:
       events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
@@ -236,8 +234,6 @@ class CarInterface(object):
     if (self.CS.frame == -1):
       return [] # if we haven't seen a frame 220, then do not update.
 
-    self.frame = self.CS.frame
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame,
-                               c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
+    can_sends = self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
 
     return can_sends
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index 43f5c6105..815d2c3e4 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -2,7 +2,6 @@
 import os
 from selfdrive.can.parser import CANParser
 from cereal import car
-from common.realtime import sec_since_boot
 
 RADAR_MSGS_C = range(0x2c2, 0x2d4+2, 2)  # c_ messages 706,...,724
 RADAR_MSGS_D = range(0x2a2, 0x2b4+2, 2)  # d_ messages
@@ -55,8 +54,7 @@ class RadarInterface(object):
     self.trigger_msg = LAST_MSG
 
   def update(self, can_strings):
-    tm = int(sec_since_boot() * 1e9)
-    vls = self.rcp.update_strings(tm, can_strings)
+    vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
new file mode 100644
index 000000000..3566fd5e7
--- /dev/null
+++ b/selfdrive/car/ford/carcontroller.py
@@ -0,0 +1,87 @@
+from cereal import car
+from selfdrive.car.ford.fordcan import make_can_msg, create_steer_command, create_lkas_ui, \
+                                       spam_cancel_button
+from selfdrive.can.packer import CANPacker
+
+
+MAX_STEER_DELTA = 1
+TOGGLE_DEBUG = False
+
+class CarController(object):
+  def __init__(self, dbc_name, enable_camera, vehicle_model):
+    self.packer = CANPacker(dbc_name)
+    self.enable_camera = enable_camera
+    self.enabled_last = False
+    self.main_on_last = False
+    self.vehicle_model = vehicle_model
+    self.generic_toggle_last = 0
+    self.steer_alert_last = False
+    self.lkas_action = 0
+
+  def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel):
+
+    can_sends = []
+    steer_alert = visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired
+
+    apply_steer = actuators.steer
+
+    if self.enable_camera:
+
+      if pcm_cancel:
+        #print "CANCELING!!!!"
+        can_sends.append(spam_cancel_button(self.packer))
+
+      if (frame % 3) == 0:
+
+        curvature = self.vehicle_model.calc_curvature(actuators.steerAngle*3.1415/180., CS.v_ego)
+
+        # The use of the toggle below is handy for trying out the various LKAS modes
+        if TOGGLE_DEBUG:
+          self.lkas_action += int(CS.generic_toggle and not self.generic_toggle_last)
+          self.lkas_action &= 0xf
+        else:
+          self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
+
+        can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
+                                              CS.lkas_state, CS.angle_steers, curvature, self.lkas_action))
+        self.generic_toggle_last = CS.generic_toggle
+
+      if (frame % 100) == 0:
+
+        can_sends.append(make_can_msg(973, '\x00\x00\x00\x00\x00\x00\x00\x00', 0, False))
+        #can_sends.append(make_can_msg(984, '\x00\x00\x00\x00\x80\x45\x60\x30', 0, False))
+
+      if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.main_on) or \
+         (self.steer_alert_last != steer_alert):
+        can_sends.append(create_lkas_ui(self.packer, CS.main_on, enabled, steer_alert))
+
+      if (frame % 200) == 0:
+        can_sends.append(make_can_msg(1875, '\x80\xb0\x55\x55\x78\x90\x00\x00', 1, False))
+
+      if (frame % 10) == 0:
+
+        can_sends.append(make_can_msg(1648, '\x00\x00\x00\x40\x00\x00\x50\x00', 1, False))
+        can_sends.append(make_can_msg(1649, '\x10\x10\xf1\x70\x04\x00\x00\x00', 1, False))
+
+        can_sends.append(make_can_msg(1664, '\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1, False))
+        can_sends.append(make_can_msg(1674, '\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1, False))
+        can_sends.append(make_can_msg(1675, '\x00\x00\x3b\x60\x37\x00\x00\x00', 1, False))
+        can_sends.append(make_can_msg(1690, '\x70\x00\x00\x55\x86\x1c\xe0\x00', 1, False))
+
+        can_sends.append(make_can_msg(1910, '\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1, False))
+        can_sends.append(make_can_msg(1911, '\x48\x53\x37\x54\x48\x53\x37\x54', 1, False))
+        can_sends.append(make_can_msg(1912, '\x31\x34\x47\x30\x38\x31\x43\x42', 1, False))
+        can_sends.append(make_can_msg(1913, '\x31\x34\x47\x30\x38\x32\x43\x42', 1, False))
+        can_sends.append(make_can_msg(1969, '\xf4\x40\x00\x00\x00\x00\x00\x00', 1, False))
+        can_sends.append(make_can_msg(1971, '\x0b\xc0\x00\x00\x00\x00\x00\x00', 1, False))
+
+      static_msgs = range(1653, 1658)
+      for addr in static_msgs:
+        cnt = (frame % 10) + 1
+        can_sends.append(make_can_msg(addr, chr(cnt<<4) + '\x00\x00\x00\x00\x00\x00\x00', 1, False))
+
+      self.enabled_last = enabled
+      self.main_on_last = CS.main_on
+      self.steer_alert_last = steer_alert
+
+    return can_sends
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
new file mode 100644
index 000000000..a55f29896
--- /dev/null
+++ b/selfdrive/car/ford/fordcan.py
@@ -0,0 +1,54 @@
+from common.numpy_fast import clip
+from selfdrive.car.ford.values import MAX_ANGLE
+
+
+def make_can_msg(addr, dat, alt, cks=False):
+  return [addr, 0, dat, alt]
+
+
+def create_steer_command(packer, angle_cmd, enabled, lkas_state, angle_steers, curvature, lkas_action):
+  """Creates a CAN message for the Ford Steer Command."""
+
+  #if enabled and lkas available:
+  if enabled and lkas_state in [2,3]: #and (frame % 500) >= 3:
+    action = lkas_action
+  else:
+    action = 0xf
+    angle_cmd = angle_steers/MAX_ANGLE
+
+  angle_cmd = clip(angle_cmd * MAX_ANGLE, - MAX_ANGLE, MAX_ANGLE)
+
+  values = {
+    "Lkas_Action": action,
+    "Lkas_Alert": 0xf,             # no alerts
+    "Lane_Curvature": clip(curvature, -0.01, 0.01),   # is it just for debug?
+    #"Lane_Curvature": 0,   # is it just for debug?
+    "Steer_Angle_Req": angle_cmd
+  }
+  return packer.make_can_msg("Lane_Keep_Assist_Control", 0, values)
+
+
+def create_lkas_ui(packer, main_on, enabled, steer_alert):
+  """Creates a CAN message for the Ford Steer Ui."""
+
+  if not main_on:
+    lines = 0xf
+  elif enabled:
+    lines = 0x3
+  else:
+    lines = 0x6
+
+  values = {
+    "Set_Me_X80": 0x80,
+    "Set_Me_X45": 0x45,
+    "Set_Me_X30": 0x30,
+    "Lines_Hud": lines,
+    "Hands_Warning_W_Chime": steer_alert,
+  }
+  return packer.make_can_msg("Lane_Keep_Assist_Ui", 0, values)
+
+def spam_cancel_button(packer):
+  values = {
+    "Cancel": 1
+  }
+  return packer.make_can_msg("Steering_Buttons", 0, values)
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 59acc8432..efc7301f3 100755
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python
-from common.realtime import sec_since_boot
 from cereal import car
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
@@ -48,6 +47,7 @@ class CarInterface(object):
     ret.isPandaBlack = is_panda_black
 
     ret.safetyModel = car.CarParams.SafetyModel.ford
+    ret.dashcamOnly = True
 
     # pedal
     ret.enableCruise = True
@@ -108,7 +108,7 @@ class CarInterface(object):
   # returns a car.CarState
   def update(self, c, can_strings):
     # ******************* do can recv *******************
-    self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
+    self.cp.update_strings(can_strings)
 
     self.CS.update(self.cp)
 
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index 04cab9c66..be408da03 100755
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -3,7 +3,6 @@ import os
 import numpy as np
 from selfdrive.can.parser import CANParser
 from cereal import car
-from common.realtime import sec_since_boot
 
 RADAR_MSGS = range(0x500, 0x540)
 
@@ -32,8 +31,7 @@ class RadarInterface(object):
     self.updated_messages = set()
 
   def update(self, can_strings):
-    tm = int(sec_since_boot() * 1e9)
-    vls = self.rcp.update_strings(tm, can_strings)
+    vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index f5f641836..b3e82e5e6 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 from cereal import car
-from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -9,6 +8,7 @@ from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, \
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 
+ButtonType = car.CarState.ButtonEvent.Type
 
 class CanBus(object):
   def __init__(self):
@@ -62,6 +62,7 @@ class CarInterface(object):
     ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint) or is_panda_black
     ret.openpilotLongitudinalControl = ret.enableCamera
     tire_stiffness_factor = 0.444  # not optimized yet
+    ret.safetyModelPassive = car.CarParams.SafetyModel.gmPassive
 
     if candidate == CAR.VOLT:
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
@@ -172,7 +173,7 @@ class CarInterface(object):
 
   # returns a car.CarState
   def update(self, c, can_strings):
-    self.pt_cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
+    self.pt_cp.update_strings(can_strings)
 
     self.CS.update(self.pt_cp)
 
@@ -225,19 +226,19 @@ class CarInterface(object):
     # blinkers
     if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'leftBlinker'
+      be.type = ButtonType.leftBlinker
       be.pressed = self.CS.left_blinker_on
       buttonEvents.append(be)
 
     if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'rightBlinker'
+      be.type = ButtonType.rightBlinker
       be.pressed = self.CS.right_blinker_on
       buttonEvents.append(be)
 
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'unknown'
+      be.type = ButtonType.unknown
       if self.CS.cruise_buttons != CruiseButtons.UNPRESS:
         be.pressed = True
         but = self.CS.cruise_buttons
@@ -246,13 +247,13 @@ class CarInterface(object):
         but = self.CS.prev_cruise_buttons
       if but == CruiseButtons.RES_ACCEL:
         if not (cruiseEnabled and self.CS.standstill):
-          be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed.
+          be.type = ButtonType.accelCruise # Suppress resume button if we're resuming from stop so we don't adjust speed.
       elif but == CruiseButtons.DECEL_SET:
-        be.type = 'decelCruise'
+        be.type = ButtonType.decelCruise
       elif but == CruiseButtons.CANCEL:
-        be.type = 'cancel'
+        be.type = ButtonType.cancel
       elif but == CruiseButtons.MAIN:
-        be.type = 'altButton3'
+        be.type = ButtonType.altButton3
       buttonEvents.append(be)
 
     ret.buttonEvents = buttonEvents
@@ -302,10 +303,10 @@ class CarInterface(object):
       # handle button presses
       for b in ret.buttonEvents:
         # do enable on both accel and decel buttons
-        if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
+        if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
           events.append(create_event('buttonEnable', [ET.ENABLE]))
         # do disable on button down
-        if b.type == "cancel" and b.pressed:
+        if b.type == ButtonType.cancel and b.pressed:
           events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
 
     ret.events = events
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index 6788e1ce7..4f54c8275 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -6,7 +6,6 @@ from cereal import car
 from selfdrive.can.parser import CANParser
 from selfdrive.car.gm.interface import CanBus
 from selfdrive.car.gm.values import DBC, CAR
-from common.realtime import sec_since_boot
 
 RADAR_HEADER_MSG = 1120
 SLOT_1_MSG = RADAR_HEADER_MSG + 1
@@ -60,8 +59,7 @@ class RadarInterface(object):
       time.sleep(0.05)   # nothing to do
       return car.RadarData.new_message()
 
-    tm = int(sec_since_boot() * 1e9)
-    vls = self.rcp.update_strings(tm, can_strings)
+    vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 0ec7aff05..87ecdb34e 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -1,3 +1,4 @@
+from cereal import car
 from common.numpy_fast import interp
 from common.kalman.simple_kalman import KF1D
 from selfdrive.can.can_define import CANDefine
@@ -5,10 +6,12 @@ from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
 
+GearShifter = car.CarState.GearShifter
+
 def parse_gear_shifter(gear, vals):
 
-  val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
-                  'D': 'drive', 'S': 'sport', 'L': 'low'}
+  val_to_capnp = {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
+                  'D': GearShifter.drive, 'S': GearShifter.sport, 'L': GearShifter.low}
   try:
     return val_to_capnp[vals[gear]]
   except KeyError:
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 723368a92..b66b6c8c5 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -47,7 +47,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "FCW": fcw << 1,
     "AEB_REQ_1": 0,
     "AEB_REQ_2": 0,
-    "AEB": 0,
+    "AEB_STATUS": 0,
   }
   bus = get_pt_bus(car_fingerprint, is_panda_black)
   return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index be7da4aa0..13f399310 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -3,7 +3,7 @@ import os
 import numpy as np
 from cereal import car
 from common.numpy_fast import clip, interp
-from common.realtime import sec_since_boot, DT_CTRL
+from common.realtime import DT_CTRL
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
@@ -15,6 +15,8 @@ from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
 
+ButtonType = car.CarState.ButtonEvent.Type
+GearShifter = car.CarState.GearShifter
 
 def compute_gb_honda(accel, speed):
   creep_brake = 0.0
@@ -374,8 +376,8 @@ class CarInterface(object):
   # returns a car.CarState
   def update(self, c, can_strings):
     # ******************* do can recv *******************
-    self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
-    self.cp_cam.update_strings(int(sec_since_boot() * 1e9), can_strings)
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
 
     self.CS.update(self.cp, self.cp_cam)
 
@@ -438,19 +440,19 @@ class CarInterface(object):
 
     if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'leftBlinker'
+      be.type = ButtonType.leftBlinker
       be.pressed = self.CS.left_blinker_on != 0
       buttonEvents.append(be)
 
     if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'rightBlinker'
+      be.type = ButtonType.rightBlinker
       be.pressed = self.CS.right_blinker_on != 0
       buttonEvents.append(be)
 
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'unknown'
+      be.type = ButtonType.unknown
       if self.CS.cruise_buttons != 0:
         be.pressed = True
         but = self.CS.cruise_buttons
@@ -458,18 +460,18 @@ class CarInterface(object):
         be.pressed = False
         but = self.CS.prev_cruise_buttons
       if but == CruiseButtons.RES_ACCEL:
-        be.type = 'accelCruise'
+        be.type = ButtonType.accelCruise
       elif but == CruiseButtons.DECEL_SET:
-        be.type = 'decelCruise'
+        be.type = ButtonType.decelCruise
       elif but == CruiseButtons.CANCEL:
-        be.type = 'cancel'
+        be.type = ButtonType.cancel
       elif but == CruiseButtons.MAIN:
-        be.type = 'altButton3'
+        be.type = ButtonType.altButton3
       buttonEvents.append(be)
 
     if self.CS.cruise_setting != self.CS.prev_cruise_setting:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'unknown'
+      be.type = ButtonType.unknown
       if self.CS.cruise_setting != 0:
         be.pressed = True
         but = self.CS.cruise_setting
@@ -477,7 +479,7 @@ class CarInterface(object):
         be.pressed = False
         but = self.CS.prev_cruise_setting
       if but == 1:
-        be.type = 'altButton1'
+        be.type = ButtonType.altButton1
       # TODO: more buttons?
       buttonEvents.append(be)
     ret.buttonEvents = buttonEvents
@@ -493,7 +495,7 @@ class CarInterface(object):
       events.append(create_event('steerTempUnavailable', [ET.WARNING]))
     if self.CS.brake_error:
       events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    if not ret.gearShifter == 'drive':
+    if not ret.gearShifter == GearShifter.drive:
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if ret.doorOpen:
       events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
@@ -503,7 +505,7 @@ class CarInterface(object):
       events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if not self.CS.main_on or self.CS.cruise_mode:
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == 'reverse':
+    if ret.gearShifter == GearShifter.reverse:
       events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
       events.append(create_event('brakeHold', [ET.NO_ENTRY, ET.USER_DISABLE]))
@@ -538,7 +540,7 @@ class CarInterface(object):
     for b in ret.buttonEvents:
 
       # do enable on both accel and decel buttons
-      if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
+      if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
         self.last_enable_pressed = cur_time
         enable_pressed = True
 
diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py
index f8cecd6de..6943d3563 100755
--- a/selfdrive/car/honda/radar_interface.py
+++ b/selfdrive/car/honda/radar_interface.py
@@ -3,7 +3,6 @@ import os
 import time
 from cereal import car
 from selfdrive.can.parser import CANParser
-from common.realtime import sec_since_boot
 
 def _create_nidec_can_parser():
   dbc_f = 'acura_ilx_2016_nidec.dbc'
@@ -38,11 +37,11 @@ class RadarInterface(object):
     # in Bosch radar and we are only steering for now, so sleep 0.05s to keep
     # radard at 20Hz and return no points
     if self.radar_off_can:
-      time.sleep(0.05)
+      if 'NO_RADAR_SLEEP' not in os.environ:
+        time.sleep(0.05)
       return car.RadarData.new_message()
 
-    tm = int(sec_since_boot() * 1e9)
-    vls = self.rcp.update_strings(tm, can_strings)
+    vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index f01074a56..d6c34a32e 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -103,7 +103,7 @@ FINGERPRINTS = {
     57: 3, 148: 8, 228: 5, 229: 4, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 440: 8, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1616: 5, 1619: 5, 1623: 5, 1668: 5
   }],
   CAR.ODYSSEY_CHN: [{
-    57: 3, 145: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 404: 4, 411: 5, 420: 8, 422: 8, 423: 2, 426: 8, 432: 7, 450: 8, 464: 8, 490: 8, 506: 8, 507: 1, 597: 8, 610: 8, 611: 8, 612: 8, 617: 8, 660: 8, 661: 4, 773: 7, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 923: 2, 929: 8, 1030: 5, 1137: 8, 1302: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1639: 8
+    57: 3, 145: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 404: 4, 411: 5, 420: 8, 422: 8, 423: 2, 426: 8, 432: 7, 450: 8, 464: 8, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 597: 8, 610: 8, 611: 8, 612: 8, 617: 8, 660: 8, 661: 4, 773: 7, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 923: 2, 929: 8, 1030: 5, 1137: 8, 1302: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1639: 8
   }],
   # 2017 Pilot Touring AND 2016 Pilot EX-L w/ Added Comma Pedal Support (512L & 513L)
   CAR.PILOT: [{
@@ -146,7 +146,7 @@ DBC = {
   CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
   CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
-  CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can', 'acura_ilx_2016_nidec'),
+  CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
   CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
   CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
   CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index be92371f1..b39f07d6f 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 from cereal import car
-from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -8,6 +7,8 @@ from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_
 from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts, FEATURES
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 
+GearShifter = car.CarState.GearShifter
+ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(object):
   def __init__(self, CP, CarController):
@@ -154,8 +155,8 @@ class CarInterface(object):
   # returns a car.CarState
   def update(self, c, can_strings):
     # ******************* do can recv *******************
-    self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
-    self.cp_cam.update_strings(int(sec_since_boot() * 1e9), can_strings)
+    self.cp.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
 
     self.CS.update(self.cp, self.cp_cam)
     # create message
@@ -212,13 +213,13 @@ class CarInterface(object):
 
     if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'leftBlinker'
+      be.type = ButtonType.leftBlinker
       be.pressed = self.CS.left_blinker_on != 0
       buttonEvents.append(be)
 
     if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'rightBlinker'
+      be.type = ButtonType.rightBlinker
       be.pressed = self.CS.right_blinker_on != 0
       buttonEvents.append(be)
 
@@ -236,7 +237,7 @@ class CarInterface(object):
       self.low_speed_alert = False
 
     events = []
-    if not ret.gearShifter == 'drive':
+    if not ret.gearShifter == GearShifter.drive:
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if ret.doorOpen:
       events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
@@ -246,12 +247,11 @@ class CarInterface(object):
       events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if not self.CS.main_on:
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == 'reverse':
+    if ret.gearShifter == GearShifter.reverse:
       events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if self.CS.steer_error:
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
 
-    # enable request in prius is simple, as we activate when Toyota is active (rising edge)
     if ret.cruiseState.enabled and not self.cruise_enabled_prev:
       events.append(create_event('pcmEnable', [ET.ENABLE]))
     elif not ret.cruiseState.enabled:
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index 1d7772fd3..04c100594 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python
-from cereal import car
+import os
 import time
-
+from cereal import car
 
 class RadarInterface(object):
   def __init__(self, CP):
@@ -11,6 +11,8 @@ class RadarInterface(object):
 
   def update(self, can_strings):
     ret = car.RadarData.new_message()
-    time.sleep(0.05)  # radard runs on RI updates
+
+    if 'NO_RADAR_SLEEP' not in os.environ:
+      time.sleep(0.05)  # radard runs on RI updates
 
     return ret
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index c5fe0062a..5c91c9546 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 from cereal import car
-from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -8,6 +7,7 @@ from selfdrive.car.subaru.values import CAR
 from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 
+ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(object):
   def __init__(self, CP, CarController):
@@ -42,6 +42,7 @@ class CarInterface(object):
     ret = car.CarParams.new_message()
 
     ret.carName = "subaru"
+    ret.radarOffCan = True
     ret.carFingerprint = candidate
     ret.carVin = vin
     ret.isPandaBlack = is_panda_black
@@ -96,8 +97,8 @@ class CarInterface(object):
 
   # returns a car.CarState
   def update(self, c, can_strings):
-    self.pt_cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
-    self.cam_cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
+    self.pt_cp.update_strings(can_strings)
+    self.cam_cp.update_strings(can_strings)
 
     self.CS.update(self.pt_cp, self.cam_cp)
 
@@ -144,18 +145,18 @@ class CarInterface(object):
     # blinkers
     if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'leftBlinker'
+      be.type = ButtonType.leftBlinker
       be.pressed = self.CS.left_blinker_on
       buttonEvents.append(be)
 
     if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'rightBlinker'
+      be.type = ButtonType.rightBlinker
       be.pressed = self.CS.right_blinker_on
       buttonEvents.append(be)
 
     be = car.CarState.ButtonEvent.new_message()
-    be.type = 'accelCruise'
+    be.type = ButtonType.accelCruise
     buttonEvents.append(be)
 
 
diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py
index 0f8108771..6c4e7a16a 100644
--- a/selfdrive/car/subaru/radar_interface.py
+++ b/selfdrive/car/subaru/radar_interface.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python
-from cereal import car
+import os
 import time
-
+from cereal import car
 
 class RadarInterface(object):
   def __init__(self, CP):
@@ -10,8 +10,9 @@ class RadarInterface(object):
     self.delay = 0.1
 
   def update(self, can_strings):
-
     ret = car.RadarData.new_message()
-    time.sleep(0.05)  # radard runs on RI updates
+    
+    if 'NO_RADAR_SLEEP' not in os.environ:
+      time.sleep(0.05)  # radard runs on RI updates
 
     return ret
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 28ea8cf6e..0cfd67b9e 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -5,8 +5,8 @@ from selfdrive.car import create_gas_command
 from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                            create_steer_command, create_ui_command, \
                                            create_ipas_steer_command, create_accel_command, \
-                                           create_fcw_command
-from selfdrive.car.toyota.values import ECU, STATIC_MSGS, TSS2_CAR
+                                           create_acc_cancel_command, create_fcw_command
+from selfdrive.car.toyota.values import CAR, ECU, STATIC_MSGS, TSS2_CAR
 from selfdrive.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -209,7 +209,11 @@ class CarController(object):
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
       lead = lead or CS.v_ego < 12.    # at low speed we always assume the lead is present do ACC can be engaged
-      if ECU.DSU in self.fake_ecus:
+
+      # Lexus IS uses a different cancellation message
+      if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
+        can_sends.append(create_acc_cancel_command(self.packer))
+      elif ECU.DSU in self.fake_ecus:
         can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
       else:
         can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead))
@@ -236,8 +240,12 @@ class CarController(object):
     else:
       send_ui = False
 
