Merge branch 'devel-en' into 0.6.5-en

Merge branch 'devel-unsupported-cars' into devel-en
add 2017 Lexus GS450H
2026-06-13 06:14:47 +08:00 · 2019-11-06 12:02:26 +10:00 · 2019-11-05 13:44:57 +10:00 · 2019-11-05 12:08:24 +10:00 · 2019-11-04 16:43:40 +10:00 · 2019-11-01 13:39:11 +10:00
407 changed files with 6277 additions and 3730 deletions
--- a/.github/ISSUE_TEMPLATE/bug_report.md
+++ b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -0,0 +1,25 @@
+---
+name: Bug report
+about: Create a report to help us improve openpilot
+title: ''
+labels: 'bug'
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**How to reproduce or log data**
+Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+** Device/Version information (please complete the following information):**
+ - Device: [e.g. EON/EON Gold]
+ - Version: [e.g. 0.6.4], or commit hash when on devel
+ - Car make/model [e.g. Toyota Prius 2016]
+
+**Additional context**
+Add any other context about the problem here.
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -0,0 +1,21 @@
+Choose one of the templates below:
+
+# Fingerprint
+This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
+
+This is an explorer link to a drive with the stock system enabled: ...
+
+# Car support
+This pull requests adds support for <Make - Model - Year - Trim>.
+
+This is an explorer link to a drive with the stock system enabled: ...
+This is an explorer link to a drive with openpilot system enabled: ...
+
+# Feature
+This pull requests adds feature X
+
+## Description
+Explain what the feature does
+
+## Testing
+Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
--- a/.gitignore
+++ b/.gitignore
@@ -4,6 +4,7 @@ venv/
 .ipynb_checkpoints
 .idea
 .sconsign.dblite
+.vscode
 model2.png
 a.out

@@ -30,7 +31,7 @@ selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
-selfdrive/test/tests/plant/out
+selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
 selfdrive/sensord/gpsd
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -6,43 +6,66 @@ RUN apt-get update && apt-get install -y \
    build-essential \
    bzip2 \
    clang \
+    cmake \
+    curl \
+    ffmpeg \
    git \
    libarchive-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavfilter-dev \
-    libavresample-dev \
-    libavutil-dev \
+    libbz2-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
    libffi-dev \
+    libglew-dev \
    libglib2.0-0 \
+    liblzma-dev \
+    libmysqlclient-dev \
+    libomp-dev \
+    libopencv-dev \
    libssl-dev \
-    libswscale-dev \
    libtool \
    libusb-1.0-0 \
    libzmq5-dev \
+    locales \
    ocl-icd-libopencl1 \
    ocl-icd-opencl-dev \
    opencl-headers \
-    pkg-config \
+    python-dev \
    python-pip \
+    screen \
+    sudo \
+    vim \
    wget

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

-RUN pip install --upgrade pip==18.0
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+
 RUN pip install pipenv==2018.11.26

 COPY Pipfile /tmp/
 COPY Pipfile.lock /tmp/
-RUN cd /tmp && pipenv install --deploy --system

-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+RUN python --version
+RUN cd /tmp && pipenv install --system --deploy

-RUN git clone --branch v0.6.2 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 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0
+# Install subset of dev dependencies needed for CI
+RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3

+COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
+RUN /tmp/install_capnp.sh
+
+RUN git clone --branch v0.6.5 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+
+ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
 COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal
--- a/59
+++ b/59
@@ -4,16 +4,16 @@ 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"
+opencv-python= "==3.4.2.17"
+PyQt5 = "*"
+ipython = "*"
+azure-common = "*"
+azure-nspkg = "*"
+azure-storage-blob = "*"
+azure-storage-common = "*"
+azure-storage-nspkg = "*"
 bincopy = "*"
-bleach = "==1.5.0"
+bleach = "*"
 boto = "*"
 "boto3" = "*"
 celery = "*"
@@ -23,7 +23,6 @@ decorator = "*"
 dlib = "*"
 dominate = "*"
 elasticsearch = "*"
-entium = "==0.1.4"
 fasteners = "*"
 future = "*"
 futures = "*"
@@ -32,32 +31,31 @@ pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory =
 gunicorn = "*"
 "h5py" = "*"
 hexdump = "*"
-"html5lib" = "==0.9999999"
+"html5lib" = "*"
 imageio = "*"
 intervaltree = "*"
-ipykernel = "<5.0"
+ipykernel = "*"
 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"
+numpy = "*"
+osmium = "*"
+pbr = "*"
 percache = "*"
 pprofile = "*"
 psutil = "*"
 pycurl = "*"
-git-pylint-commit-hook = "==2.5.1"
+git-pylint-commit-hook = "*"
 pymongo = "*"
 "pynmea2" = "*"
-pypolyline = "==0.1.17"
+pypolyline = "*"
 pysendfile = "*"
 python-logstash = "*"
 pyvcd = "*"
@@ -68,11 +66,9 @@ scikit-image = "*"
 "subprocess32" = "*"
 supervisor = "*"
 tenacity = "*"
-tensorflow-gpu = "==1.13.0rc0"
-"transforms3d" = "*"
+tensorflow-gpu = ""
 utm = "*"
 "v4l2" = "*"
-visdom = "*"
 PyJWT = "==1.4.1"
 PyMySQL = "==0.9.2"
 Theano = "*"
@@ -81,26 +77,28 @@ Werkzeug = "*"
 Flask-Cors = "*"
 Flask-SocketIO = "*"
 "GeoAlchemy2" = "*"
-Keras = ">=2.1.6"
-keras-maskrcnn = "*"
-keras-retinanet = "*"
 Pygments = "*"
 PyNaCl = "*"
 "PySDL2" = "*"
 reverse_geocoder = "*"
 Shapely = "*"
-SQLAlchemy = "==1.2.7"
+SQLAlchemy = "*"
 uWSGI = "*"
 scipy = "*"
-fastcluster = "==1.1.25"
+fastcluster = "*"
 backports-abc = "*"
 pygame = "*"
 simplejson = "*"
 python-logstash-async = "*"
-pandas = "*"
 seaborn = "*"
-tensorflow-estimator = "==1.10.12"
+tensorflow-estimator = "*"
 pyproj = "*"
+mock = "*"
+blinker = "*"
+gast = "==0.2.2"
+matplotlib = "*"
+dictdiffer = "*"
+aenum = "*"

 [packages]
 overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
@@ -126,7 +124,7 @@ tqdm = "*"
 Cython = "*"
 PyYAML = "*"
 websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
 urllib3 = "*"
 chardet = "*"
 idna = "*"
@@ -140,6 +138,7 @@ nose = "*"
 pyflakes = "*"
 pylint = "*"
 pycryptodome = "*"
+pillow = "*"

 [requires]
-python_version = "2.7"
+python_version = "3.7.3"
--- a/Pipfile.lock
+++ b/Pipfile.lock
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
 Welcome to openpilot
 ======

-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

 The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.

@@ -62,15 +62,15 @@ Supported Cars
 | ---------------------| ---------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
 | Acura                | ILX 2016-18                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
 | Acura                | RDX 2016-18                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Buick<sup>3</sup>    | Regal 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Malibu 2017                | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Volt 2017-18               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Cadillac<sup>3</sup> | ATS 2018                   | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Buick<sup>3</sup>    | Regal 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>6</sup>|
+| Chevrolet<sup>3</sup>| Malibu 2017                | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>6</sup>|
+| Chevrolet<sup>3</sup>| Volt 2017-18               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>6</sup>|
+| Cadillac<sup>3</sup> | ATS 2018                   | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>6</sup>|
 | Chrysler             | Pacifica 2017-18           | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Chrysler             | Pacifica Hybrid 2017-18    | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Chrysler             | Pacifica Hybrid 2019       | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
-| GMC<sup>3</sup>      | Acadia Denali 2018         | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Holden<sup>3</sup>   | Astra 2017                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| GMC<sup>3</sup>      | Acadia Denali 2018         | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>6</sup>|
+| Holden<sup>3</sup>   | Astra 2017                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>6</sup>|
 | Honda                | Accord 2018-19             | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
 | Honda                | Accord Hybrid 2018-19      | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
 | Honda                | Civic Sedan/Coupe 2016-18  | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
@@ -85,29 +85,32 @@ Supported Cars
 | Honda                | Pilot 2016-18              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | Pilot 2019                 | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Ridgeline 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Hyundai              | Santa Fe 2019              | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Hyundai              | Elantra 2017-19            | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Hyundai              | Genesis 2018               | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Santa Fe 2019              | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>5</sup>|
+| Hyundai              | Elantra 2017-19            | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>5</sup>|
+| Hyundai              | Genesis 2018               | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>5</sup>|
 | Jeep                 | Grand Cherokee 2016-18     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Jeep                 | Grand Cherokee 2019        | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
-| Kia                  | Optima 2019                | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Sorento 2018               | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Stinger 2018               | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Optima 2019                | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>5</sup>|
+| Kia                  | Sorento 2018               | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>5</sup>|
+| Kia                  | Stinger 2018               | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>5</sup>|
+| Lexus                | CT Hybrid 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Lexus                | ES 2019                    | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Lexus                | ES Hybrid 2019             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Lexus                | RX Hybrid 2016-19          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Lexus                | IS 2017-2019               | All                  | Yes     | Stock          | 22mph            | 0mph           | Toyota            |
 | Lexus                | IS Hybrid 2017             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Subaru               | Crosstrek 2018             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Subaru               | Impreza 2019               | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Subaru               | Crosstrek 2018-19          | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
+| Subaru               | Impreza 2019-20            | 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               | Camry Hybrid 2018-19       | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | Camry 2018-19              | All                  | Yes     | Stock          | 0mph<sup>4</sup> | 0mph           | Toyota            |
+| Toyota               | Camry Hybrid 2018-19       | All                  | Yes     | Stock          | 0mph<sup>4</sup> | 0mph           | Toyota            |
 | Toyota               | C-HR 2017-19               | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
 | Toyota               | C-HR Hybrid 2017-19        | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Corolla 2020               | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla Hatchback 2019     | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla Hybrid 2019        | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander 2017-19         | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander Hybrid 2017-19  | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2016                 | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
@@ -123,20 +126,19 @@ Supported Cars
 <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). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
 <sup>3</sup>[GM installation guide](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-<sup>4</sup>Subaru Giraffe is DIY. <br />
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
+<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>5</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>6</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />

 Community Maintained Cars
 ------

 | Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
 | ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Tesla                | Model S 2012-13          | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
+| Tesla                | Model S 2012-13          | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>7</sup>|

 [[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
-<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
+<sup>7</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />

 Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

@@ -144,7 +146,7 @@ In Progress Cars
 ------
 - All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
 - All Hyundai with SmartSense.
- All Kia with SCC and LKAS.
+- All Kia, Genesis with SCC and LKAS.
 - All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
 - All Subaru with EyeSight.

--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,17 @@
+Version 0.6.5 (2019-10-07)
+========================
+ * NEOS update: upgrade to Python3 and new installer!
+ * comma Harness support!
+ * New driving model: lateral control has lower reliance on lanelines
+ * New driver monitoring model: more accurate face and eye detection
+ * Redesign offroad screen to display updates and alerts
+ * Increase maximum allowed acceleration
+ * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
+ * Lexus CT Hybrid support thanks to thomaspich!
+ * Louder chime for critical alerts
+ * Add toggle to switch to dashcam mode
+ * Fix "invalid vehicle params" error on DSU-less Toyota
+
 Version 0.6.4 (2019-09-08)
 ========================
 * Forward stock AEB for Honda Nidec
--- 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/apk/com.autonavi.amapauto.apk
+++ b/apk/com.autonavi.amapauto.apk
--- a/apk/tw.com.ainvest.outpack.apk
+++ b/apk/tw.com.ainvest.outpack.apk
--- a/BIN
+++ b/BIN
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -82,8 +82,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preLaneChangeLeft @57;
    preLaneChangeRight @58;
    laneChange @59;
-    manualSteeringRequired @60;
-    manualSteeringRequiredBlinkersOn @61;
+    invalidGiraffeToyota @60;
+    internetConnectivityNeeded @61;
+    manualSteeringRequired @62;
+    manualSteeringRequiredBlinkersOn @63;
+    leadCarMoving @64;
  }
 }

@@ -135,6 +138,9 @@ struct CarState {
  seatbeltUnlatched @25 :Bool;
  canValid @26 :Bool;

+  # clutch (manual transmission only)
+  clutchPressed @28 :Bool;
+
  # which packets this state came from
  canMonoTimes @12: List(UInt64);

@@ -163,6 +169,8 @@ struct CarState {
    sport @5;
    low @6;
    brake @7;
+    eco @8;
+    manumatic @9;
  }


@@ -181,6 +189,9 @@ struct CarState {
      altButton1 @6;
      altButton2 @7;
      altButton3 @8;
+      setCruise @9;
+      resumeCruise @10;
+      gapAdjustCruise @11;
    }
  }
 }
@@ -273,6 +284,7 @@ struct CarControl {
      wrongGear @4;
      seatbeltUnbuckled @5;
      speedTooHigh @6;
+      ldw @7;
    }

    enum AudibleAlert {
@@ -350,6 +362,7 @@ struct CarParams {
  carVin @38 :Text; # VIN number queried during fingerprinting
  isPandaBlack @39: Bool;
  dashcamOnly @41: Bool;
+  transmissionType @43 :TransmissionType;

  struct LateralPIDTuning {
    kpBP @0 :List(Float32);
@@ -390,9 +403,7 @@ struct CarParams {
    l @7 :List(Float32);  # Kalman gain
  }

-
  enum SafetyModel {
-    # does NOT match board setting
    noOutput @0;
    honda @1;
    toyota @2;
@@ -406,10 +417,22 @@ struct CarParams {
    tesla @10;
    subaru @11;
    gmPassive @12;
+    mazda @13;
+    nissan @14;
+    volkswagen @15;
+    toyotaIpas @16;
+    allOutput @17;
+    gmAscm @18;
  }

  enum SteerControlType {
    torque @0;
    angle @1;
  }
+
+  enum TransmissionType {
+    unknown @0;
+    automatic @1;
+    manual @2;
+  }
 }
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -306,7 +306,9 @@ struct HealthData {
  canSendErrs @7 :UInt32;
  canFwdErrs @8 :UInt32;
  gmlanSendErrs @9 :UInt32;
-  hwType @10: HwType;
+  hwType @10 :HwType;
+  fanSpeedRpm @11 :UInt16;
+  usbPowerMode @12 :UsbPowerMode;

  enum HwType {
    unknown @0;
@@ -314,6 +316,14 @@ struct HealthData {
    greyPanda @2;
    blackPanda @3;
    pedal @4;
+    uno @5;
+  }
+
+  enum UsbPowerMode {
+    none @0;
+    client @1;
+    cdp @2;
+    dcp @3;
  }
 }

