Merge pull request #660 from commaai/devel

Openpilot 0.5.12
Merge pull request #634 from commaai/devel 0.5.11 Release
2026-06-13 01:34:39 +08:00 · 2019-05-22 15:36:17 -07:00 · 2019-05-09 16:45:28 -07:00 · 2019-04-02 00:30:34 -07:00 · 2019-02-25 10:54:11 -08:00 · 2019-01-31 17:01:04 -08:00
1503 changed files with 187271 additions and 112530 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,3 @@
-venv/
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -32,12 +31,6 @@ selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 selfdrive/test/tests/plant/out
 selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/sensord/gpsd
-selfdrive/sensord/sensord
 /src/

 one
-openpilot
-xx
-
--- a/.travis.yml
+++ b/.travis.yml
@@ -3,5 +3,21 @@ sudo: required
 services:
  - docker

+install:
+  - docker build -t tmppilot -f Dockerfile.openpilot .
+
 script:
-  - ./run_docker_tests.sh
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
+  - docker run
+      -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'
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -4,45 +4,32 @@ ENV PYTHONUNBUFFERED 1
 RUN apt-get update && apt-get install -y \
    autoconf \
    build-essential \
-    bzip2 \
    clang \
+    wget \
+    bzip2 \
    git \
-    libarchive-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavfilter-dev \
-    libavresample-dev \
-    libavutil-dev \
-    libffi-dev \
    libglib2.0-0 \
-    libssl-dev \
-    libswscale-dev \
    libtool \
-    libusb-1.0-0 \
+    python-pip \
    libzmq5-dev \
+    libffi-dev \
+    libusb-1.0-0 \
+    libssl-dev \
    ocl-icd-libopencl1 \
    ocl-icd-opencl-dev \
-    opencl-headers \
-    pkg-config \
-    python-pip \
-    wget
+    opencl-headers

 COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
 RUN /tmp/install_capnp.sh

 RUN pip install --upgrade pip==18.0
-RUN pip install pipenv==2018.11.26
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2

-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-RUN cd /tmp && pipenv install --deploy --system
+COPY requirements_openpilot.txt /tmp/
+RUN pip install -r /tmp/requirements_openpilot.txt

 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH

-RUN git clone --branch v0.6  https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
-RUN pip install -r /tmp/openpilot/tools/requirements.txt
-RUN pip install fastcluster==1.1.20 scipy==0.19.1
-
 COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal
--- a/145
+++ b/145
@@ -1,145 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-ipython = "<6.0"
-aenum = "*"
-azure-batch = "==4.1.3"
-azure-common = "==1.1.16"
-azure-nspkg = "==3.0.1"
-azure-storage-blob = "==1.3.1"
-azure-storage-common = "==1.3.0"
-azure-storage-nspkg = "==3.0.0"
-bincopy = "*"
-bleach = "==1.5.0"
-boto = "*"
-"boto3" = "*"
-celery = "*"
-control = "*"
-datadog = "*"
-decorator = "*"
-dlib = "*"
-dominate = "*"
-elasticsearch = "*"
-entium = "==0.1.4"
-fasteners = "*"
-future = "*"
-futures = "*"
-gevent = "*"
-pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
-gunicorn = "*"
-"h5py" = "*"
-hexdump = "*"
-"html5lib" = "==0.9999999"
-imageio = "*"
-intervaltree = "*"
-ipykernel = "<5.0"
-joblib = "*"
-json-logging-py = "*"
-jupyter = "*"
-libarchive = "*"
-lru-dict = "*"
-lxml = "*"
-matplotlib = "==2.2.3"
-"mpld3" = "*"
-msgpack-python = "*"
-nbstripout = "*"
-nose-parameterized = "*"
-numpy = "==1.14.5"
-osmium = "==2.15.0"
-pbr = "==5.1.3"
-percache = "*"
-pprofile = "*"
-psutil = "*"
-pycurl = "*"
-git-pylint-commit-hook = "==2.5.1"
-pymongo = "*"
-"pynmea2" = "*"
-pypolyline = "==0.1.17"
-pysendfile = "*"
-python-logstash = "*"
-pyvcd = "*"
-redis = "*"
-redlock = "*"
-"s2sphere" = "*"
-scikit-image = "*"
-"subprocess32" = "*"
-supervisor = "*"
-tenacity = "*"
-tensorflow-gpu = "==1.13.0rc0"
-"transforms3d" = "*"
-utm = "*"
-"v4l2" = "*"
-visdom = "*"
-PyJWT = "==1.4.1"
-PyMySQL = "==0.9.2"
-Theano = "*"
-Werkzeug = "*"
-"backports.lzma" = "*"
-Flask-Cors = "*"
-Flask-SocketIO = "*"
-"GeoAlchemy2" = "*"
-Keras = ">=2.1.6"
-keras-maskrcnn = "*"
-keras-retinanet = "*"
-Pygments = "*"
-PyNaCl = "*"
-"PySDL2" = "*"
-reverse_geocoder = "*"
-Shapely = "*"
-SQLAlchemy = "==1.2.7"
-uWSGI = "*"
-scipy = "*"
-fastcluster = "==1.1.25"
-backports-abc = "*"
-pygame = "*"
-simplejson = "*"
-python-logstash-async = "*"
-pandas = "*"
-seaborn = "*"
-tensorflow-estimator = "==1.10.12"
-pyproj = "*"
-
-[packages]
-overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
-atomicwrites = "*"
-cffi = "*"
-crcmod = "*"
-hexdump = "*"
-libusb1 = "*"
-numpy = "*"
-psutil = "*"
-pycapnp = "*"
-cryptography = "*"
-pyserial = "*"
-python-dateutil = "*"
-pyzmq = "*"
-raven = "*"
-requests = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "*"
-tqdm = "*"
-Cython = "*"
-PyYAML = "*"
-websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
-urllib3 = "*"
-chardet = "*"
-idna = "*"
-gunicorn = "*"
-utm = "*"
-json-rpc = "*"
-Flask = "*"
-PyJWT = "*"
-"Jinja2" = "*"
-nose = "*"
-pyflakes = "*"
-pylint = "*"
-pycryptodome = "*"
-
-[requires]
-python_version = "2.7"
--- a/Pipfile.lock
+++ b/Pipfile.lock
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
+[![](https://i.imgur.com/xY2gdHv.png)](#)

 Welcome to openpilot
 ======
@@ -60,49 +60,46 @@ 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             |
+| Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2018                 | 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 2018            | 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 2018              | 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                | CR-V Hybrid 2019         | All                  | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2017-19          | 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              | Elantra 2017             | 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 2017-18   | 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>|
+| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
+| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
 | 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               | C-HR 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               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 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 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander Hybrid 2018   | 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            |
@@ -111,15 +108,14 @@ Supported Cars
 | 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 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>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 />
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).  
+<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).  
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.  
+<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.  
+<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).  

 Community Maintained Cars
 ------
@@ -177,6 +173,7 @@ Directory structure
        ├── locationd       # Soon to be home of precise location
        ├── logcatd         # Android logcat as a service
        ├── loggerd         # Logger and uploader of car data
+        ├── mapd            # Fetches map data and computes next global path
        ├── proclogd        # Logs information from proc
        ├── sensord         # IMU / GPS interface code
        ├── test            # Car simulator running code through virtual maneuvers
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,45 +1,3 @@
-Version 0.6.2 (2019-07-29)
-========================
- * New driving model!
- * Improve lane tracking with double lines
- * Strongly improve stationary vehicle detection
- * Strongly reduce cases of braking due to false leads
- * Better lead tracking around turns
- * Improve cut-in prediction by using neural network
- * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
- * Fix unintended openpilot disengagements on Jeep thanks to adhintz!
- * Fix delayed transition to offroad when car is turned off
-
-Version 0.6.1 (2019-07-21)
-========================
- * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
- * Panda code Misra-c2012 compliance, tested against cppcheck coverage
- * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
- * Toyota Sienna support thanks to wocsor!
-
-Version 0.6 (2019-07-01)
-========================
- * New model, with double the pixels and ten times the temporal context!
- * Car should not take exits when in the right lane
- * openpilot uses only ~65% of the CPU (down from 75%)
- * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
- * loggerd and sensord are open source, every line of openpilot is now open
- * Panda safety code is MISRA compliant and ships with a signed version on release2
- * New NEOS is 500MB smaller and has a reproducible usr/pipenv
- * Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS2
- * Various other stability improvements
-
-Version 0.5.13 (2019-05-31)
-==========================
- * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
- * Reduce EON power consumption by 40%, down to 1100mW, when car is off
- * Reduce CPU utilization by 20% and improve stability
- * Temporarily remove mapd functionalities to improve stability
- * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to boardd to reduce latency
- * Remove panda support for Subaru giraffe
-
 Version 0.5.12 (2019-05-16)
 ==========================
 * Improve lateral control for the Prius and Prius Prime
@@ -51,8 +9,8 @@ Version 0.5.12 (2019-05-16)
 * Add default speed limits for Estonia thanks to martinl!
 * Subaru Crosstrek support thanks to martinl!
 * Toyota Avalon support thanks to njbrown09!
- * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
- * Toyota Corolla with TSS 2.0 support thanks to wocsor!
+ * Toyota Rav4 with TSS 2.0 support thansk to wocsor!
+ * Toyota Corolla with TSS 2.0 support thansk to wocsor!

 Version 0.5.11 (2019-04-17)
 ========================
--- a/apk/ai.comma.plus.black.apk
+++ b/apk/ai.comma.plus.black.apk
--- a/apk/ai.comma.plus.frame.apk
+++ b/apk/ai.comma.plus.frame.apk
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -1,6 +1,3 @@
 gen
 node_modules
 package-lock.json
-*.pyc
-__pycache__
-
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -22,7 +22,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {

  enum EventName @0xbaa8c5d505f727de {
    # TODO: copy from error list
-    canError @0;
+    commIssue @0;
    steerUnavailable @1;
    brakeUnavailable @2;
    gasUnavailable @3;
@@ -37,7 +37,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    buttonEnable @12;
    pedalPressed @13;
    cruiseDisabled @14;
-    radarCanError @15;
+    radarCommIssue @15;
    dataNeeded @16;
    speedTooLow @17;
    outOfSpace @18;
@@ -49,7 +49,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    pcmDisable @24;
    noTarget @25;
    radarFault @26;
-    modelCommIssueDEPRECATED @27;
+    modelCommIssue @27;
    brakeHold @28;
    parkBrake @29;
    manualRestart @30;
@@ -74,12 +74,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    invalidGiraffeHonda @49;
    vehicleModelInvalid @50;
    controlsFailed @51;
-    sensorDataInvalid @52;
-    commIssue @53;
-    tooDistracted @54;
-    posenetInvalid @55;
-    manualSteeringRequired @56;
-    manualSteeringRequiredBlinkersOn @57;
  }
 }

@@ -128,7 +122,6 @@ struct CarState {
  # lock info
  doorOpen @24 :Bool;
  seatbeltUnlatched @25 :Bool;
-  canValid @26 :Bool;

  # which packets this state came from
  canMonoTimes @12: List(UInt64);
@@ -182,7 +175,7 @@ struct CarState {

 # ******* radar state @ 20hz *******

-struct RadarData @0x888ad6581cf0aacb {
+struct RadarState {
  errors @0 :List(Error);
  points @1 :List(RadarPoint);

@@ -190,7 +183,7 @@ struct RadarData @0x888ad6581cf0aacb {
  canMonoTimes @2 :List(UInt64);

  enum Error {
-    canError @0;
+    commIssue @0;
    fault @1;
    wrongConfig @2;
  }
@@ -299,7 +292,7 @@ struct CarParams {

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
-  safetyModel @9 :SafetyModel;
+  safetyModel @9 :Int16;
  safetyParam @10 :Int16;

  steerMaxBP @11 :List(Float32);
@@ -326,7 +319,6 @@ struct CarParams {
  lateralTuning :union {
    pid @26 :LateralPIDTuning;
    indi @27 :LateralINDITuning;
-    lqr @40 :LateralLQRTuning;
  }

  steerLimitAlert @28 :Bool;
@@ -341,8 +333,6 @@ struct CarParams {

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
-  carVin @38 :Text; # VIN number queried during fingerprinting
-  isPandaBlack @39: Bool;

  struct LateralPIDTuning {
    kpBP @0 :List(Float32);
@@ -369,22 +359,8 @@ struct CarParams {
    actuatorEffectiveness @3 :Float32;
  }

-  struct LateralLQRTuning {
-    scale @0 :Float32;
-    ki @1 :Float32;
-    dcGain @2 :Float32;

-    # State space system
-    a @3 :List(Float32);
-    b @4 :List(Float32);
-    c @5 :List(Float32);
-
-    k @6 :List(Float32);  # LQR gain
-    l @7 :List(Float32);  # Kalman gain
-  }
-
-
-  enum SafetyModel {
+  enum SafetyModels {
    # does NOT match board setting
    noOutput @0;
    honda @1;
--- a/cereal/generate_javascript.sh
+++ b/cereal/generate_javascript.sh
@@ -1,26 +0,0 @@
-#!/bin/bash
-
-rm -r gen/ts
-rm -r gen/js
-
-mkdir gen/ts
-mkdir gen/js
-
-echo "Installing needed npm modules"
-npm i capnpc-ts capnp-ts
-
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
-
-cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
-do
-  TOKEN=`echo $line | sed 's/\./_/g'`
-  ROOT=`echo $line | sed 's/\..*$//g'`
-  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
-  if [[ "$?" == "1" ]]
-  then
-    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
-  fi
-done
-
-tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
--- a/cereal/install_capnp.sh
+++ b/cereal/install_capnp.sh
@@ -1,39 +0,0 @@
-set -e
-echo "Installing capnp"
-
-cd /tmp
-VERSION=0.6.1
-wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
-tar xvf capnproto-c++-${VERSION}.tar.gz
-cd capnproto-c++-${VERSION}
-CXXFLAGS="-fPIC" ./configure
-
-make -j4
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j4
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -150,12 +150,6 @@ struct FrameData {
  }
 }

-struct Thumbnail {
-  frameId @0 :UInt32;
-  timestampEof @1 :UInt64;
-  thumbnail @2 :Data;
-}
-
 struct GPSNMEAData {
  timestamp @0 :Int64;
  localWallTime @1 :UInt64;
@@ -300,20 +294,8 @@ struct HealthData {
  started @2 :Bool;
  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
-  startedSignalDetectedDeprecated @5 :Bool;
-  hasGps @6 :Bool;
-  canSendErrs @7 :UInt32;
-  canFwdErrs @8 :UInt32;
-  gmlanSendErrs @9 :UInt32;
-  hwType @10: HwType;
-
-  enum HwType {
-    unknown @0;
-    whitePanda @1;
-    greyPanda @2;
-    blackPanda @3;
-    pedal @4;
-  }
+  startedSignalDetected @5 :Bool;
+  isGreyPanda @6 :Bool;
 }

 struct LiveUI {
@@ -323,12 +305,12 @@ struct LiveUI {
  awarenessStatus @3 :Float32;
 }

-struct RadarState @0x9a185389d6fdd05f {
+struct Live20Data {
  canMonoTimes @10 :List(UInt64);
  mdMonoTime @6 :UInt64;
  ftMonoTimeDEPRECATED @7 :UInt64;
-  controlsStateMonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarData.Error);
+  l100MonoTime @11 :UInt64;
+  radarErrors @12 :List(Car.RadarState.Error);

  # all deprecated
  warpMatrixDEPRECATED @0 :List(Float32);
@@ -355,8 +337,6 @@ struct RadarState @0x9a185389d6fdd05f {
    fcw @10 :Bool;
    status @11 :Bool;
    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
-    radar @14 :Bool;
  }
 }

@@ -373,8 +353,6 @@ struct LiveCalibrationData {
  # view_frame_from_road_frame
  # ui's is inversed needs new
  extrinsicMatrix @4 :List(Float32);
-  # the direction of travel vector in device frame
-  rpyCalib @7 :List(Float32);
 }

 struct LiveTracks {
@@ -390,15 +368,15 @@ struct LiveTracks {
  oncoming @9 :Bool;
 }

-struct ControlsState @0x97ff69c53601abf1 {
+struct Live100Data {
  canMonoTimeDEPRECATED @16 :UInt64;
  canMonoTimes @21 :List(UInt64);
-  radarStateMonoTimeDEPRECATED @17 :UInt64;
+  l20MonoTimeDEPRECATED @17 :UInt64;
  mdMonoTimeDEPRECATED @18 :UInt64;
  planMonoTime @28 :UInt64;
  pathPlanMonoTime @50 :UInt64;