+    # disengage msg causes a bad fault sound so play a good sound instead
+    if pcm_cancel_cmd:
+      send_ui = True
+
     if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
-      can_sends.append(create_ui_command(self.packer, steer, left_line, right_line, left_lane_depart, right_lane_depart))
+      can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
 
     if frame % 100 == 0 and ECU.DSU in self.fake_ecus and self.car_fingerprint not in TSS2_CAR:
       can_sends.append(create_fcw_command(self.packer, fcw))
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 330102ea9..f36738f8e 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -1,14 +1,17 @@
 import numpy as np
+from cereal import car
 from common.kalman.simple_kalman import KF1D
 from selfdrive.can.can_define import CANDefine
 from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR
 
+GearShifter = car.CarState.GearShifter
+
 def parse_gear_shifter(gear, vals):
 
-  val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
-                  'D': 'drive', 'B': 'brake'}
+  val_to_capnp = {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
+                  'D': GearShifter.drive, 'B': GearShifter.brake}
   try:
     return val_to_capnp[vals[gear]]
   except KeyError:
@@ -41,10 +44,14 @@ def get_can_parser(CP):
     ("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),
@@ -52,35 +59,19 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
+  if CP.carFingerprint == CAR.LEXUS_IS:
+    signals.append(("MAIN_ON", "DSU_CRUISE", 0))
+    signals.append(("SET_SPEED", "DSU_CRUISE", 0))
+    checks.append(("DSU_CRUISE", 5))
+  else:
+    signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
+    signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
+    signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
+    checks.append(("PCM_CRUISE_2", 33))
+
   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)]
 
@@ -176,8 +167,8 @@ 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_ISH:
-      self.main_on = cp.vl["PCM_CRUISE_ISH"]['MAIN_ON']
+    if self.CP.carFingerprint == CAR.LEXUS_IS:
+      self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
     else:
       self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
@@ -186,10 +177,7 @@ 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']
@@ -197,20 +185,16 @@ 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']
+    if self.CP.carFingerprint == CAR.LEXUS_IS:
+      self.v_cruise_pcm = cp.vl["DSU_CRUISE"]['SET_SPEED']
       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_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     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..457169c4d 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -1,14 +1,16 @@
 #!/usr/bin/env python
-from common.realtime import sec_since_boot
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
-from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR
+from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR, TSS2_CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.swaglog import cloudlog
 
+ButtonType = car.CarState.ButtonEvent.Type
+GearShifter = car.CarState.GearShifter
+
 class CarInterface(object):
   def __init__(self, CP, CarController):
     self.CP = CP
@@ -207,15 +209,15 @@ 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
+    elif candidate == CAR.LEXUS_IS:
+      stop_and_go = False
+      ret.safetyParam = 66
+      ret.wheelbase = 2.79908
+      ret.steerRatio = 13.3
+      tire_stiffness_factor = 0.444
+      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      ret.lateralTuning.pid.kf = 0.00006
 
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
@@ -246,8 +248,8 @@ class CarInterface(object):
     ret.brakeMaxBP = [0.]
     ret.brakeMaxV = [1.]
 
-    ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM) or is_panda_black
-    ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
+    ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM, candidate) or is_panda_black
+    ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU, candidate) or (is_panda_black and candidate in TSS2_CAR)
     ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
     ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
     cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
@@ -280,11 +282,11 @@ class CarInterface(object):
   # returns a car.CarState
   def update(self, c, can_strings):
     # ******************* do can recv *******************
-    self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
+    self.cp.update_strings(can_strings)
 
     # run the cam can update for 10s as we just need to know if the camera is alive
     if self.frame < 1000:
-      self.cp_cam.update_strings(int(sec_since_boot() * 1e9), can_strings)
+      self.cp_cam.update_strings(can_strings)
 
     self.CS.update(self.cp)
 
@@ -345,13 +347,13 @@ class CarInterface(object):
     buttonEvents = []
     if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'leftBlinker'
+      be.type = ButtonType.leftBlinker
       be.pressed = self.CS.left_blinker_on != 0
       buttonEvents.append(be)
 
     if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
-      be.type = 'rightBlinker'
+      be.type = ButtonType.rightBlinker
       be.pressed = self.CS.right_blinker_on != 0
       buttonEvents.append(be)
 
@@ -369,7 +371,7 @@ class CarInterface(object):
     if self.cp_cam.can_valid:
       self.forwarding_camera = True
 
-    if not ret.gearShifter == 'drive' and self.CP.enableDsu:
+    if not ret.gearShifter == GearShifter.drive and self.CP.enableDsu:
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if ret.doorOpen:
       events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
@@ -379,7 +381,7 @@ class CarInterface(object):
       events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if not self.CS.main_on and self.CP.enableDsu:
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == 'reverse' and self.CP.enableDsu:
+    if ret.gearShifter == GearShifter.reverse and self.CP.enableDsu:
       events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if self.CS.steer_error:
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py
index 4e0a0e809..0a1ce07ea 100755
--- a/selfdrive/car/toyota/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@@ -3,7 +3,6 @@ import os
 import time
 from selfdrive.can.parser import CANParser
 from cereal import car
-from common.realtime import sec_since_boot
 from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
 
 def _create_radar_can_parser(car_fingerprint):
@@ -58,8 +57,7 @@ class RadarInterface(object):
       time.sleep(0.05)
       return car.RadarData.new_message()
 
-    tm = int(sec_since_boot() * 1e9)
-    vls = self.rcp.update_strings(tm, can_strings)
+    vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 35ba67452..b886b1c67 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -95,6 +95,18 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead):
   return packer.make_can_msg("ACC_CONTROL", 0, values)
 
 
+def create_acc_cancel_command(packer):
+  values = {
+    "GAS_RELEASED": 0,
+    "CRUISE_ACTIVE": 0,
+    "STANDSTILL_ON": 0,
+    "ACCEL_NET": 0,
+    "CRUISE_STATE": 0,
+    "CANCEL_REQ": 1,
+  }
+  return packer.make_can_msg("PCM_CRUISE", 0, values)
+
+
 def create_fcw_command(packer, fcw):
   values = {
     "FCW": fcw,
@@ -105,7 +117,7 @@ def create_fcw_command(packer, fcw):
   return packer.make_can_msg("ACC_HUD", 0, values)
 
 
-def create_ui_command(packer, steer, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart):
   values = {
     "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
     "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
@@ -117,7 +129,7 @@ def create_ui_command(packer, steer, left_line, right_line, left_lane_depart, ri
     "SET_ME_X01": 1,
     "SET_ME_X01_2": 1,
     "REPEATED_BEEPS": 0,
-    "TWO_BEEPS": 0,
+    "TWO_BEEPS": chime,
     "LDA_ALERT": steer,
   }
   return packer.make_can_msg("LKAS_HUD", 0, values)
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 415edf70e..e2bf4111f 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -17,7 +17,8 @@ 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"
+  LEXUS_IS = "LEXUS IS300 2018"
+
 
 class ECU:
   CAM = 0 # camera
@@ -28,25 +29,19 @@ 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, CAR.AVALON), 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.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'),
+  (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'),
   (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'),
-  (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'),
+  (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'),
   (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'),
+  (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'),
   (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'),
+  (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'),
 
   (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'),
@@ -83,15 +78,13 @@ ECU_FINGERPRINT = {
 }
 
 
-def check_ecu_msgs(fingerprint, ecu):
-  # return True if fingerprint contains messages normally sent by a given ecu
-  return ECU_FINGERPRINT[ecu] in fingerprint
+def check_ecu_msgs(fingerprint, ecu, car):
+  # return True if the reference car fingerprint doesn't contain the ecu fingerprint msg or
+  # fingerprint contains messages normally sent by a given ecu
+  return any(ECU_FINGERPRINT[ecu] not in finger for finger in FINGERPRINTS[car]) or ECU_FINGERPRINT[ecu] in fingerprint
 
 
 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
   }],
@@ -118,8 +111,9 @@ FINGERPRINTS = {
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513:6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
   },
   # RX450HL
+  # TODO: get proper fingerprint in stock mode
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   # RX540H 2019 with color hud
   {
@@ -137,8 +131,9 @@ FINGERPRINTS = {
     36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 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, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   #XSE and SE
+  # TODO: get proper fingerprint in stock mode
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 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, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 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, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.CAMRYH: [
   #SE, LE and LE with Blindspot Monitor
@@ -198,6 +193,15 @@ FINGERPRINTS = {
   CAR.SIENNA: [{
     36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 888: 8, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 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, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
+  CAR.LEXUS_IS: [
+  # IS300 2018
+  {
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 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: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 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, 1182: 8, 1183: 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, 1235: 8, 1237: 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, 1590: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1648: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  # IS300H 2017
+  {
+    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
+  }],
 }
 
 STEER_THRESHOLD = 100
@@ -219,9 +223,9 @@ DBC = {
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_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'),
+  CAR.LEXUS_IS: dbc_dict('lexus_is_2018_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, CAR.LEXUS_ISH]  # 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]  # no resume button press required
diff --git a/selfdrive/common/touch.c b/selfdrive/common/touch.c
index 9117154b0..4527cb532 100644
--- a/selfdrive/common/touch.c
+++ b/selfdrive/common/touch.c
@@ -69,14 +69,15 @@ int touch_poll(TouchState *s, int* out_x, int* out_y, int timeout) {
       return -1;
     }
 
-    switch (event.type) { 
+    switch (event.type) {
     case EV_ABS:
       if (event.code == ABS_MT_POSITION_X) {
         s->last_x = event.value;
       } else if (event.code == ABS_MT_POSITION_Y) {
         s->last_y = event.value;
+      } else if (event.code == ABS_MT_TRACKING_ID && event.value != -1) {
+        up = true;
       }
-      up = true;
       break;
     default:
       break;
@@ -98,7 +99,7 @@ int touch_read(TouchState *s, int* out_x, int* out_y) {
     return -1;
   }
   bool up = false;
-  switch (event.type) { 
+  switch (event.type) {
   case EV_ABS:
     if (event.code == ABS_MT_POSITION_X) {
       s->last_x = event.value;
@@ -117,4 +118,3 @@ int touch_read(TouchState *s, int* out_x, int* out_y) {
   }
   return up;
 }
-
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index d17343827..10517c679 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.6.3-release"
+#define COMMA_VERSION "0.6.4-release"
diff --git a/selfdrive/config.py b/selfdrive/config.py
index 751a84e28..6c2296273 100644
--- a/selfdrive/config.py
+++ b/selfdrive/config.py
@@ -17,7 +17,8 @@ class Conversions:
   LB_TO_KG = 0.453592
 
 
-RADAR_TO_CENTER = 2.7   # RADAR is ~ 2.7m ahead from center of car
+RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
+RADAR_TO_CAMERA = 1.52   # RADAR is ~ 1.5m ahead from center of mesh frame
 
 class UIParams:
   lidar_x, lidar_y, lidar_zoom = 384, 960, 6
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9a463baca..558c1ba15 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -6,12 +6,12 @@ from cereal import car, log
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
-from common.params import Params
+from common.params import Params, put_nonblocking
 import selfdrive.messaging as messaging
 from selfdrive.config import Conversions as CV
 from selfdrive.services import service_list
 from selfdrive.boardd.boardd import can_list_to_can_capnp
-from selfdrive.car.car_helpers import get_car, get_startup_alert
+from selfdrive.car.car_helpers import get_car, get_startup_alert, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
 from selfdrive.controls.lib.drive_helpers import get_events, \
                                                  create_event, \
@@ -26,6 +26,7 @@ from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS
 from selfdrive.controls.lib.planner import LON_MPC_STEP
+from selfdrive.controls.lib.gps_helpers import is_rhd_region
 from selfdrive.locationd.calibration_helpers import Calibration, Filter
 
 ThermalStatus = log.ThermalData.ThermalStatus
@@ -50,10 +51,6 @@ def events_to_bytes(events):
     ret.append(e.to_bytes())
   return ret
 
-def wait_for_can(logcan):
-  print("Waiting for CAN messages...")
-  while len(messaging.recv_one(logcan).can) == 0:
-    pass
 
 def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space, low_battery,
                 driver_status, state, mismatch_counter, params):
@@ -85,6 +82,12 @@ def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space
   if free_space:
     events.append(create_event('outOfSpace', [ET.NO_ENTRY]))
 
+  # GPS coords RHD parsing, once every restart
+  if sm.updated['gpsLocation'] and not driver_status.is_rhd_region_checked:
+    is_rhd = is_rhd_region(sm['gpsLocation'].latitude, sm['gpsLocation'].longitude)
+    driver_status.is_rhd_region = is_rhd
+    driver_status.is_rhd_region_checked = True
+    put_nonblocking("IsRHD", str(int(is_rhd)))
 
   # Handle calibration
   if sm.updated['liveCalibration']:
@@ -118,7 +121,7 @@ def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space
 
   # Driver monitoring
   if sm.updated['driverMonitoring']:
-    driver_status.get_pose(sm['driverMonitoring'], params, cal_rpy)
+    driver_status.get_pose(sm['driverMonitoring'], cal_rpy, CS.vEgo, enabled)
 
   if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS:
     events.append(create_event("tooDistracted", [ET.NO_ENTRY]))
@@ -283,9 +286,8 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
   return actuators, v_cruise_kph, driver_status, v_acc_sol, a_acc_sol, lac_log
 
 
-def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
-              carcontrol, carevents, carparams, controlsstate, sendcan, AM, driver_status,
-              LaC, LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev):
+def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, AM,
+              driver_status, LaC, LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev):
   """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
 
   CC = car.CarControl.new_message()
@@ -324,7 +326,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
   if not read_only:
     # send car controls over can
     can_sends = CI.apply(CC)
-    sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+    pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
   force_decel = driver_status.awareness < 0.
 
@@ -341,7 +343,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
     "alertType": AM.alert_type,
     "alertSound": AM.audible_alert,
     "awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
-    "driverMonitoringOn": bool(driver_status.monitor_on and driver_status.face_detected),
+    "driverMonitoringOn": bool(driver_status.face_detected),
     "canMonoTimes": list(CS.canMonoTimes),
     "planMonoTime": sm.logMonoTime['plan'],
     "pathPlanMonoTime": sm.logMonoTime['pathPlan'],
@@ -364,7 +366,6 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
     "vTargetLead": float(v_acc),
     "aTarget": float(a_acc),
     "jerkFactor": float(sm['plan'].jerkFactor),
-    "angleModelBias": 0.,
     "gpsPlannerActive": sm['plan'].gpsPlannerActive,
     "vCurvature": sm['plan'].vCurvature,
     "decelForModel": sm['plan'].longitudinalPlanSource == log.Plan.LongitudinalPlanSource.model,
@@ -380,7 +381,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
     dat.controlsState.lateralControlState.lqrState = lac_log
   elif CP.lateralTuning.which() == 'indi':
     dat.controlsState.lateralControlState.indiState = lac_log
-  controlsstate.send(dat.to_bytes())
+  pm.send('controlsState', dat)
 
   # carState
   cs_send = messaging.new_message()
@@ -388,7 +389,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
   cs_send.valid = CS.canValid
   cs_send.carState = CS
   cs_send.carState.events = events
-  carstate.send(cs_send.to_bytes())
+  pm.send('carState', cs_send)
 
   # carEvents - logged every second or on change
   events_bytes = events_to_bytes(events)
@@ -396,26 +397,26 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
     ce_send = messaging.new_message()
     ce_send.init('carEvents', len(events))
     ce_send.carEvents = events
-    carevents.send(ce_send.to_bytes())
+    pm.send('carEvents', ce_send)
 
   # carParams - logged every 50 seconds (> 1 per segment)
   if (sm.frame % int(50. / DT_CTRL) == 0):
     cp_send = messaging.new_message()
     cp_send.init('carParams')
     cp_send.carParams = CP
-    carparams.send(cp_send.to_bytes())
+    pm.send('carParams', cp_send)
 
   # carControl
   cc_send = messaging.new_message()
   cc_send.init('carControl')
   cc_send.valid = CS.canValid
   cc_send.carControl = CC
-  carcontrol.send(cc_send.to_bytes())
+  pm.send('carControl', cc_send)
 
   return CC, events_bytes
 
 
-def controlsd_thread(gctx=None):
+def controlsd_thread(sm=None, pm=None, can_sock=None):
   gc.disable()
 
   # start the loop
@@ -423,39 +424,35 @@ def controlsd_thread(gctx=None):
 
   params = Params()
 
-  # Pub Sockets
-  sendcan = messaging.pub_sock(service_list['sendcan'].port)
-  controlsstate = messaging.pub_sock(service_list['controlsState'].port)
-  carstate = messaging.pub_sock(service_list['carState'].port)
-  carcontrol = messaging.pub_sock(service_list['carControl'].port)
-  carevents = messaging.pub_sock(service_list['carEvents'].port)
-  carparams = messaging.pub_sock(service_list['carParams'].port)
-
   is_metric = params.get("IsMetric") == "1"
   passive = params.get("Passive") != "0"
 
-  sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'driverMonitoring', 'plan', 'pathPlan'])
+  # Pub/Sub Sockets
+  if pm is None:
+    pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
 
-  logcan = messaging.sub_sock(service_list['can'].port)
+  if sm is None:
+    sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'driverMonitoring', 'plan', 'pathPlan', \
+                              'gpsLocation'], ignore_alive=['gpsLocation'])
+
+  if can_sock is None:
+    can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
+    can_sock = messaging.sub_sock(service_list['can'].port, timeout=can_timeout)
 
   # wait for health and CAN packets
   hw_type = messaging.recv_one(sm.sock['health']).health.hwType
   is_panda_black = hw_type == log.HealthData.HwType.blackPanda
-  wait_for_can(logcan)
+  print("Waiting for CAN messages...")
+  get_one_can(can_sock)
 
-  CI, CP = get_car(logcan, sendcan, is_panda_black)
-  logcan.close()
-
-  # TODO: Use the logcan socket from above, but that will currenly break the tests
-  can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
-  can_sock = messaging.sub_sock(service_list['can'].port, timeout=can_timeout)
+  CI, CP = get_car(can_sock, pm.sock['sendcan'], is_panda_black)
 
   car_recognized = CP.carName != 'mock'
   # If stock camera is disconnected, we loaded car controls and it's not chffrplus
   controller_available = CP.enableCamera and CI.CC is not None and not passive
-  read_only = not car_recognized or not controller_available
+  read_only = not car_recognized or not controller_available or CP.dashcamOnly
   if read_only:
-    CP.safetyModel = car.CarParams.SafetyModel.elm327   # diagnostic only
+    CP.safetyModel = CP.safetyModelPassive
 
   # Write CarParams for radard and boardd safety mode
   params.put("CarParams", CP.to_bytes())
@@ -478,6 +475,9 @@ def controlsd_thread(gctx=None):
     LaC = LatControlLQR(CP)
 
   driver_status = DriverStatus()
+  is_rhd = params.get("IsRHD")
+  if is_rhd is not None:
+    driver_status.is_rhd = bool(int(is_rhd))
 
   state = State.disabled
   soft_disable_timer = 0
@@ -550,16 +550,16 @@ def controlsd_thread(gctx=None):
     prof.checkpoint("State Control")
 
     # Publish data
-    CC, events_prev = data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol, carevents, carparams,
-                   controlsstate, sendcan, AM, driver_status, LaC, LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev)
+    CC, events_prev = data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, AM, driver_status, LaC,
+                                LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev)
     prof.checkpoint("Sent")
 
     rk.monitor_time()
     prof.display()
 
 
-def main(gctx=None):
-  controlsd_thread(gctx)
+def main(sm=None, pm=None, logcan=None):
+  controlsd_thread(sm, pm, logcan)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 9c1144b96..a3580a8a9 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -59,26 +59,6 @@ def get_steer_max(CP, v_ego):
   return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
 
 
-def learn_angle_model_bias(lateral_control, v_ego, angle_model_bias, c_poly, c_prob, angle_steers, steer_override):
-  # simple integral controller that learns how much steering offset to put to have the car going straight
-  # while being in the middle of the lane
-  min_offset = -5.  # deg
-  max_offset = 5.  # deg
-  alpha = 1. / 36000.  # correct by 1 deg in 2 mins, at 30m/s, with 50cm of error, at 20Hz
-  min_learn_speed = 1.
-
-  # learn less at low speed or when turning
-  slow_factor = 1. / (1. + 0.02 * abs(angle_steers) * v_ego)
-  alpha_v = alpha * c_prob * (max(v_ego - min_learn_speed, 0.)) * slow_factor
-
-  # only learn if lateral control is active and if driver is not overriding:
-  if lateral_control and not steer_override:
-    angle_model_bias += c_poly[3] * alpha_v
-    angle_model_bias = clip(angle_model_bias, min_offset, max_offset)
-
-  return angle_model_bias
-
-
 def update_v_cruise(v_cruise_kph, buttonEvents, enabled):
   # handle button presses. TODO: this should be in state_control, but a decelCruise press
   # would have the effect of both enabling and changing speed is checked after the state transition
diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py
index 3b45e5a06..263b03af3 100644
--- a/selfdrive/controls/lib/driver_monitor.py
+++ b/selfdrive/controls/lib/driver_monitor.py
@@ -1,14 +1,15 @@
 import numpy as np
-from common.realtime import sec_since_boot, DT_CTRL, DT_DMON
+from common.realtime import DT_CTRL, DT_DMON
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
+from common.stat_live import RunningStatFilter
 
-_AWARENESS_TIME = 90.        # 1.5 minutes limit without user touching steering wheels make the car enter a terminal status
-_AWARENESS_PRE_TIME_TILL_TERMINAL = 20.    # a first alert is issued 20s before expiration
-_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 5.  # a second alert is issued 5s before start decelerating the car
-_DISTRACTED_TIME = 10.
-_DISTRACTED_PRE_TIME_TILL_TERMINAL = 7.
-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 5.
+_AWARENESS_TIME = 100.  # 1.6 minutes limit without user touching steering wheels make the car enter a terminal status
+_AWARENESS_PRE_TIME_TILL_TERMINAL = 25.  # a first alert is issued 25s before expiration
+_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 15.  # a second alert is issued 15s before start decelerating the car
+_DISTRACTED_TIME = 11.
+_DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
+_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
 _FACE_THRESHOLD = 0.4
 _EYE_THRESHOLD = 0.4
@@ -18,8 +19,15 @@ _METRIC_THRESHOLD = 0.4
 _PITCH_POS_ALLOWANCE = 0.04 # 0.08  # rad, to not be too sensitive on positive pitch
 _PITCH_NATURAL_OFFSET = 0.12  # 0.1   # people don't seem to look straight when they drive relaxed, rather a bit up
 _YAW_NATURAL_OFFSET = 0.08  # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
+
 _DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
-_VARIANCE_FILTER_TS = 20.     # 0.008Hz
+
+_POSE_CALIB_MIN_SPEED = 13 # 30 mph
+_POSE_OFFSET_MIN_COUNT = 600 # valid data counts before calibration completes, 1 seg is 600 counts
+_POSE_OFFSET_MAX_COUNT = 3600 # stop deweighting new data after 6 min, aka "short term memory"
+
+_RECOVERY_FACTOR_MAX = 5. # relative to minus step change
+_RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
 
 MAX_TERMINAL_ALERTS = 3      # not allowed to engage after 3 terminal alerts
 
@@ -36,7 +44,6 @@ def head_orientation_from_descriptor(angles_desc, pos_desc, rpy_calib):
   # the output of these angles are in device frame
   # so from driver's perspective, pitch is up and yaw is right
 
-  # TODO: calibrate based on position
   pitch_prnet = angles_desc[0]
   yaw_prnet = angles_desc[1]
   roll_prnet = angles_desc[2]
@@ -52,152 +59,158 @@ def head_orientation_from_descriptor(angles_desc, pos_desc, rpy_calib):
   # no calib for roll
   pitch -= rpy_calib[1]
   yaw -= rpy_calib[2]
-
   return np.array([roll, pitch, yaw])
 
-
-class _DriverPose():
+class DriverPose():
   def __init__(self):
     self.yaw = 0.
     self.pitch = 0.
     self.roll = 0.
-    self.yaw_offset = 0.
-    self.pitch_offset = 0.
+    self.pitch_offseter = RunningStatFilter(max_trackable=_POSE_OFFSET_MAX_COUNT)
+    self.yaw_offseter = RunningStatFilter(max_trackable=_POSE_OFFSET_MAX_COUNT)
 
-class _DriverBlink():
+class DriverBlink():
   def __init__(self):
     self.left_blink = 0.
     self.right_blink = 0.
 