--- a/common/api/init.py
+++ b/common/api/init.py
@@ -4,7 +4,7 @@ from datetime import datetime, timedelta

 from selfdrive.version import version

-class Api(object):
+class Api():
  def __init__(self, dongle_id):
    self.dongle_id = dongle_id
    with open('/persist/comma/id_rsa') as f:
@@ -27,7 +27,7 @@ class Api(object):
      'iat': now,
      'exp': now + timedelta(hours=1)
    }
-    return jwt.encode(payload, self.private_key, algorithm='RS256')
+    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')

 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"
--- a/common/cython_hacks.py
+++ b/common/cython_hacks.py
@@ -0,0 +1,23 @@
+import os
+import sysconfig
+from Cython.Distutils import build_ext
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
--- a/common/dbc.py
+++ b/common/dbc.py
@@ -17,10 +17,10 @@ DBCSignal = namedtuple(
                "factor", "offset", "tmin", "tmax", "units"])


-class dbc(object):
+class dbc():
  def __init__(self, fn):
    self.name, _ = os.path.splitext(os.path.basename(fn))
-    with open(fn) as f:
+    with open(fn, encoding="ascii") as f:
      self.txt = f.readlines()
    self._warned_addresses = set()

@@ -41,7 +41,7 @@ class dbc(object):
    self.def_vals = defaultdict(list)

    # lookup to bit reverse each byte
-    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in range(64)]

    for l in self.txt:
      l = l.strip()
@@ -101,13 +101,8 @@ class dbc(object):
        defvals = defvals.replace("?",r"\?") #escape sequence in C++
        defvals = defvals.split('"')[:-1]

-        defs = defvals[1::2]
-        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
-        for i,d in enumerate(defs):
-          d = defs[i].strip().upper()
-          defs[i] = d.replace(" ","_")
-
-        defvals[1::2] = defs
+        # convert strings to UPPER_CASE_WITH_UNDERSCORES
+        defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
        defvals = '"'+"".join(str(i) for i in defvals)+'"'

        self.def_vals[ids].append((sgname, defvals))
@@ -152,22 +147,20 @@ class dbc(object):
      ival = dd.get(s.name)
      if ival is not None:

-        b2 = s.size
-        if s.is_little_endian:
-          b1 = s.start_bit
-        else:
-          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
-        bo = 64 - (b1 + s.size)
-
        ival = (ival / s.factor) - s.offset
        ival = int(round(ival))

        if s.is_signed and ival < 0:
-          ival = (1 << b2) + ival
+          ival = (1 << s.size) + ival

-        shift = b1 if s.is_little_endian else bo
-        mask = ((1 << b2) - 1) << shift
-        dat = (ival & ((1 << b2) - 1)) << shift
+        if s.is_little_endian:
+          shift = s.start_bit
+        else:
+          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
+          shift = 64 - (b1 + s.size)
+
+        mask = ((1 << s.size) - 1) << shift
+        dat = (ival & ((1 << s.size) - 1)) << shift

        if s.is_little_endian:
          mask = self.reverse_bytes(mask)
@@ -213,7 +206,7 @@ class dbc(object):
    if debug:
      print(name)

-    st = x[2].ljust(8, '\x00')
+    st = x[2].ljust(8, b'\x00')
    le, be = None, None

    for s in msg[1]:
@@ -227,30 +220,24 @@ class dbc(object):
      factor = s[5]
      offset = s[6]

-      b2 = signal_size
-      if little_endian:
-        b1 = start_bit
-      else:
-        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
-      bo = 64 - (b1 + signal_size)
-
      if little_endian:
        if le is None:
          le = struct.unpack("<Q", st)[0]
-        shift_amount = b1
        tmp = le
+        shift_amount = start_bit
      else:
        if be is None:
          be = struct.unpack(">Q", st)[0]
-        shift_amount = bo
        tmp = be
+        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
+        shift_amount = 64 - (b1 + signal_size)

      if shift_amount < 0:
        continue

-      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
-      if signed and (tmp >> (b2 - 1)):
-        tmp -= (1 << b2)
+      tmp = (tmp >> shift_amount) & ((1 << signal_size) - 1)
+      if signed and (tmp >> (signal_size - 1)):
+        tmp -= (1 << signal_size)

      tmp = tmp * factor + offset

--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@@ -9,7 +9,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
  if libraries is None:
    libraries = []

-  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
+  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
  try:
    os.mkdir(tmpdir)
  except OSError:
--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@@ -32,7 +32,7 @@ def get_tmpdir_on_same_filesystem(path):
    return "/{}/runner/tmp".format(parts[1])
  return "/tmp"

-class AutoMoveTempdir(object):
+class AutoMoveTempdir():
  def __init__(self, target_path, temp_dir=None):
    self._target_path = target_path
    self._path = tempfile.mkdtemp(dir=temp_dir)
@@ -52,7 +52,7 @@ class AutoMoveTempdir(object):
    else:
      shutil.rmtree(self._path)

-class NamedTemporaryDir(object):
+class NamedTemporaryDir():
  def __init__(self, temp_dir=None):
    self._path = tempfile.mkdtemp(dir=temp_dir)

--- 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
+	python3 simple_kalman_setup.py build_ext --inplace
 	rm -rf build
 	rm simple_kalman_impl.c

--- a/common/kalman/simple_kalman.py
+++ b/common/kalman/simple_kalman.py
@@ -5,6 +5,6 @@ import subprocess
 kalman_dir = os.path.dirname(os.path.abspath(__file__))
 subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)

-from simple_kalman_impl import KF1D as KF1D
+from .simple_kalman_impl import KF1D as KF1D
 # Silence pyflakes
 assert KF1D
--- a/common/kalman/simple_kalman_impl.pyx
+++ b/common/kalman/simple_kalman_impl.pyx
@@ -1,3 +1,4 @@
+# cython: language_level=3

 cdef class KF1D:
  def __init__(self, x0, A, C, K):
@@ -32,4 +33,4 @@ cdef class KF1D:
  @x.setter
  def x(self, x):
    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]
+    self.x1_0 = x[1][0]
--- a/common/kalman/simple_kalman_setup.py
+++ b/common/kalman/simple_kalman_setup.py
@@ -1,5 +1,9 @@
-from distutils.core import setup, Extension
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
 from Cython.Build import cythonize

+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
 setup(name='Simple Kalman Implementation',
-      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
--- a/common/numpy_fast.py
+++ b/common/numpy_fast.py
@@ -12,7 +12,10 @@ def interp(x, xp, fp):
      hi += 1
    low = hi - 1
    return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 else 
+      fp[0] if hi == 0 else
      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
  return [get_interp(v) for v in x] if hasattr(
    x, '__iter__') else get_interp(x)
+
+def mean(x):
+  return sum(x) / len(x)
--- a/common/params.py
+++ b/common/params.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 """ROS has a parameter server, we have files.

 The parameter store is a persistent key value store, implemented as a directory with a writer lock.
@@ -59,39 +59,45 @@ keys = {
  "ControlsParams": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
  "DongleId": [TxType.PERSISTENT],
-  "GithubSshKeys": [TxType.PERSISTENT],
  "GitBranch": [TxType.PERSISTENT],
  "GitCommit": [TxType.PERSISTENT],
  "GitRemote": [TxType.PERSISTENT],
+  "GithubSshKeys": [TxType.PERSISTENT],
  "HasAcceptedTerms": [TxType.PERSISTENT],
+  "HasCompletedSetup": [TxType.PERSISTENT],
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
  "IsRHD": [TxType.PERSISTENT],
  "IsUpdateAvailable": [TxType.PERSISTENT],
  "IsUploadRawEnabled": [TxType.PERSISTENT],
  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
+  "LastUpdateTime": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
  "LimitSetSpeedNeural": [TxType.PERSISTENT],
  "LiveParameters": [TxType.PERSISTENT],
  "LongitudinalControl": [TxType.PERSISTENT],
+  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
  "Passive": [TxType.PERSISTENT],
  "RecordFront": [TxType.PERSISTENT],
+  "ReleaseNotes": [TxType.PERSISTENT],
+  "SafetyModelLock": [TxType.PERSISTENT],
  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
  "SpeedLimitOffset": [TxType.PERSISTENT],
  "SubscriberInfo": [TxType.PERSISTENT],
  "TermsVersion": [TxType.PERSISTENT],
  "TrainingVersion": [TxType.PERSISTENT],
+  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
  "Version": [TxType.PERSISTENT],
+  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
  #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],
@@ -99,7 +105,6 @@ keys = {
  "DragonCachedFP": [TxType.PERSISTENT],
  "DragonCachedVIN": [TxType.PERSISTENT],
  "DragonAllowGas": [TxType.PERSISTENT],
-  "DragonBBUI": [TxType.PERSISTENT], # deprecated
  "DragonToyotaStockDSU": [TxType.PERSISTENT],
  "DragonLatCtrl": [TxType.PERSISTENT],
  "DragonUISpeed": [TxType.PERSISTENT],
@@ -114,6 +119,9 @@ keys = {
  "DragonEnableAutonavi": [TxType.PERSISTENT],
  "DragonBootAutonavi": [TxType.PERSISTENT],
  "DragonRunAutonavi": [TxType.PERSISTENT],
+  "DragonEnableAegis": [TxType.PERSISTENT],
+  "DragonBootAegis": [TxType.PERSISTENT],
+  "DragonRunAegis": [TxType.PERSISTENT],
  "DragonEnableMixplorer": [TxType.PERSISTENT],
  "DragonRunMixplorer": [TxType.PERSISTENT],
  "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
@@ -131,6 +139,11 @@ keys = {
  "DragonUIPath": [TxType.PERSISTENT],
  "DragonUIBlinker": [TxType.PERSISTENT],
  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
+  "DragonCarModel": [TxType.PERSISTENT],
+  "DragonCarVIN": [TxType.PERSISTENT],
+  "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
+  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
+  "DragonToyotaSnGMod": [TxType.PERSISTENT],
 }


@@ -142,7 +155,7 @@ def fsync_dir(path):
    os.close(fd)


-class FileLock(object):
+class FileLock():
  def __init__(self, path, create):
    self._path = path
    self._create = create
@@ -158,7 +171,7 @@ class FileLock(object):
      self._fd = None


-class DBAccessor(object):
+class DBAccessor():
  def __init__(self, path):
    self._path = path
    self._vals = None
@@ -328,6 +341,9 @@ def read_db(params_path, key):
    return None

 def write_db(params_path, key, value):
+  if isinstance(value, str):
+    value = value.encode('utf8')
+
  prev_umask = os.umask(0)
  lock = FileLock(params_path+"/.lock", True)
  lock.acquire()
@@ -346,7 +362,7 @@ def write_db(params_path, key, value):
    os.umask(prev_umask)
    lock.release()

-class Params(object):
+class Params():
  def __init__(self, db='/data/params'):
    self.db = db

@@ -377,7 +393,7 @@ class Params(object):
    with self.transaction(write=True) as txn:
      txn.delete(key)

-  def get(self, key, block=False):
+  def get(self, key, block=False, encoding=None):
    if key not in keys:
      raise UnknownKeyName(key)

@@ -387,9 +403,21 @@ class Params(object):
        break
      # is polling really the best we can do?
      time.sleep(0.05)
+
+    if ret is not None and encoding is not None:
+      ret = ret.decode(encoding)
+
    return ret

  def put(self, key, dat):
+    """
+    Warning: This function blocks until the param is written to disk!
+    In very rare cases this can take over a second, and your code will hang.
+
+    Use the put_nonblocking helper function in time sensitive code, but
+    in general try to avoid writing params as much as possible.
+    """
+
    if key not in keys:
      raise UnknownKeyName(key)

--- a/common/profiler.py
+++ b/common/profiler.py
@@ -1,6 +1,6 @@
 import time

-class Profiler(object):
+class Profiler():
  def __init__(self, enabled=False):
    self.enabled = enabled
    self.cp = {}
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -19,6 +19,7 @@ assert sec_since_boot
 DT_CTRL = 0.01  # controlsd
 DT_PLAN = 0.05  # mpc
 DT_MDL = 0.05  # model
+DT_RDR = 0.05  # radar
 DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager

@@ -43,7 +44,7 @@ def set_realtime_priority(level):
  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])


-class Ratekeeper(object):
+class Ratekeeper():
  def __init__(self, rate, print_delay_threshold=0.):
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -0,0 +1,28 @@
+import os
+import subprocess
+from common.basedir import BASEDIR
+
+class Spinner():
+  def __enter__(self):
+    self.spinner_proc = subprocess.Popen(["./spinner"],
+                                         stdin=subprocess.PIPE,
+                                         cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                         close_fds=True)
+    return self
+
+  def update(self, spinner_text):
+    self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+    self.spinner_proc.stdin.flush()
+
+  def __exit__(self, type, value, traceback):
+    self.spinner_proc.stdin.close()
+    self.spinner_proc.terminate()
+
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+
--- a/common/stat_live.py
+++ b/common/stat_live.py
@@ -11,7 +11,7 @@ class RunningStat():
      self.n = priors[2]
      self.M_last = self.M
      self.S_last = self.S
-      
+
    else:
      self.reset()

@@ -70,4 +70,4 @@ class RunningStatFilter():
      pass
      # self.filtered_stat.push_data(self.filtered_stat.mean())

-# class SequentialBayesian():
+# class SequentialBayesian():
--- a/common/sympy_helpers.py
+++ b/common/sympy_helpers.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sympy as sp
 import numpy as np

--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -125,7 +125,7 @@ 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
+  import cv2  # pylint: disable=no-name-in-module, import-error

  size = img.shape[:2]
  rot = orient.rot_from_euler(eulers)
@@ -138,8 +138,8 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
  if crop:
-    W_border = (size[1] - crop[0])/2
-    H_border = (size[0] - crop[1])/2
+    W_border = (size[1] - crop[0])//2
+    H_border = (size[0] - crop[1])//2
    outside_crop = (((warped_quadrangle[:,0] < W_border) |
                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
                    ((warped_quadrangle[:,1] < H_border) |
@@ -183,7 +183,8 @@ def transform_img(base_img,
                 alpha=1.0,
                 beta=0,
                 blur=0):
-  import cv2
+  import cv2  # pylint: disable=no-name-in-module, import-error
+  cv2.setNumThreads(1)

  if yuv:
    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
@@ -240,7 +241,7 @@ 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
+  import cv2   # pylint: disable=no-name-in-module, import-error
  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
  if not center:
    center = (rgb.shape[0]/2, rgb.shape[1]/2)
--- a/common/transformations/coordinates.py
+++ b/common/transformations/coordinates.py
@@ -65,7 +65,7 @@ def ecef2geodetic(ecef, radians=False):
  geodetic = np.column_stack((lat, lon, h))
  return geodetic.reshape(input_shape)