-  state @31 :OpenpilotState;
+  state @31 :ControlState;
  vEgo @0 :Float32;
  vEgoRaw @32 :Float32;
  aEgoDEPRECATED @1 :Float32;
@@ -450,15 +428,12 @@ struct ControlsState @0x97ff69c53601abf1 {
  vCurvature @46 :Float32;
  decelForTurn @47 :Bool;

-  decelForModel @54 :Bool;
-
  lateralControlState :union {
    indiState @52 :LateralINDIState;
    pidState @53 :LateralPIDState;
-    lqrState @55 :LateralLQRState;
  }

-  enum OpenpilotState @0xdbe58b96d2d1ac61 {
+  enum ControlState {
    disabled @0;
    preEnabled @1;
    enabled @2;
@@ -510,13 +485,6 @@ struct ControlsState @0x97ff69c53601abf1 {
    saturated @8 :Bool;
   }

-  struct LateralLQRState {
-    active @0 :Bool;
-    steerAngle @1 :Float32;
-    i @2 :Float32;
-    output @3 :Float32;
-   }
-
 }

 struct LiveEventData {
@@ -534,27 +502,17 @@ struct ModelData {
  freePath @6 :List(Float32);

  settings @5 :ModelSettings;
-  leadFuture @7 :LeadData;
-  speed @8 :List(Float32);

  struct PathData {
    points @0 :List(Float32);
    prob @1 :Float32;
    std @2 :Float32;
-    stds @3 :List(Float32);
-    poly @4 :List(Float32);
  }

  struct LeadData {
    dist @0 :Float32;
    prob @1 :Float32;
    std @2 :Float32;
-    relVel @3 :Float32;
-    relVelStd @4 :Float32;
-    relY @5 :Float32;
-    relYStd @6 :Float32;
-    relA @7 :Float32;
-    relAStd @8 :Float32;
  }

  struct ModelSettings {
@@ -616,9 +574,7 @@ struct LogRotate {

 struct Plan {
  mdMonoTime @9 :UInt64;
-  radarStateMonoTime @10 :UInt64;
-  commIssue @31 :Bool;
-
+  l20MonoTime @10 :UInt64;
  eventsDEPRECATED @13 :List(Car.CarEvent);

  # lateral, 3rd order polynomial
@@ -657,7 +613,7 @@ struct Plan {
  decelForTurn @22 :Bool;
  mapValid @25 :Bool;
  radarValid @28 :Bool;
-  radarCanError @30 :Bool;
+  radarCommIssue @30 :Bool;

  processingDelay @29 :Float32;

@@ -672,7 +628,6 @@ struct Plan {
    mpc1 @1;
    mpc2 @2;
    mpc3 @3;
-    model @4;
  }
 }

@@ -689,13 +644,10 @@ struct PathPlan {

  angleSteers @8 :Float32; # deg
  rateSteers @13 :Float32; # deg/s
-  mpcSolutionValid @9 :Bool;
+  valid @9 :Bool;
  paramsValid @10 :Bool;
-  modelValidDEPRECATED @12 :Bool;
+  modelValid @12 :Bool;
  angleOffset @11 :Float32;
-  sensorValid @14 :Bool;
-  commIssue @15 :Bool;
-  posenetValid @16 :Bool;
 }

 struct LiveLocationData {
@@ -1674,13 +1626,8 @@ struct OrbKeyFrame {

 struct DriverMonitoring {
  frameId @0 :UInt32;
-  descriptorDEPRECATED @1 :List(Float32);
-  stdDEPRECATED @2 :Float32;
-  faceOrientation @3 :List(Float32);
-  facePosition @4 :List(Float32);
-  faceProb @5 :Float32;
-  leftEyeProb @6 :Float32;
-  rightEyeProb @7 :Float32;
+  descriptor @1 :List(Float32);
+  std @2 :Float32;
 }

 struct Boot {
@@ -1696,10 +1643,6 @@ struct LiveParametersData {
  angleOffsetAverage @3 :Float32;
  stiffnessFactor @4 :Float32;
  steerRatio @5 :Float32;
-  sensorValid @6 :Bool;
-  yawRate @7 :Float32;
-  posenetSpeed @8 :Float32;
-  posenetValid @9 :Bool;
 }

 struct LiveMapData {
@@ -1739,7 +1682,6 @@ struct KalmanOdometry {
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
-  valid @67 :Bool = true;

  union {
    initData @1 :InitData;
@@ -1748,13 +1690,13 @@ struct Event {
    sensorEventDEPRECATED @4 :SensorEventData;
    can @5 :List(CanData);
    thermal @6 :ThermalData;
-    controlsState @7 :ControlsState;
+    live100 @7 :Live100Data;
    liveEventDEPRECATED @8 :List(LiveEventData);
    model @9 :ModelData;
    features @10 :CalibrationFeatures;
    sensorEvents @11 :List(SensorEventData);
    health @12 :HealthData;
-    radarState @13 :RadarState;
+    live20 @13 :Live20Data;
    liveUIDEPRECATED @14 :LiveUI;
    encodeIdx @15 :EncodeIndex;
    liveTracks @16 :List(LiveTracks);
@@ -1807,8 +1749,5 @@ struct Event {
    cameraOdometry @63 :CameraOdometry;
    pathPlan @64 :PathPlan;
    kalmanOdometry @65 :KalmanOdometry;
-    thumbnail @66: Thumbnail;
-    carEvents @68: List(Car.CarEvent);
-    carParams @69: Car.CarParams;
  }
 }
--- a/cereal/maptile.capnp
+++ b/cereal/maptile.capnp
@@ -1,53 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Map");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}
--- a/common/clock.pyx
+++ b/common/clock.pyx
@@ -1,16 +0,0 @@
-from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
-
-cdef double readclock(int clock_id):
-    cdef timespec ts
-    cdef double current
-
-    clock_gettime(clock_id, &ts)
-    current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
-    return current
-
-
-def monotonic_time():
-    return readclock(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-    return readclock(CLOCK_BOOTTIME)
--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@@ -1,118 +0,0 @@
-import os
-import shutil
-import tempfile
-from atomicwrites import AtomicWriter
-
-def mkdirs_exists_ok(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-def rm_not_exists_ok(path):
-  try:
-    os.remove(path)
-  except OSError:
-    if os.path.exists(path):
-      raise
-
-def rm_tree_or_link(path):
-  if os.path.islink(path):
-    os.unlink(path)
-  elif os.path.isdir(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"
-  return "/tmp"
-
-class AutoMoveTempdir(object):
-  def __init__(self, target_path, temp_dir=None):
-    self._target_path = target_path
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    os.rename(self._path, self._target_path)
-
-  def __enter__(self): return self
-
-  def __exit__(self, type, value, traceback):
-    if type is None:
-      self.close()
-    else:
-      shutil.rmtree(self._path)
-
-class NamedTemporaryDir(object):
-  def __init__(self, temp_dir=None):
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    shutil.rmtree(self._path)
-
-  def __enter__(self): return self
-
-  def __exit__(self, type, value, traceback):
-    self.close()
-
-def _get_fileobject_func(writer, temp_dir):
-  def _get_fileobject():
-    file_obj = writer.get_fileobject(dir=temp_dir)
-    os.chmod(file_obj.name, 0o644)
-    return file_obj
-  return _get_fileobject
-
-def atomic_write_on_fs_tmp(path, **kwargs):
-  """Creates an atomic writer using a temporary file in a temporary directory
-     on the same filesystem as path.
-  """
-  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
-  #                 directory.
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
-
-
-def atomic_write_in_dir(path, **kwargs):
-  """Creates an atomic writer using a temporary file in the same directory
-     as the destination file.
-  """
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
-
-def atomic_write_in_dir_neos(path, contents, mode=None):
-  """
-  Atomically writes contents to path using a temporary file in the same directory
-  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
-  """
-
-  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
-  f.write(contents)
-  f.flush()
-  if mode is not None:
-    os.fchmod(f.fileno(), mode)
-  os.fsync(f.fileno())
-  f.close()
-
-  os.rename(f.name, path)
--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@@ -4,7 +4,7 @@ from common.basedir import BASEDIR
 def get_fingerprint_list():
  # read all the folders in selfdrive/car and return a dict where:
  # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique
+  # - values are lists dicts of messages that constitute the unique 
  #   CAN fingerprint of each car model and all its variants
  fingerprints = {}
  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
@@ -28,8 +28,10 @@ _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes

 def is_valid_for_fingerprint(msg, car_fingerprint):
  adr = msg.address
+  bus = msg.src
  # ignore addresses that are more than 11 bits
-  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
+  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or \
+         bus != 0 or adr >= 0x800


 def eliminate_incompatible_cars(msg, candidate_cars):
--- a/common/kalman/Makefile
+++ b/common/kalman/Makefile
@@ -1,7 +1,7 @@
 all: simple_kalman_impl.so

 simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
-	python2 simple_kalman_setup.py build_ext --inplace
+	python simple_kalman_setup.py build_ext --inplace
 	rm -rf build
 	rm simple_kalman_impl.c

--- a/common/kalman/ekf.py
+++ b/common/kalman/ekf.py
@@ -0,0 +1,253 @@
+# pylint: skip-file
+from __future__ import print_function
+import abc
+import numpy as np
+# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
+# A subclass must implement:
+#   1) calc_transfer_fun(); see bottom of file for more info.
+#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
+
+# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
+
+# Sensor classes are optionally used to pass measurement information into the EKF, to keep
+#   sensor parameters and processing methods for a each sensor together.
+# Sensor classes have a read() method which takes raw sensor data and returns
+#   a SensorReading object, which can be passed to the EKF update() method.
+
+# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
+# ekf.predict(dt) should be called between update cycles with the time since it was last called.
+# Ideally, predict(dt) should be called at a relatively constant rate.
+# update() should be called once per sensor, and can be called multiple times between predict steps.
+# Access and set the state of the filter directly with ekf.state and ekf.covar.
+
+
+class SensorReading:
+  # Given a perfect model and no noise, data = obs_model * state
+  def __init__(self, data, covar, obs_model):
+    self.data = data
+    self.obs_model = obs_model
+    self.covar = covar
+
+  def __repr__(self):
+    return "SensorReading(data={}, covar={}, obs_model={})".format(
+      repr(self.data), repr(self.covar), repr(self.obs_model))
+
+
+# A generic sensor class that does no pre-processing of data
+class SimpleSensor:
+  # obs_model can be
+  #   a full observation model matrix, or
+  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
+  # covar can be
+  #   a full covariance matrix
+  #   a float or tuple of individual covars for each component of the sensor reading
+  # dims is the number of states in the EKF
+  def __init__(self, obs_model, covar, dims):
+    # Allow for integer covar/obs_model
+    if not hasattr(obs_model, "__len__"):
+      obs_model = (obs_model, )
+    if not hasattr(covar, "__len__"):
+      covar = (covar, )
+
+    # Full observation model passed
+    if dims in np.array(obs_model).shape:
+      self.obs_model = np.asmatrix(obs_model)
+      self.covar = np.asmatrix(covar)
+    # Indices of unit observations passed
+    else:
+      self.obs_model = np.matlib.zeros((len(obs_model), dims))
+      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
+      if np.asarray(covar).ndim == 2:
+        self.covar = np.asmatrix(covar)
+      elif len(covar) == len(obs_model):
+        self.covar = np.matlib.diag(covar)
+      else:
+        self.covar = np.matlib.identity(len(obs_model)) * covar
+
+  def read(self, data, covar=None):
+    if covar:
+      self.covar = covar
+    return SensorReading(data, self.covar, self.obs_model)
+
+
+class EKF:
+  __metaclass__ = abc.ABCMeta
+
+  def __init__(self, debug=False):
+    self.DEBUG = debug
+
+
+  def __str__(self):
+    return "EKF(state={}, covar={})".format(self.state, self.covar)
+
+  # Measurement update
+  # Reading should be a SensorReading object with data, covar, and obs_model attributes
+  def update(self, reading):
+    # Potential improvements:
+    # deal with negative covars
+    # add noise to really low covars to ensure stability
+    # use mahalanobis distance to reject outliers
+    # wrap angles after state updates and innovation
+
+    # y = z - H*x
+    innovation = reading.data - reading.obs_model * self.state
+
+    if self.DEBUG:
+      print("reading:\n",reading.data)
+      print("innovation:\n",innovation)
+
+    # S = H*P*H' + R
+    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
+
+    # K = P*H'*S^-1
+    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
+      innovation_covar)
+
+    if self.DEBUG:
+      print("gain:\n", kalman_gain)
+      print("innovation_covar:\n", innovation_covar)
+      print("innovation: ", innovation)
+      print("test: ", self.covar * reading.obs_model.T * (
+        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
+        0).I)
+
+    # x = x + K*y
+    self.state += kalman_gain*innovation
+
+    # print "covar", np.diag(self.covar)
+    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
+
+    # Standard form: P = (I - K*H)*P
+    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
+
+    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
+    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
+    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
+
+    if self.DEBUG:
+      print("After update")
+      print("state\n", self.state)
+      print("covar:\n",self.covar)
+
+  def update_scalar(self, reading):
+    # like update but knowing that measurement is a scalar
+    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
+
+    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
+    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
+    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
+    # self.state += np.matmul(kalman_gain, innovation)
+    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
+    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
+
+    # written without np.matmul
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB_T = "ij,kj->ik"
+    AB = "ij,jk->ik"
+    innovation = reading.data - es(AB, reading.obs_model, self.state)
+    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
+                          reading.obs_model) + reading.covar
+    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
+
+    self.state += es(AB, kalman_gain, innovation)
+    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
+    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
+                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
+
+  # Prediction update
+  def predict(self, dt):
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB = "ij,jk->ik"
+
+    # State update
+    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
+
+    # self.state = np.matmul(transfer_fun, self.state)
+    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
+
+    # x = f(x, u), written in the form x = A(x, u)*x
+    self.state = es(AB, transfer_fun, self.state)
+
+    # P = J*P*J' + Q
+    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
+                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
+
+    #! Clip covariance to avoid explosions
+    self.covar = np.clip(self.covar,-1e10,1e10)
+
+  @abc.abstractmethod
+  def calc_transfer_fun(self, dt):
+    """Return a tuple with the transfer function and transfer function jacobian
+    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
+
+    The transfer function matrix A should satisfy the state-update equation
+      x_(k+1) = A * x_k
+
+    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
+
+    Current implementations calculate A and J as functions of state. Control input
+      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
+      and using it during calculation of A and J
+    """
+
+
+class FastEKF1D(EKF):
+  """Fast version of EKF for 1D problems with scalar readings."""
+
+  def __init__(self, dt, var_init, Q):
+    super(FastEKF1D, self).__init__(False)
+    self.state = [0, 0]
+    self.covar = [var_init, var_init, 0]
+
+    # Process Noise
+    self.dtQ0 = dt * Q[0]
+    self.dtQ1 = dt * Q[1]
+
+  def update(self, reading):
+    raise NotImplementedError
+
+  def update_scalar(self, reading):
+    # TODO(mgraczyk): Delete this for speed.
+    # assert np.all(reading.obs_model == [1, 0])
+
+    rcov = reading.covar[0, 0]
+
+    x = self.state
+    S = self.covar
+
+    innovation = reading.data - x[0]
+    innovation_covar = S[0] + rcov
+
+    k0 = S[0] / innovation_covar
+    k1 = S[2] / innovation_covar
+
+    x[0] += k0 * innovation
+    x[1] += k1 * innovation
+
+    mk = 1 - k0
+    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
+    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
+    S[0] = mk * mk * S[0] + rcov * k0 * k0
+
+  def predict(self, dt):
+    # State update
+    x = self.state
+
+    x[0] += dt * x[1]
+
+    # P = J*P*J' + Q
+    S = self.covar
+    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
+    S[2] += dt * S[1]
+    S[1] += self.dtQ1
+
+    # Clip covariance to avoid explosions
+    S = max(-1e10, min(S, 1e10))
+
+  def calc_transfer_fun(self, dt):
+    tf = np.identity(2)
+    tf[0, 1] = dt
+    tfj = tf
+    return tf, tfj
--- a/common/kalman/tests/test_ekf.py
+++ b/common/kalman/tests/test_ekf.py
@@ -0,0 +1,116 @@
+import numpy as np
+import numpy.matlib
+import unittest
+import timeit
+
+from common.kalman.ekf import EKF, SimpleSensor, FastEKF1D
+
+class TestEKF(EKF):
+  def __init__(self, var_init, Q):
+    super(TestEKF, self).__init__(False)
+    self.identity = numpy.matlib.identity(2)
+    self.state = numpy.matlib.zeros((2, 1))
+    self.covar = self.identity * var_init
+
+    self.process_noise = numpy.matlib.diag(Q)
+
+  def calc_transfer_fun(self, dt):
+    tf = numpy.matlib.identity(2)
+    tf[0, 1] = dt
+    return tf, tf
+
+
+class EKFTest(unittest.TestCase):
+  def test_update_scalar(self):
+    ekf = TestEKF(1e3, [0.1, 1])
+    dt = 1. / 100
+
+    sensor = SimpleSensor(0, 1, 2)
+    readings = map(sensor.read, np.arange(100, 300))
+
+    for reading in readings:
+      ekf.update_scalar(reading)
+      ekf.predict(dt)
+
+    np.testing.assert_allclose(ekf.state, [[300], [100]], 1e-4)
+    np.testing.assert_allclose(
+      ekf.covar,
+      np.asarray([[0.0563, 0.10278], [0.10278, 0.55779]]),
+      atol=1e-4)
+
+  def test_unbiased(self):
+    ekf = TestEKF(1e3, [0., 0.])
+    dt = np.float64(1. / 100)
+
+    sensor = SimpleSensor(0, 1, 2)
+    readings = map(sensor.read, np.arange(1000))
+
+    for reading in readings:
+      ekf.update_scalar(reading)
+      ekf.predict(dt)
+
+    np.testing.assert_allclose(ekf.state, [[1000.], [100.]], 1e-4)
+
+
+class FastEKF1DTest(unittest.TestCase):
+  def test_correctness(self):
+    dt = 1. / 100
+    reading = SimpleSensor(0, 1, 2).read(100)
+
+    ekf = TestEKF(1e3, [0.1, 1])
+    fast_ekf = FastEKF1D(dt, 1e3, [0.1, 1])
+
+    ekf.update_scalar(reading)
+    fast_ekf.update_scalar(reading)
+    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
+    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
+    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
+    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
+    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
+
+    ekf.predict(dt)
+    fast_ekf.predict(dt)
+    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
+    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
+    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
+    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
+    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
+
+  def test_speed(self):
+    setup = """
+import numpy as np
+from common.kalman.tests.test_ekf import TestEKF
+from common.kalman.ekf import SimpleSensor, FastEKF1D
+
+dt = 1. / 100
+reading = SimpleSensor(0, 1, 2).read(100)
+
+var_init, Q = 1e3, [0.1, 1]
+ekf = TestEKF(var_init, Q)
+fast_ekf = FastEKF1D(dt, var_init, Q)
+    """
+
+    timeit.timeit("""
+ekf.update_scalar(reading)
+ekf.predict(dt)
+    """, setup=setup, number=1000)
+
+    ekf_speed = timeit.timeit("""
+ekf.update_scalar(reading)
+ekf.predict(dt)
+    """, setup=setup, number=20000)
+
+    timeit.timeit("""
+fast_ekf.update_scalar(reading)
+fast_ekf.predict(dt)
+    """, setup=setup, number=1000)
+
+    fast_ekf_speed = timeit.timeit("""
+fast_ekf.update_scalar(reading)
+fast_ekf.predict(dt)
+    """, setup=setup, number=20000)
+
+    assert fast_ekf_speed < ekf_speed / 4
+
+if __name__ == "__main__":
+  unittest.main()
--- a/common/params.py
+++ b/common/params.py
@@ -41,7 +41,7 @@ def mkdirs_exists_ok(path):
 class TxType(Enum):
  PERSISTENT = 1
  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3
+  CLEAR_ON_CAR_START = 3