-
-
-def _monitor_hysteresis(variance_level, monitor_valid_prev):
-  var_thr = 0.63 if monitor_valid_prev else 0.37
-  return variance_level < var_thr
-
 class DriverStatus():
-  def __init__(self, monitor_on=False):
-    self.pose = _DriverPose()
-    self.blink = _DriverBlink()
-    self.monitor_on = monitor_on
-    self.monitor_param_on = monitor_on
-    self.monitor_valid = True   # variance needs to be low
+  def __init__(self):
+    self.pose = DriverPose()
+    self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
+                            self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
+    self.blink = DriverBlink()
     self.awareness = 1.
+    self.awareness_active = 1.
+    self.awareness_passive = 1.
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, DT_DMON)
-    self.variance_high = False
-    self.variance_filter = FirstOrderFilter(0., _VARIANCE_FILTER_TS, DT_DMON)
-    self.ts_last_check = 0.
     self.face_detected = False
     self.terminal_alert_cnt = 0
     self.step_change = 0.
-    self._set_timers(self.monitor_on)
+    self.active_monitoring_mode = True
+    self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
 
-  def _reset_filters(self):
-    self.driver_distraction_filter.x = 0.
-    self.variance_filter.x = 0.
-    self.monitor_valid = True
+    self.is_rhd_region = False
+    self.is_rhd_region_checked = False
+
+    self._set_timers(active_monitoring=True)
 
   def _set_timers(self, active_monitoring):
+    if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
+      if active_monitoring:
+        self.step_change = DT_CTRL / _DISTRACTED_TIME
+      else:
+        self.step_change = 0.
+      return # no exploit after orange alert
+    elif self.awareness <= 0.:
+      return
+
     if active_monitoring:
       # when falling back from passive mode to active mode, reset awareness to avoid false alert
-      if self.step_change == DT_CTRL / _AWARENESS_TIME:
-        self.awareness = 1.
+      if not self.active_monitoring_mode:
+        self.awareness_passive = self.awareness
+        self.awareness = self.awareness_active
+
       self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
       self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
       self.step_change = DT_CTRL / _DISTRACTED_TIME
+      self.active_monitoring_mode = True
     else:
+      if self.active_monitoring_mode:
+        self.awareness_active = self.awareness
+        self.awareness = self.awareness_passive
+
       self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
       self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
       self.step_change = DT_CTRL / _AWARENESS_TIME
+      self.active_monitoring_mode = False
 
   def _is_driver_distracted(self, pose, blink):
-    # TODO: natural pose calib of each driver
-    pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET
-    yaw_error = pose.yaw - _YAW_NATURAL_OFFSET
-    # add positive pitch allowance
-    if pitch_error > 0.:
-      pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
+    if not self.pose_calibrated:
+      pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET
+      yaw_error = pose.yaw - _YAW_NATURAL_OFFSET
+      # add positive pitch allowance
+      if pitch_error > 0.:
+        pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
+    else:
+      pitch_error = pose.pitch - self.pose.pitch_offseter.filtered_stat.mean()
+      yaw_error = pose.yaw - self.pose.yaw_offseter.filtered_stat.mean()
+
     pitch_error *= _PITCH_WEIGHT
     pose_metric = np.sqrt(yaw_error**2 + pitch_error**2)
 
     if pose_metric > _METRIC_THRESHOLD:
-      return DistractedType.BAD_POSE 
+      return DistractedType.BAD_POSE
     elif blink.left_blink>_BLINK_THRESHOLD and blink.right_blink>_BLINK_THRESHOLD:
       return DistractedType.BAD_BLINK
     else:
       return DistractedType.NOT_DISTRACTED
 
-
-  def get_pose(self, driver_monitoring, params, cal_rpy):
+  def get_pose(self, driver_monitoring, cal_rpy, car_speed, op_engaged):
+    # 10 Hz
     if len(driver_monitoring.faceOrientation) == 0 or len(driver_monitoring.facePosition) == 0:
       return
 
     self.pose.roll, self.pose.pitch, self.pose.yaw = head_orientation_from_descriptor(driver_monitoring.faceOrientation, driver_monitoring.facePosition, cal_rpy)
     self.blink.left_blink = driver_monitoring.leftBlinkProb * (driver_monitoring.leftEyeProb>_EYE_THRESHOLD)
     self.blink.right_blink = driver_monitoring.rightBlinkProb * (driver_monitoring.rightEyeProb>_EYE_THRESHOLD)
-    self.face_detected = driver_monitoring.faceProb > _FACE_THRESHOLD
+    self.face_detected = driver_monitoring.faceProb > _FACE_THRESHOLD and not self.is_rhd_region
 
     self.driver_distracted = self._is_driver_distracted(self.pose, self.blink)>0
     # first order filters
     self.driver_distraction_filter.update(self.driver_distracted)
 
-    monitor_param_on_prev = self.monitor_param_on
+    # update offseter
+    # only update when driver is actively driving the car above a certain speed
+    if self.face_detected and car_speed>_POSE_CALIB_MIN_SPEED and not op_engaged:
+      self.pose.pitch_offseter.push_and_update(self.pose.pitch)
+      self.pose.yaw_offseter.push_and_update(self.pose.yaw)
 
-    # don't check for param too often as it's a kernel call
-    ts = sec_since_boot()
-    if ts - self.ts_last_check > 1.:
-      self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
-      self.ts_last_check = ts
-
-    self.monitor_on = self.monitor_valid and self.monitor_param_on
-    if monitor_param_on_prev != self.monitor_param_on:
-      self._reset_filters()
-    self._set_timers(self.monitor_on and self.face_detected)
+    self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
+                            self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
 
+    self._set_timers(self.face_detected)
 
   def update(self, events, driver_engaged, ctrl_active, standstill):
-    if driver_engaged:
+    if (driver_engaged and self.awareness > 0) or not ctrl_active:
+      # reset only when on disengagement if red reached
       self.awareness = 1.
+      self.awareness_active = 1.
+      self.awareness_passive = 1.
       return events
 
-    driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
+    driver_attentive = self.driver_distraction_filter.x < 0.37
     awareness_prev = self.awareness
 
-    if (driver_engaged and self.awareness > 0) or not ctrl_active:
-      # always reset if driver is in control (unless we are in red alert state) or op isn't active
-      self.awareness = min(self.awareness + (2.75*(1.-self.awareness)+1.25)*self.step_change, 1.)
+    if (driver_attentive and self.face_detected and self.awareness > 0):
+      # only restore awareness when paying attention and alert is not red
+      self.awareness = min(self.awareness + ((_RECOVERY_FACTOR_MAX-_RECOVERY_FACTOR_MIN)*(1.-self.awareness)+_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      if self.awareness == 1.:
+        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
+      # don't display alert banner when awareness is recovering and has cleared orange
+      if self.awareness > self.threshold_prompt:
+        return events
 
     # should always be counting if distracted unless at standstill and reaching orange
-    if ((not self.monitor_on or (self.monitor_on and not self.face_detected)) or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
+    if (not self.face_detected or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
        not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
       self.awareness = max(self.awareness - self.step_change, -0.1)
 
     alert = None
-    if self.awareness < 0.:
+    if self.awareness <= 0.:
       # terminal red alert: disengagement required
-      alert = 'driverDistracted' if self.monitor_on else 'driverUnresponsive'
-      if awareness_prev >= 0.:
+      alert = 'driverDistracted' if self.active_monitoring_mode else 'driverUnresponsive'
+      if awareness_prev > 0.:
         self.terminal_alert_cnt += 1
     elif self.awareness <= self.threshold_prompt:
       # prompt orange alert
-      alert = 'promptDriverDistracted' if self.monitor_on else 'promptDriverUnresponsive'
+      alert = 'promptDriverDistracted' if self.active_monitoring_mode else 'promptDriverUnresponsive'
     elif self.awareness <= self.threshold_pre:
       # pre green alert
-      alert = 'preDriverDistracted' if self.monitor_on else 'preDriverUnresponsive'
+      alert = 'preDriverDistracted' if self.active_monitoring_mode else 'preDriverUnresponsive'
 
     if alert is not None:
       events.append(create_event(alert, [ET.WARNING]))
 
     return events
-
-
-if __name__ == "__main__":
-  ds = DriverStatus(True)
-  ds.driver_distraction_filter.x = 0.
-  ds.driver_distracted = 1
-  for i in range(10):
-    ds.update([], False, True, False)
-    print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)
-  ds.update([], True, True, False)
-  print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)
diff --git a/selfdrive/controls/lib/fcw.py b/selfdrive/controls/lib/fcw.py
index 8180fadeb..c080fecb4 100644
--- a/selfdrive/controls/lib/fcw.py
+++ b/selfdrive/controls/lib/fcw.py
@@ -45,7 +45,6 @@ class FCWChecker(object):
 
   def update(self, mpc_solution, cur_time, active, v_ego, a_ego, x_lead, v_lead, a_lead, y_lead, vlat_lead, fcw_lead, blinkers):
     mpc_solution_a = list(mpc_solution[0].a_ego)
-    a_target = mpc_solution_a[1]
 
     self.last_min_a = min(mpc_solution_a)
     self.v_lead_max = max(self.v_lead_max, v_lead)
@@ -66,9 +65,8 @@ class FCWChecker(object):
 
       future_fcw_allowed = all(c >= 10 for c in self.counters.values())
       future_fcw = (self.last_min_a < -3.0 or a_delta < a_thr) and future_fcw_allowed
-      current_fcw = a_target < -3.0 and active
 
-      if (future_fcw or current_fcw) and (self.last_fcw_time + 5.0 < cur_time):
+      if future_fcw and (self.last_fcw_time + 5.0 < cur_time):
         self.last_fcw_time = cur_time
         self.last_fcw_a = self.last_min_a
         return True
diff --git a/selfdrive/controls/lib/gps_helpers.py b/selfdrive/controls/lib/gps_helpers.py
new file mode 100755
index 000000000..6ac27202d
--- /dev/null
+++ b/selfdrive/controls/lib/gps_helpers.py
@@ -0,0 +1,17 @@
+_RHD_REGION_MAP = [ ['AUS', -54.76, -9.23, 112.91, 159.11], \
+                    ['IN1', 6.75, 28.10, 68.17, 97.4], \
+                    ['IN2', 28.09, 35.99, 72.18, 80.87], \
+                    ['IRL', 51.42, 55.38, -10.58, -5.99], \
+                    ['JP1', 32.66, 45.52, 137.27, 146.02], \
+                    ['JP2', 32.79, 37.60, 131.41, 137.28], \
+                    ['JP3', 24.04, 34.78, 122.93, 131.42], \
+                    ['NZ', -52.61, -29.24, 166, 178.84], \
+                    ['SF', -35.14, -22.13, 16.07, 33.21], \
+                    ['UK', 49.9, 60.84, -8.62, 1.77] ]
+
+def is_rhd_region(latitude, longitude):
+  for region in _RHD_REGION_MAP:
+    if region[1] <= latitude <= region[2] and \
+      region[3] <= longitude <= region[4]:
+      return True
+  return False
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index 60a24b6d9..9363631e4 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -1,9 +1,19 @@
 from common.numpy_fast import interp
 import numpy as np
-from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, compute_path_pinv
 
 CAMERA_OFFSET = 0.06  # m from center car to camera
 
+def compute_path_pinv(l=50):
+  deg = 3
+  x = np.arange(l*1.0)
+  X = np.vstack(tuple(x**n for n in range(deg, -1, -1))).T
+  pinv = np.linalg.pinv(X)
+  return pinv
+
+
+def model_polyfit(points, path_pinv):
+  return np.dot(path_pinv, [float(x) for x in points])
+
 
 def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
   # This will improve behaviour when lanes suddenly widen
@@ -16,7 +26,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
   path_from_right_lane = r_poly.copy()
   path_from_right_lane[3] += lane_width / 2.0
 
-  lr_prob = l_prob + r_prob - l_prob * r_prob
+  lr_prob = l_prob * r_prob
 
   d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
   return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
@@ -35,7 +45,6 @@ class LanePlanner(object):
 
     self.l_prob = 0.
     self.r_prob = 0.
-    self.lr_prob = 0.
 
     self._path_pinv = compute_path_pinv()
     self.x_points = np.arange(50)
@@ -57,8 +66,6 @@ class LanePlanner(object):
     self.l_poly[3] += CAMERA_OFFSET
     self.r_poly[3] += CAMERA_OFFSET
 
-    self.lr_prob = self.l_prob + self.r_prob - self.l_prob * self.r_prob
-
     # Find current lanewidth
     self.lane_width_certainty += 0.05 * (self.l_prob * self.r_prob - self.lane_width_certainty)
     current_lane_width = abs(self.l_poly[3] - self.r_poly[3])
diff --git a/selfdrive/controls/lib/latcontrol_helpers.py b/selfdrive/controls/lib/latcontrol_helpers.py
deleted file mode 100644
index ff5fa478a..000000000
--- a/selfdrive/controls/lib/latcontrol_helpers.py
+++ /dev/null
@@ -1,62 +0,0 @@
-import numpy as np
-import math
-from common.numpy_fast import interp
-
-_K_CURV_V = [1., 0.6]
-_K_CURV_BP = [0., 0.002]
-
-# lane width http://safety.fhwa.dot.gov/geometric/pubs/mitigationstrategies/chapter3/3_lanewidth.cfm
-_LANE_WIDTH_V = [3., 3.8]
-
-# break points of speed
-_LANE_WIDTH_BP = [0., 31.]
-
-
-def calc_d_lookahead(v_ego, d_poly):
-  # this function computes how far too look for lateral control
-  # howfar we look ahead is function of speed and how much curvy is the path
-  offset_lookahead = 1.
-  k_lookahead = 7.
-  # integrate abs value of second derivative of poly to get a measure of path curvature
-  pts_len = 50.  # m
-  if len(d_poly) > 0:
-    pts = np.polyval([6 * d_poly[0], 2 * d_poly[1]], np.arange(0, pts_len))
-  else:
-    pts = 0.
-  curv = np.sum(np.abs(pts)) / pts_len
-
-  k_curv = interp(curv, _K_CURV_BP, _K_CURV_V)
-
-  # sqrt on speed is needed to keep, for a given curvature, the y_des
-  # proportional to speed. Indeed, y_des is prop to d_lookahead^2
-  # 36m at 25m/s
-  d_lookahead = offset_lookahead + math.sqrt(max(v_ego, 0)) * k_lookahead * k_curv
-  return d_lookahead
-
-
-def calc_lookahead_offset(v_ego, angle_steers, d_lookahead, VM, angle_offset):
-  # this function returns the lateral offset given the steering angle, speed and the lookahead distance
-  sa = math.radians(angle_steers - angle_offset)
-  curvature = VM.calc_curvature(sa, v_ego)
-  # clip is to avoid arcsin NaNs due to too sharp turns
-  y_actual = d_lookahead * np.tan(np.arcsin(np.clip(d_lookahead * curvature, -0.999, 0.999)) / 2.)
-  return y_actual, curvature
-
-
-def calc_desired_steer_angle(v_ego, y_des, d_lookahead, VM, angle_offset):
-  # inverse of the above function
-  curvature = np.sin(np.arctan(y_des / d_lookahead) * 2.) / d_lookahead
-  steer_des = math.degrees(VM.get_steer_from_curvature(curvature, v_ego)) + angle_offset
-  return steer_des, curvature
-
-
-def compute_path_pinv(l=50):
-  deg = 3
-  x = np.arange(l*1.0)
-  X = np.vstack(tuple(x**n for n in range(deg, -1, -1))).T
-  pinv = np.linalg.pinv(X)
-  return pinv
-
-
-def model_polyfit(points, path_pinv):
-  return np.dot(path_pinv, [float(x) for x in points])
diff --git a/selfdrive/controls/lib/latcontrol_lqr.py b/selfdrive/controls/lib/latcontrol_lqr.py
index 8c0e3ec31..23d91cae4 100644
--- a/selfdrive/controls/lib/latcontrol_lqr.py
+++ b/selfdrive/controls/lib/latcontrol_lqr.py
@@ -22,6 +22,7 @@ class LatControlLQR(object):
     self.i_unwind_rate = 0.3 / rate
     self.i_rate = 1.0 / rate
 
+
     self.reset()
 
   def reset(self):
@@ -31,6 +32,7 @@ class LatControlLQR(object):
   def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
     lqr_log = log.ControlsState.LateralLQRState.new_message()
 
+    steers_max = get_steer_max(CP, v_ego)
     torque_scale = (0.45 + v_ego / 60.0)**2  # Scale actuator model with speed
 
     # Subtract offset. Zero angle should correspond to zero torque
@@ -44,29 +46,32 @@ class LatControlLQR(object):
 
     if v_ego < 0.3 or not active:
       lqr_log.active = False
+      lqr_output = 0.
       self.reset()
     else:
       lqr_log.active = True
 
       # LQR
       u_lqr = float(self.angle_steers_des / self.dc_gain - self.K.dot(self.x_hat))
+      lqr_output = torque_scale * u_lqr / self.scale
 
       # Integrator
       if steer_override:
         self.i_lqr -= self.i_unwind_rate * float(np.sign(self.i_lqr))
       else:
-        self.i_lqr += self.ki * self.i_rate * (self.angle_steers_des - angle_steers_k)
+        error = self.angle_steers_des - angle_steers_k
+        i = self.i_lqr + self.ki * self.i_rate * error
+        control = lqr_output + i
 
-      lqr_output = torque_scale * u_lqr / self.scale
-      self.i_lqr = clip(self.i_lqr, -1.0 - lqr_output, 1.0 - lqr_output) # (LQR + I) has to be between -1 and 1
+        if ((error >= 0 and (control <= steers_max or i < 0.0)) or \
+            (error <= 0 and (control >= -steers_max or i > 0.0))):
+          self.i_lqr = i
 
       self.output_steer = lqr_output + self.i_lqr
-
-      # Clip output
-      steers_max = get_steer_max(CP, v_ego)
       self.output_steer = clip(self.output_steer, -steers_max, steers_max)
 
     lqr_log.steerAngle = angle_steers_k + path_plan.angleOffset
     lqr_log.i = self.i_lqr
     lqr_log.output = self.output_steer
+    lqr_log.lqrOutput = lqr_output
     return self.output_steer, float(self.angle_steers_des), lqr_log
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 9d43e97f2..cb1ab94dc 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -12,8 +12,7 @@ LOG_MPC = os.environ.get('LOG_MPC', False)
 
 
 class LongitudinalMpc(object):
-  def __init__(self, mpc_id, live_longitudinal_mpc):
-    self.live_longitudinal_mpc = live_longitudinal_mpc
+  def __init__(self, mpc_id):
     self.mpc_id = mpc_id
 
     self.setup_mpc()
@@ -27,7 +26,7 @@ class LongitudinalMpc(object):
 
     self.last_cloudlog_t = 0.0
 
-  def send_mpc_solution(self, qp_iterations, calculation_time):
+  def send_mpc_solution(self, pm, qp_iterations, calculation_time):
     qp_iterations = max(0, qp_iterations)
     dat = messaging.new_message()
     dat.init('liveLongitudinalMpc')
@@ -41,7 +40,7 @@ class LongitudinalMpc(object):
     dat.liveLongitudinalMpc.qpIterations = qp_iterations
     dat.liveLongitudinalMpc.mpcId = self.mpc_id
     dat.liveLongitudinalMpc.calculationTime = calculation_time
-    self.live_longitudinal_mpc.send(dat.to_bytes())
+    pm.send('liveLongitudinalMpc', dat)
 
   def setup_mpc(self):
     ffi, self.libmpc = libmpc_py.get_libmpc(self.mpc_id)
@@ -58,7 +57,7 @@ class LongitudinalMpc(object):
     self.cur_state[0].v_ego = v
     self.cur_state[0].a_ego = a
 
-  def update(self, CS, lead, v_cruise_setpoint):
+  def update(self, pm, CS, lead, v_cruise_setpoint):
     v_ego = CS.vEgo
 
     # Setup current mpc state
@@ -97,7 +96,7 @@ class LongitudinalMpc(object):
     duration = int((sec_since_boot() - t) * 1e9)
 
     if LOG_MPC:
-      self.send_mpc_solution(n_its, duration)
+      self.send_mpc_solution(pm, n_its, duration)
 