-class LocalCoord(object):
+class LocalCoord():
  """
   Allows conversions to local frames. In this case NED.
   That is: North East Down from the start position in
--- a/common/transformations/orientation.py
+++ b/common/transformations/orientation.py
@@ -29,7 +29,7 @@ def euler2quat(eulers):
       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)

  quats = array([q0, q1, q2, q3]).T
-  for i in xrange(len(quats)):
+  for i in range(len(quats)):
    if quats[i,0] < 0:
      quats[i] = -quats[i]
  return quats.reshape(output_shape)
@@ -99,7 +99,7 @@ def rot2quat(rots):
  K3[:, 3, 2] = K3[:, 2, 3]
  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
  q = np.empty((len(rots), 4))
-  for i in xrange(len(rots)):
+  for i in range(len(rots)):
    _, eigvecs = linalg.eigh(K3[i].T)
    eigvecs = eigvecs[:,3:]
    q[i, 0] = eigvecs[-1]
--- a/dragonpilot/LICENSE.md
+++ b/dragonpilot/LICENSE.md
@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
--- a/dragonpilot/chinese-fonts/LICENSE_OFL.txt
+++ b/dragonpilot/chinese-fonts/LICENSE_OFL.txt
@@ -0,0 +1,92 @@
+This Font Software is licensed under the SIL Open Font License,
+Version 1.1.
+
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font
+creation efforts of academic and linguistic communities, and to
+provide a free and open framework in which fonts may be shared and
+improved in partnership with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply to
+any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software
+components as distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to,
+deleting, or substituting -- in part or in whole -- any of the
+components of the Original Version, by changing formats or by porting
+the Font Software to a new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed,
+modify, redistribute, and sell modified and unmodified copies of the
+Font Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components, in
+Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the
+corresponding Copyright Holder. This restriction only applies to the
+primary font name as presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created using
+the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
--- 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/NotoSansCJKtc-Bold.otf
+++ b/dragonpilot/chinese-fonts/NotoSansCJKtc-Bold.otf
--- a/dragonpilot/chinese-fonts/NotoSansCJKtc-Medium.otf
+++ b/dragonpilot/chinese-fonts/NotoSansCJKtc-Medium.otf
--- a/dragonpilot/chinese-fonts/NotoSansCJKtc-Regular.otf
+++ b/dragonpilot/chinese-fonts/NotoSansCJKtc-Regular.otf
--- a/dragonpilot/chinese-fonts/fonts.xml
+++ b/dragonpilot/chinese-fonts/fonts.xml
@@ -334,12 +334,6 @@
    <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>
@@ -352,8 +346,15 @@
    <family>
        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
    </family>
-    <family>
-        <font weight="400" style="normal">Miui-Regular.ttf</font>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
    </family>
    <family lang="ja">
        <font weight="400" style="normal">MTLmr3m.ttf</font>
--- a/dragonpilot/chinese-fonts/installer.sh
+++ b/dragonpilot/chinese-fonts/installer.sh
@@ -1,48 +1,67 @@
 #!/usr/bin/bash

-# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+###############################################################################
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+# Noto is a trademark of Google Inc. Noto fonts are open source.
+# All Noto fonts are published under the SIL Open Font License,
+# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
+#
+###############################################################################
+
+
+# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
 lang=en

-update_font_reg=0
-update_font_bold=0
+update_font=0
 remove_old_font=0

 # check regular font
-if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
-    update_font_reg=1
+if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
+    update_font=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
+# check miui font
+if ls /system/fonts/Miui*.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 3 secs in case, make sure the /system is remountable
+if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 3 secs in case, make sure the /system is re-mountable
    sleep 3
    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
+    if [ $update_font -eq "1" ]; then
+        # install font
+        cp -rf /data/openpilot/dragonpilot/chinese-fonts/NotoSansCJKtc-* /system/fonts/
+        # install font mapping
+        cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+        # change permissions
        chmod 644 /system/etc/fonts.xml
-        chmod 644 /system/fonts/Miui-*
+        chmod 644 /system/fonts/NotoSansCJKtc-*
    fi
-    # remove driodsans font
+    # remove miui font
    if [ $remove_old_font -eq "1" ]; then
-        rm -fr /system/fonts/DroidSansFallback*.ttf
+        rm -fr /system/fonts/Miui*.ttf
    fi
    mount -o remount,r /system
    # change system locale
--- a/installer/updater/update.json
+++ b/installer/updater/update.json
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip",
-  "ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img",
-  "recovery_len": 15136044,
-  "recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-7a0117425bc4a6673958d265312994e124654a566228f3cec2f0f9bc8120a9ab.zip",
+  "ota_hash": "7a0117425bc4a6673958d265312994e124654a566228f3cec2f0f9bc8120a9ab",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-3dc234d868c29a3739f6ca3bd47b1c2d3c570d9f478b6849a4fada129ee4af76.img",
+  "recovery_len": 15848748,
+  "recovery_hash": "3dc234d868c29a3739f6ca3bd47b1c2d3c570d9f478b6849a4fada129ee4af76"
 }
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -24,6 +24,8 @@ function launch {
 #
 #    exec "${BASH_SOURCE[0]}"
 #  fi
+  chmod 700 reset_update.sh
+  chmod 700 update_panda_firmware.sh

  # no cpu rationing for now
  echo 0-3 > /dev/cpuset/background/cpus
@@ -32,6 +34,24 @@ function launch {
  echo 0-3 > /dev/cpuset/foreground/cpus
  echo 0-3 > /dev/cpuset/android/cpus

+  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+  # Remove old NEOS update file
+  if [ -d /data/neoupdate ]; then
+    rm -rf /data/neoupdate
+  fi
+
+  # Check for NEOS update
+  if [ $(< /VERSION) != "12" ]; then
+    if [ -f "$DIR/scripts/continue.sh" ]; then
+      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
+    fi
+
+    git clean -xdf
+    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+  fi
+
+
  # handle pythonpath
  ln -s /data/openpilot /data/pythonpath
  export PYTHONPATH="$PWD"
--- a/models/driving_model.dlc
+++ b/models/driving_model.dlc
--- a/models/monitoring_model.dlc
+++ b/models/monitoring_model.dlc
--- a/opendbc/cadillac_ct6_powertrain.dbc
+++ b/opendbc/cadillac_ct6_powertrain.dbc
@@ -189,7 +189,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
@@ -241,4 +241,3 @@ VAL_ 356 LKATorqueDeliveredStatus 7 "Override Fault" 6 "LKAS Fault but Responsiv
 VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
 VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
 VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
-
--- a/opendbc/generator/generator.py
+++ b/opendbc/generator/generator.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import os
 import re

@@ -40,10 +40,10 @@ for dir_name, _, filenames in os.walk(cur_path):
    if dir_name == cur_path:
        continue

-    print dir_name
+    print(dir_name)
    for filename in filenames:
        if filename.startswith('_'):
            continue

-        print filename
+        print(filename)
        create_dbc(dir_name, filename)
--- a/opendbc/generator/honda/_bosch_2018.dbc
+++ b/opendbc/generator/honda/_bosch_2018.dbc
@@ -123,7 +123,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -36,8 +36,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -57,8 +57,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -150,6 +150,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -174,6 +175,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/generator/toyota/lexus_ct200h_2018_pt.dbc
+++ b/opendbc/generator/toyota/lexus_ct200h_2018_pt.dbc
@@ -10,7 +10,7 @@ BO_ 581 GAS_PEDAL: 5 XXX
 SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-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
@@ -34,4 +34,4 @@ VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
--- a/opendbc/generator/toyota/lexus_is_2018_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_2018_pt.dbc
@@ -11,7 +11,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.77,0) [-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_camry_hybrid_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
@@ -20,7 +20,7 @@ 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- (0.05527,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-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_nodsu_hybrid_pt.dbc
+++ b/opendbc/generator/toyota/toyota_nodsu_hybrid_pt.dbc
@@ -20,7 +20,7 @@ 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
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-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_nodsu_pt.dbc
+++ b/opendbc/generator/toyota/toyota_nodsu_pt.dbc
@@ -8,7 +8,7 @@ BO_ 401 STEERING_LTA: 8 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_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX

@@ -26,7 +26,7 @@ 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
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-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_prius_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_prius_2017_pt.dbc
@@ -20,6 +20,7 @@ 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- (0.0573,0) [-500|500] "" XXX 

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/gm_global_a_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
@@ -195,7 +195,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 BO_ 1034 ASCM_40A: 7 K124_ASCM

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/honda_accord_touring_2016_can.dbc
+++ b/opendbc/honda_accord_touring_2016_can.dbc
@@ -177,14 +177,14 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
 SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

 BO_ 660 SCM_COMMANDS: 8 SCM
 SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

 BO_ 661 XXX_10: 4 XXX
 SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/hyundai_2015_ccan.dbc
+++ b/opendbc/hyundai_2015_ccan.dbc
@@ -893,11 +893,11 @@ BO_ 67 DATC13: 8 DATC

 BO_ 66 DATC12: 8 DATC
 SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "¢µ"  CLU,IBOX
+ SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] ""  CLU,IBOX
 SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "¢µ"  CLU,IBOX
+ SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] ""  CLU,IBOX
 SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU
- SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "¢µ"  CLU
+ SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] ""  CLU
 SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] ""  CLU

 BO_ 1345 CGW1: 8 BCM
--- a/opendbc/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -357,7 +369,7 @@ BO_ 581 GAS_PEDAL: 5 XXX
 SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-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
@@ -381,4 +393,4 @@ VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
--- a/opendbc/lexus_gs300h_2017_pt_generated.dbc
+++ b/opendbc/lexus_gs300h_2017_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -365,7 +377,7 @@ 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
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -361,7 +361,7 @@ 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
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/toyota_2017_ref_pt.dbc
+++ b/opendbc/toyota_2017_ref_pt.dbc
@@ -126,7 +126,7 @@ BO_ 896 ACN1S01: 8 CGW
 SG_ GNRTIH : 27|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ R_COL_TM : 26|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ R_HET_TM : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TAMOUT : 55|8@0- (0.625,0) [0|0] "Ž" Vector__XXX
+ SG_ TAMOUT : 55|8@0- (0.625,0) [0|0] "" Vector__XXX

 BO_ 897 ACN1S04: 8 CGW
 SG_ R_ACCALL : 7|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -166,9 +166,9 @@ BO_ 897 ACN1S04: 8 CGW
 BO_ 944 ACN1S07: 6 CGW
 SG_ RDEF : 7|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ MHTR : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TR_TEMP : 15|8@0+ (0.25,-6.5) [0|0] "Ž" Vector__XXX
- SG_ ACN_AMB : 31|8@0+ (1,0) [0|0] "Ž" CSR,DS1,FCM
- SG_ AC_AMB05 : 44|1@0+ (1,0) [0|0] "Ž" Vector__XXX
+ SG_ TR_TEMP : 15|8@0+ (0.25,-6.5) [0|0] "" Vector__XXX
+ SG_ ACN_AMB : 31|8@0+ (1,0) [0|0] "" CSR,DS1,FCM
+ SG_ AC_AMB05 : 44|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ AC_MODE : 43|2@0+ (1,0) [0|0] "" Vector__XXX

 BO_ 1250 AFS1N01: 8 AFS
@@ -851,7 +851,7 @@ BO_ 956 ECT1S92: 8 CGW
 SG_ B_R : 12|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV
 SG_ B_N : 11|1@0+ (1,0) [0|0] "" AFS,CSR,MAV
 SG_ B_ISPTM : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BV_THOCL : 23|16@0+ (0.625,-50) [0|0] "Ž" Vector__XXX
+ SG_ BV_THOCL : 23|16@0+ (0.625,-50) [0|0] "" Vector__XXX
 SG_ B_GEAR : 39|4@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_SMDE : 32|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_D : 47|1@0+ (1,0) [0|0] "" AFS,CSR,DS1,MAV
@@ -988,7 +988,7 @@ BO_ 1017 ENG1F03: 8 CGW

 BO_ 452 ENG1F07: 8 CGW
 SG_ NE1 : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- SG_ THA1 : 23|8@0+ (2.5,-40) [0|0] "Ž" Vector__XXX
+ SG_ THA1 : 23|8@0+ (2.5,-40) [0|0] "" Vector__XXX
 SG_ THWX : 31|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ EGF : 30|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ T2ERXF : 29|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -1026,7 +1026,7 @@ BO_ 705 ENG1S01: 8 CGW

 BO_ 961 ENG1S23: 3 CGW
 SG_ EKLSM : 7|8@0+ (0.625,0) [0|0] "%" Vector__XXX
- SG_ GATHW : 15|16@0- (0.625,0) [0|0] "Ž" Vector__XXX
+ SG_ GATHW : 15|16@0- (0.625,0) [0|0] "" Vector__XXX

 BO_ 979 ENG1S28: 2 CGW
 SG_ B_FC : 7|16@0+ (0.0005,0) [0|0] "ml" Vector__XXX
@@ -1067,7 +1067,7 @@ BO_ 955 ENG1S92: 8 CGW
 SG_ B_WSTP : 11|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_LOUT : 10|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_OILPL : 9|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_TMP : 23|8@0+ (0.5,0) [0|0] "Ž" Vector__XXX
+ SG_ B_TMP : 23|8@0+ (0.5,0) [0|0] "" Vector__XXX
 SG_ OGENETCS : 30|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_DPFW : 28|3@0+ (1,0) [0|0] "" Vector__XXX
 SG_ BOSLAMP : 37|3@0+ (1,0) [0|0] "" Vector__XXX
@@ -1082,8 +1082,8 @@ BO_ 921 ENG1S95: 8 CGW
 SG_ B_SPU2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACASID1 : 3|4@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACASID2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_LSP2 : 31|8@0+ (1,0) [0|0] "km/hEmph" Vector__XXX
- SG_ B_ASLSP2 : 39|8@0+ (1,0) [0|0] "km/hEmph" Vector__XXX
+ SG_ B_LSP2 : 31|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX
+ SG_ B_ASLSP2 : 39|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX
 SG_ CACCTRN : 47|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ CACCINF : 46|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ CACCFR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -1096,7 +1096,7 @@ BO_ 921 ENG1S95: 8 CGW
 BO_ 238 ENG2F01: 4 CGW
 SG_ STOFOK : 7|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ GROWIND : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_TMP3 : 15|8@0+ (0.5,0) [0|0] "Ž" Vector__XXX
+ SG_ B_TMP3 : 15|8@0+ (0.5,0) [0|0] "" Vector__XXX
 SG_ IMMINJST : 23|16@0+ (1,0) [0|0] "" Vector__XXX