 class UnknownKeyName(Exception):
@@ -49,64 +49,32 @@ class UnknownKeyName(Exception):


 keys = {
-  "AccessToken": [TxType.PERSISTENT],
-  "AthenadPid": [TxType.PERSISTENT],
-  "CalibrationParams": [TxType.PERSISTENT],
-  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CompletedTrainingVersion": [TxType.PERSISTENT],
-  "ControlsParams": [TxType.PERSISTENT],
-  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  "DongleId": [TxType.PERSISTENT],
-  "GithubSshKeys": [TxType.PERSISTENT],
-  "GitBranch": [TxType.PERSISTENT],
-  "GitCommit": [TxType.PERSISTENT],
-  "GitRemote": [TxType.PERSISTENT],
-  "HasAcceptedTerms": [TxType.PERSISTENT],
-  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
-  "IsFcwEnabled": [TxType.PERSISTENT],
-  "IsGeofenceEnabled": [TxType.PERSISTENT],
-  "IsMetric": [TxType.PERSISTENT],
-  "IsUpdateAvailable": [TxType.PERSISTENT],
-  "IsUploadRawEnabled": [TxType.PERSISTENT],
-  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
-  "LimitSetSpeed": [TxType.PERSISTENT],
-  "LimitSetSpeedNeural": [TxType.PERSISTENT],
-  "LiveParameters": [TxType.PERSISTENT],
-  "LongitudinalControl": [TxType.PERSISTENT],
-  "Passive": [TxType.PERSISTENT],
-  "RecordFront": [TxType.PERSISTENT],
-  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  "SpeedLimitOffset": [TxType.PERSISTENT],
-  "SubscriberInfo": [TxType.PERSISTENT],
-  "TermsVersion": [TxType.PERSISTENT],
-  "TrainingVersion": [TxType.PERSISTENT],
-  "Version": [TxType.PERSISTENT],
-  #dragonpilot config
-  "DragonEnableDashcam": [TxType.PERSISTENT],
-  "DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
-  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
-  "DragonAutoShutdownAt": [TxType.PERSISTENT],
-  "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
-  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
-  "DragonDisableLogger": [TxType.PERSISTENT], # deprecated
-  "DragonEnableLogger": [TxType.PERSISTENT],
-  "DragonDisableUploader": [TxType.PERSISTENT], # deprecated
-  "DragonEnableUploader": [TxType.PERSISTENT],
-  "DragonNoctuaMode": [TxType.PERSISTENT],
-  "DragonCacheCar": [TxType.PERSISTENT],
-  "DragonCachedModel": [TxType.PERSISTENT],
-  "DragonCachedFP": [TxType.PERSISTENT],
-  "DragonCachedVIN": [TxType.PERSISTENT],
-  "DragonAllowGas": [TxType.PERSISTENT],
-  "DragonBBUI": [TxType.PERSISTENT], # deprecated
-  "DragonToyotaStockDSU": [TxType.PERSISTENT],
-  "DragonLatCtrl": [TxType.PERSISTENT],
-  "DragonUIEvent": [TxType.PERSISTENT],
-  "DragonUIMaxSpeed": [TxType.PERSISTENT],
-  "DragonUIFace": [TxType.PERSISTENT],
-  "DragonUIDev": [TxType.PERSISTENT],
-  "DragonUIDevMini": [TxType.PERSISTENT],
+  "AccessToken": TxType.PERSISTENT,
+  "CalibrationParams": TxType.PERSISTENT,
+  "CarParams": TxType.CLEAR_ON_CAR_START,
+  "CompletedTrainingVersion": TxType.PERSISTENT,
+  "ControlsParams": TxType.PERSISTENT,
+  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
+  "DongleId": TxType.PERSISTENT,
+  "GitBranch": TxType.PERSISTENT,
+  "GitCommit": TxType.PERSISTENT,
+  "GitRemote": TxType.PERSISTENT,
+  "HasAcceptedTerms": TxType.PERSISTENT,
+  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
+  "IsFcwEnabled": TxType.PERSISTENT,
+  "IsGeofenceEnabled": TxType.PERSISTENT,
+  "IsMetric": TxType.PERSISTENT,
+  "IsUpdateAvailable": TxType.PERSISTENT,
+  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
+  "LimitSetSpeed": TxType.PERSISTENT,
+  "LiveParameters": TxType.PERSISTENT,
+  "LongitudinalControl": TxType.PERSISTENT,
+  "Passive": TxType.PERSISTENT,
+  "RecordFront": TxType.PERSISTENT,
+  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
+  "SpeedLimitOffset": TxType.PERSISTENT,
+  "TrainingVersion": TxType.PERSISTENT,
+  "Version": TxType.PERSISTENT,
 }


@@ -340,14 +308,14 @@ class Params(object):
  def _clear_keys_with_type(self, tx_type):
    with self.transaction(write=True) as txn:
      for key in keys:
-        if tx_type in keys[key]:
+        if keys[key] == tx_type:
          txn.delete(key)

  def manager_start(self):
    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)

-  def panda_disconnect(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
+  def car_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)

  def delete(self, key):
    with self.transaction(write=True) as txn:
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -2,32 +2,58 @@
 import os
 import time
 import platform
+import threading
 import subprocess
 import multiprocessing
+
 from cffi import FFI
-
-# Build and load cython module
-import pyximport
-installer = pyximport.install(inplace=True, build_dir='/tmp')
-from common.clock import monotonic_time, sec_since_boot  # pylint: disable=no-name-in-module, import-error
-pyximport.uninstall(*installer)
-assert monotonic_time
-assert sec_since_boot
-
-
-# time step for each process
-DT_CTRL = 0.01  # controlsd
-DT_PLAN = 0.05  # mpc
-DT_MDL = 0.05  # model
-DT_DMON = 0.1  # driver monitoring
-DT_TRML = 0.5  # thermald and manager
-
-
 ffi = FFI()
-ffi.cdef("long syscall(long number, ...);")
+ffi.cdef("""
+
+typedef int clockid_t;
+struct timespec {
+    long tv_sec;   /* Seconds.  */
+    long tv_nsec;  /* Nanoseconds.  */
+};
+int clock_gettime (clockid_t clk_id, struct timespec *tp);
+
+long syscall(long number, ...);
+
+"""
+)
 libc = ffi.dlopen(None)


+# see <linux/time.h>
+CLOCK_MONOTONIC_RAW = 4
+CLOCK_BOOTTIME = 7
+
+if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
+  c_clock_gettime = libc.clock_gettime
+
+  tlocal = threading.local()
+  def clock_gettime(clk_id):
+    if not hasattr(tlocal, 'ts'):
+      tlocal.ts = ffi.new('struct timespec *')
+
+    ts = tlocal.ts
+
+    r = c_clock_gettime(clk_id, ts)
+    if r != 0:
+      raise OSError("clock_gettime")
+    return ts.tv_sec + ts.tv_nsec * 1e-9
+else:
+  # hack. only for OS X < 10.12
+  def clock_gettime(clk_id):
+    return time.time()
+
+def monotonic_time():
+  return clock_gettime(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return clock_gettime(CLOCK_BOOTTIME)
+
+
 def set_realtime_priority(level):
  if os.getuid() != 0:
    print("not setting priority, not root")
@@ -73,9 +99,10 @@ class Ratekeeper(object):
    lagged = False
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
-    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
+    if remaining < -self._print_delay_threshold:
      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
      lagged = True
    self._frame += 1
    self._remaining = remaining
    return lagged
+
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -1,5 +1,6 @@
 import numpy as np
 import common.transformations.orientation as orient
+import cv2
 import math

 FULL_FRAME_SIZE = (1164, 874)
@@ -125,8 +126,6 @@ def img_from_device(pt_device):