     # Get solution. MPC timestep is 0.2 s, so interpolation to 0.05 s is needed
     self.v_mpc = self.mpc_solution[0].v_ego[1]
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index faa812ac6..b62d9f110 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -4,7 +4,6 @@ import numpy as np
 
 # from common.numpy_fast import clip
 from common.realtime import sec_since_boot
-from selfdrive.services import service_list
 from selfdrive.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc import libmpc_py
 from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
@@ -26,9 +25,6 @@ class PathPlanner(object):
 
     self.last_cloudlog_t = 0
 
-    self.plan = messaging.pub_sock(service_list['pathPlan'].port)
-    self.livempc = messaging.pub_sock(service_list['liveMpc'].port)
-
     self.setup_mpc(CP.steerRateCost)
     self.solution_invalid_cnt = 0
     self.path_offset_i = 0.0
@@ -49,13 +45,12 @@ class PathPlanner(object):
     self.angle_steers_des_prev = 0.0
     self.angle_steers_des_time = 0.0
 
-  def update(self, sm, CP, VM):
+  def update(self, sm, pm, CP, VM):
     v_ego = sm['carState'].vEgo
     angle_steers = sm['carState'].steeringAngle
     active = sm['controlsState'].active
 
-    angle_offset_average = sm['liveParameters'].angleOffsetAverage
-    angle_offset_bias = sm['controlsState'].angleModelBias + angle_offset_average
+    angle_offset = sm['liveParameters'].angleOffset
 
     self.LP.update(v_ego, sm['model'])
 
@@ -73,7 +68,7 @@ class PathPlanner(object):
     #   self.path_offset_i = 0.0
 
     # account for actuation delay
-    self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset_average, curvature_factor, VM.sR, CP.steerActuatorDelay)
+    self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, CP.steerActuatorDelay)
 
     v_ego_mpc = max(v_ego, 5.0)  # avoid mpc roughness due to low speed
     self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
@@ -85,19 +80,19 @@ class PathPlanner(object):
       delta_desired = self.mpc_solution[0].delta[1]
       rate_desired = math.degrees(self.mpc_solution[0].rate[0] * VM.sR)
     else:
-      delta_desired = math.radians(angle_steers - angle_offset_bias) / VM.sR
+      delta_desired = math.radians(angle_steers - angle_offset) / VM.sR
       rate_desired = 0.0
 
     self.cur_state[0].delta = delta_desired
 
-    self.angle_steers_des_mpc = float(math.degrees(delta_desired * VM.sR) + angle_offset_bias)
+    self.angle_steers_des_mpc = float(math.degrees(delta_desired * VM.sR) + angle_offset)
 
     #  Check for infeasable MPC solution
     mpc_nans = np.any(np.isnan(list(self.mpc_solution[0].delta)))
     t = sec_since_boot()
     if mpc_nans:
       self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost)
-      self.cur_state[0].delta = math.radians(angle_steers - angle_offset_bias) / VM.sR
+      self.cur_state[0].delta = math.radians(angle_steers - angle_offset) / VM.sR
 
       if t > self.last_cloudlog_t + 5.0:
         self.last_cloudlog_t = t
@@ -121,13 +116,13 @@ class PathPlanner(object):
 
     plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
     plan_send.pathPlan.rateSteers = float(rate_desired)
-    plan_send.pathPlan.angleOffset = float(self.path_offset_i)
+    plan_send.pathPlan.angleOffset = float(sm['liveParameters'].angleOffsetAverage)
     plan_send.pathPlan.mpcSolutionValid = bool(plan_solution_valid)
     plan_send.pathPlan.paramsValid = bool(sm['liveParameters'].valid)
     plan_send.pathPlan.sensorValid = bool(sm['liveParameters'].sensorValid)
     plan_send.pathPlan.posenetValid = bool(sm['liveParameters'].posenetValid)
 
-    self.plan.send(plan_send.to_bytes())
+    pm.send('pathPlan', plan_send)
 
     if LOG_MPC:
       dat = messaging.new_message()
@@ -137,4 +132,4 @@ class PathPlanner(object):
       dat.liveMpc.psi = list(self.mpc_solution[0].psi)
       dat.liveMpc.delta = list(self.mpc_solution[0].delta)
       dat.liveMpc.cost = self.mpc_solution[0].cost
-      self.livempc.send(dat.to_bytes())
+      pm.send('liveMpc', dat)
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index 52712d15a..26230843a 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -9,7 +9,6 @@ from cereal import car
 from common.realtime import sec_since_boot, DT_PLAN
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
-from selfdrive.services import service_list
 from selfdrive.controls.lib.speed_smoother import speed_smoother
 from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
 from selfdrive.controls.lib.fcw import FCWChecker
@@ -71,14 +70,11 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 
 
 class Planner(object):
-  def __init__(self, CP, fcw_enabled):
+  def __init__(self, CP):
     self.CP = CP
 
-    self.plan = messaging.pub_sock(service_list['plan'].port)
-    self.live_longitudinal_mpc = messaging.pub_sock(service_list['liveLongitudinalMpc'].port)
-
-    self.mpc1 = LongitudinalMpc(1, self.live_longitudinal_mpc)
-    self.mpc2 = LongitudinalMpc(2, self.live_longitudinal_mpc)
+    self.mpc1 = LongitudinalMpc(1)
+    self.mpc2 = LongitudinalMpc(2)
 
     self.v_acc_start = 0.0
     self.a_acc_start = 0.0
@@ -93,7 +89,6 @@ class Planner(object):
 
     self.longitudinalPlanSource = 'cruise'
     self.fcw_checker = FCWChecker()
-    self.fcw_enabled = fcw_enabled
     self.path_x = np.arange(192)
 
     self.params = Params()
@@ -125,7 +120,7 @@ class Planner(object):
 
     self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint])
 
-  def update(self, sm, CP, VM, PP):
+  def update(self, sm, pm, CP, VM, PP):
     """Gets called when new radarState is available"""
     cur_time = sec_since_boot()
     v_ego = sm['carState'].vEgo
@@ -199,8 +194,8 @@ class Planner(object):
     self.mpc1.set_cur_state(self.v_acc_start, self.a_acc_start)
     self.mpc2.set_cur_state(self.v_acc_start, self.a_acc_start)
 
-    self.mpc1.update(sm['carState'], lead_1, v_cruise_setpoint)
-    self.mpc2.update(sm['carState'], lead_2, v_cruise_setpoint)
+    self.mpc1.update(pm, sm['carState'], lead_1, v_cruise_setpoint)
+    self.mpc2.update(pm, sm['carState'], lead_2, v_cruise_setpoint)
 
     self.choose_solution(v_cruise_setpoint, enabled)
 
@@ -251,10 +246,9 @@ class Planner(object):
     plan_send.plan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.rcv_time['radarState']
 
     # Send out fcw
-    fcw = fcw and (self.fcw_enabled or long_control_state != LongCtrlState.off)
     plan_send.plan.fcw = fcw
 
-    self.plan.send(plan_send.to_bytes())
+    pm.send('plan', plan_send)
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_acc_sol = self.a_acc_start + (DT_PLAN / LON_MPC_STEP) * (self.a_acc - self.a_acc_start)
diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py
index 02a38ca2a..d246d5d8c 100644
--- a/selfdrive/controls/lib/radar_helpers.py
+++ b/selfdrive/controls/lib/radar_helpers.py
@@ -26,6 +26,7 @@ class Track(object):
   def __init__(self):
     self.ekf = None
     self.cnt = 0
+    self.aLeadTau = _LEAD_ACCEL_TAU
 
   def update(self, d_rel, y_rel, v_rel, v_ego_t_aligned, measured):
     # relative values, copy
@@ -123,7 +124,7 @@ class Cluster(object):
 
   @property
   def measured(self):
-    return any([t.measured for t in self.tracks])
+    return any(t.measured for t in self.tracks)
 
   def get_RadarState(self, model_prob=0.0):
     return {
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 9286ea058..7a5742b3e 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -11,27 +11,26 @@ from selfdrive.controls.lib.pathplanner import PathPlanner
 import selfdrive.messaging as messaging
 
 
-def plannerd_thread():
+def plannerd_thread(sm=None, pm=None):
   gc.disable()
 
   # start the loop
   set_realtime_priority(2)
 
-  params = Params()
-
-  # Get FCW toggle from settings
-  fcw_enabled = params.get("IsFcwEnabled") == "1"
-
   cloudlog.info("plannerd is waiting for CarParams")
   CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
-  PL = Planner(CP, fcw_enabled)
+  PL = Planner(CP)
   PP = PathPlanner(CP)
 
   VM = VehicleModel(CP)
 
-  sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'])
+  if sm is None:
+    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'])
+
+  if pm is None:
+    pm = messaging.PubMaster(['plan', 'liveLongitudinalMpc', 'pathPlan', 'liveMpc'])
 
   sm['liveParameters'].valid = True
   sm['liveParameters'].sensorValid = True
@@ -42,13 +41,13 @@ def plannerd_thread():
     sm.update()
 
     if sm.updated['model']:
-      PP.update(sm, CP, VM)
+      PP.update(sm, pm, CP, VM)
     if sm.updated['radarState']:
-      PL.update(sm, CP, VM, PP)
+      PL.update(sm, pm, CP, VM, PP)
 
 
-def main(gctx=None):
-  plannerd_thread()
+def main(sm=None, pm=None):
+  plannerd_thread(sm, pm)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 84410fa8e..d51631633 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -173,7 +173,7 @@ class RadarD(object):
 
 
 # fuses camera and radar data for best lead detection
-def radard_thread(gctx=None):
+def radard_thread(sm=None, pm=None, can_sock=None):
   set_realtime_priority(2)
 
   # wait for stats about the car to come in from controls
@@ -186,14 +186,17 @@ def radard_thread(gctx=None):
   cloudlog.info("radard is importing %s", CP.carName)
   RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % CP.carName).RadarInterface
 
-  can_sock = messaging.sub_sock(service_list['can'].port)
-  sm = messaging.SubMaster(['model', 'controlsState', 'liveParameters'])
+  if can_sock is None:
+    can_sock = messaging.sub_sock(service_list['can'].port)
 
-  RI = RadarInterface(CP)
+  if sm is None:
+    sm = messaging.SubMaster(['model', 'controlsState', 'liveParameters'])
 
   # *** publish radarState and liveTracks
-  radarState = messaging.pub_sock(service_list['radarState'].port)
-  liveTracks = messaging.pub_sock(service_list['liveTracks'].port)
+  if pm is None:
+    pm = messaging.PubMaster(['radarState', 'liveTracks'])
+
+  RI = RadarInterface(CP)
 
   rk = Ratekeeper(rate, print_delay_threshold=None)
   RD = RadarD(mocked)
@@ -212,7 +215,7 @@ def radard_thread(gctx=None):
     dat = RD.update(rk.frame, RI.delay, sm, rr, has_radar)
     dat.radarState.cumLagMs = -rk.remaining*1000.
 
-    radarState.send(dat.to_bytes())
+    pm.send('radarState', dat)
 
     # *** publish tracks for UI debugging (keep last) ***
     tracks = RD.tracks
@@ -226,13 +229,13 @@ def radard_thread(gctx=None):
         "yRel": float(tracks[ids].yRel),
         "vRel": float(tracks[ids].vRel),
       }
-    liveTracks.send(dat.to_bytes())
+    pm.send('liveTracks', dat)
 
     rk.monitor_time()
 
 
-def main(gctx=None):
-  radard_thread(gctx)
+def main(sm=None, pm=None, can_sock=None):
+  radard_thread(sm, pm, can_sock)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index 994ea7ea5..bcc67c42a 100644
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -15,9 +15,9 @@ def RW(v_ego, v_l):
   return (v_ego * TR - (v_l - v_ego) * TR + v_ego * v_ego / (2 * G) - v_l * v_l / (2 * G))
 
 
-class FakeSocket(object):
-    def send(self, data):
-        assert data
+class FakePubMaster(object):
+  def send(self, s, data):
+    assert data
 
 
 def run_following_distance_simulation(v_lead, t_end=200.0):
@@ -32,7 +32,8 @@ def run_following_distance_simulation(v_lead, t_end=200.0):
 
   v_cruise_setpoint = v_lead + 10.
 
-  mpc = LongitudinalMpc(1, FakeSocket())
+  pm = FakePubMaster()
+  mpc = LongitudinalMpc(1)
 
   first = True
   while t < t_end:
@@ -61,8 +62,8 @@ def run_following_distance_simulation(v_lead, t_end=200.0):
     mpc.set_cur_state(v_ego, a_ego)
     if first:  # Make sure MPC is converged on first timestep
       for _ in range(20):
-        mpc.update(CS.carState, lead, v_cruise_setpoint)
-    mpc.update(CS.carState, lead, v_cruise_setpoint)
+        mpc.update(pm, CS.carState, lead, v_cruise_setpoint)
+    mpc.update(pm, CS.carState, lead, v_cruise_setpoint)
 
     # Choose slowest of two solutions
     if v_cruise < mpc.v_mpc:
diff --git a/selfdrive/controls/tests/test_monitoring.py b/selfdrive/controls/tests/test_monitoring.py
new file mode 100644
index 000000000..d543dfc9a
--- /dev/null
+++ b/selfdrive/controls/tests/test_monitoring.py
@@ -0,0 +1,200 @@
+import unittest
+import numpy as np
+from common.realtime import DT_CTRL, DT_DMON
+from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, \
+                                  _AWARENESS_TIME, _AWARENESS_PRE_TIME_TILL_TERMINAL, \
+                                  _AWARENESS_PROMPT_TIME_TILL_TERMINAL, _DISTRACTED_TIME, \
+                                  _DISTRACTED_PRE_TIME_TILL_TERMINAL, _DISTRACTED_PROMPT_TIME_TILL_TERMINAL
+from selfdrive.controls.lib.gps_helpers import is_rhd_region
+
+_TEST_TIMESPAN = 120 # seconds
+_DISTRACTED_SECONDS_TO_ORANGE = _DISTRACTED_TIME - _DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
+_DISTRACTED_SECONDS_TO_RED = _DISTRACTED_TIME + 1
+_INVISIBLE_SECONDS_TO_ORANGE = _AWARENESS_TIME - _AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
+_INVISIBLE_SECONDS_TO_RED = _AWARENESS_TIME + 1
+
+class fake_DM_msg():
+  def __init__(self, is_face_detected, is_distracted=False):
+    self.faceOrientation = [0.,0.,0.]
+    self.facePosition = [0.,0.]
+    self.faceProb = 1. * is_face_detected
+    self.leftEyeProb = 1.
+    self.rightEyeProb = 1.
+    self.leftBlinkProb = 1. * is_distracted
+    self.rightBlinkProb = 1. * is_distracted
+
+
+# driver state from neural net, 10Hz
+msg_NO_FACE_DETECTED = fake_DM_msg(is_face_detected=False)
+msg_ATTENTIVE = fake_DM_msg(is_face_detected=True)
+msg_DISTRACTED = fake_DM_msg(is_face_detected=True, is_distracted=True)
+
+# driver interaction with car
+car_interaction_DETECTED = True
+car_interaction_NOT_DETECTED = False
+
+# openpilot state
+openpilot_ENGAGED = True
+openpilot_NOT_ENGAGED = False
+
+# car standstill state
+car_STANDSTILL = True
+car_NOT_STANDSTILL = False
+
+# some common state vectors
+always_no_face = [msg_NO_FACE_DETECTED] * int(_TEST_TIMESPAN/DT_DMON)
+always_attentive = [msg_ATTENTIVE] * int(_TEST_TIMESPAN/DT_DMON)
+always_distracted = [msg_DISTRACTED] * int(_TEST_TIMESPAN/DT_DMON)
+always_true = [True] * int(_TEST_TIMESPAN/DT_DMON)
+always_false = [False] * int(_TEST_TIMESPAN/DT_DMON)
+
+def run_DState_seq(driver_state_msgs, driver_car_interaction, openpilot_status, car_standstill_status):
+  # inputs are all 10Hz
+  DS = DriverStatus()
+  events_from_DM = []
+  for idx in range(len(driver_state_msgs)):
+    DS.get_pose(driver_state_msgs[idx], [0,0,0], 0, openpilot_status[idx])
+                # cal_rpy and car_speed don't matter here
+
+    # to match frequency of controlsd (100Hz)
+    for _ in range(int(DT_DMON/DT_CTRL)):
+      event_per_state = DS.update([], driver_car_interaction[idx], openpilot_status[idx], car_standstill_status[idx])
+    events_from_DM.append(event_per_state) # evaluate events at 10Hz for tests
+
+  assert len(events_from_DM)==len(driver_state_msgs), 'somethings wrong'
+  return events_from_DM
+
+class TestMonitoring(unittest.TestCase):
+  # -1. rhd parser sanity check
+  def test_rhd_parser(self):
+    cities = [[32.7, -117.1, 0],\
+              [51.5, 0.129, 1],\
+              [35.7, 139.7, 1],\
+              [-37.8, 144.9, 1],\
+              [32.1, 41.74, 0],\
+              [55.7, 12.69, 0]]
+    result = []
+    for city in cities:
+      result.append(int(is_rhd_region(city[0],city[1])))
+    self.assertEqual(result,[int(city[2]) for city in cities])
+
+  # 0. op engaged, driver is doing fine all the time
+  def test_fully_aware_driver(self):
+    events_output = run_DState_seq(always_attentive, always_false, always_true, always_false)
+    self.assertTrue(np.sum([len(event) for event in events_output])==0)
+
+  # 1. op engaged, driver is distracted and does nothing
+  def test_fully_distracted_driver(self):
+    events_output = run_DState_seq(always_distracted, always_false, always_true, always_false)
+    self.assertTrue(len(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
+    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+\
+                      ((_DISTRACTED_PRE_TIME_TILL_TERMINAL-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'preDriverDistracted')
+    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL+\
+                      ((_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'promptDriverDistracted')
+    self.assertEqual(events_output[int((_DISTRACTED_TIME+\
+                      ((_TEST_TIMESPAN-10-_DISTRACTED_TIME)/2))/DT_DMON)][0].name, 'driverDistracted')
+
+  # 2. op engaged, no face detected the whole time, no action
+  def test_fully_invisible_driver(self):
+    events_output = run_DState_seq(always_no_face, always_false, always_true, always_false)
+    self.assertTrue(len(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
+    self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL+\
+                      ((_AWARENESS_PRE_TIME_TILL_TERMINAL-_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'preDriverUnresponsive')
+    self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PROMPT_TIME_TILL_TERMINAL+\
+                      ((_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'promptDriverUnresponsive')
+    self.assertEqual(events_output[int((_AWARENESS_TIME+\
+                      ((_TEST_TIMESPAN-10-_AWARENESS_TIME)/2))/DT_DMON)][0].name, 'driverUnresponsive')
+
+  # 3. op engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
+  #  - should have short orange recovery time and no green afterwards; should recover rightaway on wheel touch
+  def test_normal_driver(self):
+    ds_vector = [msg_DISTRACTED] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
+                [msg_ATTENTIVE] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
+                [msg_DISTRACTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*2/DT_DMON))
+    interaction_vector = [car_interaction_NOT_DETECTED] * int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
+                        [car_interaction_DETECTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
+    events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)
+    self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
+    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverDistracted')
+    self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)])==0)
+    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)][0].name, 'promptDriverDistracted')
+    self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)])==0)
+
+  # 4. op engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
+  #                          driver dodges, and then touches wheel to no avail, disengages and reengages
+  #  - orange/red alert should remain after disappearance, and only disengaging clears red
+  def test_biggest_comma_fan(self):
+    _invisible_time = 2 # seconds
+    ds_vector = always_distracted[:]
+    interaction_vector = always_false[:]
+    op_vector = always_true[:]
+    ds_vector[int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((_DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    ds_vector[int((_DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    interaction_vector[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON)
+    op_vector[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON)
+    events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)
+    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)][0].name, 'promptDriverDistracted')
+    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)][0].name, 'driverDistracted')
+    self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)][0].name, 'driverDistracted')
+    self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)])==0)
+
+  # 5. op engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
+  #  - both actions should clear the alert, but momentary appearence should not
+  def test_sometimes_transparent_commuter(self):
+      _visible_time = np.random.choice([1,10]) # seconds
+      # print _visible_time
+      ds_vector = always_no_face[:]*2
+      interaction_vector = always_false[:]*2
+      ds_vector[int((2*_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*_INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
+      interaction_vector[int((_INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
+      events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
+      self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
+      self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
+      self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)])==0)
+      if _visible_time == 1:
+        self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
+        self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)][0].name, 'preDriverUnresponsive')
+      elif _visible_time == 10:
+        self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
+        self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)])==0)
+      else:
+        pass
+
+  # 6. op engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
+  #  - only disengage will clear the alert
+  def test_last_second_responder(self):
+    _visible_time = 2 # seconds
+    ds_vector = always_no_face[:]
+    interaction_vector = always_false[:]
+    op_vector = always_true[:]
+    ds_vector[int(_INVISIBLE_SECONDS_TO_RED/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
+    interaction_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
+    op_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
+    events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)
+    self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
+    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
+    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)][0].name, 'driverUnresponsive')
+    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)][0].name, 'driverUnresponsive')
+    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)][0].name, 'driverUnresponsive')
+    self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)])==0)
+
+  # 7. op not engaged, always distracted driver
+  #  - dm should stay quiet when not engaged
+  def test_pure_dashcam_user(self):
+    events_output = run_DState_seq(always_distracted, always_false, always_false, always_false)
+    self.assertTrue(np.sum([len(event) for event in events_output])==0)
+
+  # 8. op engaged, car stops at traffic light, down to orange, no action, then car starts moving
+  #  - should only reach green when stopped, but continues counting down on launch
+  def test_long_traffic_light_victim(self):
+    _redlight_time = 60 # seconds
+    standstill_vector = always_true[:]
+    standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((_TEST_TIMESPAN-_redlight_time)/DT_DMON)
+    events_output = run_DState_seq(always_distracted, always_false, always_true, standstill_vector)
+    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)][0].name, 'preDriverDistracted')
+    self.assertEqual(events_output[int((_redlight_time-0.1)/DT_DMON)][0].name, 'preDriverDistracted')
+    self.assertEqual(events_output[int((_redlight_time+0.5)/DT_DMON)][0].name, 'promptDriverDistracted')
+
+if __name__ == "__main__":
+  print 'MAX_TERMINAL_ALERTS', MAX_TERMINAL_ALERTS
+  unittest.main()
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 2890b0f61..db4b0c226 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -6,7 +6,6 @@ import numpy as np
 import selfdrive.messaging as messaging
 from selfdrive.locationd.calibration_helpers import Calibration
 from selfdrive.swaglog import cloudlog
-from selfdrive.services import service_list
 from common.params import Params
 from common.transformations.model import model_height
 from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
@@ -64,7 +63,7 @@ class Calibrator(object):
       self.just_calibrated = True
 
   def handle_cam_odom(self, log):
-    trans, rot = log.cameraOdometry.trans, log.cameraOdometry.rot
+    trans, rot = log.trans, log.rot
     if np.linalg.norm(trans) > MIN_SPEED_FILTER and abs(rot[2]) < MAX_YAW_RATE_FILTER:
       new_vp = eon_intrinsics.dot(view_frame_from_device_frame.dot(trans))
       new_vp = new_vp[:2]/new_vp[2]
@@ -81,7 +80,7 @@ class Calibrator(object):
     else:
       return None
 
