openpilot v0.4.0.2 release

Merge opendbc subtree
Merge panda subtree
2026-06-13 02:44:36 +08:00 · 2018-01-18 15:46:12 -08:00 · 2018-01-18 15:42:13 -08:00 · 2018-01-18 15:42:12 -08:00 · 2018-01-18 15:42:12 -08:00 · 2018-01-16 23:26:39 -08:00
602 changed files with 133021 additions and 36 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,30 @@
+.DS_Store
+.tags
+.ipynb_checkpoints
+.idea
+model2.png
+
+*.DSYM
+*.d
 *.pyc
+*.pyo
 .*.swp
+.*.swo
+.*.un~
+*.o
+*.so
+*.a
+*.clb
+*.class
+*.pyxbldc
+*.vcd
+config.json
+clcache
+
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/proclogd/proclogd
+selfdrive/ui/ui
+/src/
+
--- a/.travis.yml
+++ b/.travis.yml
@@ -0,0 +1,12 @@
+sudo: required
+
+services:
+  - docker
+
+install:
+  - docker build -t tmppilot -f Dockerfile.openpilot .
+
+script:
+  - docker run --rm
+      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -0,0 +1,19 @@
+FROM ubuntu:16.04
+ENV PYTHONUNBUFFERED 1
+
+RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
+
+COPY requirements_openpilot.txt /tmp/
+RUN pip install -r /tmp/requirements_openpilot.txt
+
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+
+COPY ./common /tmp/openpilot/common
+COPY ./cereal /tmp/openpilot/cereal
+COPY ./opendbc /tmp/openpilot/opendbc
+COPY ./selfdrive /tmp/openpilot/selfdrive
+COPY ./phonelibs /tmp/openpilot/phonelibs
+COPY ./pyextra /tmp/openpilot/pyextra
+
+RUN mkdir -p /tmp/openpilot/selfdrive/test/out
--- a/LICENSE.openpilot
+++ b/LICENSE.openpilot
@@ -0,0 +1,7 @@
+Copyright (c) 2016, Comma.ai, Inc.
+
+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/9
+++ b/9
@@ -0,0 +1,9 @@
+
+code_dir := $(shell pwd)
+
+# TODO: Add a global build system
+
+.PHONY: all
+all:
+	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
+
--- a/README.md
+++ b/README.md
@@ -1,49 +1,141 @@
-opendbc
+Welcome to openpilot
 ======

-The project to democratize access to the decoder ring of your car.
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.

+Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras and Toyotas. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

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

-### DBC file basics
+Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).

-A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file.
-Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) a good overview.
+Hardware
+------

-### How to start reverse engineering cars
+Right now openpilot supports the [NEO research platform](http://github.com/commaai/neo) and the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.

-[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).
+Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.

-Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
+Supported Cars
+------

-### Good practices for contributing to opendbc
+- Acura ILX 2016 with AcuraWatch Plus
+  - Due to use of the cruise control for gas, it can only be enabled above 25 mph