 #TODO please use generic img transform below
 def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
-  import cv2
-
  size = img.shape[:2]
  rot = orient.rot_from_euler(eulers)
  quadrangle = np.array([[0, 0],
@@ -163,8 +162,6 @@ def transform_img(base_img,
                 output_size=None,
                 pretransform=None,
                 top_hacks=True):
-  import cv2
-
  size = base_img.shape[:2]
  if not output_size:
    output_size = size[::-1]
@@ -207,10 +204,10 @@ def transform_img(base_img,
 def yuv_crop(frame, output_size, center=None):
  # output_size in camera coordinates so u,v
  # center in array coordinates so row, column
-  import cv2
  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
  if not center:
    center = (rgb.shape[0]/2, rgb.shape[1]/2)
  rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
                 center[1] - output_size[0]/2: center[1] + output_size[0]/2]
  return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
+
--- a/common/vin.py
+++ b/common/vin.py
@@ -1,101 +0,0 @@
-#!/usr/bin/env python
-import selfdrive.messaging as messaging
-from selfdrive.boardd.boardd import can_list_to_can_capnp
-
-VIN_UNKNOWN = "0" * 17
-
-# sanity checks on response messages from vin query
-def is_vin_response_valid(can_dat, step, cnt):
-
-  can_dat = [ord(i) for i in can_dat]
-
-  if len(can_dat) != 8:
-    # ISO-TP meesages are all 8 bytes
-    return False
-
-  if step == 0:
-    # VIN does not fit in a single message and it's 20 bytes of data
-    if can_dat[0] != 0x10 or can_dat[1] != 0x14:
-       return False
-
-  if step == 1 and cnt == 0:
-    # first response after a CONTINUE query is sent
-    if can_dat[0] != 0x21:
-       return False
-
-  if step == 1 and cnt == 1:
-    # second response after a CONTINUE query is sent
-    if can_dat[0] != 0x22:
-       return False
-
-  return True
-
-
-class VinQuery():
-  def __init__(self, bus):
-    self.bus = bus
-    # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
-    # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
-    self.query_ext_msgs = [[0x18DB33F1, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
-                           [0x18DA10f1, 0, '\x30'.ljust(8, "\x00"), bus]]
-    self.query_nor_msgs = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
-                           [0x7e0, 0, '\x30'.ljust(8, "\x00"), bus]]
-
-    self.cnts = [1, 2]  # number of messages to wait for at each iteration
-    self.step = 0
-    self.cnt = 0
-    self.responded = False
-    self.never_responded = True
-    self.dat = []
-    self.vin = VIN_UNKNOWN
-
-  def check_response(self, msg):
-    # have we got a VIN query response?
-    if msg.src == self.bus and msg.address in [0x18daf110, 0x7e8]:
-      self.never_responded = False
-      # basic sanity checks on ISO-TP response
-      if is_vin_response_valid(msg.dat, self.step, self.cnt):
-        self.dat += msg.dat[2:] if self.step == 0 else msg.dat[1:]
-        self.cnt += 1
-        if self.cnt == self.cnts[self.step]:
-          self.responded = True
-          self.step += 1
-
-  def send_query(self, sendcan):
-    # keep sending VIN qury if ECU isn't responsing.
-    # sendcan is probably not ready due to the zmq slow joiner syndrome
-    if self.never_responded or (self.responded and self.step < len(self.cnts)):
-      sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
-      sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
-      self.responded = False
-      self.cnt = 0
-
-  def get_vin(self):
-    # only report vin if procedure is finished
-    if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
-      self.vin = "".join(self.dat[3:])
-    return self.vin
-
-
-def get_vin(logcan, sendcan, bus, query_time=1.):
-  vin_query = VinQuery(bus)
-  frame = 0
-
-  # 1s max of VIN query time
-  while frame < query_time * 100:
-    a = messaging.recv_one(logcan)
-
-    for can in a.can:
-      vin_query.check_response(can)
-
-    vin_query.send_query(sendcan)
-    frame += 1
-
-  return vin_query.get_vin()
-
-
-if __name__ == "__main__":
-  from selfdrive.services import service_list
-  logcan = messaging.sub_sock(service_list['can'].port)
-  sendcan = messaging.pub_sock(service_list['sendcan'].port)
-  print get_vin(logcan, sendcan, 0)
--- a/dragonpilot/chinese-fonts/Miui-Bold.ttf
+++ b/dragonpilot/chinese-fonts/Miui-Bold.ttf
--- a/dragonpilot/chinese-fonts/Miui-Regular.ttf
+++ b/dragonpilot/chinese-fonts/Miui-Regular.ttf
--- a/dragonpilot/chinese-fonts/fonts.xml
+++ b/dragonpilot/chinese-fonts/fonts.xml
@@ -1,371 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!--
-    NOTE: this is the newer (L) version of the system font configuration,
-    supporting richer weight selection. Some apps will expect the older
-    version, so please keep system_fonts.xml and fallback_fonts.xml in sync
-    with any changes, even though framework will only read this file.
-
-    All fonts withohut names are added to the default list. Fonts are chosen
-    based on a match: full BCP-47 language tag including script, then just
-    language, and finally order (the first font containing the glyph).
-
-    Order of appearance is also the tiebreaker for weight matching. This is
-    the reason why the 900 weights of Roboto precede the 700 weights - we
-    prefer the former when an 800 weight is requested. Since bold spans
-    effectively add 300 to the weight, this ensures that 900 is the bold
-    paired with the 500 weight, ensuring adequate contrast.
-->
-<familyset version="22">
-    <!-- first font is default -->
-    <family name="sans-serif">
-        <font weight="100" style="normal">Roboto-Thin.ttf</font>
-        <font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
-        <font weight="300" style="normal">Roboto-Light.ttf</font>
-        <font weight="300" style="italic">Roboto-LightItalic.ttf</font>
-        <font weight="400" style="normal">Roboto-Regular.ttf</font>
-        <font weight="400" style="italic">Roboto-Italic.ttf</font>
-        <font weight="500" style="normal">Roboto-Medium.ttf</font>
-        <font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
-        <font weight="900" style="normal">Roboto-Black.ttf</font>
-        <font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
-        <font weight="700" style="normal">Roboto-Bold.ttf</font>
-        <font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
-    </family>
-
-    <!-- Note that aliases must come after the fonts they reference. -->
-    <alias name="sans-serif-thin" to="sans-serif" weight="100" />
-    <alias name="sans-serif-light" to="sans-serif" weight="300" />
-    <alias name="sans-serif-medium" to="sans-serif" weight="500" />
-    <alias name="sans-serif-black" to="sans-serif" weight="900" />
-    <alias name="arial" to="sans-serif" />
-    <alias name="helvetica" to="sans-serif" />
-    <alias name="tahoma" to="sans-serif" />
-    <alias name="verdana" to="sans-serif" />
-
-    <family name="sans-serif-condensed">
-        <font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
-        <font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
-        <font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
-        <font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
-        <font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
-        <font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
-    </family>
-    <alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
-
-    <family name="serif">
-        <font weight="400" style="normal">NotoSerif-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSerif-Bold.ttf</font>
-        <font weight="400" style="italic">NotoSerif-Italic.ttf</font>
-        <font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
-    </family>
-    <alias name="times" to="serif" />
-    <alias name="times new roman" to="serif" />
-    <alias name="palatino" to="serif" />
-    <alias name="georgia" to="serif" />
-    <alias name="baskerville" to="serif" />
-    <alias name="goudy" to="serif" />
-    <alias name="fantasy" to="serif" />
-    <alias name="ITC Stone Serif" to="serif" />
-
-    <family name="monospace">
-        <font weight="400" style="normal">DroidSansMono.ttf</font>
-    </family>
-    <alias name="sans-serif-monospace" to="monospace" />
-    <alias name="monaco" to="monospace" />
-
-    <family name="serif-monospace">
-        <font weight="400" style="normal">CutiveMono.ttf</font>
-    </family>
-    <alias name="courier" to="serif-monospace" />
-    <alias name="courier new" to="serif-monospace" />
-
-    <family name="casual">
-        <font weight="400" style="normal">ComingSoon.ttf</font>
-    </family>
-
-    <family name="cursive">
-        <font weight="400" style="normal">DancingScript-Regular.ttf</font>
-        <font weight="700" style="normal">DancingScript-Bold.ttf</font>
-    </family>
-
-    <family name="sans-serif-smallcaps">
-        <font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
-    </family>
-
-    <!-- fallback fonts -->
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
-        <font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
-    </family>
-    <!-- Gujarati should come after Devanagari -->
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
-    </family>
-    <!-- Gurmukhi should come after Devanagari -->
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
-    </family>
-    <family variant="elegant">
-        <font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
-    </family>
-    <family variant="compact">
-        <font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
-        <font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
-    </family>
-    <family lang="zh-Hans">
-        <font weight="400" style="normal">NotoSansSC-Regular.otf</font>
-    </family>
-    <family lang="zh-Hant">
-        <font weight="400" style="normal">NotoSansTC-Regular.otf</font>
-    </family>
-    <family lang="ja">
-        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
-    </family>
-    <family lang="ko">
-        <font weight="400" style="normal">NotoSansKR-Regular.otf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NanumGothic.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">Miui-Regular.ttf</font>
-    </family>
-    <family lang="ja">
-        <font weight="400" style="normal">MTLmr3m.ttf</font>
-    </family>
-    <!--
-        Tai Le and Mongolian are intentionally kept last, to make sure they don't override
-        the East Asian punctuation for Chinese.
-    -->
-    <family>
-        <font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
-    </family>
-    <family>
-        <font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
-    </family>
-</familyset>
--- a/dragonpilot/chinese-fonts/installer.sh
+++ b/dragonpilot/chinese-fonts/installer.sh
@@ -1,50 +0,0 @@
-#!/usr/bin/bash
-
-# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
-lang=en
-
-update_font_reg=0
-update_font_bold=0
-remove_old_font=0
-
-# check regular font
-if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
-    update_font_reg=1
-fi
-
-# check bold font
-if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
-    update_font_bold=1
-fi
-
-# check droidsans font
-if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
-    remove_old_font=1
-fi
-
-if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
-    # sleep 5 secs in case, make sure the /system is remountable
-    sleep 5
-    mount -o remount,rw /system
-    if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
-        # download regular font
-        if [ $update_font_reg -eq "1" ]; then
-            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
-        fi
-        # download bold font
-        if [ $update_font_bold -eq "1" ]; then
-            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
-        fi
-        # dont new font mapping
-        yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
-        chmod 644 /system/etc/fonts.xml
-        chmod 644 /system/fonts/Miui-*
-    fi
-    # remove driodsans font
-    if [ $remove_old_font -eq "1" ]; then
-        rm -fr /system/fonts/DroidSansFallback*.ttf
-    fi
-    mount -o remount,r /system
-    # change system locale
-    setprop persist.sys.locale $lang
-fi
--- a/installer/updater/Makefile
+++ b/installer/updater/Makefile
@@ -1,88 +0,0 @@
-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 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
-
-CURL_FLAGS = -I$(PHONELIBS)/curl/include
-CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
-            $(PHONELIBS)/zlib/lib/libz.a
-
-BORINGSSL_FLAGS = -I$(PHONELIBS)/boringssl/include
-BORINGSSL_LIBS = $(PHONELIBS)/boringssl/lib/libssl_static.a \
-                 $(PHONELIBS)/boringssl/lib/libcrypto_static.a \
-
-NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
-
-JSON11_FLAGS = -I$(PHONELIBS)/json11
-
-OPENGL_LIBS = -lGLESv3
-
-FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
-
-.PHONY: all
-all: updater
-
-OBJS = courbd.ttf.o \
-       ../../selfdrive/common/touch.o \
-       ../../selfdrive/common/framebuffer.o \
-       $(PHONELIBS)/json11/json11.o \
-       $(PHONELIBS)/nanovg/nanovg.o
-
-DEPS := $(OBJS:.o=.d)
-
-updater: updater.o $(OBJS)
-	@echo "[ LINK ] $@"
-	$(CXX) $(CPPFLAGS) -fPIC -o 'updater' $^ \
-    $(FRAMEBUFFER_LIBS) \
-    $(CURL_LIBS) \
-    $(BORINGSSL_LIBS) \
-    -L/system/vendor/lib64 \
-    $(OPENGL_LIBS) \
-    -lcutils -lm -llog
-	strip updater
-
-courbd.ttf.o: ../../selfdrive/assets/courbd.ttf
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-%.o: %.c
-	mkdir -p $(@D)
-	@echo "[ CC ] $@"
-	$(CC) $(CPPFLAGS) $(CFLAGS) \
-          -I../.. \
-          -I$(PHONELIBS)/android_frameworks_native/include \
-          -I$(PHONELIBS)/android_system_core/include \
-          -I$(PHONELIBS)/android_hardware_libhardware/include \
-          $(NANOVG_FLAGS) \
-          -c -o '$@' '$<'
-
-%.o: %.cc
-	mkdir -p $(@D)
-	@echo "[ CXX ] $@"
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) \
-           -I../../selfdrive \
-           -I../../ \
-           -I$(PHONELIBS)/android_frameworks_native/include \
-           -I$(PHONELIBS)/android_system_core/include \
-           -I$(PHONELIBS)/android_hardware_libhardware/include \
-           $(NANOVG_FLAGS) \
-           $(JSON11_FLAGS) \
-           $(CURL_FLAGS) \
-           $(BORINGSSL_FLAGS) \
-           -c -o '$@' '$<'
-
-
-.PHONY: clean
-clean:
-	rm -f $(OBJS) $(DEPS)
-
-include $(DEPS)
--- a/installer/updater/update.json
+++ b/installer/updater/update.json
@@ -1,7 +0,0 @@
-{
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f.zip",
-  "ota_hash": "c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a.img",
-  "recovery_len": 15136044,
-  "recovery_hash": "af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a"
-}
--- a/installer/updater/updater
+++ b/installer/updater/updater
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -1,675 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
-#include <fstream>
-#include <mutex>
-#include <thread>
-
-#include <curl/curl.h>
-#include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
-#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 "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/utilpp.h"
-
-#define USER_AGENT "NEOSUpdater-0.2"
-
-#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
-#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
-#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
-const char *manifest_url = MANIFEST_URL_EON;
-
-#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
-#define RECOVERY_COMMAND "/cache/recovery/command"
-
-#define UPDATE_DIR "/data/neoupdate"
-
-extern const uint8_t bin_courbd[] asm("_binary_courbd_ttf_start");
-extern const uint8_t bin_courbd_end[] asm("_binary_courbd_ttf_end");
-
-namespace {
-
-std::string sha256_file(std::string fn, size_t limit=0) {
-  SHA256_CTX ctx;
-  SHA256_Init(&ctx);
-
-  FILE *file = fopen(fn.c_str(), "rb");
-  if (!file) return "";
-
-  const size_t buf_size = 8192;
-  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-  bool read_limit = (limit != 0);
-  while (true) {
-    size_t read_size = buf_size;
-    if (read_limit) read_size = std::min(read_size, limit);
-    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
-    if (!bytes_read) break;
-
-    SHA256_Update(&ctx, buffer.get(), bytes_read);
-
-    if (read_limit) {
-      limit -= bytes_read;
-      if (limit == 0) break;
-    }
-  }
-
-  uint8_t hash[SHA256_DIGEST_LENGTH];
-  SHA256_Final(hash, &ctx);
-
-  fclose(file);
-
-  return util::tohex(hash, sizeof(hash));
-}
-
-size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  size_t sz = size * nmeb;
-  ((std::string*)up)->append((char*)ptr, sz);
-  return sz;
-}
-
-std::string download_string(CURL *curl, std::string url) {
-  std::string os;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
-
-  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
-
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
-  CURLcode res = curl_easy_perform(curl);
-  if (res != CURLE_OK) {
-    return "";
-  }
-
-  return os;
-}
-
-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() {
-  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
-  int bat_cap = atoi(bat_cap_s.c_str());
-  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 bat_cap > 35 || (current_now < 0 && bat_cap > 10);
-}
-
-bool check_space() {
-  struct statvfs stat;
-  if (statvfs("/data/", &stat) != 0) {
-    return false;
-  }
-  size_t space = stat.f_bsize * stat.f_bavail;
-  return space > 2000000000ULL; // 2GB
-}
-
-static void start_settings_activity(const char* name) {
-  char launch_cmd[1024];
-  snprintf(launch_cmd, sizeof(launch_cmd),
-           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
-  system(launch_cmd);
-}
-
-struct Updater {
-  bool do_exit = false;
-
-  TouchState touch;
-
-  int fb_w, fb_h;
-  EGLDisplay display;
-  EGLSurface surface;
-
-  FramebufferState *fb = NULL;
-  NVGcontext *vg = NULL;
-  int font;
-
-  std::thread update_thread_handle;
-
-  std::mutex lock;
-
-  // i hate state machines give me coroutines already
-  enum UpdateState {
-    CONFIRMATION,
-    RUNNING,
-    ERROR,
-  };
-  UpdateState state;
-
-  std::string progress_text;
-  float progress_frac;
-
-  std::string error_text;
-
-  // button
-  int b_x, b_w, b_y, b_h;
-  int balt_x;
-
-  CURL *curl = NULL;
-
-  Updater() {
-    touch_init(&touch);
-
-    fb = framebuffer_init("updater", 0x00001000, false,
-                          &display, &surface, &fb_w, &fb_h);
-    assert(fb);
-
-    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
-    assert(vg);
-    font = nvgCreateFontMem(vg, "courbd", (unsigned char*)bin_courbd, (bin_courbd_end - bin_courbd), 0);
-    assert(font >= 0);
-
-    b_w = 600;
-    balt_x = 200;
-    b_x = fb_w-b_w-200;
-    b_y = 700;
-    b_h = 250;
-
-    state = CONFIRMATION;
-
-  }
-
-  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
-                             curl_off_t ultotal, curl_off_t ulnow) {
-    {
-      std::lock_guard<std::mutex> guard(lock);
-      if (dltotal != 0) {
-        progress_frac = (float) dlno / dltotal;
-      }
-    }
-    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
-    return 0;
-  }
-
-  bool download_file(std::string url, std::string out_fn) {
-    FILE *of = fopen(out_fn.c_str(), "ab");
-    assert(of);
-
-    CURLcode res;
-    long last_resume_from = 0;
-
-    fseek(of, 0, SEEK_END);
-
-    int tries = 4;
-
-    bool ret = false;
-
-    while (true) {
-      long resume_from = ftell(of);
-
-      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
-      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
-
-      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
-      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
-
-      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
-
-      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
-      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
-
-      CURLcode res = curl_easy_perform(curl);
-
-      long response_code = 0;
-      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
-
-      // double content_length = 0.0;
-      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-
-      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
-      if (res == CURLE_OK) {
-        ret = true;
-        break;
-      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
-        // failed because the file is already complete?
-        ret = true;
-        break;
-      } else if (resume_from == last_resume_from) {
-        // failed and dind't make make forward progress. only retry a couple times
-        tries--;
-        if (tries <= 0) {
-          break;
-        }
-      }
-      last_resume_from = resume_from;
-    }
-    // printf("res %d\n", res);
-
-    // printf("- %ld %f\n", response_code, content_length);
-
-    fclose(of);
-
-    return ret;
-  }
-
-  void set_progress(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    progress_text = text;
-  }
-
-  void set_error(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    error_text = text;
-    state = ERROR;
-  }
-
-  std::string stage_download(std::string url, std::string hash, std::string name) {
-    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
-
-    set_progress("downloading " + name + "...");
-    bool r = download_file(url, out_fn);
-    if (!r) {
-      set_error("failed to download " + name);
-      return "";
-    }
-
-    set_progress("verifying " + name + "...");
-    std::string fn_hash = sha256_file(out_fn);
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
-    if (fn_hash != hash) {
-      set_error(name + " was corrupt");
-      unlink(out_fn.c_str());
-      return "";
-    }
-
-    return out_fn;
-  }
-
-  void run_stages() {
-    curl = curl_easy_init();
-    assert(curl);
-
-    if (!check_battery()) {
-      set_error("Please plug power in to your EON and wait for charge");
-      return;
-    }
-
-    if (!check_space()) {
-      set_error("2GB of free space required to update");
-      return;
-    }
-
-    mkdir(UPDATE_DIR, 0777);
-
-    const int EON = (access("/EON", F_OK) != -1);
-
-    set_progress("finding latest version...");
-    std::string manifest_s;
-    if (EON) {
-      manifest_s = download_string(curl, manifest_url);
-    } else {
-      // don't update NEO
-      exit(0);
-    }
-
-    printf("manifest: %s\n", manifest_s.c_str());
-
-    std::string err;
-    auto manifest = json11::Json::parse(manifest_s, err);
-    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
-      return;
-    }
-
-    std::string ota_url = manifest["ota_url"].string_value();
-    std::string ota_hash = manifest["ota_hash"].string_value();
-
-    std::string recovery_url = manifest["recovery_url"].string_value();
-    std::string recovery_hash = manifest["recovery_hash"].string_value();
-    int recovery_len = manifest["recovery_len"].int_value();
-
-    // std::string installer_url = manifest["installer_url"].string_value();
-    // std::string installer_hash = manifest["installer_hash"].string_value();
-
-    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
-      return;
-    }
-
-    // std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
-    // if (installer_fn.empty()) {
-    //   //error'd
-    //   return;
-    // }
-
-    std::string recovery_fn;
-    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("skipping recovery flash...");
-    } else {
-      // only download the recovery if it differs from what's flashed
-      set_progress("checking recovery...");
-      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
-
-      if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
-        if (recovery_fn.empty()) {
-          // error'd
-          return;
-        }
-      }
-    }
-
-    std::string ota_fn = stage_download(ota_url, ota_hash, "update");
-    if (ota_fn.empty()) {
-      //error'd
-      return;
-    }
-
-    if (!check_battery()) {
-      set_error("must have at least 35% battery to update");
-      return;
-    }
-
-    if (!recovery_fn.empty()) {
-      // flash recovery
-      set_progress("flashing recovery...");
-
-      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
-      if (!flash_file) {
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
-      if (!recovery_dev) {
-        fclose(flash_file);
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      const size_t buf_size = 4096;
-      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-      while (true) {
-        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
-        if (!bytes_read) break;
-
-        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
-        if (bytes_read != bytes_written) {
-          fclose(recovery_dev);
-          fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
-          return;
-        }
-      }
-
-      fclose(recovery_dev);
-      fclose(flash_file);
-
-      set_progress("verifying flash...");
-      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
-
-      if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
-        return;
-      }
-
-    }
-
-    // write arguments to recovery
-    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
-    if (!cmd_file) {
-      set_error("failed to reboot into recovery");
-      return;
-    }
-    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
-    fclose(cmd_file);
-
-    set_progress("rebooting");
-
-    // remove the continue.sh so we come back into the setup.
-    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
-    //unlink("/data/data/com.termux/files/continue.sh");
-
-    // TODO: this should be generic between android versions
-    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
-    system("service call power 16 i32 0 s16 recovery i32 1");
-    while(1) pause();
-
-    // execl("/system/bin/reboot", "recovery");
-    // set_error("failed to reboot into recovery");
-  }
-
-  void draw_ack_screen(const char *message, const char *button, const char *altbutton) {
-    nvgFontSize(vg, 96.0f);
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
-    nvgTextBox(vg, 50, 100, fb_w-100, message, NULL);
-
-    // draw button
-    if (button) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-
-    // draw button
-    if (altbutton) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-  }
-
-  void draw_progress_screen() {
-    // draw progress message
-    nvgFontSize(vg, 64.0f);
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-    nvgTextBox(vg, 0, 700, fb_w, progress_text.c_str(), NULL);
-
-    // draw progress bar
-    {
-      int progress_width = 800;
-      int progress_x = fb_w/2-progress_width/2;
-      int progress_y = 768;
-      int progress_height = 15;
-
-      int powerprompt_y = 512;
-      nvgText(vg, fb_w/2, powerprompt_y, "Ensure EON is connected to power", NULL);
-
-      NVGpaint paint = nvgBoxGradient(
-          vg, progress_x + 1, progress_y + 1,
-          progress_width - 2, progress_height, 3, 4, nvgRGB(0, 32, 0), nvgRGB(0, 92, 0));
-      nvgBeginPath(vg);
-      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 3);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-
-      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
-      int bar_pos = ((progress_width - 2) * value);
-
-      paint = nvgBoxGradient(
-          vg, progress_x, progress_y,
-          bar_pos+1.5f, progress_height-1, 3, 4,
-          nvgRGB(220, 100, 0), nvgRGB(128, 100, 0));
-
-      nvgBeginPath(vg);
-      nvgRoundedRect(
-          vg, progress_x+1, progress_y+1,
-          bar_pos, progress_height-2, 3);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-    }
-  }
-
-  void ui_draw() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
-
-    switch (state) {
-    case CONFIRMATION:
-      draw_ack_screen("An upgrade to NEOS is required.\n\n"
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB\nData on device shouldn't be lost.",
-                      "continue",
-                      "wifi");
-      break;
-    case RUNNING:
-      draw_progress_screen();
-      break;
-    case ERROR:
-      draw_ack_screen(("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
-      break;
-    }
-
-    nvgEndFrame(vg);
-  }
-
-  void ui_update() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    switch (state) {
-    case ERROR:
-    case CONFIRMATION: {
-      int touch_x = -1, touch_y = -1;
-      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
-      if (res == 1 && !is_settings_active()) {
-        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            state = RUNNING;
-            update_thread_handle = std::thread(&Updater::run_stages, this);
-          }
-        }
-        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            start_settings_activity("Settings$WifiSettingsActivity");
-          } else if (state == ERROR) {
-            do_exit = 1;
-          }
-        }
-      }
-    }
-    default:
-      break;
-    }
-  }
-
-
-  void go() {
-    while (!do_exit) {
-      ui_update();
-
-      glClearColor(0.19, 0.09, 0.2, 1.0);
-      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-      glEnable(GL_BLEND);
-      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-
-      ui_draw();
-
-      glDisable(GL_BLEND);
-
-      eglSwapBuffers(display, surface);
-      assert(glGetError() == GL_NO_ERROR);
-
-      // no simple way to do 30fps vsync with surfaceflinger...
-      usleep(30000);
-    }
-
-    if (update_thread_handle.joinable()) {
-      update_thread_handle.join();
-    }
-
-    system("service call power 16 i32 0 i32 0 i32 1");
-  }
-
-  bool is_settings_active() {
-    FILE *fp;
-    char sys_output[4096];
-
-    fp = popen("/bin/dumpsys window windows", "r");
-    if (fp == NULL) {
-      return false;
-    }
-
-    bool active = false;
-    while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
-      if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
-        break;
-      }
-
-      if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
-        active = true;
-        break;
-      }
-    }
-
-    pclose(fp);
-
-    return active;
-  }
-
-};
-
-}
-int main(int argc, char *argv[]) {
-  if (argc > 1) {
-    if (strcmp(argv[1], "local") == 0) {
-      manifest_url = MANIFEST_URL_EON_LOCAL;
-    } else if (strcmp(argv[1], "staging") == 0) {
-      manifest_url = MANIFEST_URL_EON_STAGING;
-    } else {
-      manifest_url = argv[1];
-    }
-  }
-  printf("updating from %s\n", manifest_url);
-  Updater updater;
-  updater.go();
-
-  return 0;
-}
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -1,29 +1,16 @@
 #!/usr/bin/bash