 BO_ 466 ENG2F04: 8 CGW
@@ -1113,7 +1113,7 @@ BO_ 466 ENG2F04: 8 CGW
 SG_ PLOCKF : 8|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCREQ : 23|16@0- (0.0009765625,0) [0|0] "m/s^2" DS1
 SG_ ACCAVL : 39|16@0- (2,0) [0|0] "N" Vector__XXX
- SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "|" DS1
+ SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "" DS1
 SG_ SSTOK : 51|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ CANREQ : 49|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ FCACT : 48|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -1280,7 +1280,7 @@ BO_ 1076102682 MET1S05_24: 8 CGW
 SG_ MET05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
 SG_ TO_SP : 23|16@0+ (0.1,0) [0|0] "km/h,MPH" Vector__XXX
 SG_ UNIT_5 : 39|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TO_FC : 47|16@0+ (0.1,0) [0|0] "MPGEkm/lEl/100kmEkm/gallon" Vector__XXX
+ SG_ TO_FC : 47|16@0+ (0.1,0) [0|0] "MPG Ekm/l El/100km Ekm/gallon" Vector__XXX
 SG_ UNIT_6 : 63|3@0+ (1,0) [0|0] "" Vector__XXX

 BO_ 1076299282 MET1S08_27: 8 CGW
@@ -1635,4 +1635,4 @@ BO_ 1073743494 YGW1S05_0: 8 CGW
 SG_ YGW05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
 SG_ YI_IMO_E : 23|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ YI_UREQ : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -367,7 +379,7 @@ 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- (0.05527,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-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
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -367,7 +379,7 @@ 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
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -355,7 +367,7 @@ BO_ 401 STEERING_LTA: 8 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_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX

@@ -373,7 +385,7 @@ 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
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -367,6 +379,7 @@ 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- (0.0573,0) [-500|500] "" XXX 

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
--- a/opendbc/vw_golf_mk4.dbc
+++ b/opendbc/vw_golf_mk4.dbc
@@ -1,7 +1,7 @@
 VERSION ""


-NS_ : 
+NS_ :
 	NS_DESC_
 	CM_
 	BA_DEF_
@@ -187,10 +187,10 @@ BO_ 1298 PSG_2: 8 XXX
 SG_ RAM_Inhalt_1 : 0|16@1+ (1,0) [0|0] "" XXX

 BO_ 274 PSG_1: 8 XXX
- SG_ Pumpentemperatur__2_1_ : 48|16@1+ (0.0625,0) [0|4096] "°K" XXX
+ SG_ Pumpentemperatur__2_1_ : 48|16@1+ (0.0625,0) [0|4096] "K" XXX
 SG_ Pumpentemperatur__3_2_2_ : 44|12@1+ (1,0) [0|0] "" XXX
- SG_ Zylinderzaehler__3_2_2_ : 43|3@1+ (1,0) [1|8] "Zähler" XXX
- SG_ Ansteuerdauer__3_2_2_ : 32|11@1+ (0.0469,0) [0|96] "°NW" XXX
+ SG_ Zylinderzaehler__3_2_2_ : 43|3@1+ (1,0) [1|8] "Zaehler" XXX
+ SG_ Ansteuerdauer__3_2_2_ : 32|11@1+ (0.0469,0) [0|96] "NW" XXX
 SG_ Nockenwellendrehzahl__3_2_2_ : 20|12@1+ (4,0) [0|16380] "upm" XXX
 SG_ Pumpen_Statuswort__3_2_2_ : 0|20@1+ (1,0) [0|0] "" XXX

@@ -233,7 +233,7 @@ BO_ 1424 Niveau_1: 6 XXX
 SG_ ESP_Beeinflussung : 14|1@1+ (1,0) [0|0] "" XXX
 SG_ Warnlampe_Niveau_1 : 13|1@1+ (1,0) [0|0] "" XXX
 SG_ Frei_Niveau_1_1 : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Niveau_1 : 8|4@1+ (1,0) [0|15] "Zähler" XXX
+ SG_ Zaehler_Niveau_1 : 8|4@1+ (1,0) [0|15] "Zaehler" XXX
 SG_ Checksumme_Niveau_1 : 0|8@1+ (1,0) [0|0] "" XXX

 BO_ 1328 Navigation_1: 7 XXX
@@ -248,11 +248,11 @@ BO_ 1328 Navigation_1: 7 XXX
 SG_ Laenderkennung : 16|8@1+ (1,0) [0|0] "" XXX
 SG_ Vorzeichen_Gierrate______ : 15|1@1+ (1,0) [0|0] "" XXX
 SG_ Gierratenfehler : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Gierrate : 0|14@1+ (0.01,0) [0|100] "°/sek" XXX
+ SG_ Gierrate : 0|14@1+ (0.01,0) [0|100] "deg/sek" XXX

 BO_ 1792 MSG_3: 3 XXX
 SG_ MSG_Konfiguration : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ Lage_des_OT_Impuls : 0|16@1+ (0.01172,-384) [-384|384] "°KW" XXX
+ SG_ Lage_des_OT_Impuls : 0|16@1+ (0.01172,-384) [-384|384] "KW" XXX

 BO_ 1280 MSG_2: 8 XXX
 SG_ RAM_Adresse_4 : 48|16@1+ (1,0) [0|0] "" XXX
@@ -262,8 +262,8 @@ BO_ 1280 MSG_2: 8 XXX

 BO_ 256 MSG_1: 8 XXX
 SG_ Kurbelwellendrehzahl__3_2_2_ : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Soll_Foerderbeginn_KW__3_2_2_ : 40|16@1+ (0.01172,-384) [-384|384] "°KW" XXX
- SG_ Soll_Foerderbeginn_NW__3_2_2_ : 28|12@1+ (0.01172,0) [0|768] "°NW" XXX
+ SG_ Soll_Foerderbeginn_KW__3_2_2_ : 40|16@1+ (0.01172,-384) [-384|384] "KW" XXX
+ SG_ Soll_Foerderbeginn_NW__3_2_2_ : 28|12@1+ (0.01172,0) [0|768] "degNW" XXX
 SG_ Soll_Voreinspritzung : 16|12@1+ (1,0) [0|0] "" XXX
 SG_ Soll_Einspritzmenge : 0|16@1+ (0.03125,0) [0|2047] "mg/H" XXX

@@ -273,7 +273,7 @@ BO_ 1796 Motor_NOX: 8 XXX
 SG_ Heizleistungsanforderung : 18|1@1+ (1,0) [0|0] "" XXX
 SG_ Offsetkorrektur_moeglich : 17|1@1+ (1,0) [0|0] "" XXX
 SG_ Betriebsbereich : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Abgastemperatur_NOX : 8|8@1+ (5,-40) [-40|1230] "°C" XXX
+ SG_ Abgastemperatur_NOX : 8|8@1+ (5,-40) [-40|1230] "C" XXX
 SG_ Abgasdruck_NOX : 0|8@1+ (5,600) [600|1870] "mbar" XXX

 BO_ 900 Motor_Momente: 8 XXX
@@ -361,7 +361,7 @@ BO_ 896 Motor_3: 8 XXX
 SG_ Vorzeichen_Rad_Wunschmoment : 36|1@1+ (1,0) [0|0] "" XXX
 SG_ Rad_Wunschmoment : 24|12@1+ (0.39,0) [0|1597] "MDI" XXX
 SG_ Fahrpedal_Rohsignal : 16|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "°" XXX
+ SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
 SG_ Fehlerstatus_Ansauglufttemperat : 7|1@1+ (1,0) [0|0] "" XXX
 SG_ Motorsteuerger_t_gesperrt : 6|1@1+ (1,0) [0|0] "" XXX
 SG_ Drosselklappenwinkel_ungenau : 5|1@1+ (1,0) [0|0] "" XXX
@@ -384,7 +384,7 @@ BO_ 648 Motor_2: 8 XXX
 SG_ Fehlerstatus_Kuhlmitteltempera : 18|1@1+ (1,0) [0|0] "" XXX
 SG_ Bremstestschalter : 17|1@1+ (1,0) [0|0] "" XXX
 SG_ Bremslichtschalter : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "°" XXX
+ SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
 SG_ Multiplex_Code_Motor_2 M : 6|2@1+ (1,0) [0|0] "" XXX
 SG_ Multiplex_Info_Motorcode__4_x_ m1 : 0|6@1+ (1,0) [0|0] "" XXX
 SG_ Multiplex_Info_Getriebecode m2 : 0|6@1+ (1,0) [0|0] "" XXX
@@ -409,7 +409,7 @@ BO_ 640 Motor_1: 8 XXX

 BO_ 262 Master_3: 8 XXX
 SG_ Frei_Master_3_1 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Motortemperatur_linearisiert : 48|8@1+ (0.75,-48) [-48|143.25] "°" XXX
+ SG_ Motortemperatur_linearisiert : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX
 SG_ Indiziertes_Sollmoment_f_r_Vmax : 32|16@1+ (0.0015259,0) [0|100] "%" XXX
 SG_ Relative_Momentenanforderung_de : 16|16@1+ (0.003052,0) [0|200] "%" XXX
 SG_ Delta_Motormoment_aus_Verlustmo : 0|16@1+ (0.003052,-100) [-100|100] "%" XXX
@@ -448,7 +448,7 @@ BO_ 1986 Lenkwinkel_Init: 4 XXX

 BO_ 192 Lenkwinkel_1__RB_: 2 XXX
 SG_ Vorzeichen__RB_ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel__RB_ : 5|10@1+ (2.5,-720) [-720|720] "°" XXX
+ SG_ Lenkwinkel__RB_ : 5|10@1+ (2.5,-720) [-720|720] "" XXX
 SG_ LWS_OK__RB_ : 4|1@1+ (1,0) [0|0] "" XXX
 SG_ LWS_Abgleich__RB_ : 3|1@1+ (1,0) [0|0] "" XXX
 SG_ Frei_Lenkwinkel_1_1__RB_ : 2|1@1+ (1,0) [0|0] "" XXX
@@ -457,7 +457,7 @@ BO_ 192 Lenkwinkel_1__RB_: 2 XXX

 BO_ 196 Lenkwinkel_1__ITT_: 2 XXX
 SG_ Vorzeichen__ITT_ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel__ITT_ : 5|10@1+ (1.5,-768) [-768|766.5] "°" XXX
+ SG_ Lenkwinkel__ITT_ : 5|10@1+ (1.5,-768) [-768|766.5] "" XXX
 SG_ LWS_OK : 4|1@1+ (1,0) [0|0] "" XXX
 SG_ LWS_Abgleich__ITT_ : 3|1@1+ (1,0) [0|0] "" XXX
 SG_ LWS_Initialisierung__ITT_ : 2|1@1+ (1,0) [0|0] "" XXX
@@ -558,10 +558,10 @@ BO_ 1056 Kombi_2: 8 XXX
 SG_ Klemme_58s__Kombi_2_ : 48|7@1+ (1,0) [0|100] "%" XXX
 SG_ Fehlerstatus_Kl__58_d : 47|1@1+ (1,0) [0|0] "" XXX
 SG_ Klemme_58d__Kombi_2_ : 40|7@1+ (1,0) [0|100] "%" XXX
- SG_ Kuehlmitteltemp__4_1__Kombi_2_ : 32|8@1+ (0.75,-48) [-48|142.5] "°C" XXX
- SG_ Oeltemperatur_4_1 : 24|8@1+ (1,-60) [-60|194] "°C" XXX
- SG_ Aussentemp__ungefiltert_4_1__Ko : 16|8@1+ (0.5,-50) [-50|77] "°C" XXX
- SG_ Aussentemperatur_gefiltert : 8|8@1+ (0.5,-50) [-50|77] "°C" XXX
+ SG_ Kuehlmitteltemp__4_1__Kombi_2_ : 32|8@1+ (0.75,-48) [-48|142.5] "C" XXX
+ SG_ Oeltemperatur_4_1 : 24|8@1+ (1,-60) [-60|194] "C" XXX
+ SG_ Aussentemp__ungefiltert_4_1__Ko : 16|8@1+ (0.5,-50) [-50|77] "C" XXX
+ SG_ Aussentemperatur_gefiltert : 8|8@1+ (0.5,-50) [-50|77] "C" XXX
 SG_ Fehlerspeichereintrag__Kombi_ : 7|1@1+ (1,0) [0|0] "" XXX
 SG_ Frei_Kombi_2_1 : 4|3@1+ (1,0) [0|0] "" XXX
 SG_ Anhaenger_erkannt : 3|1@1+ (1,0) [0|0] "" XXX
@@ -596,7 +596,7 @@ BO_ 800 Kombi_1: 8 XXX
 SG_ Fahrertuer_4_1 : 0|1@1+ (1,0) [0|0] "" XXX