-  def send_data(self, livecalibration):
+  def send_data(self, pm):
     calib = get_calib_from_vp(self.vp)
     extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
 
@@ -92,27 +91,31 @@ class Calibrator(object):
     cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
     cal_send.liveCalibration.rpyCalib = [float(x) for x in calib]
 
-    livecalibration.send(cal_send.to_bytes())
+    pm.send('liveCalibration', cal_send)
 
 
-def calibrationd_thread(gctx=None, addr="127.0.0.1"):
-  cameraodometry = messaging.sub_sock(service_list['cameraOdometry'].port, addr=addr, conflate=True)
-  livecalibration = messaging.pub_sock(service_list['liveCalibration'].port)
+def calibrationd_thread(sm=None, pm=None):
+  if sm is None:
+    sm = messaging.SubMaster(['cameraOdometry'])
+
+  if pm is None:
+    pm = messaging.PubMaster(['liveCalibration'])
+
   calibrator = Calibrator(param_put=True)
 
   # buffer with all the messages that still need to be input into the kalman
   while 1:
-    co = messaging.recv_one(cameraodometry)
+    sm.update()
 
-    new_vp = calibrator.handle_cam_odom(co)
+    new_vp = calibrator.handle_cam_odom(sm['cameraOdometry'])
     if DEBUG and new_vp is not None:
       print 'got new vp', new_vp
 
-    calibrator.send_data(livecalibration)
+    calibrator.send_data(pm)
 
 
-def main(gctx=None, addr="127.0.0.1"):
-  calibrationd_thread(gctx, addr)
+def main(sm=None, pm=None):
+  calibrationd_thread(sm, pm)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/locationd_yawrate.cc b/selfdrive/locationd/locationd_yawrate.cc
index 93e706499..de6ff9ff4 100644
--- a/selfdrive/locationd/locationd_yawrate.cc
+++ b/selfdrive/locationd/locationd_yawrate.cc
@@ -10,7 +10,7 @@
 #include "locationd_yawrate.h"
 
 
-void Localizer::update_state(const Eigen::Matrix<double, 1, 2> &C, const double R, double current_time, double meas) {
+void Localizer::update_state(const Eigen::Matrix<double, 1, 4> &C, const double R, double current_time, double meas) {
   double dt = current_time - prev_update_time;
 
   if (dt < 0) {
@@ -19,36 +19,34 @@ void Localizer::update_state(const Eigen::Matrix<double, 1, 2> &C, const double
     prev_update_time = current_time;
   }
 
-  // x = A * x;
-  // P = A * P * A.transpose() + dt * Q;
-  // Simplify because A is unity
-  P = P + dt * Q;
+  x = A * x;
+  P = A * P * A.transpose() + dt * Q;
 
   double y = meas - C * x;
   double S = R + C * P * C.transpose();
-  Eigen::Vector2d K = P * C.transpose() * (1.0 / S);
+  Eigen::Vector4d K = P * C.transpose() * (1.0 / S);
   x = x + K * y;
   P = (I - K * C) * P;
 }
 
 void Localizer::handle_sensor_events(capnp::List<cereal::SensorEventData>::Reader sensor_events, double current_time) {
   for (cereal::SensorEventData::Reader sensor_event : sensor_events){
-    if (sensor_event.getType() == 4) {
+    if (sensor_event.getSensor() == 5) {
       sensor_data_time = current_time;
-
-      double meas = -sensor_event.getGyro().getV()[0];
+      double meas = -sensor_event.getGyroUncalibrated().getV()[0];
       update_state(C_gyro, R_gyro, current_time, meas);
     }
   }
 }
 
 void Localizer::handle_camera_odometry(cereal::CameraOdometry::Reader camera_odometry, double current_time) {
-  double R = 250.0 * pow(camera_odometry.getRotStd()[2], 2);
+  double R = 100.0 * pow(camera_odometry.getRotStd()[2], 2);
   double meas = camera_odometry.getRot()[2];
   update_state(C_posenet, R, current_time, meas);
 
   auto trans = camera_odometry.getTrans();
   posenet_speed = sqrt(trans[0]*trans[0] + trans[1]*trans[1] + trans[2]*trans[2]);
+  camera_odometry_time = current_time;
 }
 
 void Localizer::handle_controls_state(cereal::ControlsState::Reader controls_state, double current_time) {
@@ -59,17 +57,34 @@ void Localizer::handle_controls_state(cereal::ControlsState::Reader controls_sta
 
 
 Localizer::Localizer() {
-  A << 1, 0, 0, 1;
-  I << 1, 0, 0, 1;
+  // States: [yaw rate, yaw rate diff, gyro bias, gyro bias diff]
+  A <<
+    1, 1, 0, 0,
+    0, 1, 0, 0,
+    0, 0, 1, 1,
+    0, 0, 0, 1;
+  I <<
+    1, 0, 0, 0,
+    0, 1, 0, 0,
+    0, 0, 1, 0,
+    0, 0, 0, 1;
 
-  Q << pow(0.1, 2.0), 0, 0, pow(0.005 / 100.0, 2.0);
-  P << pow(1.0, 2.0), 0, 0, pow(0.05, 2.0);
+  Q <<
+    0, 0, 0, 0,
+    0, pow(0.1, 2.0), 0, 0,
+    0, 0, 0, 0,
+    0, 0, pow(0.0005 / 100.0, 2.0), 0;
+  P <<
+    pow(100.0, 2.0), 0, 0, 0,
+    0, pow(100.0, 2.0), 0, 0,
+    0, 0, pow(100.0, 2.0), 0,
+    0, 0, 0, pow(100.0, 2.0);
 
-  C_posenet << 1, 0;
-  C_gyro << 1, 1;
-  x << 0, 0;
+  C_posenet << 1, 0, 0, 0;
+  C_gyro << 1, 0, 1, 0;
+  x << 0, 0, 0, 0;
 
-  R_gyro = pow(0.05, 2.0);
+  R_gyro = pow(0.25, 2.0);
 }
 
 void Localizer::handle_log(cereal::Event::Reader event) {
@@ -118,20 +133,31 @@ extern "C" {
   }
   double localizer_get_bias(void * localizer) {
     Localizer * loc = (Localizer*) localizer;
-    return loc->x[1];
+    return loc->x[2];
   }
 
-  void localizer_set_yaw(void * localizer, double yaw) {
+  double * localizer_get_state(void * localizer) {
     Localizer * loc = (Localizer*) localizer;
-    loc->x[0] = yaw;
+    return loc->x.data();
   }
-  void localizer_set_bias(void * localizer, double bias) {
+
+  void localizer_set_state(void * localizer, double * state) {
     Localizer * loc = (Localizer*) localizer;
-    loc->x[1] = bias;
+    memcpy(loc->x.data(), state, 4 * sizeof(double));
   }
 
   double localizer_get_t(void * localizer) {
     Localizer * loc = (Localizer*) localizer;
     return loc->prev_update_time;
   }
+
+  double * localizer_get_P(void * localizer) {
+    Localizer * loc = (Localizer*) localizer;
+    return loc->P.data();
+  }
+
+  void localizer_set_P(void * localizer, double * P) {
+    Localizer * loc = (Localizer*) localizer;
+    memcpy(loc->P.data(), P, 16 * sizeof(double));
+  }
 }
diff --git a/selfdrive/locationd/locationd_yawrate.h b/selfdrive/locationd/locationd_yawrate.h
index d5db91e79..9c6885241 100644
--- a/selfdrive/locationd/locationd_yawrate.h
+++ b/selfdrive/locationd/locationd_yawrate.h
@@ -7,28 +7,29 @@
 
 class Localizer
 {
-  Eigen::Matrix2d A;
-  Eigen::Matrix2d I;
-  Eigen::Matrix2d Q;
-  Eigen::Matrix2d P;
-  Eigen::Matrix<double, 1, 2> C_posenet;
-  Eigen::Matrix<double, 1, 2> C_gyro;
+  Eigen::Matrix4d A;
+  Eigen::Matrix4d I;
+  Eigen::Matrix4d Q;
+  Eigen::Matrix<double, 1, 4> C_posenet;
+  Eigen::Matrix<double, 1, 4> C_gyro;
 
   double R_gyro;
 
-  void update_state(const Eigen::Matrix<double, 1, 2> &C, const double R, double current_time, double meas);
+  void update_state(const Eigen::Matrix<double, 1, 4> &C, const double R, double current_time, double meas);
   void handle_sensor_events(capnp::List<cereal::SensorEventData>::Reader sensor_events, double current_time);
   void handle_camera_odometry(cereal::CameraOdometry::Reader camera_odometry, double current_time);
   void handle_controls_state(cereal::ControlsState::Reader controls_state, double current_time);
 
 public:
-  Eigen::Vector2d x;
+  Eigen::Vector4d x;
+  Eigen::Matrix4d P;
   double steering_angle = 0;
   double car_speed = 0;
   double posenet_speed = 0;
   double prev_update_time = -1;
   double controls_state_time = -1;
   double sensor_data_time = -1;
+  double camera_odometry_time = -1;
 
   Localizer();
   void handle_log(cereal::Event::Reader event);
diff --git a/selfdrive/locationd/params_learner.cc b/selfdrive/locationd/params_learner.cc
index 912abde35..66f378a1d 100644
--- a/selfdrive/locationd/params_learner.cc
+++ b/selfdrive/locationd/params_learner.cc
@@ -45,7 +45,7 @@ ParamsLearner::ParamsLearner(cereal::CarParams::Reader car_params,
 }
 
 bool ParamsLearner::update(double psi, double u, double sa) {
-  if (u > 10.0 && fabs(sa) < (DEGREES_TO_RADIANS * 15.)) {
+  if (u > 10.0 && fabs(sa) < (DEGREES_TO_RADIANS * 90.)) {
     double ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
     double new_ao = ao - alpha1 * ao_diff;
 
diff --git a/selfdrive/locationd/paramsd.cc b/selfdrive/locationd/paramsd.cc
index 2d9f11b3e..b9b4a9c1a 100644
--- a/selfdrive/locationd/paramsd.cc
+++ b/selfdrive/locationd/paramsd.cc
@@ -137,33 +137,32 @@ int main(int argc, char *argv[]) {
 
           // TODO: Fix in replay
           double sensor_data_age = localizer.controls_state_time - localizer.sensor_data_time;
+          double camera_odometry_age = localizer.controls_state_time - localizer.camera_odometry_time;
 
           double angle_offset_degrees = RADIANS_TO_DEGREES * learner.ao;
           double angle_offset_average_degrees = RADIANS_TO_DEGREES * learner.slow_ao;
 
-          // Send parameters at 10 Hz
-          if (save_counter % 10 == 0){
-            capnp::MallocMessageBuilder msg;
-            cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-            event.setLogMonoTime(nanos_since_boot());
-            auto live_params = event.initLiveParameters();
-            live_params.setValid(valid);
-            live_params.setYawRate(localizer.x[0]);
-            live_params.setGyroBias(localizer.x[1]);
-            live_params.setSensorValid(sensor_data_age < 5.0);
-            live_params.setAngleOffset(angle_offset_degrees);
-            live_params.setAngleOffsetAverage(angle_offset_average_degrees);
-            live_params.setStiffnessFactor(learner.x);
-            live_params.setSteerRatio(learner.sR);
-            live_params.setPosenetSpeed(localizer.posenet_speed);
-            live_params.setPosenetValid(posenet_invalid_count < 4);
+          capnp::MallocMessageBuilder msg;
+          cereal::Event::Builder event = msg.initRoot<cereal::Event>();
+          event.setLogMonoTime(nanos_since_boot());
+          auto live_params = event.initLiveParameters();
+          live_params.setValid(valid);
+          live_params.setYawRate(localizer.x[0]);
+          live_params.setGyroBias(localizer.x[2]);
+          live_params.setSensorValid(sensor_data_age < 5.0);
+          live_params.setAngleOffset(angle_offset_degrees);
+          live_params.setAngleOffsetAverage(angle_offset_average_degrees);
+          live_params.setStiffnessFactor(learner.x);
+          live_params.setSteerRatio(learner.sR);
+          live_params.setPosenetSpeed(localizer.posenet_speed);
+          live_params.setPosenetValid((posenet_invalid_count < 4) && (camera_odometry_age < 5.0));
 
-            auto words = capnp::messageToFlatArray(msg);
-            auto bytes = words.asBytes();
-            zmq_send(live_parameters_sock_raw, bytes.begin(), bytes.size(), ZMQ_DONTWAIT);
-          }
+          auto words = capnp::messageToFlatArray(msg);
+          auto bytes = words.asBytes();
+          zmq_send(live_parameters_sock_raw, bytes.begin(), bytes.size(), ZMQ_DONTWAIT);
 
           // Save parameters every minute
+          // TODO: Save in seperate thread
           if (save_counter % 6000 == 0) {
             json11::Json json = json11::Json::object {
               {"carVin", vin},
diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
index 59765d13e..38887f4ad 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -93,9 +93,9 @@ def is_on_hotspot():
     return False
 
 class Uploader(object):
-  def __init__(self, dongle_id, private_key, root):
+  def __init__(self, dongle_id, root):
     self.dongle_id = dongle_id
-    self.api = Api(dongle_id, private_key)
+    self.api = Api(dongle_id)
     self.root = root
 
     self.upload_thread = None
@@ -146,14 +146,11 @@ class Uploader(object):
         return (key, fn, 0)
 
     if with_raw:
-      # then upload log files
+      # then upload the full log files, rear and front camera files
       for name, key, fn in self.gen_upload_files():
         if name  == "rlog.bz2":
           return (key, fn, 1)
-
-      # then upload rear and front camera files
-      for name, key, fn in self.gen_upload_files():
-        if name == "fcamera.hevc":
+        elif name == "fcamera.hevc":
           return (key, fn, 2)
         elif name == "dcamera.hevc":
           return (key, fn, 3)
@@ -241,13 +238,12 @@ def uploader_fn(exit_event):
 
   params = Params()
   dongle_id = params.get("DongleId")
-  private_key = open("/persist/comma/id_rsa").read()
 
-  if dongle_id is None or private_key is None:
-    cloudlog.info("uploader missing dongle_id or private_key")
-    raise Exception("uploader can't start without dongle id and private key")
+  if dongle_id is None:
+    cloudlog.info("uploader missing dongle_id")
+    raise Exception("uploader can't start without dongle id")
 
-  uploader = Uploader(dongle_id, private_key, ROOT)
+  uploader = Uploader(dongle_id, ROOT)
 
   backoff = 0.1
   while True:
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index c5990f4fd..62bf834b6 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -47,7 +47,7 @@ if __name__ == "__main__":
   if is_neos:
     version = int(open("/VERSION").read()) if os.path.isfile("/VERSION") else 0
     revision = int(open("/REVISION").read()) if version >= 10 else 0 # Revision only present in NEOS 10 and up
-    neos_update_required = version < 10 or (version == 10 and revision != 4)
+    neos_update_required = version < 10 or (version == 10 and revision < 4)
 
   if neos_update_required:
     # update continue.sh before updating NEOS
@@ -365,6 +365,7 @@ def manager_thread():
 
   # start frame
   pm_apply_packages('enable')
+  system("LD_LIBRARY_PATH= appops set ai.comma.plus.offroad SU allow")
   system("am start -n ai.comma.plus.frame/.MainActivity")
 
   if os.getenv("NOBOARD") is None:
@@ -498,6 +499,11 @@ def manager_update():
   update_ssh()
   update_apks()
 
+  uninstall = [app for app in get_installed_apks().keys() if app in ("com.spotify.music", "com.waze")]
+  for app in uninstall:
+    cloudlog.info("uninstalling %s" % app)
+    os.system("pm uninstall % s" % app)
+
 def manager_prepare():
   # build cereal first
   subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, "cereal"))
@@ -555,16 +561,12 @@ def main():
     params.put("IsMetric", "0")
   if params.get("RecordFront") is None:
     params.put("RecordFront", "0")
-  if params.get("IsFcwEnabled") is None:
-    params.put("IsFcwEnabled", "1")
   if params.get("HasAcceptedTerms") is None:
     params.put("HasAcceptedTerms", "0")
   if params.get("IsUploadRawEnabled") is None:
     params.put("IsUploadRawEnabled", "1")
   if params.get("IsUploadVideoOverCellularEnabled") is None:
     params.put("IsUploadVideoOverCellularEnabled", "1")
-  if params.get("IsDriverMonitoringEnabled") is None:
-    params.put("IsDriverMonitoringEnabled", "1")
   if params.get("IsGeofenceEnabled") is None:
     params.put("IsGeofenceEnabled", "-1")
   if params.get("SpeedLimitOffset") is None:
diff --git a/selfdrive/messaging.py b/selfdrive/messaging.py
index cad7e2e8b..13fb41efe 100644
--- a/selfdrive/messaging.py
+++ b/selfdrive/messaging.py
@@ -84,8 +84,8 @@ def recv_one_or_none(sock):
     return None
 
 
-class SubMaster():
-  def __init__(self, services, addr="127.0.0.1"):
+class SubMaster(object):
+  def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
     self.poller = zmq.Poller()
     self.frame = -1
     self.updated = {s : False for s in services}
@@ -97,6 +97,12 @@ class SubMaster():
     self.data = {}
     self.logMonoTime = {}
     self.valid = {}
+
+    if ignore_alive is not None:
+      self.ignore_alive = ignore_alive
+    else:
+      self.ignore_alive = []
+
     for s in services:
       # TODO: get address automatically from service_list
       if addr is not None:
@@ -141,7 +147,7 @@ class SubMaster():
   def all_alive(self, service_list=None):
     if service_list is None:  # check all
       service_list = self.alive.keys()
-    return all(self.alive[s] for s in service_list)
+    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
 
   def all_valid(self, service_list=None):
     if service_list is None:  # check all
@@ -152,3 +158,16 @@ class SubMaster():
     if service_list is None:  # check all
       service_list = self.alive.keys()
     return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
+
+
+class PubMaster():
+  def __init__(self, services):
+    self.sock = {}
+    for s in services:
+      self.sock[s] = pub_sock(service_list[s].port)
+
+  def send(self, s, dat):
+    # accept either bytes or capnp builder
+    if not isinstance(dat, str):
+      dat = dat.to_bytes()
+    self.sock[s].send(dat)
diff --git a/selfdrive/service_list.yaml b/selfdrive/service_list.yaml
index 0c82a3187..ec8b0b9d4 100644
--- a/selfdrive/service_list.yaml
+++ b/selfdrive/service_list.yaml
@@ -16,7 +16,7 @@ thermal: [8005, true, 2., 1]
 can: [8006, true, 100.]
 controlsState: [8007, true, 100., 100]
 #liveEvent: [8008, true, 0.]
-model: [8009, true, 20.]
+model: [8009, true, 20., 5]
 features: [8010, true, 0.]
 health: [8011, true, 2., 1]
 radarState: [8012, true, 20.]
diff --git a/selfdrive/test/test_car_models_openpilot.py b/selfdrive/test/test_car_models.py
similarity index 77%
rename from selfdrive/test/test_car_models_openpilot.py
rename to selfdrive/test/test_car_models.py
index 53184653c..317f32591 100755
--- a/selfdrive/test/test_car_models_openpilot.py
+++ b/selfdrive/test/test_car_models.py
@@ -14,6 +14,7 @@ from selfdrive.services import service_list
 import selfdrive.messaging as messaging
 from common.params import Params
 from common.basedir import BASEDIR
+from common.fingerprints import all_known_cars
 from selfdrive.car.honda.values import CAR as HONDA
 from selfdrive.car.toyota.values import CAR as TOYOTA
 from selfdrive.car.gm.values import CAR as GM
@@ -54,6 +55,7 @@ def get_route_logs(route_name):
         with open(log_path, "w") as f:
           f.write(r.content)
       else:
+        print "failed to download test log %s" % route_name
         sys.exit(-1)
 
 routes = {
@@ -140,6 +142,10 @@ routes = {
     'carFingerprint': HONDA.CRV_HYBRID,
     'enableCamera': True,
   },
+  "99e3eaed7396619e|2019-08-13--15-07-03": {
+    'carFingerprint': HONDA.FIT,
+    'enableCamera': True,
+  },
   "2ac95059f70d76eb|2018-02-05--15-03-29": {
     'carFingerprint': HONDA.ACURA_ILX,
     'enableCamera': True,
@@ -351,6 +357,21 @@ routes = {
     'enableCamera': False,
     'enableDsu': False,
   },
+  "2e07163a1ba9a780|2019-08-25--13-15-13": {
+    'carFingerprint': TOYOTA.LEXUS_IS,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "2e07163a1ba9a780|2019-08-29--09-35-42": {
+    'carFingerprint': TOYOTA.LEXUS_IS,
+    'enableCamera': False,
+    'enableDsu': False,
+  },
+  "1dd19ceed0ee2b48|2018-12-22--17-36-49": {
+    'carFingerprint': TOYOTA.LEXUS_IS, # 300 hybrid
+    'enableCamera': True,
+    'enableDsu': False,
+  },
   "791340bc01ed993d|2019-03-10--16-28-08": {
     'carFingerprint': SUBARU.IMPREZA,
     'enableCamera': True,
@@ -370,33 +391,59 @@ passive_routes = [
   #"bfa17080b080f3ec|2018-06-28--23-27-47",
 ]
 