-export OMP_NUM_THREADS=1
-export MKL_NUM_THREADS=1
-export NUMEXPR_NUM_THREADS=1
-export OPENBLAS_NUM_THREADS=1
-export VECLIB_MAXIMUM_THREADS=1
-
 if [ -z "$PASSIVE" ]; then
  export PASSIVE="1"
 fi

 function launch {
  # apply update
-#  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-#    git reset --hard @{u} &&
-#    git clean -xdf &&
-#
-#    # Touch all files on release2 after checkout to prevent rebuild
-#    BRANCH=$(git rev-parse --abbrev-ref HEAD)
-#    if [[ "$BRANCH" == "release2" ]]; then
-#        touch **
-#    fi
-#
-#    exec "${BASH_SOURCE[0]}"
-#  fi
+  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+     git reset --hard @{u} &&
+     git clean -xdf &&
+     exec "${BASH_SOURCE[0]}"
+  fi

  # no cpu rationing for now
  echo 0-3 > /dev/cpuset/background/cpus
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,6 +1,5 @@
 #!/usr/bin/bash

-/usr/bin/sh /data/openpilot/dragonpilot/chinese-fonts/installer.sh &
 export PASSIVE="0"
 exec ./launch_chffrplus.sh

--- a/models/driving_model.dlc
+++ b/models/driving_model.dlc
--- a/models/monitoring_model.dlc
+++ b/models/monitoring_model.dlc
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -164,15 +164,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -164,15 +164,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
--- a/opendbc/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc
@@ -262,7 +262,7 @@ BO_ 300 NEW_MSG_12C: 8 XXX

 BO_ 308 ACCEL_GAS_134: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX
+ SG_ ACCEL_134 : 43|4@0+ (1,0) [0|15] "" XXX

 BO_ 532 ENERGY_RELATED_214: 8 XXX
 SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
@@ -413,7 +413,6 @@ CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 415
 CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
 CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
 CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
-CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal";
 CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
 CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
 CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense";
--- a/opendbc/generator/honda/_bosch_2018.dbc
+++ b/opendbc/generator/honda/_bosch_2018.dbc
@@ -196,8 +196,7 @@ 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_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -261,4 +260,4 @@ 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

-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_ 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" ;
--- a/opendbc/generator/honda/_honda_2017.dbc
+++ b/opendbc/generator/honda/_honda_2017.dbc
@@ -142,15 +142,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
--- a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
+++ b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
@@ -50,8 +50,8 @@ BO_ 450 EPB_STATUS: 8 EPB
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

-BO_ 493 HUD_SETTING: 5 XXX
- SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
+BO_ 493 HUD_SETTING: 8 XXX
+ SG_ SPEED_UNIT : 5|1@0+ (1,0) [0|1] "" EON

 BO_ 487 BRAKE_PRESSURE: 4 VSA
 SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
@@ -128,6 +128,7 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 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_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 493 SPEED_UNIT 1 "mph" 0 "kph" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
--- a/opendbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -91,7 +91,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/generator/toyota/lexus_rx_350_2016_pt.dbc
+++ b/opendbc/generator/toyota/lexus_rx_350_2016_pt.dbc
@@ -1,37 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_PEDAL : 55|8@0+ (1,0) [0|255] "" 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";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled" ;
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby" ;
-VAL_ 956 SPORT_ON 0 "off" 1 "on" ;
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P" ;
-VAL_ 956 ECON_ON 0 "off" 1 "on" ;
--- a/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
@@ -16,7 +16,7 @@ BO_ 581 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
--- a/opendbc/generator/toyota/toyota_chr_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_chr_2018_pt.dbc
@@ -1,17 +1,6 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"

-BO_ 401 STEERING_LTA: 8 XXX
- SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
- SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
-
 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
@@ -26,7 +15,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
- SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/generator/toyota/toyota_chr_hybrid_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_chr_hybrid_2018_pt.dbc
@@ -20,7 +20,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
- SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -200,8 +200,7 @@ 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_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -266,7 +265,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

 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"


--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -200,8 +200,7 @@ 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_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -266,7 +265,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

 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"


--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -200,8 +200,7 @@ 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_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -266,7 +265,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

 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"


--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -164,15 +164,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
@@ -289,8 +288,8 @@ BO_ 450 EPB_STATUS: 8 EPB
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

-BO_ 493 HUD_SETTING: 5 XXX
- SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
+BO_ 493 HUD_SETTING: 8 XXX
+ SG_ SPEED_UNIT : 5|1@0+ (1,0) [0|1] "" EON

 BO_ 487 BRAKE_PRESSURE: 4 VSA
 SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
@@ -367,6 +366,7 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 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_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 493 SPEED_UNIT 1 "mph" 0 "kph" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -200,8 +200,7 @@ 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_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -266,7 +265,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

 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"


--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -200,8 +200,7 @@ 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_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -266,7 +265,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

 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"


--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -164,15 +164,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -164,15 +164,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
--- a/opendbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -200,8 +200,7 @@ 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_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -266,7 +265,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

 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"


--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -164,15 +164,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
--- a/opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
+++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
@@ -150,15 +150,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -164,15 +164,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -164,15 +164,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03 : 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_X03_2 : 55|2@0+ (1,0) [0|3] "" 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
--- a/opendbc/hyundai_kia_generic.dbc
+++ b/opendbc/hyundai_kia_generic.dbc
@@ -961,7 +961,7 @@ BO_ 64 DATC14: 8 DATC
 SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU

 BO_ 832 LKAS11: 8 LDWS_LKAS
- SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
+ SG_ CF_Lkas_Icon : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
 SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX,PSB
 SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
 SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
--- a/opendbc/lexus_gs300h_2017_pt_generated.dbc
+++ b/opendbc/lexus_gs300h_2017_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -1,335 +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
-
-BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 166 BRAKE: 8 XXX
- SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 170 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
- SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
-
-BO_ 180 SPEED: 8 XXX
- SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
-
-BO_ 353 DSU_SPEED: 8 XXX
- SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
-BO_ 466 PCM_CRUISE: 8 XXX
- SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
- SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 552 ACCELEROMETER: 8 XXX
- SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
- SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
-
-BO_ 560 BRAKE_MODULE2: 7 XXX
- SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 614 STEERING_IPAS: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 643 PRE_COLLISION: 8 XXX
-
-BO_ 740 STEERING_LKA: 5 XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 742 LEAD_INFO: 8 DSU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
- SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
- SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
-
-BO_ 835 ACC_CONTROL: 8 DSU
- SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
- SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
- SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
- SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 921 PCM_CRUISE_SM: 8 XXX
- SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
- SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
- SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 951 ESP_CONTROL: 8 ESP
- SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1041 ACC_HUD: 8 DSU
- SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1042 LKAS_HUD: 8 XXX
- SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
- SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
- SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
-
-BO_ 1553 UI_SEETING: 8 XXX
- SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1568 SEATS_DOORS: 8 XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1570 LIGHT_STALK: 8 SCM
- SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1161 RSA1: 8 FCM
- SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
- SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1162 RSA2: 8 FCM
- SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
- SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1163 RSA3: 8 FCM
- SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
- SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
-
-CM_ SG_ 36 ACCEL_Y "unit is tbd";
-CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
-CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
-CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
-CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
-CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
-CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
-CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
-CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1163 TSREQPD "always 1";
-CM_ SG_ 1163 TSRMSW "always 1";
-CM_ SG_ 1163 OTSGNNTM "always 3";
-CM_ SG_ 1163 NTLVLSPD "always 3";
-CM_ SG_ 1163 OVSPNTM "always 3";
-CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
-CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
-CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
-CM_ SG_ 1163 TSRSPU "always 1";
-
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
-VAL_ 614 STATE 3 "enabled" 1 "disabled";
-VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
-VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
-VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
-VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
-VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
-VAL_ 1161 SPLSGN2 15 "conditional blank" 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_rx_350_2016_pt.dbc starts here"
-
-
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_PEDAL : 55|8@0+ (1,0) [0|255] "" 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";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled" ;
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby" ;
-VAL_ 956 SPORT_ON 0 "off" 1 "on" ;
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P" ;
-VAL_ 956 ECON_ON 0 "off" 1 "on" ;
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/nissan_2017.dbc
+++ b/opendbc/nissan_2017.dbc
@@ -1,184 +0,0 @@
-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
-
-
-BO_ 644 Speed_1: 8 XXX
- SG_ Speed_FR : 7|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_FL : 23|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_Vehicle : 39|16@0+ (0.0245,0) [0|65535] "" XXX
-
-BO_ 645 WheelspeedRear: 8 XXX
- SG_ RR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
- SG_ RL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
-
-BO_ 768 STEER_TORQUE: 8 XXX
- SG_ STEERING_TOURQUE : 0|7@1+ (1,0) [0|127] "" XXX
-
-BO_ 459 Maybe_RegenBraking: 8 XXX
-
-BO_ 372 Maybe_Gear_Selector: 8 XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 460 Maybe_Brake_Related: 8 XXX
-
-BO_ 2 SteeringWheel: 8 XXX
- SG_ Steering_RateChange : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ Always_07 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
-
-BO_ 384 Maybe_PowerInfo: 8 XXX
- SG_ Unknown_Timer_PowerInfo : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ EnginePower : 27|12@0- (1,0) [0|1] "" XXX
- SG_ RequestedAccel : 23|12@0- (1,0) [0|4294967295] "" XXX
-
-BO_ 1107 Lights: 8 XXX
- SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ _HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 666 WheelspeedFront: 8 XXX
- SG_ _FL_WHEELSPEED : 39|16@0+ (0.01014,0) [0|65535] "" XXX
- SG_ FR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
- SG_ FL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
-
-BO_ 398 NEW_MSG_2: 8 XXX
-
-BO_ 389 NEW_MSG_3: 8 XXX
- SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 22|6@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|127] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 30|8@0- (1,0) [0|255] "" XXX
-
-BO_ 397 NEW_MSG_4: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|31] "" XXX
-
-BO_ 658 NEW_MSG_5: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 855 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 773 NEW_MSG_7: 8 XXX
- SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 851 SPEED_RELATED: 8 XXX
- SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
-
-BO_ 386 Accelerator: 8 XXX
- SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
-
-BO_ 347 ACCELSOMETHING: 8 XXX
- SG_ PowerMaybe : 9|10@0+ (1,0) [0|1023] "" XXX
- SG_ ACCELERATOR2 : 6|11@0+ (1,-800) [0|65535] "" XXX
-
-BO_ 346 ANOTHER_ACCEL: 8 XXX
- SG_ ANOTHERACCEL : 23|10@0+ (1,0) [0|1023] "" XXX
- SG_ Reverse_ACCEL : 25|10@0+ (1,0) [0|1023] "" XXX
-
-BO_ 348 FULLRANGEACCEL: 8 XXX
- SG_ AccelFullRange : 47|10@0+ (1,0) [0|1023] "" XXX
- SG_ Accel : 26|11@0+ (1,0) [0|2047] "" XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 566 ANOTHERFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERFULLRANGEACCEL : 43|8@0+ (1,0) [0|1023] "" XXX
- SG_ RPMORTORQUE : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 523 Yetyetanotheraccel: 8 XXX
- SG_ ANOTHERREVERSEACCEL : 37|10@0+ (1,0) [0|1023] "" XXX
- SG_ yetyetanotheraccel : 31|10@0+ (1,0) [0|255] "" XXX
-
-BO_ 779 ANOTHERRRFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERRRFULLRANGEACCEL : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1108 Doors: 8 XXX
- SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
- SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 403 LKAS_OLD: 8 XXX
- SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ Angle_2 : 32|13@0+ (1,-4000) [0|63] "" XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ Angle_1 : 10|13@0+ (0.12,-480) [0|65535] "" XXX
- SG_ Steering_Torque : 7|13@0+ (-1,4000) [0|65535] "" XXX
- SG_ Torque_Command : 29|13@0+ (1,-4000) [0|255] "" XXX
-
-BO_ 412 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 361 LKAS: 8 XXX
- SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_X80 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ LKA_Active : 52|1@0+ (1,0) [0|15] "" XXX
- SG_ CRC : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ Des_Angle : 7|18@0+ (-0.01,1310) [0|255] "" XXX
-
-BO_ 438 ProPilot: 8 XXX
- SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 27|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|7] "" XXX
- SG_ Counter : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_3 : 32|2@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 7|12@0- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|12@0- (-1,0) [0|255] "" XXX
- SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
- SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ STEER_STATUS : 51|1@1+ (1,0) [0|3] "" XXX
- 
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
@@ -314,7 +314,7 @@ BO_ 581 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
--- a/opendbc/toyota_chr_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_2018_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
@@ -295,21 +295,10 @@ 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_ "toyota_nodsu_pt.dbc starts here"
+CM_ "toyota_chr_2018_pt.dbc starts here"