 BO_ 1504 Klima_1: 8 XXX
- SG_ Aussentemp__ungef__Sto_f__4_1 : 56|8@1+ (0.5,-50) [-50|77] "°C" XXX
+ SG_ Aussentemp__ungef__Sto_f__4_1 : 56|8@1+ (0.5,-50) [-50|77] "C" XXX
 SG_ Fehlerspeichereintrag__Klima_ : 55|1@1+ (1,0) [0|0] "" XXX
 SG_ Frei_Klima_1_5 : 50|5@1+ (1,0) [0|0] "" XXX
 SG_ AC_Schalter : 49|1@1+ (1,0) [0|0] "" XXX
@@ -605,7 +605,7 @@ BO_ 1504 Klima_1: 8 XXX
 SG_ Geblaeselast_4_1 : 32|8@1+ (0.4,0) [0|101.6] "%" XXX
 SG_ Kompressorlast : 24|8@1+ (0.25,0) [0|63.5] "Nm" XXX
 SG_ Klimadrucksignal__Klima_1_ : 16|8@1+ (0.2,0) [0|50.8] "bar" XXX
- SG_ Aussentemp__ungef__4_1__Klima_1 : 8|8@1+ (0.5,-50) [-50|77] "°C" XXX
+ SG_ Aussentemp__ungef__4_1__Klima_1 : 8|8@1+ (0.5,-50) [-50|77] "C" XXX
 SG_ Kaeltemitteldruck_veraltet : 7|1@1+ (1,0) [0|0] "" XXX
 SG_ Kompressormoment_veraltet_4_1 : 6|1@1+ (1,0) [0|0] "" XXX
 SG_ Keine_Heizleistg_gewuenscht_4_1 : 5|1@1+ (1,0) [0|0] "" XXX
@@ -836,9 +836,9 @@ BO_ 1192 Bremse_5: 8 XXX
 SG_ Checksumme_Bremse_5 : 56|8@1+ (1,0) [0|0] "" XXX
 SG_ Zaehler_Bremse_5 : 52|4@1+ (1,0) [0|15] "" XXX
 SG_ Bremslicht_ECD : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "°C" XXX
+ SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "C" XXX
 SG_ Frei_Bremse_5_5 : 40|8@1+ (1,0) [0|0] "" XXX
- SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "°/s" XXX
+ SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "deg/s" XXX
 SG_ Vorzeichen_Bremsdruck : 31|1@1+ (1,0) [0|0] "" XXX
 SG_ Status_Bremsdruck_durch_ESP_Sys : 30|1@1+ (1,0) [0|0] "" XXX
 SG_ Bremsdruck_ungueltig : 29|1@1+ (1,0) [0|0] "" XXX
--- a/panda/.circleci/config.yml
+++ b/panda/.circleci/config.yml
@@ -11,7 +11,7 @@ jobs:
      - run:
          name: Run safety test
          command: |
-            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"

  misra-c2012:
    machine:
--- a/panda/Dockerfile
+++ b/panda/Dockerfile
@@ -17,11 +17,15 @@ RUN apt-get update && apt-get install -y \
    gperf \
    help2man \
    iputils-ping \
+    libbz2-dev \
    libexpat-dev \
+    libffi-dev \
+    libssl-dev \
    libstdc++-arm-none-eabi-newlib \
    libtool \
    libtool-bin \
    libusb-1.0-0 \
+    locales  \
    make \
    ncurses-dev \
    network-manager \
@@ -38,7 +42,21 @@ RUN apt-get update && apt-get install -y \
    screen \
    vim \
    wget \
-    wireless-tools
+    wireless-tools \
+    zlib1g-dev
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv install 2.7.12
+RUN pyenv global 3.7.3
+RUN pyenv rehash

 RUN pip install --upgrade pip==18.0

@@ -51,6 +69,7 @@ ENV HOME /home/batman
 ENV PYTHONPATH /tmp:$PYTHONPATH

 COPY ./boardesp/get_sdk_ci.sh /tmp/panda/boardesp/
+COPY ./boardesp/python2_make.py /tmp/panda/boardesp/