-public_routes = [
-  "f1b4c567731f4a1b|2018-06-06--14-43-46",
-  "f1b4c567731f4a1b|2018-04-18--11-29-37",
-  "f1b4c567731f4a1b|2018-04-18--11-29-37",
-  "7ed9cdf8d0c5f43e|2018-05-17--09-31-36",
-  "38bfd238edecbcd7|2018-08-22--09-45-44",
-  "38bfd238edecbcd7|2018-08-29--22-02-15",
-  "b0f5a01cf604185c|2018-01-26--00-54-32",
-  "b0f5a01cf604185c|2018-01-26--10-54-38",
-  "b0f5a01cf604185c|2018-01-26--10-59-31",
-  "56fb1c86a9a86404|2017-11-10--10-18-43",
-  "b0f5a01cf604185c|2017-12-18--20-32-32",
-  "b0c9d2329ad1606b|2019-04-02--13-24-43",
-  "791340bc01ed993d|2019-03-10--16-28-08",
+# TODO: replace all these with public routes
+# TODO: add routes for untested cars: HONDA ACCORD 2018 HYBRID TOURING and CHRYSLER PACIFICA 2018
+non_public_routes = [
+  "0607d2516fc2148f|2019-02-13--23-03-16", # CHRYSLER PACIFICA HYBRID 2019
+  "3e9592a1c78a3d63|2018-02-08--20-28-24", # HONDA PILOT 2017 TOURING
+  "aa20e335f61ba898|2019-02-05--16-59-04", # BUICK REGAL ESSENCE 2018
+  "1851183c395ef471|2018-05-31--18-07-21", # HONDA CR-V 2017 EX
+  "9d5fb4f0baa1b3e1|2019-01-14--17-45-59", # KIA SORENTO GT LINE 2018
+  "b4c18bf13d5955da|2018-07-29--13-39-46", # TOYOTA C-HR HYBRID 2018
+  "5a2cfe4bb362af9e|2018-02-02--23-41-07", # ACURA RDX 2018 ACURAWATCH PLUS
+  "362d23d4d5bea2fa|2018-08-10--13-31-40", # TOYOTA HIGHLANDER HYBRID 2018
+  "aa20e335f61ba898|2018-12-17--21-10-37", # BUICK REGAL ESSENCE 2018
+  "215cd70e9c349266|2018-11-25--22-22-12", # KIA STINGER GT2 2018
+  "192a598e34926b1e|2019-04-04--13-27-39", # JEEP GRAND CHEROKEE 2019
+  "34a84d2b765df688|2018-08-28--12-41-00", # HONDA PILOT 2019 ELITE
+  "b0c9d2329ad1606b|2019-01-06--10-11-23", # CHRYSLER PACIFICA HYBRID 2017
+  "31390e3eb6f7c29a|2019-01-23--08-56-00", # KIA OPTIMA SX 2019
+  "fd10b9a107bb2e49|2018-07-24--16-32-42", # TOYOTA C-HR 2018
+  "9f7a7e50a51fb9db|2019-01-17--18-34-21", # JEEP GRAND CHEROKEE V6 2018
+  "aadda448b49c99ad|2018-10-25--17-16-22", # CHEVROLET MALIBU PREMIER 2017
+  "362d23d4d5bea2fa|2018-09-02--17-03-55", # TOYOTA HIGHLANDER HYBRID 2018
+  "1582e1dc57175194|2018-08-15--07-46-07", # HONDA ACCORD 2018 LX 1.5T
+  "fd10b9a107bb2e49|2018-07-24--20-32-08", # TOYOTA C-HR 2018
+  "265007255e794bce|2018-11-24--22-08-31", # CADILLAC ATS Premium Performance 2018
+  "53ac3251e03f95d7|2019-01-10--13-43-32", # HYUNDAI ELANTRA LIMITED ULTIMATE 2017
+  "21aa231dee2a68bd|2018-01-30--04-54-41", # HONDA ODYSSEY 2018 EX-L
+  "900ad17e536c3dc7|2018-04-12--22-02-36", # HONDA RIDGELINE 2017 BLACK EDITION
+  "975b26878285314d|2018-12-25--14-42-13", # CHRYSLER PACIFICA HYBRID 2018
+  "8ae193ceb56a0efe|2018-06-18--20-07-32", # TOYOTA RAV4 HYBRID 2017
+  "a893a80e5c5f72c8|2019-01-14--20-02-59", # HYUNDAI GENESIS 2018
+  "49c73650e65ff465|2018-11-19--16-58-04", # HOLDEN ASTRA RS-V BK 2017
+  "d2d8152227f7cb82|2018-07-25--13-40-56", # TOYOTA CAMRY 2018
+  "07cb8a788c31f645|2018-06-17--18-50-29", # mock
+  "c9d60e5e02c04c5c|2018-01-08--16-01-49", # HONDA CR-V 2016 TOURING
+  "1632088eda5e6c4d|2018-06-07--08-03-18", # HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019
+  "fbd011384db5e669|2018-07-26--20-51-48", # TOYOTA CAMRY HYBRID 2018
 ]
 
 if __name__ == "__main__":
 
+  # TODO: add routes for untested cars and fail test if we have an untested car
+  tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
+  for car_model in all_known_cars():
+    if car_model not in tested_cars:
+      print "***** WARNING: %s not tested *****" % car_model
+
   results = {}
   for route, checks in routes.items():
-
-    if route not in public_routes:
-      print "route not public", route
+    if route not in non_public_routes:
+      get_route_logs(route)
+    elif "UNLOGGER_PATH" not in os.environ:
       continue
 
-    get_route_logs(route)
-
     for _ in range(3):
       shutil.rmtree('/data/params')
       manager.gctx = {}
@@ -420,7 +467,10 @@ if __name__ == "__main__":
 
       # Start unlogger
       print "Start unlogger"
-      unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), '%s' % route, '/tmp', '--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl', '--no-interactive']
+      if route in non_public_routes:
+        unlogger_cmd = [os.path.join(BASEDIR, os.environ['UNLOGGER_PATH']), '%s' % route, '--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl', '--no-interactive']
+      else:
+        unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), '%s' % route, '/tmp', '--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl', '--no-interactive']
       unlogger = subprocess.Popen(unlogger_cmd, preexec_fn=os.setsid)
 
       print "Check sockets"
diff --git a/selfdrive/test/tests/plant/test_longitudinal.py b/selfdrive/test/tests/plant/test_longitudinal.py
index 09e81b2a1..ca0592420 100755
--- a/selfdrive/test/tests/plant/test_longitudinal.py
+++ b/selfdrive/test/tests/plant/test_longitudinal.py
@@ -332,7 +332,6 @@ class LongitudinalControl(unittest.TestCase):
     shutil.rmtree('/data/params', ignore_errors=True)
     params = Params()
     params.put("Passive", "1" if os.getenv("PASSIVE") else "0")
-    params.put("IsFcwEnabled", "1")
 
     manager.gctx = {}
     manager.prepare_managed_process('radard')
diff --git a/selfdrive/test/tests/process_replay/README.md b/selfdrive/test/tests/process_replay/README.md
index 639ca9051..7e92717f9 100644
--- a/selfdrive/test/tests/process_replay/README.md
+++ b/selfdrive/test/tests/process_replay/README.md
@@ -13,3 +13,12 @@ Currently the following processes are tested:
 * plannerd
 * calibrationd
 
+## Forks
+
+openpilot forks can use this test with their own reference logs
+
+To generate new logs:
+
+`./update-refs.py --no-upload`
+
+Then, check in the new logs using git-lfs. Make sure to also include the updated `ref_commit` file.
diff --git a/selfdrive/test/tests/process_replay/compare_logs.py b/selfdrive/test/tests/process_replay/compare_logs.py
index 260e06c77..5a1bd3fd7 100755
--- a/selfdrive/test/tests/process_replay/compare_logs.py
+++ b/selfdrive/test/tests/process_replay/compare_logs.py
@@ -11,7 +11,6 @@ else:
 
 from tools.lib.logreader import LogReader
 
-
 def save_log(dest, log_msgs):
   dat = ""
   for msg in log_msgs:
@@ -21,25 +20,42 @@ def save_log(dest, log_msgs):
   with open(dest, "w") as f:
    f.write(dat)
 
+def remove_ignored_fields(msg, ignore):
+  msg = msg.as_builder() 
+  for key, val in ignore:
+    attr = msg
+    keys = key.split(".")
+    if msg.which() not in key and len(keys) > 1:
+      continue
+    
+    for k in keys[:-1]:
+      try:
+        attr = getattr(msg, k)
+      except:
+        break
+    else:
+      setattr(attr, keys[-1], val)
+  return msg.as_reader()
+
 def compare_logs(log1, log2, ignore=[]):
   assert len(log1) == len(log2), "logs are not same length"
 
+  ignore_fields = [k for k, v in ignore]
   diff = []
   for msg1, msg2 in tqdm(zip(log1, log2)):
     assert msg1.which() == msg2.which(), "msgs not aligned between logs"
 
-    msg1_bytes = msg1.as_builder().to_bytes()
-    msg2_bytes = msg2.as_builder().to_bytes()
+    msg1_bytes = remove_ignored_fields(msg1, ignore).as_builder().to_bytes()
+    msg2_bytes = remove_ignored_fields(msg2, ignore).as_builder().to_bytes()
 
     if msg1_bytes != msg2_bytes:
       msg1_dict = msg1.to_dict(verbose=True)
       msg2_dict = msg2.to_dict(verbose=True)
-      dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore, tolerance=0)
+      dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields, tolerance=0)
       diff.extend(dd)
   return diff
 
 if __name__ == "__main__":
   log1 = list(LogReader(sys.argv[1]))
   log2 = list(LogReader(sys.argv[2]))
-
   compare_logs(log1, log2, sys.argv[3:])
diff --git a/selfdrive/test/tests/process_replay/process_replay.py b/selfdrive/test/tests/process_replay/process_replay.py
index 66067b405..b360aed97 100755
--- a/selfdrive/test/tests/process_replay/process_replay.py
+++ b/selfdrive/test/tests/process_replay/process_replay.py
@@ -1,14 +1,15 @@
 #!/usr/bin/env python2
-import gc
 import os
-import time
+import threading
+import importlib
+import zmq
 
 if "CI" in os.environ:
   tqdm = lambda x: x
 else:
   from tqdm import tqdm
 
-from cereal import car
+from cereal import car, log
 from selfdrive.car.car_helpers import get_car
 import selfdrive.manager as manager
 import selfdrive.messaging as messaging
@@ -18,61 +19,154 @@ from collections import namedtuple
 
 ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback'])
 
-def fingerprint(msgs, pub_socks, sub_socks):
+class FakeSocket:
+  def __init__(self, wait=True):
+    self.data = []
+    self.wait = wait
+    self.recv_called = threading.Event()
+    self.recv_ready = threading.Event()
+
+  def recv(self, block=None):
+    if block == zmq.NOBLOCK:
+      raise zmq.error.Again
+
+    if self.wait:
+      self.recv_called.set()
+      self.recv_ready.wait()
+      self.recv_ready.clear()
+    return self.data.pop()
+
+  def send(self, data):
+    if self.wait:
+      self.recv_called.wait()
+      self.recv_called.clear()
+
+    self.data.append(data)
+
+    if self.wait:
+      self.recv_ready.set()
+
+  def wait_for_recv(self):
+    self.recv_called.wait()
+
+class DumbSocket:
+  def __init__(self, s=None):
+    if s is not None:
+      dat = messaging.new_message()
+      dat.init(s)
+      self.data = dat.to_bytes()
+
+  def recv(self, block=None):
+    return self.data
+
+  def send(self, dat):
+    pass
+
+class FakeSubMaster(messaging.SubMaster):
+  def __init__(self, services):
+    super(FakeSubMaster, self).__init__(services, addr=None)
+    self.sock = {s: DumbSocket(s) for s in services}
+    self.update_called = threading.Event()
+    self.update_ready = threading.Event()
+
+    self.wait_on_getitem = False
+
+  def __getitem__(self, s):
+    # hack to know when fingerprinting is done
+    if self.wait_on_getitem:
+      self.update_called.set()
+      self.update_ready.wait()
+      self.update_ready.clear()
+    return self.data[s]
+
+  def update(self, timeout=-1):
+    self.update_called.set()
+    self.update_ready.wait()
+    self.update_ready.clear()
+
+  def update_msgs(self, cur_time, msgs):
+    self.update_called.wait()
+    self.update_called.clear()
+    super(FakeSubMaster, self).update_msgs(cur_time, msgs)
+    self.update_ready.set()
+
+  def wait_for_update(self):
+    self.update_called.wait()
+
+class FakePubMaster(messaging.PubMaster):
+  def __init__(self, services):
+    self.data = {}
+    self.sock = {}
+    self.last_updated = None
+    for s in services:
+      data = messaging.new_message()
+      try:
+        data.init(s)
+      except:
+        data.init(s, 0)
+      self.data[s] = data.as_reader()
+      self.sock[s] = DumbSocket()
+    self.send_called = threading.Event()
+    self.get_called = threading.Event()
+
+  def send(self, s, dat):
+    self.last_updated = s
+    if isinstance(dat, str):
+      self.data[s] = log.Event.from_bytes(dat)
+    else:
+      self.data[s] = dat.as_reader()
+    self.send_called.set()
+    self.get_called.wait()
+    self.get_called.clear()
+
+  def wait_for_msg(self):
+    self.send_called.wait()
+    self.send_called.clear()
+    dat = self.data[self.last_updated]
+    self.get_called.set()
+    return dat
+
+def fingerprint(msgs, fsm, can_sock):
   print "start fingerprinting"
-  manager.prepare_managed_process("logmessaged")
-  manager.start_managed_process("logmessaged")
-
-  can = pub_socks["can"]
-  logMessage = messaging.sub_sock(service_list["logMessage"].port)
-
-  time.sleep(1)
-  messaging.drain_sock(logMessage)
-
-  # controlsd waits for a health packet before fingerprinting
-  msg = messaging.new_message()
-  msg.init("health")
-  pub_socks["health"].send(msg.to_bytes())
+  fsm.wait_on_getitem = True
 
+  # populate fake socket with data for fingerprinting
   canmsgs = filter(lambda msg: msg.which() == "can", msgs)
-  for msg in canmsgs[:200]:
-    can.send(msg.as_builder().to_bytes())
+  can_sock.recv_called.wait()
+  can_sock.recv_called.clear()
+  can_sock.data = [msg.as_builder().to_bytes() for msg in canmsgs[:300]]
+  can_sock.recv_ready.set()
+  can_sock.wait = False
 
-    time.sleep(0.005)
-    log = messaging.recv_one_or_none(logMessage)
-    if log is not None and "fingerprinted" in log.logMessage:
-      break
-  manager.kill_managed_process("logmessaged")
+  # we know fingerprinting is done when controlsd sets sm['pathPlan'].sensorValid
+  fsm.update_called.wait()
+  fsm.update_called.clear()
+
+  fsm.wait_on_getitem = False
+  can_sock.wait = True
+  can_sock.data = []
+
+  fsm.update_ready.set()
   print "finished fingerprinting"
 
-def get_car_params(msgs, pub_socks, sub_socks):
-  sendcan = pub_socks.get("sendcan", None)
-  if sendcan is None:
-    sendcan = messaging.pub_sock(service_list["sendcan"].port)
-  logcan = sub_socks.get("can", None)
-  if logcan is None:
-    logcan = messaging.sub_sock(service_list["can"].port)
-  can = pub_socks.get("can", None)
-  if can is None:
-    can = messaging.pub_sock(service_list["can"].port)
+def get_car_params(msgs, fsm, can_sock):
+  can = FakeSocket(wait=False)
+  sendcan = FakeSocket(wait=False)
 
-  time.sleep(0.5)
-
-  canmsgs = filter(lambda msg: msg.which() == "can", msgs)
-  for m in canmsgs[:200]:
+  canmsgs = filter(lambda msg: msg.which() == 'can', msgs)
+  for m in canmsgs[:300]:
     can.send(m.as_builder().to_bytes())
-  _, CP = get_car(logcan, sendcan)
+  _, CP = get_car(can, sendcan)
   Params().put("CarParams", CP.to_bytes())
-  time.sleep(0.5)
-  messaging.drain_sock(logcan)
 
 def radar_rcv_callback(msg, CP):
   if msg.which() != "can":
     return []
+  elif CP.radarOffCan:
+    return ["radarState", "liveTracks"]
 
-  # hyundai and subaru don't have radar
-  radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x475],
-                "hyundai": [], "chrysler": [0x2d4], "subaru": []}.get(CP.carName, None)
+  radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x474],
+                "chrysler": [0x2d4]}.get(CP.carName, None)
 
   if radar_msgs is None:
     raise NotImplementedError
@@ -80,24 +174,16 @@ def radar_rcv_callback(msg, CP):
   for m in msg.can:
     if m.src == 1 and m.address in radar_msgs:
       return ["radarState", "liveTracks"]
-
   return []
 
-def plannerd_rcv_callback(msg, CP):
-  if msg.which() in ["model", "radarState"]:
-    time.sleep(0.005)
-  else:
-    time.sleep(0.002)
-  return {"model": ["pathPlan"], "radarState": ["plan"]}.get(msg.which(), [])
-
 CONFIGS = [
   ProcessConfig(
     proc_name="controlsd",
     pub_sub={
-      "can": ["controlsState", "carState", "carControl", "sendcan"],
-      "thermal":  [], "health": [], "liveCalibration": [], "driverMonitoring": [], "plan": [], "pathPlan": []
+      "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
+      "thermal":  [], "health": [], "liveCalibration": [], "driverMonitoring": [], "plan": [], "pathPlan": [], "gpsLocation": [],
     },
-    ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
+    ignore=[("logMonoTime", 0), ("valid", True), ("controlsState.startMonoTime", 0), ("controlsState.cumLagMs", 0)],
     init_callback=fingerprint,
     should_recv_callback=None,
   ),
@@ -107,7 +193,7 @@ CONFIGS = [
       "can": ["radarState", "liveTracks"],
       "liveParameters":  [], "controlsState":  [], "model":  [],
     },
-    ignore=["logMonoTime", "radarState.cumLagMs"],
+    ignore=[("logMonoTime", 0), ("valid", True), ("radarState.cumLagMs", 0)],
     init_callback=get_car_params,
     should_recv_callback=radar_rcv_callback,
   ),
@@ -117,69 +203,82 @@ CONFIGS = [
       "model": ["pathPlan"], "radarState": ["plan"],
       "carState": [], "controlsState": [], "liveParameters": [],
     },
-    ignore=["logMonoTime", "valid", "plan.processingDelay"],
+    ignore=[("logMonoTime", 0), ("valid", True), ("plan.processingDelay", 0)],
     init_callback=get_car_params,
-    should_recv_callback=plannerd_rcv_callback,
+    should_recv_callback=None,
   ),
   ProcessConfig(
     proc_name="calibrationd",
     pub_sub={
       "cameraOdometry": ["liveCalibration"]
     },
-    ignore=["logMonoTime"],
+    ignore=[("logMonoTime", 0), ("valid", True)],
     init_callback=get_car_params,
     should_recv_callback=None,
   ),
 ]
 
 def replay_process(cfg, lr):
-  gc.disable()  # gc can occasionally cause canparser to timeout
+  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
+  pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
 
-  pub_socks, sub_socks = {}, {}
-  for pub, sub in cfg.pub_sub.iteritems():
-    pub_socks[pub] = messaging.pub_sock(service_list[pub].port)
-
-    for s in sub:
-      sub_socks[s] = messaging.sub_sock(service_list[s].port)
+  fsm = FakeSubMaster(pub_sockets)
+  fpm = FakePubMaster(sub_sockets)
+  args = (fsm, fpm)
+  if 'can' in cfg.pub_sub.keys():
+    can_sock = FakeSocket()
+    args = (fsm, fpm, can_sock)
 
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
-  pub_msgs = filter(lambda msg: msg.which() in pub_socks.keys(), all_msgs)
+  pub_msgs = filter(lambda msg: msg.which() in cfg.pub_sub.keys(), all_msgs)
 
   params = Params()
   params.manager_start()
   params.put("Passive", "0")
 
-  manager.gctx = {}
+  os.environ['NO_RADAR_SLEEP'] = "1"
   manager.prepare_managed_process(cfg.proc_name)
-  manager.start_managed_process(cfg.proc_name)
-  time.sleep(3)   # Wait for started process to be ready
+  mod = importlib.import_module(manager.managed_processes[cfg.proc_name])
+  thread = threading.Thread(target=mod.main, args=args)
+  thread.daemon = True
+  thread.start()
 
   if cfg.init_callback is not None:
-    cfg.init_callback(all_msgs, pub_socks, sub_socks)
+    if 'can' not in cfg.pub_sub.keys():
+      can_sock = None
+    cfg.init_callback(all_msgs, fsm, can_sock)
 
   CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
 
-  log_msgs = []
+  # wait for started process to be ready
+  if 'can' in cfg.pub_sub.keys():
+    can_sock.wait_for_recv()
+  else:
+    fsm.wait_for_update()
+
+  log_msgs, msg_queue = [], []
   for msg in tqdm(pub_msgs):
     if cfg.should_recv_callback is not None:
       recv_socks = cfg.should_recv_callback(msg, CP)
     else:
-      recv_socks = cfg.pub_sub[msg.which()]
+      recv_socks = [s for s in cfg.pub_sub[msg.which()] if
+                      (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
 
-    pub_socks[msg.which()].send(msg.as_builder().to_bytes())
+    should_recv = bool(len(recv_socks))
 
-    if len(recv_socks):
-      # TODO: add timeout
-      for sock in recv_socks:
-        m = messaging.recv_one(sub_socks[sock])
+    if msg.which() == 'can':
+      can_sock.send(msg.as_builder().to_bytes())
+    else:
+      msg_queue.append(msg.as_builder())
 
-        # make these values fixed for faster comparison
-        m_builder = m.as_builder()
-        m_builder.logMonoTime = 0
-        m_builder.valid = True
-        log_msgs.append(m_builder.as_reader())
+    if should_recv:
+      fsm.update_msgs(0, msg_queue)
+      msg_queue = []
 
-  gc.enable()
-  manager.kill_managed_process(cfg.proc_name)
+      recv_cnt = len(recv_socks)
+      while recv_cnt > 0:
+        m = fpm.wait_for_msg()
+        log_msgs.append(m)
+
+        recv_cnt -= m.which() in recv_socks
   return log_msgs
-
diff --git a/selfdrive/test/tests/process_replay/ref_commit b/selfdrive/test/tests/process_replay/ref_commit
index 30a1a2853..3744386a8 100644
--- a/selfdrive/test/tests/process_replay/ref_commit
+++ b/selfdrive/test/tests/process_replay/ref_commit
@@ -1 +1 @@
-e3388c62ffb80f4b3ca8721da56a581a93c44e79
\ No newline at end of file
+8a11bcbc9833e154e10b59a8babb2b4545372f56
\ No newline at end of file
diff --git a/selfdrive/ui/spinner/Makefile b/selfdrive/ui/spinner/Makefile
new file mode 100644
index 000000000..93871bb00
--- /dev/null
+++ b/selfdrive/ui/spinner/Makefile
@@ -0,0 +1,74 @@
+CC = clang
+CXX = clang++
+
+PHONELIBS = ../../../phonelibs
+
+WARN_FLAGS = -Werror=implicit-function-declaration \
+             -Werror=incompatible-pointer-types \
+             -Werror=int-conversion \
+             -Werror=return-type \
+             -Werror=format-extra-args
+
+CFLAGS = -std=gnu11 -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
+
+NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
+
+OPENGL_LIBS = -lGLESv3
+
+FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
+
+OBJS = spinner.o \
+       ../../common/framebuffer.o \
+       $(PHONELIBS)/nanovg/nanovg.o \
+       ../../common/spinner.o \
+       opensans_semibold.o \
+       img_spinner_track.o \
+       img_spinner_comma.o
+
+DEPS := $(OBJS:.o=.d)
+
+.PHONY: all
+all: spinner
+
+spinner: $(OBJS)
+	@echo "[ LINK ] $@"
+	$(CXX) -fPIC -o '$@' $^ \
+	      -s \
+        $(FRAMEBUFFER_LIBS) \
+        -L/system/vendor/lib64 \
+        $(OPENGL_LIBS) \
+        -lm -llog
+
+../../common/framebuffer.o: ../../common/framebuffer.cc
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) -MMD \
+           -I$(PHONELIBS)/android_frameworks_native/include \
+           -I$(PHONELIBS)/android_system_core/include \
+           -I$(PHONELIBS)/android_hardware_libhardware/include \
+           -c -o '$@' '$<'
+
+opensans_semibold.o: ../../assets/fonts/opensans_semibold.ttf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+img_spinner_track.o: ../../assets/img_spinner_track.png
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+img_spinner_comma.o: ../../assets/img_spinner_comma.png
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+%.o: %.c
+	@echo "[ CC ] $@"
+	$(CC) $(CFLAGS) -MMD \
+          -I../.. \
+          $(NANOVG_FLAGS) \
+          -c -o '$@' '$<'
+
+.PHONY: clean
+clean:
+	rm -f spinner $(OBJS) $(DEPS)
+
+-include $(DEPS)
diff --git a/selfdrive/ui/spinner/spinner b/selfdrive/ui/spinner/spinner
index 65c198aab..2b9e634fe 100755
Binary files a/selfdrive/ui/spinner/spinner and b/selfdrive/ui/spinner/spinner differ
diff --git a/selfdrive/ui/spinner/spinner.c b/selfdrive/ui/spinner/spinner.c
index 3ec36e740..14b452a49 100644
--- a/selfdrive/ui/spinner/spinner.c
+++ b/selfdrive/ui/spinner/spinner.c
@@ -9,92 +9,13 @@
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
 