-BO_ 401 STEERING_LTA: 8 XXX
- SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
- SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
-
 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
@@ -324,7 +313,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
- SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
@@ -295,7 +295,7 @@ 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_ "toyota_nodsu_hybrid_pt.dbc starts here"
+CM_ "toyota_chr_hybrid_2018_pt.dbc starts here"



@@ -318,7 +318,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
- SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/toyota_prius_2017_adas.dbc
+++ b/opendbc/toyota_prius_2017_adas.dbc
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/toyota_rav4_2019_adas.dbc
+++ b/opendbc/toyota_rav4_2019_adas.dbc
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -125,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 643 PRE_COLLISION: 8 XXX
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
--- a/panda/.circleci/config.yml
+++ b/panda/.circleci/config.yml
@@ -12,27 +12,6 @@ jobs:
          name: Run safety test
          command: |
            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
-
-  misra-c2012:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t panda_misra -f tests/misra/Dockerfile ."
-      - run:
-          name: Run Misra C 2012 test
-          command: |
-            mkdir /tmp/misra
-            docker run -v /tmp/misra:/tmp/misra panda_misra /bin/bash -c "cd /panda/tests/misra; ./test_misra.sh"
-      - store_artifacts:
-          name: Store cppcheck test output
-          path: /tmp/misra/cppcheck_output.txt
-      - store_artifacts:
-          name: Store misra test output
-          path: /tmp/misra/misra_output.txt
-
  build:
    machine:
      docker_layer_caching: true
@@ -61,43 +40,18 @@ jobs:
          name: Build Pedal STM bootstub image
          command: |
            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/bootstub.bin"
+      - run:
+          name: Build NEO STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board; make clean; make -f Makefile.legacy obj/comma.bin"
      - run:
          name: Build ESP image
          command: |
            docker run panda_build /bin/bash -c "cd /panda/boardesp; make user1.bin"

-  safety_replay:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t panda_safety_replay -f tests/safety_replay/Dockerfile ."
-      - run:
-          name: Replay drives
-          command: |
-            docker run panda_safety_replay /bin/bash -c "cd /openpilot/panda/tests/safety_replay; PYTHONPATH=/openpilot ./test_safety_replay.py"
-
-  language_check:
-    machine:
-      docker_layer_caching: true
-    steps:
-      - checkout
-      - run:
-          name: Build image
-          command: "docker build -t language_check -f tests/language/Dockerfile ."
-      - run:
-          name: Check code for bad language
-          command: |
-            docker run language_check /bin/bash -c "cd /panda/tests/language; ./test_language.py"
-
 workflows:
  version: 2
  main:
    jobs:
      - safety
-      - misra-c2012
      - build
-      - safety_replay
-      - language_check
--- a/panda/.gitignore
+++ b/panda/.gitignore
@@ -10,6 +10,5 @@ a.out
 dist/
 pandacan.egg-info/
 board/obj/
-examples/output.csv
-.DS_Store
-nosetests.xml
+examples/output.csv
+.DS_Store
--- a/panda/Dockerfile
+++ b/panda/Dockerfile
@@ -59,4 +59,6 @@ USER pandauser
 RUN cd /tmp/panda/boardesp && ./get_sdk_ci.sh
 USER root

+COPY ./xx/pandaextra /tmp/pandaextra
+
 ADD ./panda.tar.gz /tmp/panda
--- a/panda/Jenkinsfile
+++ b/panda/Jenkinsfile
@@ -14,60 +14,42 @@ pipeline {
      steps {
        timeout(time: 60, unit: 'MINUTES') {
          script {
+            sh 'git clone --no-checkout --depth 1 git@github.com:commaai/xx.git || true'
+            sh 'cd xx && git fetch origin && git checkout origin/master -- pandaextra && cd ..' // Needed for certs for panda flashing
            sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
            dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
          }
        }
      }
    }
-    stage('Test Dev Build (no WIFI)') {
+    stage('Test Dev Build') {
      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
+        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
          timeout(time: 60, unit: 'MINUTES') {
-            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; SKIPWIFI=1 ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev_nowifi.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
-            }
+            sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh '"
          }
        }
      }
    }
    stage('Test EON Build') {
      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
+        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
          timeout(time: 60, unit: 'MINUTES') {
-            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'touch /EON; cd /tmp/panda; ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_eon.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
-            }
-          }
-        }
-      }
-    }
-    stage('Test Dev Build (WIFI)') {
-      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
-            }
+            sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
+            sh "touch EON && docker cp EON ${env.DOCKER_NAME}:/EON"
+            sh "docker start -a ${env.DOCKER_NAME}"
          }
        }
      }
    }
  }
  post {
-    failure {
-      script {
-        sh "docker rm ${env.DOCKER_NAME} || true"
-      }
-    }
    always {
+      script {
+        sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_EON.xml"
+        sh "docker rm ${env.DOCKER_NAME}"
+      }
      junit "test_results*.xml"
    }
  }
-}
+}
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.4.2
+v1.2.1
--- a/panda/board/Makefile
+++ b/panda/board/Makefile
@@ -1,5 +1,5 @@
 PROJ_NAME = panda
-CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
+CFLAGS = -g -Wall