 RUN useradd --system -s /sbin/nologin pandauser
 RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk
--- a/panda/Jenkinsfile
+++ b/panda/Jenkinsfile
@@ -46,19 +46,6 @@ pipeline {
        }
      }
    }
-    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}"
-            }
-          }
-        }
-      }
-    }
  }
  post {
    failure {
--- a/panda/README.md
+++ b/panda/README.md
@@ -37,6 +37,13 @@ And to send one on bus 0:
 ```
 Find user made scripts on the [wiki](https://community.comma.ai/wiki/index.php/Panda_scripts)

+Note that you may have to setup [udev rules](https://community.comma.ai/wiki/index.php/Panda#Linux_udev_rules) for Linux, such as
+```
+sudo -i
+echo 'SUBSYSTEMS=="usb", ATTR{idVendor}=="bbaa", ATTR{idProduct}=="ddcc", MODE:="0666"' > /etc/udev/rules.d/11-panda.rules
+exit
+```
+
 Usage (JavaScript)
 -------

@@ -80,9 +87,26 @@ To print out the serial console from the ESP8266, run PORT=1 tests/debug_console
 Safety Model
 ------

-When a panda powers up, by default it's in "SAFETY_NOOUTPUT" mode. While in no output mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB.
+When a panda powers up, by default it's in `SAFETY_NOOUTPUT` mode. While in no output mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB.

-Safety modes can also optionally support "controls_allowed", which allows or blocks a subset of messages based on a piece of state in the board.
+Safety modes optionally supports `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
+
+Code Rigor
+------
+When compiled from an [EON Dev Kit](https://comma.ai/shop/products/eon-gold-dashcam-devkit), the panda FW is configured and optimized (at compile time) for its use in
+conjuction with [openpilot](https://github.com/commaai/openpilot). The panda FW, through its safety model, provides and enforces the
+[openpilot Safety](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
+
+These are the [CI regression tests](https://circleci.com/gh/commaai/panda) we have in place:
+* A generic static code analysis is performed by [Cppcheck](https://github.com/danmar/cppcheck/).
+* In addition, [Cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
+* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced on board and pedal makefiles.
+* The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant.
+* A recorded drive for each supported car variant is [replayed through the safety logic](https://github.com/commaai/panda/tree/master/tests/safety_replay)
+to ensure that the behavior remains unchanged.
+* An internal Hardware-in-the-loop test, which currently only runs on pull requests opened by comma.ai's organization members, verifies the following functionalities:
+    * compiling the code in various configuration and flashing it both through USB and WiFi.
+    * Receiving, sending and forwarding CAN messages on all buses, over USB and WiFi.

 Hardware
 ------
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.4.7
+v1.5.3
--- a/panda/board/board_declarations.h
+++ b/panda/board/board_declarations.h
@@ -36,7 +36,7 @@ struct board {
 #define LED_GREEN 1U
 #define LED_BLUE 2U

-// USB power modes
+// USB power modes (from cereal.log.health)
 #define USB_POWER_NONE 0U
 #define USB_POWER_CLIENT 1U
 #define USB_POWER_CDP 2U
--- a/panda/board/boards/black.h
+++ b/panda/board/boards/black.h
@@ -38,7 +38,7 @@ void black_set_led(uint8_t color, bool enabled) {
      break;
    case LED_BLUE:
      set_gpio_output(GPIOC, 6, !enabled);
-      break;  
+      break;
    default:
      break;
  }
@@ -53,11 +53,22 @@ void black_set_usb_load_switch(bool enabled) {
 }

 void black_set_usb_power_mode(uint8_t mode) {
-  usb_power_mode = mode;
-  if (mode == USB_POWER_NONE) {
-    black_set_usb_load_switch(false);
-  } else {
-    black_set_usb_load_switch(true);
+  bool valid = false;
+  switch (mode) {
+    case USB_POWER_CLIENT:
+      black_set_usb_load_switch(false);
+      valid = true;
+      break;
+    case USB_POWER_CDP:
+      black_set_usb_load_switch(true);
+      valid = true;
+      break;
+    default:
+      puts("Invalid USB power mode\n");
+      break;
+  }
+  if (valid) {
+    usb_power_mode = mode;
  }
 }

@@ -67,18 +78,15 @@ void black_set_esp_gps_mode(uint8_t mode) {
      // GPS OFF
      set_gpio_output(GPIOC, 14, 0);
      set_gpio_output(GPIOC, 5, 0);
-      black_set_gps_load_switch(false);
      break;
    case ESP_GPS_ENABLED:
      // GPS ON
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 1);
-      black_set_gps_load_switch(true);
      break;
    case ESP_GPS_BOOTMODE:
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 0);
-      black_set_gps_load_switch(true);
      break;
    default:
      puts("Invalid ESP/GPS mode\n");
@@ -106,7 +114,7 @@ void black_set_can_mode(uint8_t mode){
        // 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");
@@ -154,6 +162,9 @@ void black_init(void) {
  // Turn on USB load switch.
  black_set_usb_load_switch(true);

+  // Set right power mode
+  black_set_usb_power_mode(USB_POWER_CDP);
+
  // Initialize harness
  harness_init();

@@ -203,4 +214,4 @@ const board board_black = {
  .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/white.h
+++ b/panda/board/boards/white.h
@@ -34,7 +34,7 @@ void white_set_led(uint8_t color, bool enabled) {
      break;
    case LED_BLUE:
      set_gpio_output(GPIOC, 6, !enabled);
-      break;  
+      break;
    default:
      break;
  }
@@ -125,7 +125,7 @@ void white_set_can_mode(uint8_t mode){

      // A8,A15: normal CAN3 mode
      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);   
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
      break;
    case CAN_MODE_GMLAN_CAN3:
      // A8,A15: disable CAN3 mode
@@ -143,7 +143,7 @@ void white_set_can_mode(uint8_t mode){
      // B5,B6: normal CAN2 mode
      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-      break;  
+      break;
    default:
      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
      break;
@@ -152,7 +152,9 @@ void white_set_can_mode(uint8_t mode){

 uint64_t marker = 0;
 void white_usb_power_mode_tick(uint64_t tcnt){
-  #ifndef BOOTSTUB
+
+  // on EON or BOOTSTUB, no state machine
+#if !defined(BOOTSTUB) && !defined(EON)
  #define CURRENT_THRESHOLD 0xF00U
  #define CLICKS 5U // 5 seconds to switch modes

@@ -177,22 +179,19 @@ void white_usb_power_mode_tick(uint64_t 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) {
+      // 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;
        }
-      #endif
+      }
+      // keep resetting the timer if there's no current draw in CDP
+      if (current >= CURRENT_THRESHOLD) {
+        marker = tcnt;
+      }
      break;
    case USB_POWER_DCP:
      // been at least CLICKS clicks since we switched to DCP
@@ -213,9 +212,9 @@ void white_usb_power_mode_tick(uint64_t tcnt){
      puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
      break;
  }
-  #else
+#else
  UNUSED(tcnt);
-  #endif
+#endif
 }

 bool white_check_ignition(void){
@@ -242,9 +241,6 @@ void white_init(void) {
  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);

@@ -292,6 +288,16 @@ void white_init(void) {
  EXTI->RTSR |= (1U << 1);
  EXTI->FTSR |= (1U << 1);
  NVIC_EnableIRQ(EXTI1_IRQn);
+
+  // Init usb power mode
+  uint32_t voltage = adc_get_voltage();
+  // Init in CDP mode only if panda is powered by 12V.
+  // Otherwise a PC would not be able to flash a standalone panda with EON build
+  if (voltage > 8000U) {  // 8V threshold
+    white_set_usb_power_mode(USB_POWER_CDP);
+  } else {
+    white_set_usb_power_mode(USB_POWER_CLIENT);
+  }
 }

 const harness_configuration white_harness_config = {
@@ -310,4 +316,4 @@ const board board_white = {
  .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
@@ -32,6 +32,7 @@ const board *current_board;

 #include "drivers/clock.h"
 #include "drivers/llgpio.h"
+#include "drivers/adc.h"

 #include "board.h"

@@ -68,8 +69,6 @@ int main(void) {
  detect_configuration();
  detect_board_type();

-  current_board->set_usb_power_mode(USB_POWER_CLIENT);
-
  if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
    enter_bootloader_mode = 0;
    soft_flasher_start();
--- a/panda/board/config.h
+++ b/panda/board/config.h
@@ -2,6 +2,7 @@
 #define PANDA_CONFIG_H

 //#define DEBUG
+//#define DEBUG_UART
 //#define DEBUG_USB
 //#define DEBUG_SPI

@@ -22,7 +23,7 @@

 #include <stdbool.h>
 #define NULL ((void*)0)
-#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred)))]))
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))

 #define MIN(a,b) \
 ({ __typeof__ (a) _a = (a); \
--- a/panda/board/drivers/adc.h
+++ b/panda/board/drivers/adc.h
@@ -36,3 +36,13 @@ uint32_t adc_get(unsigned int channel) {
  return ADC1->JDR1;
 }

+uint32_t adc_get_voltage(void) {
+  // REVC has a 10, 1 (1/11) voltage divider
+  // Here is the calculation for the scale (s)
+  // ADCV = VIN_S * (1/11) * (4095/3.3)
+  // RETVAL = ADCV * s = VIN_S*1000
+  // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
+
+  // Avoid needing floating point math, so output in mV
+  return (adc_get(ADCCHAN_VOLTAGE) * 8862U) / 1000U;
+}
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -298,7 +298,7 @@ void process_can(uint8_t can_number) {
          to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
          to_push.RDLR = CAN->sTxMailBox[0].TDLR;
          to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-          can_send_errs += !can_push(&can_rx_q, &to_push);
+          can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
        }

        if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
@@ -367,7 +367,7 @@ void can_rx(uint8_t can_number) {
    safety_rx_hook(&to_push);

    current_board->set_led(LED_BLUE, true);
-    can_send_errs += !can_push(&can_rx_q, &to_push);
+    can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;

    // next
    CAN->RF0R |= CAN_RF0R_RFOM0;
@@ -393,10 +393,9 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
      // bus number isn't passed through
      to_push->RDTR &= 0xF;
      if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
-        // TODO: why uint8 bro? only int8?
-        gmlan_send_errs += !bitbang_gmlan(to_push);
+        gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
      } else {
-        can_fwd_errs += !can_push(can_queues[bus_number], to_push);
+        can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
        process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
      }
    }
--- a/panda/board/drivers/uart.h
+++ b/panda/board/drivers/uart.h
@@ -1,18 +1,43 @@
 // IRQs: USART1, USART2, USART3, UART5

-#define FIFO_SIZE 0x400U
+// ***************************** Definitions *****************************
+#define FIFO_SIZE_INT 0x400U
+#define FIFO_SIZE_DMA 0x1000U
+
 typedef struct uart_ring {
  volatile uint16_t w_ptr_tx;
  volatile uint16_t r_ptr_tx;
-  uint8_t elems_tx[FIFO_SIZE];
+  uint8_t *elems_tx;
+  uint32_t tx_fifo_size;
  volatile uint16_t w_ptr_rx;
  volatile uint16_t r_ptr_rx;
-  uint8_t elems_rx[FIFO_SIZE];
+  uint8_t *elems_rx;
+  uint32_t rx_fifo_size;
  USART_TypeDef *uart;
  void (*callback)(struct uart_ring*);
+  bool dma_rx;
 } uart_ring;

-void uart_init(USART_TypeDef *u, int baud);
+#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, rx_dma) \
+  uint8_t elems_rx_##x[size_rx]; \
+  uint8_t elems_tx_##x[size_tx]; \
+  uart_ring uart_ring_##x = {  \
+    .w_ptr_tx = 0, \
+    .r_ptr_tx = 0, \
+    .elems_tx = ((uint8_t *)&elems_tx_##x), \
+    .tx_fifo_size = size_tx, \
+    .w_ptr_rx = 0, \
+    .r_ptr_rx = 0, \
+    .elems_rx = ((uint8_t *)&elems_rx_##x), \
+    .rx_fifo_size = size_rx, \
+    .uart = uart_ptr, \
+    .callback = callback_ptr, \
+    .dma_rx = rx_dma \
+  };
+
+
+// ***************************** Function prototypes *****************************
+void uart_init(uart_ring *q, int baud);

 bool getc(uart_ring *q, char *elem);
 bool putc(uart_ring *q, char elem);
@@ -21,48 +46,35 @@ void puts(const char *a);
 void puth(unsigned int i);
 void hexdump(const void *a, int l);

+void debug_ring_callback(uart_ring *ring);

-// ***************************** serial port queues *****************************
+// ******************************** UART buffers ********************************

-// esp = USART1
-uart_ring esp_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
-                       .w_ptr_rx = 0, .r_ptr_rx = 0,
-                       .uart = USART1,
-                       .callback = NULL};
+// esp_gps = USART1
+UART_BUFFER(esp_gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)

 // lin1, K-LINE = UART5
 // lin2, L-LINE = USART3
-uart_ring lin1_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
-                        .w_ptr_rx = 0, .r_ptr_rx = 0,
-                        .uart = UART5,
-                        .callback = NULL};
-uart_ring lin2_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
-                        .w_ptr_rx = 0, .r_ptr_rx = 0,
-                        .uart = USART3,
-                        .callback = NULL};
+UART_BUFFER(lin1, FIFO_SIZE_INT, FIFO_SIZE_INT, UART5, NULL, false)
+UART_BUFFER(lin2, FIFO_SIZE_INT, FIFO_SIZE_INT, USART3, NULL, false)

 // debug = USART2
-void debug_ring_callback(uart_ring *ring);
-uart_ring debug_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
-                         .w_ptr_rx = 0, .r_ptr_rx = 0,
-                         .uart = USART2,
-                         .callback = debug_ring_callback};
-
+UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, false)

 uart_ring *get_ring_by_number(int a) {
  uart_ring *ring = NULL;
  switch(a) {
    case 0:
-      ring = &debug_ring;
+      ring = &uart_ring_debug;
      break;
    case 1:
-      ring = &esp_ring;
+      ring = &uart_ring_esp_gps;
      break;
    case 2:
-      ring = &lin1_ring;
+      ring = &uart_ring_lin1;
      break;
    case 3:
-      ring = &lin2_ring;
+      ring = &uart_ring_lin2;
      break;
    default:
      ring = NULL;
@@ -71,52 +83,219 @@ uart_ring *get_ring_by_number(int a) {
  return ring;
 }

-// ***************************** serial port *****************************
+// ***************************** Interrupt handlers *****************************

-void uart_ring_process(uart_ring *q) {
+void uart_tx_ring(uart_ring *q){
  ENTER_CRITICAL();
-  // TODO: check if external serial is connected
-  int sr = q->uart->SR;
-
+  // Send out next byte of TX buffer
  if (q->w_ptr_tx != q->r_ptr_tx) {
-    if ((sr & USART_SR_TXE) != 0) {
-      q->uart->DR = q->elems_tx[q->r_ptr_tx];
-      q->r_ptr_tx = (q->r_ptr_tx + 1U) % FIFO_SIZE;
+    // Only send if transmit register is empty (aka last byte has been sent)
+    if ((q->uart->SR & USART_SR_TXE) != 0) {
+      q->uart->DR = q->elems_tx[q->r_ptr_tx];   // This clears TXE
+      q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size;
    }
-    // there could be more to send
-    q->uart->CR1 |= USART_CR1_TXEIE;
-  } else {
-    // nothing to send
-    q->uart->CR1 &= ~USART_CR1_TXEIE;
-  }

-  if ((sr & USART_SR_RXNE) || (sr & USART_SR_ORE)) {
-    uint8_t c = q->uart->DR;  // TODO: can drop packets
-    if (q != &esp_ring) {
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
-      if (next_w_ptr != q->r_ptr_rx) {
-        q->elems_rx[q->w_ptr_rx] = c;
-        q->w_ptr_rx = next_w_ptr;
-        if (q->callback != NULL) {
-          q->callback(q);
-        }
+    // Enable TXE interrupt if there is still data to be sent
+    if(q->r_ptr_tx != q->w_ptr_tx){
+      q->uart->CR1 |= USART_CR1_TXEIE;
+    } else {
+      q->uart->CR1 &= ~USART_CR1_TXEIE;
+    }
+  }
+  EXIT_CRITICAL();
+}
+
+void uart_rx_ring(uart_ring *q){
+  // Do not read out directly if DMA enabled
+  if (q->dma_rx == false) {
+    ENTER_CRITICAL();
+
+    // Read out RX buffer
+    uint8_t c = q->uart->DR;  // This read after reading SR clears a bunch of interrupts
+
+    uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
+    // Do not overwrite buffer data
+    if (next_w_ptr != q->r_ptr_rx) {
+      q->elems_rx[q->w_ptr_rx] = c;
+      q->w_ptr_rx = next_w_ptr;
+      if (q->callback != NULL) {
+        q->callback(q);
      }
    }
+
+    EXIT_CRITICAL();
+  }
+}
+
+// This function should be called on:
+// * Half-transfer DMA interrupt
+// * Full-transfer DMA interrupt
+// * UART IDLE detection
+uint32_t prev_w_index = 0;
+void dma_pointer_handler(uart_ring *q, uint32_t dma_ndtr) {