-#include "nanovg.h"
-#define NANOVG_GLES3_IMPLEMENTATION
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-
 #include "common/framebuffer.h"
+#include "common/spinner.h"
 
 int main(int argc, char** argv) {
   int err;
 
-  const char* spintext = NULL;
-  if (argc >= 2) {
-    spintext = argv[1];
-  }
-
-  // spinner
-  int fb_w, fb_h;
-  EGLDisplay display;
-  EGLSurface surface;
-  FramebufferState *fb = framebuffer_init("spinner", 0x00001000, false,
-                     &display, &surface, &fb_w, &fb_h);
-  assert(fb);
-
-  NVGcontext *vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES);
-  assert(vg);
-
-  int font = nvgCreateFont(vg, "Bold", "../../assets/fonts/opensans_semibold.ttf");
-  assert(font >= 0);
-
-  int spinner_img = nvgCreateImage(vg, "../../assets/img_spinner_track.png", 0);
-  assert(spinner_img >= 0);
-  int spinner_img_s = 360;
-  int spinner_img_x = ((fb_w/2)-(spinner_img_s/2));
-  int spinner_img_y = 260;
-  int spinner_img_xc = (fb_w/2);
-  int spinner_img_yc = (fb_h/2)-100;
-  int spinner_comma_img = nvgCreateImage(vg, "../../assets/img_spinner_comma.png", 0);
-  assert(spinner_comma_img >= 0);
-
-  for (int cnt = 0; ; cnt++) {
-    glClearColor(0.1, 0.1, 0.1, 1.0);
-    glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-    glEnable(GL_BLEND);
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
-
-    // background
-    nvgBeginPath(vg);
-    NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
-    nvgRGBA(0, 0, 0, 175), nvgRGBA(0, 0, 0, 255));
-    nvgFillPaint(vg, bg);
-    nvgRect(vg, 0, 0, fb_w, fb_h);
-    nvgFill(vg);
-
-    // spin track
-    nvgSave(vg);
-    nvgTranslate(vg, spinner_img_xc, spinner_img_yc);
-    nvgRotate(vg, (3.75*M_PI * cnt/120.0));
-    nvgTranslate(vg, -spinner_img_xc, -spinner_img_yc);
-    NVGpaint spinner_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
-      spinner_img_s, spinner_img_s, 0, spinner_img, 0.6f);
-    nvgBeginPath(vg);
-    nvgFillPaint(vg, spinner_imgPaint);
-    nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
-    nvgFill(vg);
-    nvgRestore(vg);
-
-    // comma
-    NVGpaint comma_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
-      spinner_img_s, spinner_img_s, 0, spinner_comma_img, 1.0f);
-    nvgBeginPath(vg);
-    nvgFillPaint(vg, comma_imgPaint);
-    nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
-    nvgFill(vg);
-
-    // message
-    if (spintext) {
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
-      nvgFontSize(vg, 96.0f);
-      nvgText(vg, fb_w/2, (fb_h*2/3)+24, spintext, NULL);
-    }
-
-    nvgEndFrame(vg);
-    eglSwapBuffers(display, surface);
-    assert(glGetError() == GL_NO_ERROR);
-  }
+  spin(argc, argv);
 
   return 0;
 }
diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c
index 3eedb809c..1c88d2192 100644
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -41,7 +41,6 @@
 #define STATUS_ENGAGED 2
 #define STATUS_WARNING 3
 #define STATUS_ALERT 4
-#define STATUS_MAX 5
 
 #define ALERTSIZE_NONE 0
 #define ALERTSIZE_SMALL 1
@@ -122,7 +121,6 @@ typedef struct UIScene {
   float mpc_y[50];
 
   bool world_objects_visible;
-  mat3 warp_matrix;           // transformed box -> frame.
   mat4 extrinsic_matrix;      // Last row is 0 so we can use mat4.
 
   float v_cruise;
@@ -253,12 +251,15 @@ typedef struct UIState {
   int awake_timeout;
 
   int volume_timeout;
+  int controls_timeout;
   int alert_sound_timeout;
   int speed_lim_off_timeout;
   int is_metric_timeout;
   int longitudinal_control_timeout;
   int limit_set_speed_timeout;
 
+  bool controls_seen;
+
   int status;
   bool is_metric;
   bool longitudinal_control;
@@ -458,6 +459,25 @@ sound_file* get_sound_file(AudibleAlert alert) {
   return NULL;
 }
 
+void play_alert_sound(AudibleAlert alert) {
+  sound_file* sound = get_sound_file(alert);
+  char* error = NULL;
+
+  slplay_play(sound->uri, sound->loop, &error);
+  if(error) {
+    LOGW("error playing sound: %s", error);
+  }
+}
+
+void stop_alert_sound(AudibleAlert alert) {
+  sound_file* sound = get_sound_file(alert);
+  char* error = NULL;
+
+  slplay_stop_uri(sound->uri, &error);
+  if(error) {
+    LOGW("error stopping sound: %s", error);
+  }
+}
 
 void ui_sound_init(char **error) {
   slplay_setup(error);
@@ -657,43 +677,6 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
   s->limit_set_speed_timeout = UI_FREQ;
 }
 
-static void ui_draw_transformed_box(UIState *s, uint32_t color) {
-  const UIScene *scene = &s->scene;
-
-  const mat3 bbt = scene->warp_matrix;
-
-  struct {
-    vec3 pos;
-    uint32_t color;
-  } verts[] = {
-    {matvecmul3(bbt, (vec3){{0.0, 0.0, 1.0,}}), color},
-    {matvecmul3(bbt, (vec3){{scene->transformed_width, 0.0, 1.0,}}), color},
-    {matvecmul3(bbt, (vec3){{scene->transformed_width, scene->transformed_height, 1.0,}}), color},
-    {matvecmul3(bbt, (vec3){{0.0, scene->transformed_height, 1.0,}}), color},
-    {matvecmul3(bbt, (vec3){{0.0, 0.0, 1.0,}}), color},
-  };
-
-  for (int i=0; i<ARRAYSIZE(verts); i++) {
-    verts[i].pos.v[0] = verts[i].pos.v[0] / verts[i].pos.v[2];
-    verts[i].pos.v[1] = s->rgb_height - verts[i].pos.v[1] / verts[i].pos.v[2];
-  }
-
-  glUseProgram(s->line_program);
-
-  mat4 out_mat = matmul(device_transform,
-                        matmul(frame_transform, s->rgb_transform));
-  glUniformMatrix4fv(s->line_transform_loc, 1, GL_TRUE, out_mat.v);
-
-  glEnableVertexAttribArray(s->line_pos_loc);
-  glVertexAttribPointer(s->line_pos_loc, 2, GL_FLOAT, GL_FALSE, sizeof(verts[0]), &verts[0].pos.v[0]);
-
-  glEnableVertexAttribArray(s->line_color_loc);
-  glVertexAttribPointer(s->line_color_loc, 4, GL_UNSIGNED_BYTE, GL_TRUE, sizeof(verts[0]), &verts[0].color);
-
-  assert(glGetError() == GL_NO_ERROR);
-  glDrawArrays(GL_LINE_STRIP, 0, ARRAYSIZE(verts));
-}
-
 // Projects a point in car to space to the corresponding point in full frame
 // image space.
 vec3 car_space_to_full_frame(const UIState *s, vec4 car_space_projective) {
@@ -1619,6 +1602,9 @@ void handle_message(UIState *s, void *which) {
     struct cereal_ControlsState datad;
     cereal_read_ControlsState(&datad, eventd.controlsState);
 
+    s->controls_timeout = 1 * UI_FREQ;
+    s->controls_seen = true;
+
     if (datad.vCruise != s->scene.v_cruise) {
       s->scene.v_cruise_update_ts = eventd.logMonoTime;
     }
@@ -1634,35 +1620,17 @@ void handle_message(UIState *s, void *which) {
 
     s->scene.decel_for_model = datad.decelForModel;
 
-    s->alert_sound_timeout = 1 * UI_FREQ;
-
     if (datad.alertSound != cereal_CarControl_HUDControl_AudibleAlert_none && datad.alertSound != s->alert_sound) {
-      char* error = NULL;
       if (s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
-        sound_file* active_sound = get_sound_file(s->alert_sound);
-        slplay_stop_uri(active_sound->uri, &error);
-        if (error) {
-          LOGW("error stopping active sound %s", error);
-        }
-      }
-
-      sound_file* sound = get_sound_file(datad.alertSound);
-      slplay_play(sound->uri, sound->loop, &error);
-      if(error) {
-        LOGW("error playing sound: %s", error);
+        stop_alert_sound(s->alert_sound);
       }
+      play_alert_sound(datad.alertSound);
 
       s->alert_sound = datad.alertSound;
       snprintf(s->alert_type, sizeof(s->alert_type), "%s", datad.alertType.str);
-    } else if ((!datad.alertSound || datad.alertSound == cereal_CarControl_HUDControl_AudibleAlert_none) && s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
-      sound_file* sound = get_sound_file(s->alert_sound);
-
-      char* error = NULL;
-
-      slplay_stop_uri(sound->uri, &error);
-      if(error) {
-        LOGW("error stopping sound: %s", error);
-      }
+    } else if ((!datad.alertSound || datad.alertSound == cereal_CarControl_HUDControl_AudibleAlert_none)
+                  && s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
+      stop_alert_sound(s->alert_sound);
       s->alert_type[0] = '\0';
       s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
     }
@@ -1734,13 +1702,6 @@ void handle_message(UIState *s, void *which) {
     struct cereal_LiveCalibrationData datad;
     cereal_read_LiveCalibrationData(&datad, eventd.liveCalibration);
 
-    // should we still even have this?
-    capn_list32 warpl = datad.warpMatrix2;
-    capn_resolve(&warpl.p);  // is this a bug?
-    for (int i = 0; i < 3 * 3; i++) {
-      s->scene.warp_matrix.v[i] = capn_to_f32(capn_get32(warpl, i));
-    }
-
     capn_list32 extrinsicl = datad.extrinsicMatrix;
     capn_resolve(&extrinsicl.p);  // is this a bug?
     for (int i = 0; i < 3 * 4; i++) {
@@ -2312,18 +2273,31 @@ int main(int argc, char* argv[]) {
       set_volume(s, volume);
     }
 
-    // stop playing alert sounds if no controlsState msg for 1 second
-    if (s->alert_sound_timeout > 0) {
-      s->alert_sound_timeout--;
-    } else if (s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none){
-      sound_file* sound = get_sound_file(s->alert_sound);
-      char* error = NULL;
-
-      slplay_stop_uri(sound->uri, &error);
-      if(error) {
-        LOGW("error stopping sound: %s", error);
+    if (s->controls_timeout > 0) {
+      s->controls_timeout--;
+    } else {
+      // stop playing alert sound
+      if ((!s->vision_connected || (s->vision_connected && s->alert_sound_timeout == 0)) &&
+            s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
+        stop_alert_sound(s->alert_sound);
+        s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
       }
-      s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
+
+      // if visiond is still running and controlsState times out, display an alert
+      if (s->controls_seen && s->vision_connected && strcmp(s->scene.alert_text2, "Controls Unresponsive") != 0) {
+        s->scene.alert_size = ALERTSIZE_FULL;
+        update_status(s, STATUS_ALERT);
+        snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", "TAKE CONTROL IMMEDIATELY");
+        snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", "Controls Unresponsive");
+        ui_draw_vision_alert(s, s->scene.alert_size, s->status, s->scene.alert_text1, s->scene.alert_text2);
+
+        s->alert_sound_timeout = 2 * UI_FREQ;
+
+        s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_chimeWarningRepeat;
+        play_alert_sound(s->alert_sound);
+      }
+      s->alert_sound_timeout--;
+      s->controls_seen = false;
     }
 
     read_param_bool_timeout(&s->is_metric, "IsMetric", &s->is_metric_timeout);
diff --git a/selfdrive/visiond/cameras/camera_frame_stream.cc b/selfdrive/visiond/cameras/camera_frame_stream.cc
new file mode 100644
index 000000000..81b2bd400
--- /dev/null
+++ b/selfdrive/visiond/cameras/camera_frame_stream.cc
@@ -0,0 +1,172 @@
+#include "camera_frame_stream.h"
+
+#include <string>
+#include <unistd.h>
+#include <vector>
+#include <string.h>
+
+#include <czmq.h>
+#include <libyuv.h>
+#include <capnp/serialize.h>
+#include "cereal/gen/cpp/log.capnp.h"
+
+#include "common/util.h"
+#include "common/timing.h"
+#include "common/swaglog.h"
+#include "buffering.h"
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+}
+
+extern volatile int do_exit;
+
+#define FRAME_WIDTH 1164
+#define FRAME_HEIGHT 874
+
+namespace {
+void camera_open(CameraState *s, VisionBuf *camera_bufs, bool rear) {
+  assert(camera_bufs);
+  s->camera_bufs = camera_bufs;
+}
+
+void camera_close(CameraState *s) {
+  tbuffer_stop(&s->camera_tb);
+}
+
+void camera_release_buffer(void *cookie, int buf_idx) {
+  CameraState *s = static_cast<CameraState *>(cookie);
+}
+
+void camera_init(CameraState *s, int camera_id, unsigned int fps) {
+  assert(camera_id < ARRAYSIZE(cameras_supported));
+  s->ci = cameras_supported[camera_id];
+  assert(s->ci.frame_width != 0);
+
+  s->frame_size = s->ci.frame_height * s->ci.frame_stride;
+  s->fps = fps;
+
+  tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", camera_release_buffer, s);
+}
+
+void run_frame_stream(DualCameraState *s) {
+  int err;
+  zsock_t *recorder_sock = zsock_new_sub(">tcp://127.0.0.1:8002", "");
+  assert(recorder_sock);
+  void *recorder_sock_raw = zsock_resolve(recorder_sock);
+
+  CameraState *const rear_camera = &s->rear;
+  auto *tb = &rear_camera->camera_tb;
+
+  while (!do_exit) {
+    zmq_msg_t msg;
+    err = zmq_msg_init(&msg);
+    assert(err == 0);
+
+    err = zmq_msg_recv(&msg, recorder_sock_raw, 0);
+    if(err == -1)
+	    break;
+
+    // make copy due to alignment issues, will be freed on out of scope
+    size_t len = zmq_msg_size(&msg);
+    auto amsg = kj::heapArray<capnp::word>((len / sizeof(capnp::word)) + 1);
+    memcpy(amsg.begin(), (const uint8_t*)zmq_msg_data(&msg), len);
+
+    capnp::FlatArrayMessageReader cmsg(amsg);
+    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+    auto frame = event.getFrame();
+
+    const int buf_idx = tbuffer_select(tb);
+    rear_camera->camera_bufs_metadata[buf_idx] = {
+      .frame_id = frame.getFrameId(),
+      .timestamp_eof = frame.getTimestampEof(),
+      .frame_length = static_cast<unsigned>(frame.getFrameLength()),
+      .integ_lines = static_cast<unsigned>(frame.getIntegLines()),
+      .global_gain = static_cast<unsigned>(frame.getGlobalGain()),
+    };
+
+    cl_command_queue q = rear_camera->camera_bufs[buf_idx].copy_q;
+    cl_mem yuv_cl = rear_camera->camera_bufs[buf_idx].buf_cl;
+    cl_event map_event;
+    void *yuv_buf = (void *)clEnqueueMapBuffer(q, yuv_cl, CL_TRUE,
+                                                CL_MAP_WRITE, 0, frame.getImage().size(),
+                                                0, NULL, &map_event, &err);
+    assert(err == 0);
+    clWaitForEvents(1, &map_event);
+    clReleaseEvent(map_event);
+    memcpy(yuv_buf, frame.getImage().begin(), frame.getImage().size());
+
+    clEnqueueUnmapMemObject(q, yuv_cl, yuv_buf, 0, NULL, &map_event);
+    clWaitForEvents(1, &map_event);
+    clReleaseEvent(map_event);
+    tbuffer_dispatch(tb, buf_idx);
+
+    err = zmq_msg_close(&msg);
+    assert(err == 0);
+  }
+  zsock_destroy(&recorder_sock);
+}
+
+}  // namespace
+
+CameraInfo cameras_supported[CAMERA_ID_MAX] = {
+  [CAMERA_ID_IMX298] = {
+      .frame_width = FRAME_WIDTH,
+      .frame_height = FRAME_HEIGHT,
+      .frame_stride = FRAME_WIDTH*3,
+      .bayer = false,
+      .bayer_flip = false,
+  },
+  [CAMERA_ID_OV8865] = {
+    .frame_width = 1632,
+    .frame_height = 1224,
+    .frame_stride = 2040, // seems right
+    .bayer = false,
+    .bayer_flip = 3,
+    .hdr = false
+  },
+};
+
+void cameras_init(DualCameraState *s) {
+  memset(s, 0, sizeof(*s));
+
+  camera_init(&s->rear, CAMERA_ID_IMX298, 20);
+  s->rear.transform = (mat3){{
+    1.0,  0.0, 0.0,
+    0.0, 1.0, 0.0,
+    0.0,  0.0, 1.0,
+  }};
+
+  camera_init(&s->front, CAMERA_ID_OV8865, 10);
+  s->front.transform = (mat3){{
+    1.0,  0.0, 0.0,
+    0.0, 1.0, 0.0,
+    0.0,  0.0, 1.0,
+  }};
+}
+
+void camera_autoexposure(CameraState *s, float grey_frac) {}
+
+void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear,
+                  VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats,
+                  VisionBuf *camera_bufs_front) {
+  assert(camera_bufs_rear);
+  assert(camera_bufs_front);
+  int err;
+
+  // LOG("*** open front ***");
+  camera_open(&s->front, camera_bufs_front, false);
+
+  // LOG("*** open rear ***");
+  camera_open(&s->rear, camera_bufs_rear, true);
+}
+
+void cameras_close(DualCameraState *s) {
+  camera_close(&s->rear);
+}
+
+void cameras_run(DualCameraState *s) {
+  set_thread_name("frame_streaming");
+  run_frame_stream(s);
+  cameras_close(s);
+}
diff --git a/selfdrive/visiond/cameras/camera_frame_stream.h b/selfdrive/visiond/cameras/camera_frame_stream.h
new file mode 100644
index 000000000..6351a183d
--- /dev/null
+++ b/selfdrive/visiond/cameras/camera_frame_stream.h
@@ -0,0 +1,56 @@
+#ifndef CAMERA_FRAME_STREAM_H
+#define CAMERA_FRAME_STREAM_H
+
+#include <stdbool.h>
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+
+#include "buffering.h"
+#include "common/visionbuf.h"
+#include "camera_common.h"
+
+#define FRAME_BUF_COUNT 16
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct CameraState {
+  int camera_id;
+  CameraInfo ci;
+  int frame_size;
+
+  VisionBuf *camera_bufs;
+  FrameMetadata camera_bufs_metadata[FRAME_BUF_COUNT];
+  TBuffer camera_tb;
+
+  int fps;
+  float digital_gain;
+
+  mat3 transform;
+} CameraState;
+
+
+typedef struct DualCameraState {
+  int ispif_fd;
+
+  CameraState rear;
+  CameraState front;
+} DualCameraState;
+
+void cameras_init(DualCameraState *s);
+void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
+void cameras_run(DualCameraState *s);
+void cameras_close(DualCameraState *s);
+void camera_autoexposure(CameraState *s, float grey_frac);
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+
+#endif
diff --git a/selfdrive/visiond/models/commonmodel.c b/selfdrive/visiond/models/commonmodel.c
index 33aabd1ce..0369d16d5 100644
--- a/selfdrive/visiond/models/commonmodel.c
+++ b/selfdrive/visiond/models/commonmodel.c
@@ -66,134 +66,3 @@ float sigmoid(float input) {
 float softplus(float input) {
   return log1p(expf(input));
 }
-
-void softmax(const float* input, float* output, size_t len) {
-  float max_val = -FLT_MAX;
-  for(int i = 0; i < len; i++) {
-    const float v = input[i];
-    if( v > max_val ) {
-      max_val = v;
-    }
-  }
-
-  float denominator = 0;
-  for(int i = 0; i < len; i++) {
-    float const v = input[i];
-    float const v_exp = expf(v - max_val);
-    denominator += v_exp;
-    output[i] = v_exp;
-  }
-
-  const float inv_denominator = 1. / denominator;
-  for(int i = 0; i < len; i++) {
-    output[i] *= inv_denominator;
-  }
-
-}
-
-
-static cereal_ModelData_PathData_ptr path_to_cereal(struct capn_segment *cs, const PathData data) {
-  capn_list32 poly_ptr = capn_new_list32(cs, POLYFIT_DEGREE);
-  for (int i=0; i<POLYFIT_DEGREE; i++) {
-    capn_set32(poly_ptr, i, capn_from_f32(data.poly[i]));
-  }
-  if (getenv("DEBUG_MODEL")){
-    capn_list32 points_ptr = capn_new_list32(cs, MODEL_PATH_DISTANCE);
-    capn_list32 stds_ptr = capn_new_list32(cs, MODEL_PATH_DISTANCE);
-    for (int i=0; i<MODEL_PATH_DISTANCE; i++) {
-      capn_set32(points_ptr, i, capn_from_f32(data.points[i]));
-      capn_set32(stds_ptr, i, capn_from_f32(data.stds[i]));
-    }
-    struct cereal_ModelData_PathData d = {
-      .points = points_ptr,
-      .stds = stds_ptr,
-      .prob = data.prob,
-      .std = data.std,
-      .poly = poly_ptr,
-    };
-    cereal_ModelData_PathData_ptr ret = cereal_new_ModelData_PathData(cs);
-    cereal_write_ModelData_PathData(&d, ret);
-    return ret;
-  } else {
-    struct cereal_ModelData_PathData d = {
-      .prob = data.prob,
-      .std = data.std,
-      .poly = poly_ptr,
-    };
-    cereal_ModelData_PathData_ptr ret = cereal_new_ModelData_PathData(cs);
-    cereal_write_ModelData_PathData(&d, ret);
-    return ret;
-  }
-}
-
-
-static cereal_ModelData_LeadData_ptr lead_to_cereal(struct capn_segment *cs, const LeadData data) {
-  cereal_ModelData_LeadData_ptr leadp = cereal_new_ModelData_LeadData(cs);
-  struct cereal_ModelData_LeadData leadd = (struct cereal_ModelData_LeadData){
-    .dist = data.dist,
-    .prob = data.prob,
-    .std = data.std,
-    .relY = data.rel_y,
-    .relYStd = data.rel_y_std,
-    .relVel = data.rel_v,
-    .relVelStd = data.rel_v_std,
-    .relA = data.rel_a,
-    .relAStd = data.rel_a_std,
-  };
-  cereal_write_ModelData_LeadData(&leadd, leadp);
-  return leadp;
-}
-
-
-void model_publish(void* sock, uint32_t frame_id,
-                   const mat3 transform, const ModelData data) {
-  struct capn rc;
-  capn_init_malloc(&rc);
-  struct capn_segment *cs = capn_root(&rc).seg;
-
-
-  capn_list32 input_transform_ptr = capn_new_list32(cs, 3*3);
-  for (int i = 0; i < 3 * 3; i++) {
-    capn_set32(input_transform_ptr, i, capn_from_f32(transform.v[i]));
-  }
-
-  capn_list32 speed_perc_ptr = capn_new_list32(cs, SPEED_PERCENTILES);
-  for (int i=0; i<SPEED_PERCENTILES; i++) {
-    capn_set32(speed_perc_ptr, i, capn_from_f32(data.speed[i]));
-  }
-  cereal_ModelData_ModelSettings_ptr settingsp = cereal_new_ModelData_ModelSettings(cs);
-  struct cereal_ModelData_ModelSettings settingsd = {
-    .inputTransform = input_transform_ptr,
-  };
-  cereal_write_ModelData_ModelSettings(&settingsd, settingsp);
-
-  cereal_ModelData_ptr modelp = cereal_new_ModelData(cs);
-  struct cereal_ModelData modeld = (struct cereal_ModelData){
-    .frameId = frame_id,
-    .path = path_to_cereal(cs, data.path),
-    .leftLane = path_to_cereal(cs, data.left_lane),
-    .rightLane = path_to_cereal(cs, data.right_lane),
-    .lead = lead_to_cereal(cs, data.lead),
-    .leadFuture = lead_to_cereal(cs, data.lead_future),
-    .settings = settingsp,
-    .speed = speed_perc_ptr,
-  };
-  cereal_write_ModelData(&modeld, modelp);
-
-  cereal_Event_ptr eventp = cereal_new_Event(cs);
-  struct cereal_Event event = {
-    .logMonoTime = nanos_since_boot(),
-    .valid = true,
-    .which = cereal_Event_model,
-    .model = modelp,
-  };
-  cereal_write_Event(&event, eventp);
-
-  capn_setp(capn_root(&rc), 0, eventp.p);
-  uint8_t buf[4096];
-  ssize_t rs = capn_write_mem(&rc, buf, sizeof(buf), 0);
-
-  zmq_send(sock, buf, rs, ZMQ_DONTWAIT);
-
-  capn_free(&rc);
-}
diff --git a/selfdrive/visiond/models/commonmodel.h b/selfdrive/visiond/models/commonmodel.h
index a944c196c..2a03a3d00 100644
--- a/selfdrive/visiond/models/commonmodel.h
+++ b/selfdrive/visiond/models/commonmodel.h
@@ -12,7 +12,6 @@
 extern "C" {
 #endif
 