 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
 CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
--- a/panda/board/Makefile.legacy
+++ b/panda/board/Makefile.legacy
@@ -0,0 +1,9 @@
+# :set noet
+PROJ_NAME = comma
+CFLAGS  = -g -Wall
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+STARTUP_FILE = startup_stm32f205xx
+
+include build.mk
--- a/panda/board/README.md
+++ b/panda/board/README.md
@@ -23,6 +23,12 @@ Programming
 make
 ```

+**NEO**
+
+```
+make -f Makefile.legacy
+```
+
 Troubleshooting
 ----

--- a/panda/board/board.h
+++ b/panda/board/board.h
@@ -1,61 +0,0 @@
-// ///////////////////////////////////////////////////////////// //
-// Hardware abstraction layer for all different supported boards //
-// ///////////////////////////////////////////////////////////// //
-#include "board_declarations.h"
-#include "boards/common.h"
-
-// ///// Board definition and detection ///// //
-#include "drivers/harness.h"
-#ifdef PANDA
-  #include "boards/white.h"
-  #include "boards/grey.h"
-  #include "boards/black.h"
-#else
-  #include "boards/pedal.h"
-#endif
-
-void detect_board_type(void) {
-  #ifdef PANDA
-    // SPI lines floating: white (TODO: is this reliable?)
-    if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
-      hw_type = HW_TYPE_WHITE_PANDA;
-      current_board = &board_white;
-    } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
-      hw_type = HW_TYPE_GREY_PANDA;
-      current_board = &board_grey;
-    } else {
-      hw_type = HW_TYPE_BLACK_PANDA;
-      current_board = &board_black;
-    }
-  #else
-    #ifdef PEDAL
-      hw_type = HW_TYPE_PEDAL;
-      current_board = &board_pedal;
-    #else 
-      hw_type = HW_TYPE_UNKNOWN;
-      puts("Hardware type is UNKNOWN!\n");
-    #endif
-  #endif
-}
-
-
-// ///// Configuration detection ///// //
-bool has_external_debug_serial = 0;
-bool is_entering_bootmode = 0;
-
-void detect_configuration(void) {
-  // detect if external serial debugging is present
-  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);
-  #else
-    is_entering_bootmode = 0;
-  #endif
-}
-
-// ///// Board functions ///// //
-bool board_has_gps(void) {
-  return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA));
-}
--- a/panda/board/board_declarations.h
+++ b/panda/board/board_declarations.h
@@ -1,57 +0,0 @@
-// ******************** Prototypes ********************
-typedef void (*board_init)(void);
-typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
-typedef void (*board_enable_can_transcievers)(bool enabled);
-typedef void (*board_set_led)(uint8_t color, bool enabled);
-typedef void (*board_set_usb_power_mode)(uint8_t mode);
-typedef void (*board_set_esp_gps_mode)(uint8_t mode);
-typedef void (*board_set_can_mode)(uint8_t mode);
-typedef void (*board_usb_power_mode_tick)(uint64_t tcnt);
-typedef bool (*board_check_ignition)(void);
-
-struct board {
-  const char *board_type;
-  const harness_configuration *harness_config;
-  board_init init;
-  board_enable_can_transciever enable_can_transciever;
-  board_enable_can_transcievers enable_can_transcievers;
-  board_set_led set_led;
-  board_set_usb_power_mode set_usb_power_mode;
-  board_set_esp_gps_mode set_esp_gps_mode;
-  board_set_can_mode set_can_mode;
-  board_usb_power_mode_tick usb_power_mode_tick;
-  board_check_ignition check_ignition;
-};
-
-// ******************* Definitions ********************
-// These should match the enum in cereal/log.capnp
-#define HW_TYPE_UNKNOWN 0U
-#define HW_TYPE_WHITE_PANDA 1U
-#define HW_TYPE_GREY_PANDA 2U
-#define HW_TYPE_BLACK_PANDA 3U
-#define HW_TYPE_PEDAL 4U
-
-// LED colors
-#define LED_RED 0U
-#define LED_GREEN 1U
-#define LED_BLUE 2U
-
-// USB power modes
-#define USB_POWER_NONE 0U
-#define USB_POWER_CLIENT 1U
-#define USB_POWER_CDP 2U
-#define USB_POWER_DCP 3U
-
-// ESP modes
-#define ESP_GPS_DISABLED 0U
-#define ESP_GPS_ENABLED 1U
-#define ESP_GPS_BOOTMODE 2U
-
-// CAN modes
-#define CAN_MODE_NORMAL 0U
-#define CAN_MODE_GMLAN_CAN2 1U
-#define CAN_MODE_GMLAN_CAN3 2U
-#define CAN_MODE_OBD_CAN2 3U
-
-// ********************* Globals **********************
-uint8_t usb_power_mode = USB_POWER_NONE;
--- a/panda/board/boards/black.h
+++ b/panda/board/boards/black.h
@@ -1,188 +0,0 @@
-// ///////////////////// //
-// Black Panda + Harness //
-// ///////////////////// //
-
-void black_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
-    case 1U:
-      set_gpio_output(GPIOC, 1, !enabled);
-      break;
-    case 2U:
-      set_gpio_output(GPIOC, 13, !enabled);
-      break;
-    case 3U:
-      set_gpio_output(GPIOA, 0, !enabled);
-      break;
-    case 4U:
-      set_gpio_output(GPIOB, 10, !enabled);
-      break;
-    default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
-      break;
-  }
-}
-
-void black_enable_can_transcievers(bool enabled) {
-  for(uint8_t i=1; i<=4U; i++)
-    black_enable_can_transciever(i, enabled);
-}
-
-void black_set_led(uint8_t color, bool enabled) {
-  switch (color){
-    case LED_RED:
-      set_gpio_output(GPIOC, 9, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOC, 7, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOC, 6, !enabled);
-      break;  
-    default:
-      break;
-  }
-}
-
-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");
-}
-
-void black_set_esp_gps_mode(uint8_t mode) {
-  switch (mode) {
-    case ESP_GPS_DISABLED:
-      // ESP OFF
-      set_gpio_output(GPIOC, 14, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case ESP_GPS_ENABLED:
-      // ESP ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-    case ESP_GPS_BOOTMODE:
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    default:
-      puts("Invalid ESP/GPS mode\n");
-      break;
-  }
-}
-
-void black_set_can_mode(uint8_t mode){
-  switch (mode) {
-    case CAN_MODE_NORMAL:
-    case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
-        // B12,B13: disable OBD mode
-        set_gpio_mode(GPIOB, 12, MODE_INPUT);
-        set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-        // B5,B6: normal CAN2 mode
-        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-      } else {
-        // B5,B6: disable normal CAN2 mode
-        set_gpio_mode(GPIOB, 5, MODE_INPUT);
-        set_gpio_mode(GPIOB, 6, MODE_INPUT);
-
-        // B12,B13: OBD mode
-        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
-        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-      }      
-      break;
-    default:
-      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
-      break;
-  }
-}
-
-void black_usb_power_mode_tick(uint64_t tcnt){
-  UNUSED(tcnt);
-  // Not applicable
-}
-
-bool black_check_ignition(void){
-  // ignition is checked through harness
-  return harness_check_ignition();
-}
-
-void black_init(void) {
-  common_init_gpio();
-
-  // A8,A15: normal CAN3 mode
-  set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-  set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
-
-  // C0: OBD_SBU1 (orientation detection)
-  // C3: OBD_SBU2 (orientation detection)
-  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
-
-  // C10: OBD_SBU1_RELAY (harness relay driving output)
-  // C11: OBD_SBU2_RELAY (harness relay driving output)
-  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
-  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
-  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output(GPIOC, 10, 1);
-  set_gpio_output(GPIOC, 11, 1);
-
-  // 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
-
-  // Initialize harness
-  harness_init();
-
-  // Enable CAN transcievers
-  black_enable_can_transcievers(true);
-
-  // Disable LEDs
-  black_set_led(LED_RED, false);
-  black_set_led(LED_GREEN, false);
-  black_set_led(LED_BLUE, false);
-
-  // Set normal CAN mode
-  black_set_can_mode(CAN_MODE_NORMAL);
-
-  // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_NORMAL) {
-    can_flip_buses(0, 2);
-  }
-
-  // init multiplexer
-  can_set_obd(car_harness_status, false);
-}
-
-const harness_configuration black_harness_config = {
-  .has_harness = true,
-  .GPIO_SBU1 = GPIOC,
-  .GPIO_SBU2 = GPIOC,
-  .GPIO_relay_normal = GPIOC,
-  .GPIO_relay_flipped = GPIOC,
-  .pin_SBU1 = 0,
-  .pin_SBU2 = 3,
-  .pin_relay_normal = 10,
-  .pin_relay_flipped = 11,
-  .adc_channel_SBU1 = 10,
-  .adc_channel_SBU2 = 13
-};
-
-const board board_black = {
-  .board_type = "Black",
-  .harness_config = &black_harness_config,
-  .init = black_init,
-  .enable_can_transciever = black_enable_can_transciever,
-  .enable_can_transcievers = black_enable_can_transcievers,
-  .set_led = black_set_led,
-  .set_usb_power_mode = black_set_usb_power_mode,
-  .set_esp_gps_mode = black_set_esp_gps_mode,
-  .set_can_mode = black_set_can_mode,
-  .usb_power_mode_tick = black_usb_power_mode_tick,
-  .check_ignition = black_check_ignition
-};
--- a/panda/board/boards/common.h
+++ b/panda/board/boards/common.h
@@ -1,82 +0,0 @@
-#ifdef STM32F4
-  #include "stm32f4xx_hal_gpio_ex.h"
-#else
-  #include "stm32f2xx_hal_gpio_ex.h"
-#endif
-
-// Common GPIO initialization
-void common_init_gpio(void){
-  // TODO: Is this block actually doing something???
-  // pull low to hold ESP in reset??
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOB->ODR = 0;
-  GPIOA->PUPDR = 0;
-  GPIOB->AFR[0] = 0;
-  GPIOB->AFR[1] = 0;
-
-  // C2: Voltage sense line
-  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
-
-  // A11,A12: USB
-  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
-  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
-  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
-
-  // A9,A10: USART 1 for talking to the ESP / GPS
-  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
-  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
-
-   // B8,B9: CAN 1
-  #ifdef STM32F4
-    set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
-    set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
-  #else
-    set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
-    set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
-  #endif
-}
-
-// Peripheral initialization
-void peripherals_init(void){
-  // enable GPIOB, UART2, CAN, USB clock
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
-
-  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
-  #ifdef PANDA
-    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
-  #ifdef CAN3
-    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
-  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
-  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
-  //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
-  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
-  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
-}
-
-// Detection with internal pullup
-#define PULL_EFFECTIVE_DELAY 10
-bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
-  set_gpio_mode(GPIO, pin, MODE_INPUT);
-  set_gpio_pullup(GPIO, pin, mode);
-  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
-  bool ret = get_gpio_input(GPIO, pin);
-  set_gpio_pullup(GPIO, pin, PULL_NONE);
-  return ret;
-}
--- a/panda/board/boards/grey.h
+++ b/panda/board/boards/grey.h
@@ -1,18 +0,0 @@
-// ////////// //
-// Grey Panda //
-// ////////// //
-
-// Most hardware functionality is similar to white panda
-const board board_grey = {
-  .board_type = "Grey",
-  .harness_config = &white_harness_config,
-  .init = white_init,
-  .enable_can_transciever = white_enable_can_transciever,
-  .enable_can_transcievers = white_enable_can_transcievers,
-  .set_led = white_set_led,
-  .set_usb_power_mode = white_set_usb_power_mode,
-  .set_esp_gps_mode = white_set_esp_gps_mode,
-  .set_can_mode = white_set_can_mode,
-  .usb_power_mode_tick = white_usb_power_mode_tick,
-  .check_ignition = white_check_ignition
-};
--- a/panda/board/boards/pedal.h
+++ b/panda/board/boards/pedal.h
@@ -1,96 +0,0 @@
-// ///// //
-// Pedal //
-// ///// //
-
-void pedal_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
-    case 1:
-      set_gpio_output(GPIOB, 3, !enabled);
-      break;
-    default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
-      break;
-  }
-}
-
-void pedal_enable_can_transcievers(bool enabled) {
-  pedal_enable_can_transciever(1U, enabled);
-}
-
-void pedal_set_led(uint8_t color, bool enabled) {
-  switch (color){
-    case LED_RED:
-      set_gpio_output(GPIOB, 10, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOB, 11, !enabled);
-      break;
-    default:
-      break;
-  }
-}
-
-void pedal_set_usb_power_mode(uint8_t mode){
-  usb_power_mode = mode;
-  puts("Trying to set USB power mode on pedal. This is not supported.\n");
-}
-
-void pedal_set_esp_gps_mode(uint8_t mode) {
-  UNUSED(mode);
-  puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
-}
-
-void pedal_set_can_mode(uint8_t mode){
-  switch (mode) {
-    case CAN_MODE_NORMAL:
-      break;
-    default:
-      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
-      break;
-  }
-}
-
-void pedal_usb_power_mode_tick(uint64_t tcnt){
-  UNUSED(tcnt);
-  // Not applicable
-}
-
-bool pedal_check_ignition(void){
-  // not supported on pedal
-  return false;
-}
-
-void pedal_init(void) {
-  common_init_gpio();
-
-  // C0, C1: Throttle inputs
-  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 1, MODE_ANALOG);
-  // DAC outputs on A4 and A5
-  //   apparently they don't need GPIO setup
-
-  // Enable transciever
-  pedal_enable_can_transcievers(true);
-
-  // Disable LEDs
-  pedal_set_led(LED_RED, false);
-  pedal_set_led(LED_GREEN, false);
-}
-
-const harness_configuration pedal_harness_config = {
-  .has_harness = false
-};
-
-const board board_pedal = {
-  .board_type = "Pedal",
-  .harness_config = &pedal_harness_config,
-  .init = pedal_init,
-  .enable_can_transciever = pedal_enable_can_transciever,
-  .enable_can_transcievers = pedal_enable_can_transcievers,
-  .set_led = pedal_set_led,
-  .set_usb_power_mode = pedal_set_usb_power_mode,
-  .set_esp_gps_mode = pedal_set_esp_gps_mode,
-  .set_can_mode = pedal_set_can_mode,
-  .usb_power_mode_tick = pedal_usb_power_mode_tick,
-  .check_ignition = pedal_check_ignition,
-};
--- a/panda/board/boards/white.h
+++ b/panda/board/boards/white.h
@@ -1,306 +0,0 @@
-// /////////// //
-// White Panda //
-// /////////// //
-
-void white_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
-    case 1U:
-      set_gpio_output(GPIOC, 1, !enabled);
-      break;
-    case 2U:
-      set_gpio_output(GPIOC, 13, !enabled);
-      break;
-    case 3U:
-      set_gpio_output(GPIOA, 0, !enabled);
-      break;
-    default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
-      break;
-  }
-}
-
-void white_enable_can_transcievers(bool enabled) {
-  for(uint8_t i=1; i<=3U; i++)
-    white_enable_can_transciever(i, enabled);
-}
-
-void white_set_led(uint8_t color, bool enabled) {
-  switch (color){
-    case LED_RED:
-      set_gpio_output(GPIOC, 9, !enabled);
-      break;
-     case LED_GREEN:
-      set_gpio_output(GPIOC, 7, !enabled);
-      break;
-    case LED_BLUE:
-      set_gpio_output(GPIOC, 6, !enabled);
-      break;  
-    default:
-      break;
-  }
-}
-
-void white_set_usb_power_mode(uint8_t mode){
-  bool valid_mode = true;
-  switch (mode) {
-    case USB_POWER_CLIENT:
-      // B2,A13: set client mode
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_CDP:
-      // B2,A13: set CDP mode
-      set_gpio_output(GPIOB, 2, 1);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_DCP:
-      // B2,A13: set DCP mode on the charger (breaks USB!)
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 0);
-      break;
-    default:
-      valid_mode = false;
-      puts("Invalid usb power mode\n");
-      break;
-  }
-
-  if (valid_mode) {
-    usb_power_mode = mode;
-  }
-}
-
-void white_set_esp_gps_mode(uint8_t mode) {
-  switch (mode) {
-    case ESP_GPS_DISABLED:
-      // ESP OFF
-      set_gpio_output(GPIOC, 14, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case ESP_GPS_ENABLED:
-      // ESP ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-    case ESP_GPS_BOOTMODE:
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    default:
-      puts("Invalid ESP/GPS mode\n");
-      break;
-  }
-}
-
-void white_set_can_mode(uint8_t mode){
-  switch (mode) {
-    case CAN_MODE_NORMAL:
-      // B12,B13: disable GMLAN mode
-      set_gpio_mode(GPIOB, 12, MODE_INPUT);
-      set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-      // B3,B4: disable GMLAN mode
-      set_gpio_mode(GPIOB, 3, MODE_INPUT);
-      set_gpio_mode(GPIOB, 4, MODE_INPUT);
-
-      // B5,B6: normal CAN2 mode
-      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-
-      // A8,A15: normal CAN3 mode
-      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
-      break;
-    case CAN_MODE_GMLAN_CAN2:
-      // B5,B6: disable CAN2 mode
-      set_gpio_mode(GPIOB, 5, MODE_INPUT);
-      set_gpio_mode(GPIOB, 6, MODE_INPUT);
-
-      // B3,B4: disable GMLAN mode
-      set_gpio_mode(GPIOB, 3, MODE_INPUT);
-      set_gpio_mode(GPIOB, 4, MODE_INPUT);
-
-      // B12,B13: GMLAN mode
-      set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-
-      // A8,A15: normal CAN3 mode
-      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);   
-      break;
-    case CAN_MODE_GMLAN_CAN3:
-      // A8,A15: disable CAN3 mode
-      set_gpio_mode(GPIOA, 8, MODE_INPUT);
-      set_gpio_mode(GPIOA, 15, MODE_INPUT);
-
-      // B12,B13: disable GMLAN mode
-      set_gpio_mode(GPIOB, 12, MODE_INPUT);
-      set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-      // B3,B4: GMLAN mode
-      set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
-
-      // B5,B6: normal CAN2 mode
-      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-      break;  
-    default:
-      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
-      break;
-  }
-}
-
-uint64_t marker = 0;
-void white_usb_power_mode_tick(uint64_t tcnt){
-  #ifndef BOOTSTUB
-  #define CURRENT_THRESHOLD 0xF00U
-  #define CLICKS 5U // 5 seconds to switch modes
-
-  uint32_t current = adc_get(ADCCHAN_CURRENT);
-
-  // ~0x9a = 500 ma
-  // puth(current); puts("\n");
-
-  switch (usb_power_mode) {
-    case USB_POWER_CLIENT:
-      if ((tcnt - marker) >= CLICKS) {
-        if (!is_enumerated) {
-          puts("USBP: didn't enumerate, switching to CDP mode\n");
-          // switch to CDP
-          white_set_usb_power_mode(USB_POWER_CDP);
-          marker = tcnt;
-        }
-      }
-      // keep resetting the timer if it's enumerated
-      if (is_enumerated) {
-        marker = tcnt;
-      }
-      break;
-    case USB_POWER_CDP:
-      // On the EON, if we get into CDP mode we stay here. No need to go to DCP.
-      #ifndef EON
-        // been CLICKS clicks since we switched to CDP
-        if ((tcnt-marker) >= CLICKS) {
-          // measure current draw, if positive and no enumeration, switch to DCP
-          if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
-            puts("USBP: no enumeration with current draw, switching to DCP mode\n");
-            white_set_usb_power_mode(USB_POWER_DCP);
-            marker = tcnt;
-          }
-        }
-        // keep resetting the timer if there's no current draw in CDP
-        if (current >= CURRENT_THRESHOLD) {
-          marker = tcnt;
-        }
-      #endif