+  ENTER_CRITICAL();
+  uint32_t w_index = (q->rx_fifo_size - dma_ndtr);
+  
+  // Check for new data
+  if (w_index != prev_w_index){
+    // Check for overflow
+    if (
+      ((prev_w_index < q->r_ptr_rx) && (q->r_ptr_rx <= w_index)) ||                               // No rollover
+      ((w_index < prev_w_index) && ((q->r_ptr_rx <= w_index) || (prev_w_index < q->r_ptr_rx)))    // Rollover
+    ){   
+      // We lost data. Set the new read pointer to the oldest byte still available
+      q->r_ptr_rx = (w_index + 1U) % q->rx_fifo_size;
+    }
+
+    // Set write pointer
+    q->w_ptr_rx = w_index;
  }

-  if ((sr & USART_SR_ORE) != 0) {
-    // set dropped packet flag?
+  prev_w_index = w_index;
+  EXIT_CRITICAL();
+}
+
+// This read after reading SR clears all error interrupts. We don't want compiler warnings, nor optimizations
+#define UART_READ_DR(uart) volatile uint8_t t = (uart)->DR; UNUSED(t);
+
+void uart_interrupt_handler(uart_ring *q) {
+  ENTER_CRITICAL();
+
+  // Read UART status. This is also the first step necessary in clearing most interrupts
+  uint32_t status = q->uart->SR;
+
+  // If RXNE is set, perform a read. This clears RXNE, ORE, IDLE, NF and FE
+  if((status & USART_SR_RXNE) != 0U){
+    uart_rx_ring(q);
+  }
+
+  // Detect errors and clear them
+  uint32_t err = (status & USART_SR_ORE) | (status & USART_SR_NE) | (status & USART_SR_FE) | (status & USART_SR_PE);
+  if(err != 0U){
+    #ifdef DEBUG_UART
+      puts("Encountered UART error: "); puth(err); puts("\n");
+    #endif
+    UART_READ_DR(q->uart)
+  }
+  // Send if necessary
+  uart_tx_ring(q);
+
+  // Run DMA pointer handler if the line is idle
+  if(q->dma_rx && (status & USART_SR_IDLE)){
+    // Reset IDLE flag
+    UART_READ_DR(q->uart)
+
+    if(q == &uart_ring_esp_gps){
+      dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
+    } else {
+      #ifdef DEBUG_UART
+        puts("No IDLE dma_pointer_handler implemented for this UART.");
+      #endif
+    }
  }

  EXIT_CRITICAL();
 }

-// interrupt boilerplate
+void USART1_IRQHandler(void) { uart_interrupt_handler(&uart_ring_esp_gps); }
+void USART2_IRQHandler(void) { uart_interrupt_handler(&uart_ring_debug); }
+void USART3_IRQHandler(void) { uart_interrupt_handler(&uart_ring_lin2); }
+void UART5_IRQHandler(void) { uart_interrupt_handler(&uart_ring_lin1); }

-void USART1_IRQHandler(void) { uart_ring_process(&esp_ring); }
-void USART2_IRQHandler(void) { uart_ring_process(&debug_ring); }
-void USART3_IRQHandler(void) { uart_ring_process(&lin2_ring); }
-void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }
+void DMA2_Stream5_IRQHandler(void) {
+  ENTER_CRITICAL();
+
+  // Handle errors
+  if((DMA2->HISR & DMA_HISR_TEIF5) || (DMA2->HISR & DMA_HISR_DMEIF5) || (DMA2->HISR & DMA_HISR_FEIF5)){
+    #ifdef DEBUG_UART
+      puts("Encountered UART DMA error. Clearing and restarting DMA...\n");
+    #endif
+
+    // Clear flags
+    DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;
+
+    // Re-enable the DMA if necessary
+    DMA2_Stream5->CR |= DMA_SxCR_EN;
+  }
+
+  // Re-calculate write pointer and reset flags
+  dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
+  DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
+
+  EXIT_CRITICAL();
+}
+
+// ***************************** Hardware setup *****************************
+
+void dma_rx_init(uart_ring *q) {
+  // Initialization is UART-dependent
+  if(q == &uart_ring_esp_gps){
+    // DMA2, stream 5, channel 4
+
+    // Disable FIFO mode (enable direct)
+    DMA2_Stream5->FCR &= ~DMA_SxFCR_DMDIS;
+
+    // Setup addresses
+    DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);    // Source
+    DMA2_Stream5->M0AR = (uint32_t)q->elems_rx;     // Destination
+    DMA2_Stream5->NDTR = q->rx_fifo_size;           // Number of bytes to copy
+
+    // Circular, Increment memory, byte size, periph -> memory, enable
+    // Transfer complete, half transfer, transfer error and direct mode error interrupt enable
+    DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_CIRC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_TEIE | DMA_SxCR_DMEIE | DMA_SxCR_EN;
+    
+    // Enable DMA receiver in UART
+    q->uart->CR3 |= USART_CR3_DMAR;
+
+    // Enable UART IDLE interrupt
+    q->uart->CR1 |= USART_CR1_IDLEIE;
+
+    // Enable interrupt
+    NVIC_EnableIRQ(DMA2_Stream5_IRQn);
+  } else {
+    puts("Tried to initialize RX DMA for an unsupported UART\n");
+  }
+}
+
+#define __DIV(_PCLK_, _BAUD_)                    (((_PCLK_) * 25U) / (4U * (_BAUD_)))
+#define __DIVMANT(_PCLK_, _BAUD_)                (__DIV((_PCLK_), (_BAUD_)) / 100U)
+#define __DIVFRAQ(_PCLK_, _BAUD_)                ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
+#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
+
+void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
+  if (u == USART1) {
+    // USART1 is on APB2
+    u->BRR = __USART_BRR(48000000U, baud);
+  } else {
+    u->BRR = __USART_BRR(24000000U, baud);
+  }
+}
+
+void uart_init(uart_ring *q, int baud) {
+  // Set baud and enable peripheral with TX and RX mode
+  uart_set_baud(q->uart, baud);
+  q->uart->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
+
+  // Enable UART interrupts
+  if(q->uart == USART1){
+    NVIC_EnableIRQ(USART1_IRQn);
+  } else if (q->uart == USART2){
+    NVIC_EnableIRQ(USART2_IRQn);
+  } else if (q->uart == USART3){
+    NVIC_EnableIRQ(USART3_IRQn);
+  } else if (q->uart == UART5){
+    NVIC_EnableIRQ(UART5_IRQn);
+  } else {
+    // UART not used. Skip enabling interrupts
+  }
+
+  // Initialise RX DMA if used
+  if(q->dma_rx){
+    dma_rx_init(q);
+  }
+}
+
+// ************************* Low-level buffer functions *************************

 bool getc(uart_ring *q, char *elem) {
  bool ret = false;
@@ -124,7 +303,7 @@ bool getc(uart_ring *q, char *elem) {
  ENTER_CRITICAL();
  if (q->w_ptr_rx != q->r_ptr_rx) {
    if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
-    q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
    ret = true;
  }
  EXIT_CRITICAL();
@@ -137,7 +316,7 @@ bool injectc(uart_ring *q, char elem) {
  uint16_t next_w_ptr;

  ENTER_CRITICAL();
-  next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_rx + 1U) % q->tx_fifo_size;
  if (next_w_ptr != q->r_ptr_rx) {
    q->elems_rx[q->w_ptr_rx] = elem;
    q->w_ptr_rx = next_w_ptr;
@@ -153,7 +332,7 @@ bool putc(uart_ring *q, char elem) {
  uint16_t next_w_ptr;

  ENTER_CRITICAL();
-  next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
+  next_w_ptr = (q->w_ptr_tx + 1U) % q->tx_fifo_size;
  if (next_w_ptr != q->r_ptr_tx) {
    q->elems_tx[q->w_ptr_tx] = elem;
    q->w_ptr_tx = next_w_ptr;
@@ -161,11 +340,13 @@ bool putc(uart_ring *q, char elem) {
  }
  EXIT_CRITICAL();

-  uart_ring_process(q);
+  uart_tx_ring(q);

  return ret;
 }

+// Seems dangerous to use (might lock CPU if called with interrupts disabled f.e.)
+// TODO: Remove? Not used anyways
 void uart_flush(uart_ring *q) {
  while (q->w_ptr_tx != q->r_ptr_tx) {
    __WFI();
@@ -175,7 +356,7 @@ void uart_flush(uart_ring *q) {
 void uart_flush_sync(uart_ring *q) {
  // empty the TX buffer
  while (q->w_ptr_tx != q->r_ptr_tx) {
-    uart_ring_process(q);
+    uart_tx_ring(q);
  }
 }

@@ -193,119 +374,15 @@ void clear_uart_buff(uart_ring *q) {
  EXIT_CRITICAL();
 }

-// ***************************** start UART code *****************************
-
-#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_) * 25U) / (4U * (_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_)) / 100U)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                    ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
-
-void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
-  if (u == USART1) {
-    // USART1 is on APB2
-    u->BRR = __USART_BRR(48000000U, baud);
-  } else {
-    u->BRR = __USART_BRR(24000000U, baud);
-  }
-}
-
-#define USART1_DMA_LEN 0x20
-char usart1_dma[USART1_DMA_LEN];
-
-void uart_dma_drain(void) {
-  uart_ring *q = &esp_ring;
-
-  ENTER_CRITICAL();
-
-  if ((DMA2->HISR & DMA_HISR_TCIF5) || (DMA2->HISR & DMA_HISR_HTIF5) || (DMA2_Stream5->NDTR != USART1_DMA_LEN)) {
-    // disable DMA
-    q->uart->CR3 &= ~USART_CR3_DMAR;
-    DMA2_Stream5->CR &= ~DMA_SxCR_EN;
-    while ((DMA2_Stream5->CR & DMA_SxCR_EN) != 0);
-
-    unsigned int i;
-    for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
-      char c = usart1_dma[i];
-      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
-      if (next_w_ptr != q->r_ptr_rx) {
-        q->elems_rx[q->w_ptr_rx] = c;
-        q->w_ptr_rx = next_w_ptr;
-      }
-    }
-
-    // reset DMA len
-    DMA2_Stream5->NDTR = USART1_DMA_LEN;
-
-    // clear interrupts
-    DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
-    //DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;
-
-    // enable DMA
-    DMA2_Stream5->CR |= DMA_SxCR_EN;
-    q->uart->CR3 |= USART_CR3_DMAR;
-  }
-
-  EXIT_CRITICAL();
-}
-
-void DMA2_Stream5_IRQHandler(void) {
-  //set_led(LED_BLUE, 1);
-  uart_dma_drain();
-  //set_led(LED_BLUE, 0);
-}
-
-void uart_init(USART_TypeDef *u, int baud) {
-  // enable uart and tx+rx mode
-  u->CR1 = USART_CR1_UE;
-  uart_set_baud(u, baud);
-
-  u->CR1 |= USART_CR1_TE | USART_CR1_RE;
-  //u->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
-  //u->CR2 = USART_CR2_STOP_0;
-  // ** UART is ready to work **
-
-  // enable interrupts
-  if (u != USART1) {
-    u->CR1 |= USART_CR1_RXNEIE;
-  }
-
-  if (u == USART1) {
-    // DMA2, stream 2, channel 3
-    DMA2_Stream5->M0AR = (uint32_t)usart1_dma;
-    DMA2_Stream5->NDTR = USART1_DMA_LEN;
-    DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);
-
-    // channel4, increment memory, periph -> memory, enable
-    DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_EN;
-
-    // this one uses DMA receiver
-    u->CR3 = USART_CR3_DMAR;
-
-    NVIC_EnableIRQ(DMA2_Stream5_IRQn);
-    NVIC_EnableIRQ(USART1_IRQn);
-  } else if (u == USART2) {
-    NVIC_EnableIRQ(USART2_IRQn);
-  } else if (u == USART3) {
-    NVIC_EnableIRQ(USART3_IRQn);
-  } else if (u == UART5) {
-    NVIC_EnableIRQ(UART5_IRQn);
-  } else {
-    // USART type undefined, skip
-  }
-}
-
+// ************************ High-level debug functions **********************
 void putch(const char a) {
  if (has_external_debug_serial) {
-    /*while ((debug_ring.uart->SR & USART_SR_TXE) == 0);
-    debug_ring.uart->DR = a;*/
-
    // assuming debugging is important if there's external serial connected
-    while (!putc(&debug_ring, a));
+    while (!putc(&uart_ring_debug, a));

-    //putc(&debug_ring, a);
  } else {
    // misra-c2012-17.7: serial debug function, ok to ignore output
-    (void)injectc(&debug_ring, a);
+    (void)injectc(&uart_ring_debug, a);
  }
 }

@@ -327,7 +404,7 @@ void putui(uint32_t i) {
    idx--;
    i_copy /= 10;
  } while (i_copy != 0U);
-  puts(str + idx + 1U);
+  puts(&str[idx + 1U]);
 }

 void puth(unsigned int i) {
@@ -345,10 +422,12 @@ void puth2(unsigned int i) {
 }

 void hexdump(const void *a, int l) {
-  for (int i=0; i < l; i++) {
-    if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
-    puth2(((const unsigned char*)a)[i]);
-    puts(" ");
+  if (a != NULL) {
+    for (int i=0; i < l; i++) {
+      if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
+      puth2(((const unsigned char*)a)[i]);
+      puts(" ");
+    }
  }
  puts("\n");
 }
--- a/panda/board/drivers/usb.h
+++ b/panda/board/drivers/usb.h
@@ -439,7 +439,7 @@ void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
  USB_WritePacket(src, wplen, 0);

  if (wplen < len) {
-    ep0_txdata = src + wplen;
+    ep0_txdata = &src[wplen];
    ep0_txlen = len - wplen;
    USBx_DEVICE->DIEPEMPMSK |= 1;
  } else {
@@ -985,7 +985,7 @@ void usb_irqhandler(void) {
      if ((ep0_txlen != 0U) && ((USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40U)) {
        uint16_t len = MIN(ep0_txlen, 0x40);
        USB_WritePacket(ep0_txdata, len, 0);
-        ep0_txdata += len;
+        ep0_txdata = &ep0_txdata[len];
        ep0_txlen -= len;
        if (ep0_txlen == 0U) {
          ep0_txdata = NULL;
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -1,4 +1,4 @@
-//#define EON 
+//#define EON
 //#define PANDA

 // ********************* Includes *********************
@@ -78,10 +78,14 @@ void started_interrupt_handler(uint8_t interrupt_line) {
    // jenky debounce
    delay(100000);

-    // set power savings mode here if on EON build
    #ifdef EON
+      // set power savings mode here if on EON build
      int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
      set_power_save_state(power_save_state);
+      // set CDP usb power mode everytime that the car starts to make sure EON is charging
+      if (current_board->check_ignition()) {
+        current_board->set_usb_power_mode(USB_POWER_CDP);
+      }
    #endif
  }
  EXTI->PR = (1U << interrupt_line);
@@ -134,7 +138,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
          }
          can_silent = ALL_CAN_LIVE;
          break;
-      }          
+      }
    if (safety_ignition_hook() != -1) {
      // if the ignition hook depends on something other than the started GPIO
      // we have to disable power savings (fix for GM and Tesla)
@@ -159,19 +163,10 @@ int get_health_pkt(void *dat) {
    uint8_t controls_allowed_pkt;
    uint8_t gas_interceptor_detected_pkt;
    uint8_t car_harness_status_pkt;
+    uint8_t usb_power_mode_pkt;
  } *health = dat;

-  //Voltage will be measured in mv. 5000 = 5V
-  uint32_t voltage = adc_get(ADCCHAN_VOLTAGE);
-
-  // REVC has a 10, 1 (1/11) voltage divider
-  // Here is the calculation for the scale (s)
-  // ADCV = VIN_S * (1/11) * (4095/3.3)
-  // RETVAL = ADCV * s = VIN_S*1000
-  // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
-
-  // Avoid needing floating point math
-  health->voltage_pkt = (voltage * 8862U) / 1000U;
+  health->voltage_pkt = adc_get_voltage();

  // No current sense on panda black
  if(hw_type != HW_TYPE_BLACK_PANDA){
@@ -195,7 +190,8 @@ int get_health_pkt(void *dat) {
  health->can_fwd_errs_pkt = can_fwd_errs;
  health->gmlan_send_errs_pkt = gmlan_send_errs;
  health->car_harness_status_pkt = car_harness_status;
-  
+  health->usb_power_mode_pkt = usb_power_mode;
+
  return sizeof(*health);
 }

@@ -215,7 +211,7 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
  uint8_t *usbdata8 = (uint8_t *)usbdata;
  uart_ring *ur = get_ring_by_number(usbdata8[0]);
  if ((len != 0) && (ur != NULL)) {
-    if ((usbdata8[0] < 2U) || safety_tx_lin_hook(usbdata8[0] - 2U, usbdata8 + 1, len - 1)) {
+    if ((usbdata8[0] < 2U) || safety_tx_lin_hook(usbdata8[0] - 2U, &usbdata8[1], len - 1)) {
      for (int i = 1; i < len; i++) {
        while (!putc(ur, usbdata8[i])) {
          // wait
@@ -346,7 +342,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
        } else {
          // Disable OBD CAN
          current_board->set_can_mode(CAN_MODE_NORMAL);
-        }        
+        }
      } else {
        if (setup->b.wValue.w == 1U) {
          // GMLAN ON
@@ -362,7 +358,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
        }
      }
      break;
-      
+
    // **** 0xdc: set safety mode
    case 0xdc:
      // Blocked over WiFi.
@@ -403,9 +399,12 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      if (!ur) {
        break;
      }
-      if (ur == &esp_ring) {
-        uart_dma_drain();
+
+      // TODO: Remove this again and fix boardd code to hande the message bursts instead of single chars
+      if (ur == &uart_ring_esp_gps) {
+        dma_pointer_handler(ur, DMA2_Stream5->NDTR);
      }
+
      // read
      while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
                         getc(ur, (char*)&resp[resp_len])) {
@@ -460,19 +459,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      break;
    // **** 0xe6: set USB power
    case 0xe6:
-      if (setup->b.wValue.w == 0U) {
-        puts("user setting NONE mode\n");
-        current_board->set_usb_power_mode(USB_POWER_NONE);
-      } else if (setup->b.wValue.w == 1U) {
-        puts("user setting CDP mode\n");
-        current_board->set_usb_power_mode(USB_POWER_CDP);
-      } else if (setup->b.wValue.w == 2U) {
-        puts("user setting DCP mode\n");
-        current_board->set_usb_power_mode(USB_POWER_DCP);
-      } else {
-        puts("user setting CLIENT mode\n");