-void softmax(const float* input, float* output, size_t len);
 float softplus(float input);
 float sigmoid(float input);
 
@@ -36,9 +35,6 @@ float *model_input_prepare(ModelInput* s, cl_command_queue q,
                            mat3 transform);
 void model_input_free(ModelInput* s);
 
-void model_publish(void* sock, uint32_t frame_id,
-                   const mat3 transform, const ModelData data);
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/selfdrive/visiond/models/driving.cc b/selfdrive/visiond/models/driving.cc
index 33b7ec10f..174b6685b 100644
--- a/selfdrive/visiond/models/driving.cc
+++ b/selfdrive/visiond/models/driving.cc
@@ -42,6 +42,11 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
   assert(temporal);
   s->m->addRecurrent(&s->output[OUTPUT_SIZE], TEMPORAL_SIZE);
 #endif
+#ifdef DESIRE
+  s->desire = (float*)malloc(DESIRE_SIZE * sizeof(float));
+  for (int i = 0; i < DESIRE_SIZE; i++) s->desire[i] = 0.0;
+  s->m->addDesire(s->desire, DESIRE_SIZE);
+#endif
 
   // Build Vandermonde matrix
   for(int i = 0; i < MODEL_PATH_DISTANCE; i++) {
@@ -53,7 +58,7 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
 
 ModelData model_eval_frame(ModelState* s, cl_command_queue q,
                            cl_mem yuv_cl, int width, int height,
-                           mat3 transform, void* sock) {
+                           mat3 transform, void* sock, float *desire_in) {
   struct {
     float *path;
     float *left_lane;
@@ -62,6 +67,12 @@ ModelData model_eval_frame(ModelState* s, cl_command_queue q,
     float *speed;
   } net_outputs = {NULL};
 
+#ifdef DESIRE
+  if (desire_in != NULL) {
+    for (int i = 0; i < DESIRE_SIZE; i++) s->desire[i] = desire_in[i];
+  }
+#endif
+
   //for (int i = 0; i < OUTPUT_SIZE + TEMPORAL_SIZE; i++) { printf("%f ", s->output[i]); } printf("\n");
 
   float *net_input_buf = model_input_prepare(&s->in, q, yuv_cl, width, height, transform);
@@ -201,3 +212,57 @@ void poly_fit(float *in_pts, float *in_stds, float *out) {
   // Apply scale to output
   p = p.transpose() * scale.asDiagonal();
 }
+
+
+void fill_path(cereal::ModelData::PathData::Builder path, const PathData path_data) {
+  kj::ArrayPtr<const float> poly(&path_data.poly[0], ARRAYSIZE(path_data.poly));
+  path.setPoly(poly);
+  path.setProb(path_data.prob);
+  path.setStd(path_data.std);
+}
+
+void fill_lead(cereal::ModelData::LeadData::Builder lead, const LeadData lead_data) {
+  lead.setDist(lead_data.dist);
+  lead.setProb(lead_data.prob);
+  lead.setStd(lead_data.std);
+  lead.setRelY(lead_data.rel_y);
+  lead.setRelYStd(lead_data.rel_y_std);
+  lead.setRelVel(lead_data.rel_v);
+  lead.setRelVelStd(lead_data.rel_v_std);
+  lead.setRelA(lead_data.rel_a);
+  lead.setRelAStd(lead_data.rel_a_std);
+}
+
+void model_publish(void* sock, uint32_t frame_id,
+                   const ModelData data, uint64_t timestamp_eof) {
+        // make msg
+        capnp::MallocMessageBuilder msg;
+        cereal::Event::Builder event = msg.initRoot<cereal::Event>();
+        event.setLogMonoTime(nanos_since_boot());
+
+        auto framed = event.initModel();
+        framed.setFrameId(frame_id);
+        framed.setTimestampEof(timestamp_eof);
+
+        kj::ArrayPtr<const float> speed(&data.speed[0], ARRAYSIZE(data.speed));
+        framed.setSpeed(speed);
+        
+        
+        auto lpath = framed.initPath();
+        fill_path(lpath, data.path);
+        auto left_lane = framed.initLeftLane();
+        fill_path(left_lane, data.left_lane);
+        auto right_lane = framed.initRightLane();
+        fill_path(right_lane, data.right_lane);
+
+        auto lead = framed.initLead();
+        fill_lead(lead, data.lead);
+        auto lead_future = framed.initLeadFuture();
+        fill_lead(lead_future, data.lead_future);
+
+
+        // send message
+        auto words = capnp::messageToFlatArray(msg);
+        auto bytes = words.asBytes();
+        zmq_send(sock, bytes.begin(), bytes.size(), ZMQ_DONTWAIT);
+      }
diff --git a/selfdrive/visiond/models/driving.h b/selfdrive/visiond/models/driving.h
index 966cf6947..c384d6ef4 100644
--- a/selfdrive/visiond/models/driving.h
+++ b/selfdrive/visiond/models/driving.h
@@ -3,25 +3,41 @@
 
 // gate this here
 #define TEMPORAL
+#define DESIRE
+
+#ifdef DESIRE
+  #define DESIRE_SIZE 8
+#endif
 
 #include "common/mat.h"
 #include "common/modeldata.h"
+#include "common/util.h"
 
 #include "commonmodel.h"
 #include "runners/run.h"
 
+#include "cereal/gen/cpp/log.capnp.h"
+#include <czmq.h>
+#include <capnp/serialize.h>
+
+
 typedef struct ModelState {
   ModelInput in;
   float *output;
   RunModel *m;
+#ifdef DESIRE
+  float *desire;
+#endif
 } ModelState;
 
 void model_init(ModelState* s, cl_device_id device_id,
                 cl_context context, int temporal);
 ModelData model_eval_frame(ModelState* s, cl_command_queue q,
                            cl_mem yuv_cl, int width, int height,
-                           mat3 transform, void* sock);
+                           mat3 transform, void* sock, float *desire_in);
 void model_free(ModelState* s);
 void poly_fit(float *in_pts, float *in_stds, float *out);
 
+void model_publish(void* sock, uint32_t frame_id,
+                   const ModelData data, uint64_t timestamp_eof);
 #endif
diff --git a/selfdrive/visiond/models/monitoring.cc b/selfdrive/visiond/models/monitoring.cc
index f6e47880f..959902b98 100644
--- a/selfdrive/visiond/models/monitoring.cc
+++ b/selfdrive/visiond/models/monitoring.cc
@@ -1,6 +1,7 @@
 #include <string.h>
 #include "monitoring.h"
 #include "common/mat.h"
+#include "common/timing.h"
 
 #define MODEL_WIDTH 320
 #define MODEL_HEIGHT 160
@@ -47,9 +48,32 @@ MonitoringResult monitoring_eval_frame(MonitoringState* s, cl_command_queue q,
   return ret;
 }
 
+void monitoring_publish(void* sock, uint32_t frame_id, const MonitoringResult res) {
+        // make msg
+        capnp::MallocMessageBuilder msg;
+        cereal::Event::Builder event = msg.initRoot<cereal::Event>();
+        event.setLogMonoTime(nanos_since_boot());
+
+        auto framed = event.initDriverMonitoring();
+        framed.setFrameId(frame_id);
+
+        kj::ArrayPtr<const float> face_orientation(&res.face_orientation[0], ARRAYSIZE(res.face_orientation));
+        kj::ArrayPtr<const float> face_position(&res.face_position[0], ARRAYSIZE(res.face_position));
+        framed.setFaceOrientation(face_orientation);
+        framed.setFacePosition(face_position);
+        framed.setFaceProb(res.face_prob);
+        framed.setLeftEyeProb(res.left_eye_prob);
+        framed.setRightEyeProb(res.right_eye_prob);
+        framed.setLeftBlinkProb(res.left_blink_prob);
+        framed.setRightBlinkProb(res.right_blink_prob);
+
+        // send message
+        auto words = capnp::messageToFlatArray(msg);
+        auto bytes = words.asBytes();
+        zmq_send(sock, bytes.begin(), bytes.size(), ZMQ_DONTWAIT);
+      }
 
 void monitoring_free(MonitoringState* s) {
   model_input_free(&s->in);
   delete s->m;
 }
-
diff --git a/selfdrive/visiond/models/monitoring.h b/selfdrive/visiond/models/monitoring.h
index 2be96825f..49b910ef5 100644
--- a/selfdrive/visiond/models/monitoring.h
+++ b/selfdrive/visiond/models/monitoring.h
@@ -1,9 +1,14 @@
 #ifndef MONITORING_H
 #define MONITORING_H
 
+#include "common/util.h"
 #include "commonmodel.h"
 #include "runners/run.h"
 
+#include "cereal/gen/cpp/log.capnp.h"
+#include <czmq.h>
+#include <capnp/serialize.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -32,6 +37,7 @@ typedef struct MonitoringState {
 
 void monitoring_init(MonitoringState* s, cl_device_id device_id, cl_context context);
 MonitoringResult monitoring_eval_frame(MonitoringState* s, cl_command_queue q, cl_mem yuv_cl, int width, int height);
+void monitoring_publish(void* sock, uint32_t frame_id, const MonitoringResult res);
 void monitoring_free(MonitoringState* s);
 
 #ifdef __cplusplus
diff --git a/selfdrive/visiond/runners/runmodel.h b/selfdrive/visiond/runners/runmodel.h
index 245f4c8df..d1563a61a 100644
--- a/selfdrive/visiond/runners/runmodel.h
+++ b/selfdrive/visiond/runners/runmodel.h
@@ -4,6 +4,7 @@
 class RunModel {
 public:
   virtual void addRecurrent(float *state, int state_size) {}
+  virtual void addDesire(float *state, int state_size) {}
   virtual void execute(float *net_input_buf) {}
 };
 
diff --git a/selfdrive/visiond/runners/snpemodel.cc b/selfdrive/visiond/runners/snpemodel.cc
index 15b3bcc31..ae69f76d6 100644
--- a/selfdrive/visiond/runners/snpemodel.cc
+++ b/selfdrive/visiond/runners/snpemodel.cc
@@ -86,18 +86,27 @@ SNPEModel::SNPEModel(const char *path, float *output, size_t output_size) {
 }
 
 void SNPEModel::addRecurrent(float *state, int state_size) {
+  recurrentBuffer = this->addExtra(state, state_size, 2);
+}
+
+void SNPEModel::addDesire(float *state, int state_size) {
+  desireBuffer = this->addExtra(state, state_size, 1);
+}
+
+std::unique_ptr<zdl::DlSystem::IUserBuffer> SNPEModel::addExtra(float *state, int state_size, int idx) {
   // get input and output names
   const auto &strListi_opt = snpe->getInputTensorNames();
   if (!strListi_opt) throw std::runtime_error("Error obtaining Input tensor names");
   const auto &strListi = *strListi_opt;
-  const char *input_tensor_name = strListi.at(1);
-  printf("adding recurrent: %s\n", input_tensor_name);
+  const char *input_tensor_name = strListi.at(idx);
+  printf("adding index %d: %s\n", idx, input_tensor_name);
 
   zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat;
   zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  std::vector<size_t> recurrentStrides = {state_size * sizeof(float), sizeof(float)};
-  recurrentBuffer = ubFactory.createUserBuffer(state, state_size * sizeof(float), recurrentStrides, &userBufferEncodingFloat);
-  inputMap.add(input_tensor_name, recurrentBuffer.get());
+  std::vector<size_t> retStrides = {state_size * sizeof(float), sizeof(float)};
+  auto ret = ubFactory.createUserBuffer(state, state_size * sizeof(float), retStrides, &userBufferEncodingFloat);
+  inputMap.add(input_tensor_name, ret.get());
+  return ret;
 }
 
 void SNPEModel::execute(float *net_input_buf) {
diff --git a/selfdrive/visiond/runners/snpemodel.h b/selfdrive/visiond/runners/snpemodel.h
index 0a6e030f4..cd47a3ade 100644
--- a/selfdrive/visiond/runners/snpemodel.h
+++ b/selfdrive/visiond/runners/snpemodel.h
@@ -20,6 +20,7 @@ public:
     if (model_data) free(model_data);
   }
   void addRecurrent(float *state, int state_size);
+  void addDesire(float *state, int state_size);
   void execute(float *net_input_buf);
 private:
   uint8_t *model_data = NULL;
@@ -36,8 +37,10 @@ private:
   std::unique_ptr<zdl::DlSystem::IUserBuffer> outputBuffer;
   float *output;
 
-  // recurrent
+  // recurrent and desire
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> addExtra(float *state, int state_size, int idx);
   std::unique_ptr<zdl::DlSystem::IUserBuffer> recurrentBuffer;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
 };
 
 #endif
diff --git a/selfdrive/visiond/visiond.cc b/selfdrive/visiond/visiond.cc
index a0cce70ab..53d1f8277 100644
--- a/selfdrive/visiond/visiond.cc
+++ b/selfdrive/visiond/visiond.cc
@@ -155,6 +155,8 @@ struct VisionState {
   int rgb_front_width, rgb_front_height, rgb_front_stride;
   VisionBuf rgb_front_bufs[UI_BUF_COUNT];
   cl_mem rgb_front_bufs_cl[UI_BUF_COUNT];
+  int front_meteringbox_xmin, front_meteringbox_xmax;
+  int front_meteringbox_ymin, front_meteringbox_ymax;
 
   ModelState model;
   ModelData model_bufs[UI_BUF_COUNT];
@@ -725,40 +727,27 @@ void* monitoring_thread(void *arg) {
 
       double t2 = millis_since_boot();
 
-      // send driver monitoring packet
+      // set front camera metering target
+      if (res.face_prob > 0.4)
       {
-        capnp::MallocMessageBuilder msg;
-        cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-        event.setLogMonoTime(nanos_since_boot());
-
-        auto framed = event.initDriverMonitoring();
-        framed.setFrameId(frame_data.frame_id);
-
-        // junk 0s from legacy model
-        //kj::ArrayPtr<const float> descriptor_DEPRECATED(&res.descriptor_DEPRECATED[0], ARRAYSIZE(res.descriptor_DEPRECATED));
-        //framed.setDescriptor(descriptor_DEPRECATED);
-        //framed.setStd(res.std_DEPRECATED);
-        // why not use this junk space for reporting inference time instead
-        // framed.setStdDEPRECATED(static_cast<float>(t2-t1));
-
-        kj::ArrayPtr<const float> face_orientation(&res.face_orientation[0], ARRAYSIZE(res.face_orientation));
-        kj::ArrayPtr<const float> face_position(&res.face_position[0], ARRAYSIZE(res.face_position));
-        framed.setFaceOrientation(face_orientation);
-        framed.setFacePosition(face_position);
-        framed.setFaceProb(res.face_prob);
-        framed.setLeftEyeProb(res.left_eye_prob);
-        framed.setRightEyeProb(res.right_eye_prob);
-        framed.setLeftBlinkProb(res.left_blink_prob);
-        framed.setRightBlinkProb(res.right_blink_prob);
-
-
-        auto words = capnp::messageToFlatArray(msg);
-        auto bytes = words.asBytes();
-        zmq_send(s->monitoring_sock_raw, bytes.begin(), bytes.size(), ZMQ_DONTWAIT);
+        int x_offset = s->rgb_front_width - 0.5 * s->rgb_front_height;
+        s->front_meteringbox_xmin = x_offset + (res.face_position[0] + 0.5) * (0.5 * s->rgb_front_height) - 72;
+        s->front_meteringbox_xmax = x_offset + (res.face_position[0] + 0.5) * (0.5 * s->rgb_front_height) + 72;
+        s->front_meteringbox_ymin = (res.face_position[1] + 0.5) * (s->rgb_front_height) - 72;
+        s->front_meteringbox_ymax = (res.face_position[1] + 0.5) * (s->rgb_front_height) + 72;
+      }
+      else // use default setting if no face
+      {
+        s->front_meteringbox_ymin = s->rgb_front_height * 0;
+        s->front_meteringbox_ymax = s->rgb_front_height * 2 / 3;
+        s->front_meteringbox_xmin = s->rgb_front_width * 3 / 5;
+        s->front_meteringbox_xmax = s->rgb_front_width;
       }
 
-      t2 = millis_since_boot();
+      // send dm packet
+      monitoring_publish(s->monitoring_sock_raw, frame_data.frame_id, res);
 
+      //t2 = millis_since_boot();
       //LOGD("monitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
       last = t1;
     }
@@ -816,11 +805,26 @@ void* frontview_thread(void *arg) {
     if (cnt % 3 == 0)
 #endif
     {
-      // for driver autoexposure, use bottom right corner
-      const int y_start = s->rgb_front_height / 3;
-      const int y_end = s->rgb_front_height;
-      const int x_start = s->rgb_front_width * 2 / 3;
-      const int x_end = s->rgb_front_width;
+      // use driver face crop for AE
+      int x_start;
+      int x_end;
+      int y_start;
+      int y_end;
+
+      if (s->front_meteringbox_xmax > 0)
+      {
+        x_start = s->front_meteringbox_xmin<0 ? 0:s->front_meteringbox_xmin;
+        x_end = s->front_meteringbox_xmax>=s->rgb_front_width ? s->rgb_front_width-1:s->front_meteringbox_xmax;
+        y_start = s->front_meteringbox_ymin<0 ? 0:s->front_meteringbox_ymin;
+        y_end = s->front_meteringbox_ymax>=s->rgb_front_height ? s->rgb_front_height-1:s->front_meteringbox_ymax;
+      }
+      else
+      {
+        y_start = s->rgb_front_height * 0;
+        y_end = s->rgb_front_height * 2 / 3;
+        x_start = s->rgb_front_width * 3 / 5;
+        x_end = s->rgb_front_width;
+      }
 
       uint32_t lum_binning[256] = {0,};
       for (int y = y_start; y < y_end; ++y) {
@@ -1007,10 +1011,10 @@ void* processing_thread(void *arg) {
       mt1 = millis_since_boot();
       s->model_bufs[ui_idx] =
           model_eval_frame(&s->model, q, yuv_cl, s->yuv_width, s->yuv_height,
-                           model_transform, img_sock_raw);
+                           model_transform, img_sock_raw, NULL);
       mt2 = millis_since_boot();
 
-      model_publish(model_sock_raw, frame_id, model_transform, s->model_bufs[ui_idx]);
+      model_publish(model_sock_raw, frame_id, s->model_bufs[ui_idx], frame_data.timestamp_eof);
     }
 
 
@@ -1073,6 +1077,8 @@ void* processing_thread(void *arg) {
         posenetd.setTransStd(trans_std_vs);
         kj::ArrayPtr<const float> rot_std_vs(&s->posenet.output[9], 3);
         posenetd.setRotStd(rot_std_vs);
+        posenetd.setTimestampEof(frame_data.timestamp_eof);
+        posenetd.setFrameId(frame_id);
 
         auto words = capnp::messageToFlatArray(msg);
         auto bytes = words.asBytes();