-      break;
-    case USB_POWER_DCP:
-      // been at least CLICKS clicks since we switched to DCP
-      if ((tcnt-marker) >= CLICKS) {
-        // if no current draw, switch back to CDP
-        if (current >= CURRENT_THRESHOLD) {
-          puts("USBP: no current draw, switching back to CDP mode\n");
-          white_set_usb_power_mode(USB_POWER_CDP);
-          marker = tcnt;
-        }
-      }
-      // keep resetting the timer if there's current draw in DCP
-      if (current < CURRENT_THRESHOLD) {
-        marker = tcnt;
-      }
-      break;
-    default:
-      puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
-      break;
-  }
-  #else
-  UNUSED(tcnt);
-  #endif
-}
-
-bool white_check_ignition(void){
-  // ignition is on PA1
-  return !get_gpio_input(GPIOA, 1);
-}
-
-void white_init(void) {
-  common_init_gpio();
-
-  // C3: current sense
-  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
-
-  // A1: started_alt
-  set_gpio_pullup(GPIOA, 1, PULL_UP);
-
-  // A2, A3: USART 2 for debugging
-  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
-  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
-
-  // A4, A5, A6, A7: SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-
-  // Set USB power mode
-  white_set_usb_power_mode(USB_POWER_CLIENT);
-
-  // B12: GMLAN, ignition sense, pull up
-  set_gpio_pullup(GPIOB, 12, PULL_UP);
-
-  /* GMLAN mode pins:
-      M0(B15)  M1(B14)  mode
-      =======================
-      0        0        sleep
-      1        0        100kbit
-      0        1        high voltage wakeup
-      1        1        33kbit (normal)
-  */
-  set_gpio_output(GPIOB, 14, 1);
-  set_gpio_output(GPIOB, 15, 1);
-
-  // B7: K-line enable
-  set_gpio_output(GPIOB, 7, 1);
-
-  // C12, D2: Setup K-line (UART5)
-  set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
-  set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
-  set_gpio_pullup(GPIOD, 2, PULL_UP);
-
-  // L-line enable
-  set_gpio_output(GPIOA, 14, 1);
-
-  // C10, C11: L-Line setup (USART3)
-  set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
-  set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
-  set_gpio_pullup(GPIOC, 11, PULL_UP);
-
-  // Enable CAN transcievers
-  white_enable_can_transcievers(true);
-
-  // Disable LEDs
-  white_set_led(LED_RED, false);
-  white_set_led(LED_GREEN, false);
-  white_set_led(LED_BLUE, false);
-
-  // Set normal CAN mode
-  white_set_can_mode(CAN_MODE_NORMAL);
-}
-
-const harness_configuration white_harness_config = {
-  .has_harness = false
-};
-
-const board board_white = {
-  .board_type = "White",
-  .harness_config = &white_harness_config,
-  .init = white_init,
-  .enable_can_transciever = white_enable_can_transciever,
-  .enable_can_transcievers = white_enable_can_transcievers,
-  .set_led = white_set_led,
-  .set_usb_power_mode = white_set_usb_power_mode,
-  .set_esp_gps_mode = white_set_esp_gps_mode,
-  .set_can_mode = white_set_can_mode,
-  .usb_power_mode_tick = white_usb_power_mode_tick,
-  .check_ignition = white_check_ignition
-};
--- a/panda/board/bootstub.c
+++ b/panda/board/bootstub.c
@@ -12,35 +12,27 @@
  #include "stm32f2xx_hal_gpio_ex.h"
 #endif

-// ******************** Prototypes ********************
-void puts(const char *a){ UNUSED(a); }
-void puth(unsigned int i){ UNUSED(i); }
-void puth2(unsigned int i){ UNUSED(i); }
-typedef struct board board;
-typedef struct harness_configuration harness_configuration;
-// No CAN support on bootloader
-void can_flip_buses(uint8_t bus1, uint8_t bus2){UNUSED(bus1); UNUSED(bus2);}
-void can_set_obd(int harness_orientation, bool obd){UNUSED(harness_orientation); UNUSED(obd);}
-
-// ********************* Globals **********************
-int hw_type = 0;
-const board *current_board;
-
-// ********************* Includes *********************
 #include "libc.h"
 #include "provision.h"

-#include "drivers/clock.h"
+#include "drivers/drivers.h"
+
 #include "drivers/llgpio.h"
-
-#include "board.h"
-
 #include "gpio.h"

 #include "drivers/spi.h"
 #include "drivers/usb.h"
 //#include "drivers/uart.h"

+#ifdef PEDAL
+#define CUSTOM_CAN_INTERRUPTS
+#include "safety.h"
+#include "drivers/can.h"
+#endif
+
+int puts(const char *a) { return 0; }
+void puth(unsigned int i) {}
+
 #include "crypto/rsa.h"
 #include "crypto/sha.h"

@@ -48,11 +40,11 @@ const board *current_board;

 #include "spi_flasher.h"

-void __initialize_hardware_early(void) {
+void __initialize_hardware_early() {
  early();
 }

-void fail(void) {
+void fail() {
  soft_flasher_start();
 }

@@ -62,13 +54,14 @@ extern void *_app_start[];
 // FIXME: sometimes your panda will fail flashing and will quickly blink a single Green LED
 // BOUNTY: $200 coupon on shop.comma.ai or $100 check.

-int main(void) {
+int main() {
  __disable_irq();
  clock_init();
-  detect_configuration();
-  detect_board_type();
+  detect();

-  current_board->set_usb_power_mode(USB_POWER_CLIENT);
+  if (revision == PANDA_REV_C) {
+    set_usb_power_mode(USB_POWER_CLIENT);
+  }

  if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
    enter_bootloader_mode = 0;
@@ -101,7 +94,7 @@ fail:
  return 0;
 good:
  // jump to flash
-  ((void(*)(void)) _app_start[1])();
+  ((void(*)()) _app_start[1])();
  return 0;
 }

--- a/panda/board/build.mk
+++ b/panda/board/build.mk
@@ -2,15 +2,12 @@ CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os

 CFLAGS += -Tstm32_flash.ld

-DFU_UTIL = "dfu-util"
-
 # Compile fast charge (DCP) only not on EON
 ifeq (,$(wildcard /EON))
  BUILDER = DEV
 else
  CFLAGS += "-DEON"
  BUILDER = EON
-  DFU_UTIL = "tools/dfu-util-aarch64"
 endif

 CC = arm-none-eabi-gcc
@@ -25,6 +22,7 @@ else
  CFLAGS += "-DALLOW_DEBUG"
 endif

+DFU_UTIL = "dfu-util"

 DEPDIR = generated_dependencies
 $(shell mkdir -p -m 777 $(DEPDIR) >/dev/null)
@@ -68,7 +66,7 @@ obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
 	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
 	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
 	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; \
-	if [ $$BINSIZE -ge 49152 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
+	if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;

 obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
 	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Willem Melching	f6e8ef2754	Merge pull request #660 from commaai/devel Openpilot 0.5.12	2019-05-22 15:36:17 -07:00
Nigel Armstrong	d1866845df	Merge pull request #634 from commaai/devel 0.5.11 Release 0.5.11 Devel -> Release2	2019-05-09 16:45:28 -07:00
Nigel Armstrong	ff4c1557d8	Merge pull request #589 from commaai/devel 0.5.10 Devel -> Release2	2019-04-02 00:30:34 -07:00
Nigel Armstrong	ad145da3bc	Merge pull request #540 from commaai/devel 0.5.9 Release	2019-02-25 10:54:11 -08:00
rbiasini	2cee2e05ba	Merge pull request #519 from commaai/devel release 0.5.8	2019-01-31 17:01:04 -08:00
rbiasini	9ce3045f13	Merge pull request #470 from commaai/devel 0.5.7 release	2018-12-17 20:36:42 -07:00
rbiasini	9398a28be2	Merge pull request #448 from commaai/devel 0.5.6 release	2018-11-29 20:56:55 -08:00
rbiasini	9a42f2f1ad	Merge pull request #434 from commaai/devel calibration improvements and devel synch up	2018-11-13 18:50:56 -08:00
rbiasini	7c0202a101	Merge pull request #410 from commaai/devel Improve Toyota radar filtering (#409)	2018-10-26 20:37:50 -07:00
rbiasini	18801659c5	Merge pull request #405 from commaai/devel 0.5.5 release	2018-10-25 17:34:53 -07:00
Willem Melching	a488442402	Revert the changes to GM in 0.5.4 (#380 ) (#386 ) * Revert 0.5.4 changes for GM for 18ers * Redo the refactor of stock control msgs * Fixed missing CONTROL_MSGS -> STOCK_CONTROL_MSGS * Remove spacing * Need candidate array idx	2018-10-03 21:03:09 +02:00
rbiasini	ed6957540f	Merge pull request #379 from commaai/devel Release 0.5.4	2018-09-28 08:14:14 +02:00
rbiasini	999edf243e	Merge pull request #359 from commaai/devel 0.5.3	2018-09-11 07:15:58 +02:00
rbiasini	63adcfc28c	Merge pull request #329 from commaai/devel 0.5.2	2018-08-27 12:49:11 -07:00
Vehicle Researcher	8f22f52235	openpilot v0.5.1 release (#315 ) Merge commit '2cfdc676101c387524246f789c8429647069b827' into release2	2018-08-27 12:21:14 -07:00
George Hotz	0ea21f3545	Merge pull request #293 from commaai/devel 0.5.0 release	2018-07-13 22:37:09 -07:00
George Hotz	27c7425b94	Merge pull request #277 from commaai/devel openpilot 0.4.7.2	2018-06-28 11:22:35 -07:00
George Hotz	30b72e4be1	Merge pull request #267 from commaai/devel openpilot 0.4.7.1	2018-06-19 09:18:12 -07:00
George Hotz	afdda0e5fc	Merge pull request #256 from commaai/devel 0.4.6 Release	2018-05-30 11:19:03 -07:00
George Hotz	88d1dd2bad	Merge pull request #239 from commaai/devel openpilot 0.4.5.1 release	2018-05-01 18:13:46 -07:00
George Hotz	3e491431a3	Merge pull request #226 from commaai/revert-220-devel Revert "openpilot 0.4.3.1"	2018-03-26 15:18:53 -06:00
George Hotz	f550656ee8	Revert "openpilot 0.4.3.1 (#220 )" This reverts commit `640ab12c72`.	2018-03-26 14:13:40 -07:00
George Hotz	640ab12c72	openpilot 0.4.3.1 (#220 ) * Honda Pilot 2017 Port (#161) * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update interface.py * Update interface.py * Update README.md * Update README.md * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update hondacan.py * Update README.md * Update fingerprints.py * Update carstate.py * Update carstate.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update carstate.py * Update Pilot Fingerprint * Update fingerprints.py * Give pilot its own definition and not use ILX * add pilot argument * Add Pilot interface * Add pilot argument * Update interface.py * Parse Different gear on pilot * Add steer max * Fixed duplication of steer max value * Adjust PID's for steering * Update carcontroller.py * Change Steer Ratio and wheelbase * Update Steer fault values Steer fault value of 3, does not seem to effect anything * Update Kp,Ki Ratio * Update interface.py * Update readme for Pilot * add pilot * Update fingerprints.py * Update carstate.py * add signals * add signal * fix restricting video upload to wifi * Dibs on SAFETY_GM numerical value To match Panda repo. * Safety Reference for Honda Bosch * Update fingerprints.py (#210) Consolidated my fingerprint and removed duplicates and ordered the fingerprint for the RAV4H. Double Checked. * Interpolate ki/kp for steering PID loop (#200) * Interpolate ki/kp for steering PID loop Very much needed for the Volt port: car ping-pongs with low kp on high speeeds, and the loop is unstable with high kp on low speeds. Also, removes "number or array?" logic from PIController, now that all the callers use interpolation ofr ki/kp. * Pass speed to steering PID loop for ki/kp interpolation * Remove unused numbers import * Slight changes to UI and Fingerprint for Odyssey Elite (#196) * Adding back drive time to UI * Add fingerprint for Odyssey Elite * Removed extended fingerprint for Elite * Revert "Adding back drive time to UI" This reverts commit b9b02f7ff2511f28922f0bea47cd8c70bb9f4010. * Squashed 'panda/' changes from 98f29a4..67d5208 67d5208 fix signedness issue in toyota safety fe15d3f bump pandacan 11c2b08 add fault invalid 2c26e45 add sleep 27c7637 forgot the counter 3a6d7db don't hang bfa7d2e canloader works b259e2a can flasher is close to working 83f2edf isotp can support in softloader 7ae7c79 typo e85cc47 forgot the selfs 190b4f6 start work on canflasher 5c655c9 add recover support ae3457f usbflash is reliable f7a0ab0 pedal usbflash works 585d0f9 add way to call isotp be82899 despite it being bad code, move isotp 000715b start work on pedal canloader 626e312 pedal has a bootstub now 3662d1e redundant check 81e6b0d fix bug 083cd12 should have bounty to refactor that ish b65d30c bad asserts b2e6c3f isotp untested support for subaddr 30fd66a Merge pull request #93 from vntarasov/volt 06f5109 Merge pull request #94 from gregjhogan/can-printer-hex c7d098c Merge pull request #95 from gregjhogan/setup-script 22fe250 Merge pull request #99 from gregjhogan/bit-transition-example ba16ba3 Merge pull request #100 from gregjhogan/j2534-troubleshooting-instructions ad08ea4 Merge pull request #90 from gregjhogan/can-forwarding f3b6f5d added j2534 troubleshooting instructions 858d150 added script to find bits that transition from 0 to 1 c6acac8 added checking pedal interceptor message length f7226ff added brake safety checks d0c2634 added gas safety checks d378e4a removed bosch safety forwarding restriction on 29 bit addresses 5c7ef9e added bosch safety hooks and forwarding 90c64b6 add note 23de8d4 Merge pull request #97 from commaai/pedal_improvements 0261641 added missing python packages b92b235 fix bytearray encode issue 2434f1c Tweak Volt's brake pedal stickiness e2f73d2 enable has a whole byte to itself d5a9e1e correct checksum f8ed9fa better names 986a14c don't alias pointers 9b8472e add watchdog support 8f0add9 handle faults 1d917f8 split gas set into 2 values, and have a fault state 1b77026 j2534 isn't alpha anymore fbcc872 Merge pull request #92 from commaai/pedal 8a6f44b pedal is sending messages 08f464c python 3 bro is bad bro 9390961 kline checksum algo was broken... 3b7c33b add kline debug support aa622bc init values 631ea9f better refactor eb1fd75 add PEDAL adc sets ccaa310 don't build with usb 8d4d763 debug console works bd09883 comma pedal is building 75a29d5 Merge pull request #84 from gregjhogan/j2534-hds eece37d only the panda has gmlan 9f43abe Merge pull request #89 from vntarasov/volt 5364d43 Merge pull request #88 from vntarasov/smaller-firmware 377a1ec bump version for descriptor fix 4fabdf0 Merge pull request #87 from gregjhogan/usb-multi-packet-control 8580773 fix sending WinUSB Extended Properties Feature Descriptor 6908feb Chevy Volt safety 786a004 Enable optimization to reduce firmware size d70f43b hack to fix thinkpad 95ab1ae fixed flow control message padding bbd04d1 updated installer 62216d0 single standalone DLL for J2534 driver 5c9138d fixed 11 bit address issue f3b0ad2 fix LOOPBACK getting set when DATA_RATE is set b750d36 updated README a9a097f lowered CPU utilization 7c26a70 TIS needs unsupported protocols to return an error 42692b4 TIS doesn't like ChannelID being zero cf126bb SET_CONFIG return error for reserved parameters 2e99dbf fix HDS issues 8203cc8 add is_grey e946a54 add insecure_okay flag 4363b3e check webpage 4f59ded add secure mode note 6b11fb5 add autosecuring to tests b27d185 Merge pull request #86 from commaai/better_pairing 4b53b42 elm wifi isn't an automated test 99f85cb Merge pull request #85 from gregjhogan/usb-wcid 0d38060 auto-install WinUSB device driver c6653ca from python import 38cc0ee add wifi_secure_mode, boots in insecure mode git-subtree-dir: panda git-subtree-split: 67d52089a1300b86800d897f2b271e0a24cf6dd6 * Squashed 'opendbc/' changes from 81d9871..aa067f7 aa067f7 Chevy Volt tweaks (#83) a60c6c4 Toyota: change signal name in EPS_STATUS msg ce70b1a extra setme field toyota LKAS_HUD df2a552 toyota missing ACC_CONTROL checksum 48bb293 Revert "Toyota Prius: added a comma specific message to control the speed sent to the EPS" 5f42439 Toyota Prius: added a comma specific message to control the speed sent to the EPS 6f5e8b6 Pedal Interceptor: fault state VAL moved to _comma efd5f5c add setme to honda ACC_HUD 97fc335 add interceptor to civic 6f40f16 update generator script to allow for multiple imports 9ca956b add setme to toyota STEERING_IPAS e5afa57 run generator for ipas scaling 8bd1182 Toyota IPAS: proper steer angle unit f57511e acceleration pedal for gasPressed c8d1dbc high beams also. likely dashboard message. 9f1c78b high beams for genericToggle f037d42 turn signal lights (and thus hazard lights) b35bb08 turn signals 78986cf Revert "turn signals" ba946c9 turn signals 2af3ecc Speed, braking, and distance signals f40ab87 Set packet lengths, adding steering rate, adjusted speed cd59bfa units for speed_right c2fcce2 speed of right vs left side of car 4ef5fae value table for gear status 97c48e2 tighten up speed bits. brake pressue max comment. a0cbfd1 add gear status PRNDL 0c82865 initial signals for chrysler pacifica 2017 hybrid 5ed0540 add set me to toyota LKAS_HUD aecac5d add set me fields to toyota ACC_HUD 5417013 update toyota ACC_CONTROL fields e91e967 Comma Pedal: made GAS_COMMAND 6 bytes d04434a Comma Pedal: added state byte and enable bit c30b2cd Comma Pedal: sending 2 tracks on 0x200 8f72467 Volt doors and belts status (#70) 60f8b6c add set me to lkas hud honda 3c9e335 fix honda pcm gas message size 7ca471d Add 2018 Toyota CHR dbc (#78) 637fe00 set scaling to 1 for brake and gas which have no real unit 62a88d4 Volt: switch to parsing ACC buttons from powertrain CAN (#74) 3fdd47b Volt's gas pedal only and combined gas/acc (#76) 45ec9c9 Add 2017 Honda Ridgeline (#77) cbd186a Add 2018 Camry Hybrid DBC's (#73) 974eeaf Toyota: re-generated the files after cfbc9ae363f98ef 19ea195 Toyota: more vals for LKA_STATE cfbc9ae fixed inconsistent factor for speed in Honda dbc files e7db803 convert all line endings to unix style git-subtree-dir: opendbc git-subtree-split: aa067f7079aa12617f7a37d85233e51af44e1bb2 * openpilot v0.4.3 release * Squashed 'panda/' changes from 67d5208..3125232 3125232 bump version 703c0b4 Gas Interceptor: another fix to gas pressed logic 196d383 Interceptor: fixed gas pressed logic git-subtree-dir: panda git-subtree-split: 31252324d98e701c33cb6aeda20af6b549175764 * Squashed 'opendbc/' changes from aa067f7..91e882d 91e882d Updating bosch dbcs to use new format and bringing in new honda changes (#82) 9b32e2e Fix Checksum errors for CH-R (#86) git-subtree-dir: opendbc git-subtree-split: 91e882d4a04c129e12d39bcff0bbe56b75166e0f * openpilot v0.4.3 release * openpilot v0.4.3.1 release * fix bug in canpacker for Toyotas with DSU connected (#221) * update year on civic	2018-03-22 22:11:57 -07:00
George Hotz	affc00df1f	Merge pull request #188 from commaai/devel 0.4.2	2018-02-08 17:09:41 -08:00
ErichMoraga	e343c95720	Update fingerprints.py Taiwanese Prius Prime fingerprint was identical to the regular prime (107 msgs.), but should really have 110. I have the correct one in there now.	2018-02-05 14:11:35 -08:00
George Hotz	89605ed88a	Merge pull request #184 from commaai/devel openpilot v0.4.1 hotfix	2018-02-02 19:46:57 -08:00
George Hotz	10cb834c39	Merge pull request #183 from commaai/devel openpilot v0.4.1	2018-02-02 15:51:53 -08:00
George Hotz	675d9feb0b	Merge pull request #176 from commaai/devel openpilot v0.4.0.2	2018-01-22 09:55:06 -08:00
espes	c2e120c362	Merge pull request #165 from commaai/devel openpilot v0.4.0.1	2018-01-17 01:08:47 -08:00
George Hotz	5ae7119646	Merge pull request #154 from commaai/devel openpilot v0.3.9	2017-12-07 19:22:41 -08:00
espes	5864323c7d	Merge pull request #146 from commaai/devel openpilot v0.3.8.2	2017-11-04 05:32:49 -07:00
espes	577608be57	Merge pull request #137 from commaai/devel openpilot v0.3.7	2017-10-04 03:51:03 -07:00
espes	606c21bca4	Merge pull request #126 from commaai/devel openpilot v0.3.6.1	2017-08-17 08:59:30 +02:00
espes	cd25fac75d	Merge pull request #123 from commaai/devel openpilot v0.3.6	2017-08-11 09:00:23 +02:00
espes	b111277f46	Merge pull request #121 from commaai/devel openpilot v0.3.5 release	2017-07-31 09:02:27 +02:00
espes	0fba33b093	Merge pull request #120 from commaai/devel openpilot 0.3.4	2017-07-29 07:41:31 +02:00