-        current_board->set_usb_power_mode(USB_POWER_CLIENT);
-      }
+      current_board->set_usb_power_mode(setup->b.wValue.w);
      break;
    // **** 0xf0: do k-line wValue pulse on uart2 for Acura
    case 0xf0:
@@ -591,8 +578,8 @@ void __attribute__ ((noinline)) enable_fpu(void) {
 uint64_t tcnt = 0;

 // go into NOOUTPUT when the EON does not send a heartbeat for this amount of seconds.
-#define EON_HEARTBEAT_THRESHOLD_IGNITION_ON 5U
-#define EON_HEARTBEAT_THRESHOLD_IGNITION_OFF 2U
+#define EON_HEARTBEAT_IGNITION_CNT_ON 5U
+#define EON_HEARTBEAT_IGNITION_CNT_OFF 2U

 // called once per second
 // cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
@@ -629,9 +616,11 @@ void TIM3_IRQHandler(void) {

    // check heartbeat counter if we are running EON code. If the heartbeat has been gone for a while, go to NOOUTPUT safety mode.
    #ifdef EON
-    if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_THRESHOLD_IGNITION_ON : EON_HEARTBEAT_THRESHOLD_IGNITION_OFF)) {
+    if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
      puts("EON hasn't sent a heartbeat for 0x"); puth(heartbeat_counter); puts(" seconds. Safety is set to NOOUTPUT mode.\n");
-      set_safety_mode(SAFETY_NOOUTPUT, 0U);
+      if(current_safety_mode != SAFETY_NOOUTPUT){
+        set_safety_mode(SAFETY_NOOUTPUT, 0U);
+      }
    }
    #endif

@@ -651,7 +640,7 @@ int main(void) {
  detect_configuration();
  detect_board_type();
  adc_init();
-  
+
  // print hello
  puts("\n\n\n************************ MAIN START ************************\n");

@@ -676,22 +665,22 @@ int main(void) {
  if (has_external_debug_serial) {
    // WEIRDNESS: without this gate around the UART, it would "crash", but only if the ESP is enabled
    // assuming it's because the lines were left floating and spurious noise was on them
-    uart_init(USART2, 115200);
+    uart_init(&uart_ring_debug, 115200);
  }

  if (board_has_gps()) {
-    uart_init(USART1, 9600);
+    uart_init(&uart_ring_esp_gps, 9600);
  } else {
    // enable ESP uart
-    uart_init(USART1, 115200);
+    uart_init(&uart_ring_esp_gps, 115200);
  }

  // there is no LIN on panda black
  if(hw_type != HW_TYPE_BLACK_PANDA){
    // enable LIN
-    uart_init(UART5, 10400);
+    uart_init(&uart_ring_lin1, 10400);
    UART5->CR2 |= USART_CR2_LINEN;
-    uart_init(USART3, 10400);
+    uart_init(&uart_ring_lin2, 10400);
    USART3->CR2 |= USART_CR2_LINEN;
  }

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
dragonpilot	86e7c5d5b6	Merge branch 'devel-en' into 0.6.5-en	2019-11-06 12:02:26 +10:00
dragonpilot	9062391a9c	Merge branch 'devel-unsupported-cars' into devel-en	2019-11-05 13:44:57 +10:00
dragonpilot	6f7bf752cd	add 2017 Lexus GS450H	2019-11-05 12:08:24 +10:00
dragonpilot	450e6001a7	add aegis speed camera app	2019-11-04 16:43:40 +10:00
dragonpilot	92c4111bdd	update APK	2019-11-01 13:39:11 +10:00
dragonpilot	2c11113671	remove miui fonts to reduce package size	2019-11-01 13:34:28 +10:00
dragonpilot	5e341385cb	update offroad to multilangual version	2019-11-01 11:10:54 +10:00
dragonpilot	4adf4d138e	Merge branch 'devel-unsupported-cars' into devel-en	2019-10-31 11:24:09 +10:00
dragonpilot	995af1de45	fix merge conflict	2019-10-31 11:23:50 +10:00
dragonpilot	399cdf4e4a	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-unsupported-cars	2019-10-31 11:22:02 +10:00
dragonpilot	e8c7da8f4e	Merge branch 'devel-en' into 0.6.5-en	2019-10-31 11:16:10 +10:00
Riccardo	fe0ed57f45	Update README with now supported Subaru Harness	2019-10-30 15:15:05 -07:00
Ted Slesinski	affe1c3d2c	Adds 2019 Lexus ES (non hybrid) (#866 ) * Adds 2019 Lexus ES (non hybrid) * Updated test route	2019-10-30 10:38:10 -07:00
dragonpilot	8a816ea8e1	update carcontroller.py for honda	2019-10-30 11:56:17 +10:00
dragonpilot	b2c0070a7b	update safety_honda	2019-10-30 10:37:32 +10:00
dragonpilot	a2d6b0241f	fix allow_gas for honda and slightly adjust lead car moving alert value	2019-10-30 09:31:51 +10:00
xBJx	98d2907a35	Added fingerprint from Sienna XLE AWD (#848 ) * Added fingerprint from Sienna XLE AWD * Update driver_monitor.py * Update driver_monitor.py * Update driver_monitor.py	2019-10-28 19:26:50 -07:00
dragonpilot	70e315f14a	add SnG Mod support	2019-10-29 10:02:46 +10:00
dekerr	2a77b02bd8	remove unnecessary comprehensions (#863 )	2019-10-28 15:16:37 -07:00
dragonpilot	dc8d7e3939	Adjust dragon_allow_gas logic	2019-10-28 14:12:50 +10:00
dragonpilot	53f3688e4a	Merge branch 'devel-unsupported-cars' into devel-en	2019-10-28 12:33:51 +10:00
dragonpilot	9ec47b48bd	remove fp	2019-10-28 12:33:27 +10:00
dragonpilot	d44e8b5d3b	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-unsupported-cars	2019-10-28 12:33:16 +10:00
dragonpilot	48edf7f7d7	do not send canError if dragon_toyota_stock_dsu is on	2019-10-28 12:30:04 +10:00
dragonpilot	cf0e7d4a92	rename variable	2019-10-28 11:13:27 +10:00
dragonpilot	70df20f749	Revert "remove gas/brake value modification when allow_gas is enabled" This reverts commit `56742acbd4`.	2019-10-27 09:50:24 +10:00
u8511049	d2a92fcbe3	Add supported car for 2019 Toyota Altis Hybrid (#859 ) * add supported car for 2019 Toyota Altis Hybird / Corolla hybrid 2020 (US market)	2019-10-25 10:28:06 -07:00
dragonpilot	9e1db5ee4a	update lead car alert logic	2019-10-25 09:17:54 +10:00
dragonpilot	c9a3e8f8bc	remove canbus freq checking	2019-10-24 13:44:03 +10:00
dragonpilot	45399cc201	remove chmod bs	2019-10-22 16:53:36 +10:00
dragonpilot	12df763d61	disable force internet connectivity	2019-10-22 14:51:45 +10:00
dragonpilot	c065bc1a01	slightly adjust es_tss2 port	2019-10-22 11:22:02 +10:00
dragonpilot	df40837f48	ES_TSS2 should be stop_and_go = True	2019-10-21 19:56:32 +10:00
dragonpilot	8db3fa8caf	completely remove params.put for connectivity check for performance purpose	2019-10-21 19:04:27 +10:00
dragonpilot	aba77b1163	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-unsupported-cars	2019-10-21 16:20:46 +10:00
dragonpilot	4097231dcb	add 2019 Lexus ES200 port from Shell	2019-10-21 16:20:04 +10:00
dragonpilot	56742acbd4	remove gas/brake value modification when allow_gas is enabled	2019-10-21 11:18:17 +10:00
dragonpilot	72ba044226	disable internet connection checking	2019-10-21 11:11:51 +10:00
Riccardo	7a2addf782	Remove unneded use of replace, causing json to fail loading the alert	2019-10-18 11:29:59 -07:00
dragonpilot	63cee44949	Add Lead Car Moving Alert	2019-10-18 17:58:12 +10:00
dragonpilot	b1e698ee82	Make sure always use unsigned panda firmware	2019-10-18 09:47:14 +10:00
dragonpilot	c6f324d407	adjust STEER_ANGLE to 0.0573 instead of 0.573	2019-10-18 09:41:09 +10:00
dragonpilot	23250ba37f	Merge branch 'devel-unsupported-cars' into devel-en	2019-10-18 09:39:33 +10:00
dragonpilot	aa89df14b8	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en	2019-10-18 09:39:19 +10:00
dragonpilot	969c3c1e05	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-unsupported-cars	2019-10-18 09:38:09 +10:00
Riccardo	23dfde1ce7	Update ref to process_replay regression test	2019-10-17 14:47:38 -07:00
Jason Young	d953b6a7aa	Add core OP support for CRC validation, with extra support for Volkswagen MQB (#836 ) * Generalized core OP CRC support plus extra bits for Volkswagen MQB.	2019-10-17 13:58:32 -07:00
Riccardo	26dd7e27c8	Revert to using the sum of the lane line probabilities instead of the the product	2019-10-17 13:31:28 -07:00
dragonpilot	1447a3b458	Add slow on curve toggle	2019-10-17 14:22:28 +10:00
dragonpilot	0dc120f4d8	fix unable to display release note issue	2019-10-17 13:35:10 +10:00
dragonpilot	8db70980fa	update APK	2019-10-17 10:30:50 +10:00
dragonpilot	91bbd7c28f	Fix STEER_ANGLE in STEER_TORQUE_SENSOR factor to 0.573 (was 0.056)	2019-10-17 10:21:00 +10:00
dragonpilot	df432c5e2e	Merge branch 'devel-unsupported-cars' into devel-en	2019-10-17 10:19:50 +10:00
dragonpilot	02d6549fa7	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-unsupported-cars	2019-10-17 10:19:13 +10:00
dragonpilot	0302835853	Fix charging_ctrl max/min value param reader	2019-10-17 09:59:13 +10:00
dragonpilot	5581835f79	Add DragonCarModel/DragonCarVIN params	2019-10-17 09:58:47 +10:00
dragonpilot	7030de2a82	delete bs (branch switcher)	2019-10-16 17:22:21 +10:00
dragonpilot	4065e9360c	upgrade autonavi app to v4.3.0	2019-10-16 16:10:01 +10:00
dragonpilot	0d02fbe2ec	Add no-cache header when download changelog	2019-10-16 11:57:49 +10:00
dragonpilot	33386b6365	Add reboot to flash panda script	2019-10-16 10:36:17 +10:00
dragonpilot	8fd9ff49f4	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en	2019-10-15 11:57:02 +10:00
dragonpilot	5a2bc4f616	Update APK	2019-10-14 17:12:13 +10:00
dragonpilot	50d8771c29	Update APK	2019-10-14 16:59:49 +10:00
dragonpilot	fd839b7614	fix reset_update.sh script again	2019-10-14 16:56:08 +10:00
dragonpilot	33393412f8	Fix update_panda_firmware.sh	2019-10-14 16:29:13 +10:00
dragonpilot	bfd61871d4	add a script for update panda firmware	2019-10-14 16:03:44 +10:00
dragonpilot	45bb3350e1	fix reset_update script	2019-10-14 16:03:31 +10:00
dragonpilot	8ab6b4313b	update APK	2019-10-14 13:59:20 +10:00
dragonpilot	853c1c24fb	Create a custom script for update feature	2019-10-14 13:44:06 +10:00
dragonpilot	7b4602907e	update APK	2019-10-14 12:32:01 +10:00
dragonpilot	6291d6c31a	fix charging ctrl toggle	2019-10-14 12:27:39 +10:00
rbiasini	70d17cd69b	Force subaru to assume the stock camera is connected (#849 )	2019-10-13 18:25:09 -07:00
dragonpilot	be9e6fa698	Display dp's changelog instead of dp's release notes	2019-10-14 11:02:12 +10:00
dragonpilot	d21b783199	remove deprecated dragon params	2019-10-13 10:58:03 +10:00
dragonpilot	e450d8a4fb	re-enable updated	2019-10-13 10:36:21 +10:00
dragonpilot	07c8465c2b	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en	2019-10-13 10:17:34 +10:00
rbiasini	069e337bea	Allow to lock safety mode to keep gm/tesla cars supported (#844 )	2019-10-11 17:35:07 -07:00
illumiN8i	6b62dd2308	2019 Highlander Hybrid Limited Platinum (#843 ) fingerprint from ogdragonzypher on Discord	2019-10-11 13:46:48 -07:00
dekerr	4ff7da61e0	simplify encode/decode in dbc (#840 ) * simplify encode/decode	2019-10-11 13:22:16 -07:00
dekerr	686d4bbdc2	use list comprehension (#839 ) * use list comprehension * oops index range fix	2019-10-11 00:09:59 -07:00
eFini	08d86aa7d7	Increase LEXUS_IS safetyParam to 77 (#841 )	2019-10-10 23:31:05 -07:00
dragonpilot	8b3aa6f561	Merge branch 'devel-unsupported-cars' into devel-en	2019-10-11 14:24:04 +10:00
dragonpilot	973bdc4318	Add Taiwan 2019 RAV4 FP from Max Duan / CloudJ	2019-10-11 14:23:43 +10:00
dragonpilot	1d38e040c9	Merge branch 'devel-unsupported-cars' into devel-en	2019-10-11 14:17:06 +10:00
dragonpilot	aa58f52db3	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-unsupported-cars	2019-10-11 14:14:35 +10:00
dragonpilot	62fbb6302a	Fix fp cache issue	2019-10-11 13:44:16 +10:00
dragonpilot	be1376ecd2	Fix FP cache	2019-10-11 12:16:18 +10:00
dragonpilot	38a9cf9489	Revert "Fixing up fp cache" This reverts commit `adf8e823b9`.	2019-10-11 10:23:37 +10:00
dragonpilot	a7602eae5e	Improve honda dp_allow_gas logic	2019-10-11 09:57:07 +10:00
dragonpilot	adf8e823b9	Fixing up fp cache	2019-10-11 09:47:26 +10:00
dragonpilot	9636661da4	Fix python3 params.get issue in appd	2019-10-10 22:07:05 +10:00
dragonpilot	071457dc9e	Fix python3 params.get issue	2019-10-10 21:43:55 +10:00
dragonpilot	dc77d4a88e	use dp spinner	2019-10-10 15:08:01 +10:00
dragonpilot	f1e26b346f	Fix unavailable variable issue	2019-10-10 14:34:18 +10:00
dragonpilot	6c1fa5dc3a	Fix unable to display ip address issue	2019-10-10 14:09:09 +10:00
dragonpilot	7b8bd9e3ff	Update APK	2019-10-10 13:58:03 +10:00
dragonpilot	b8557616dd	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en	2019-10-10 10:44:43 +10:00
Vehicle Researcher	cf80f7a28b	openpilot v0.6.5 release	2019-10-09 18:43:53 +00:00
Vehicle Researcher	3a04a69cbe	Merge opendbc subtree	2019-10-09 18:31:57 +00:00
Vehicle Researcher	4f4a90117b	Squashed 'opendbc/' changes from 684e28a7a..f3b573559 f3b573559 move generator to python3 9efff4086 2019+ New Prius Steer Angle (#189) f3461d143 add units and a couple new signals for toyota (#188) 16033b3ff Remove non ascii characters de162d8c2 Toyota no dsu: fix steer angle factor, it's 1% of a rad 2fb524554 Lexus CT200H seems to have the safetyParam 1 instead of 0.73 b2fde8b11 toyota time signal (#187) 6cfe0c432 Fixed brake signal unit in Bosch Honda git-subtree-dir: opendbc git-subtree-split: f3b573559f1619346f082554a72cebcc43da5275	2019-10-09 18:31:57 +00:00
Vehicle Researcher	f2de9784f8	Merge panda subtree	2019-10-09 18:31:56 +00:00
Vehicle Researcher	38faf7f8a4	Squashed 'panda/' changes from 9881e6118..30c7ca8a5 30c7ca8a5 bump version to 1.5.3 9403dbebe Need to fix wifi test before re-enabling. 0812362b5 GPS UART fix until boardd is refactored (#294) ffbdb87a8 python2 -> 3 fixes to pedal flasher (#292) 78b75ef59 Added build type to release version strings 736c2cbf7 Fixed sending of bytes over PandaSerial 0894b28f1 Fixed USB power mode on black (#291) 4b3358c92 patch to be able to switch from EON to PC with a Panda that has EON b… (#290) a95c44a71 Made setting of NOOUTPUT on no heartbeat more efficient (#287) 948683688 UART instability fix with high interrupt load (#283) 9a9e9d47b Fix usb_power_mode missing initialization (#289) af0960ad3 DFU fix (#288) 70219d7bb match safety enum in cereal (#285) a338d3932 Fix build for jenkins test 78ef4a6eb Stop charge (#284) 5266a4028 Fix typo (#286) f4787ec5a Revert "turn on CDP when ignition switches on (#281)" d37daee97 Revert "NONE and CLIENT should be the same thing in white/grey pandas" e97b283e7 NONE and CLIENT should be the same thing in white/grey pandas 8c1df559f turn on CDP when ignition switches on (#281) 847a35d42 Fix bullet points fac027716 Misra update (#280) 5a04df6b1 Added description of regression tests to README c4aabae59 Fixed some python3 bugs in the test scripts and PandaSerial 9af0cb353 Bump version c4ac3d63b Disable GPS load switching on black pandas 078ee588c This is the correct table, actually 578b95ee3 Misra table of coverage added d383a2625 bump panda b98ca010d fix sdk build in python3 env (#279) 63d3dc7d3 Set python3 env before runnign get_sdk, so we know if it fails e951d79c0 legacy code we don't control can remain python2 11b715118 Merge pull request #276 from commaai/python3 9893a842a Merge pull request #277 from zorrobyte/patch-1 d3268690c Revert "revert back esptool to python2 and force to build esptools with python2" 875e76012 revert back esptool to python2 and force to build esptools with python2 9c40e6240 needed to install python3 ed2ac87cf Also moved safety tests to python3 6842b2d2c move esptool sdk installation before python3 env is set. Kind of a cheat b5a2cabcd this hopefully fixes build test 628050955 Fixes safety replay 2c220b623 this fixes language regr test fdbe789b8 use python 3 in Docker container ee1ae4f86 Better hash print 0de9ef73c Revert "Final 2to3 on the whole repo" c92fd3bc9 Final 2to3 on the whole repo 5f2bc4460 better b2a30fdbd make works! b74005d10 fix sign.py fe727706b read file as byte and no tab before sleep 32a344ef6 Update README.md 2dc34096a 2to3 applied ffa68ef71 undo unnecessary brackets for print dbc248027 Fix all the prints with 2to3, some need to be undo 5a7aeba0f xrange is gone 982c4c928 one more python3 env 1e2412a29 env python -> env python3 git-subtree-dir: panda git-subtree-split: 30c7ca8a53a3adb05d23d7cfe64fb716a656ef1a	2019-10-09 18:31:56 +00:00
Vehicle Researcher	d17745fb5e	Merge cereal subtree	2019-10-09 18:31:55 +00:00
Vehicle Researcher	f66527d0b1	Squashed 'cereal/' changes from ea14abe4b..3d90c7877 3d90c7877 Fix wrong event enum f4c92cf4e add none/invalid usb power mode 12bc18965 Add fields and states required for robust Volkswagen safety compliance (#8) 16b5850f1 let's spell wolkswagen 6243622e6 Safety cereal (#9) 5cf3c2c76 change order of UsbPowerMode to preserve panda lib behavior 18a291779 usbPowerMode is more useful to log and it comes from panda 152678429 add ldw to visual hud alerts (#5) 24f6fa78c merge https://github.com/commaai/cereal/pull/3 after fixing conflicts 4d5862c54 added event about internet connection ca070f9fd Added usbPowerOn to health e2eaa762b add HW type for UNO e528a2041 Read RPM from fan connected to Panda 8472175d6 Added invalidGiraffeToyota event 71be97053 placeholders for mazda, nissan and vw safety models git-subtree-dir: cereal git-subtree-split: 3d90c7877f9ef9269735b074c0cb23f5eb6d2b47	2019-10-09 18:31:55 +00:00