- Comments: the best way to store comments is to add them directly to the DBC files. For example: 
-    ```
-    CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-    ```
-    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
+- Honda Civic 2016-2017 with Honda Sensing
+  - Due to limitations in steering firmware, steering is disabled below 12 mph
+  - Note that the hatchback model is not supported

- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better. 
-For example:
-    ```
-    SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM
-    ```
-    is better than:
-    ```
-    SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM
-    ```
-    However, the cleanest option is really:
-    ```
-    SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
-    ``` 
+- Honda CR-V Touring 2015-2016
+  - Can only be enabled above 25 mph

- Signal's size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
-    ```
-    SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
-    ```
-    However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is:
-    ```
-    SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM
-    ```
-    which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else.
+- Toyota RAV-4 2016+ non-hybrid with TSS-P
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
+
+- Toyota Prius 2017 (alpha!)
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29)
+  - Lateral control needs improvements
+
+- Toyota RAV-4 2017 hybrid (alpha!)
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can do stop and go
+
+In Progress Cars
+------
+- Probably all TSS-P Toyota with Steering Assist.
+  - 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
+  - Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
+
+Community WIP Cars
+------
+
+- [Chevy Volt 2016-2018 Premier with Driver Confidence II](https://github.com/commaai/openpilot/pull/104)
+
+- [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
+
+- [Honda Odyssey 2018 with Honda Sensing](https://github.com/commaai/openpilot/pull/155)
+
+- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
+
+- [Acura RDX 2018 with AcuraWatch Plus](https://github.com/commaai/openpilot/pull/162)
+
+Directory structure
+------
+
+- cereal        -- The messaging spec used for all logs on the phone
+- common        -- Library like functionality we've developed here
+- opendbc       -- Files showing how to interpret data from cars
+- panda         -- Code used to communicate on CAN and LIN
+- phonelibs     -- Libraries used on the phone
+- selfdrive     -- Code needed to drive the car
+  - assets        -- Fonts for ui
+  - boardd        -- Daemon to talk to the board
+  - car           -- Code that talks to the car and implements CarInterface
+  - common        -- Shared C/C++ code for the daemons
+  - controls      -- Python controls (PID loops etc) for the car
+  - debug         -- Tools to help you debug and do car ports
+  - logcatd       -- Android logcat as a service
+  - loggerd       -- Logger and uploader of car data
+  - proclogd      -- Logs information from proc
+  - radar         -- Code that talks to the radar and implements RadarInterface
+  - sensord       -- IMU / GPS interface code
+  - test/plant    -- Car simulator running code through virtual maneuvers
+  - ui            -- The UI
+  - visiond       -- embedded vision pipeline
+
+To understand how the services interact, see `selfdrive/service_list.yaml`
+
+Testing on PC
+------
+
+There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
+
+```bash
+# Requires working docker
+./run_docker_tests.sh
+```
+
+The results are written to `selfdrive/test/plant/out/index.html`
+
+More extensive testing infrastructure and simulation environments are coming soon.
+
+Adding Car Support
+------
+
+comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.
+
+CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.
+
+User Data / chffr Account / Crash Reporting
+------
+
+By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
+
+It's open source software, so you are free to disable it if you wish.
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+It does not log the user facing camera or the microphone.
+
+By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+Contributing
+------
+
+We welcome both pull requests and issues on
+[github](http://github.com/commaai/openpilot). See the TODO file for a list of
+good places to start.
+
+Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)
+
+Licensing
+------
+
+openpilot is released under the MIT license.
+
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+
+**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+NO WARRANTY EXPRESSED OR IMPLIED.**
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -0,0 +1,162 @@
+Version 0.4.0.2 (2018-01-18)
+==========================
+ * Add focus adjustment slider
+ * Minor bugfixes
+
+Version 0.4.0.1 (2017-12-21)
+==========================
+ * New UI to match chffrplus
+ * Improved lateral control tuning to fix oscillations on Civic
+ * Add alpha support for 2017 Toyota Rav4 Hybrid
+ * Reduced CPU usage
+ * Removed unnecessary utilization of fan at max speed
+ * Minor bug fixes
+
+Version 0.3.9 (2017-11-21)
+==========================
+ * Add alpha support for 2017 Toyota Prius
+ * Improved longitudinal control using model predictive control
+ * Enable Forward Collision Warning
+ * Acura ILX now maintains openpilot engaged at standstill when brakes are applied
+
+Version 0.3.8.2 (2017-10-30)
+==========================
+ * Add alpha support for 2017 Toyota RAV4
+ * Smoother lateral control
+ * Stay silent if stock system is connected through giraffe
+ * Minor bug fixes
+
+Version 0.3.7 (2017-09-30)
+==========================
+ * Improved lateral control using model predictive control
+ * Improved lane centering
+ * Improved GPS
+ * Reduced tendency of path deviation near right side exits
+ * Enable engagement while the accelerator pedal is pressed
+ * Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
+ * Disable engagement when park brake or brake hold are active
+ * Fixed sporadic longitudinal pulsing in Civic
+ * Cleanups to vehicle interface
+
+Version 0.3.6.1 (2017-08-15)
+============================
+ * Mitigate low speed steering oscillations on some vehicles
+ * Include board steering check for CR-V
+
+Version 0.3.6 (2017-08-08)
+==========================
+ * Fix alpha CR-V support
+ * Improved GPS
+ * Fix display of target speed not always matching HUD
+ * Increased acceleration after stop
+ * Mitigated some vehicles driving too close to the right line
+
+Version 0.3.5 (2017-07-30)
+==========================
+ * Fix bug where new devices would not begin calibration
+ * Minor robustness improvements
+
+Version 0.3.4 (2017-07-28)
+==========================
+ * Improved model trained on more data
+ * Much improved controls tuning
+ * Performance improvements
+ * Bugfixes and improvements to calibration
+ * Driving log can play back video
+ * Acura only: system now stays engaged below 25mph as long as brakes are applied
+
+Version 0.3.3  (2017-06-28)
+===========================
+  * Improved model trained on more data
+  * Alpha CR-V support thanks to energee and johnnwvs!
+  * Using the opendbc project for DBC files
+  * Minor performance improvements
+  * UI update thanks to pjlao307
+  * Power off button
+  * 6% more torque on the Civic
+
+Version 0.3.2  (2017-05-22)
+===========================
+  * Minor stability bugfixes
+  * Added metrics and rear view mirror disable to settings
+  * Update model with more crowdsourced data
+
+Version 0.3.1  (2017-05-17)
+===========================
+  * visiond stability bugfix
+  * Add logging for angle and flashing
+
+Version 0.3.0  (2017-05-12)
+===========================
+  * Add CarParams struct to improve the abstraction layer
+  * Refactor visiond IPC to support multiple clients
+  * Add raw GPS and beginning support for navigation
+  * Improve model in visiond using crowdsourced data
+  * Add improved system logging to diagnose instability
+  * Rewrite baseui in React Native
+  * Moved calibration to the cloud
+
+Version 0.2.9  (2017-03-01)
+===========================
+  * Retain compatibility with NEOS v1
+
+Version 0.2.8  (2017-02-27)
+===========================
+  * Fix bug where frames were being dropped in minute 71
+
+Version 0.2.7  (2017-02-08)
+===========================
+  * Better performance and pictures at night
+  * Fix ptr alignment issue in boardd
+  * Fix brake error light, fix crash if too cold
+
+Version 0.2.6  (2017-01-31)
+===========================
+  * Fix bug in visiond model execution
+
+Version 0.2.5  (2017-01-30)
+===========================
+  * Fix race condition in manager
+
+Version 0.2.4  (2017-01-27)
+===========================
+  * OnePlus 3T support
+  * Enable installation as NEOS app
+  * Various minor bugfixes
+
+Version 0.2.3  (2017-01-11)
+===========================
+  * Reduce space usage by 80%
+  * Add better logging
+  * Add Travis CI
+
+Version 0.2.2  (2017-01-10)
+===========================
+  * Board triggers started signal on CAN messages
+  * Improved autoexposure
+  * Handle out of space, improve upload status
+
+Version 0.2.1  (2016-12-14)
+===========================
+  * Performance improvements, removal of more numpy
+  * Fix boardd process priority
+  * Make counter timer reset on use of steering wheel
+
+Version 0.2  (2016-12-12)
+=========================
+  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+  * controlsd has been refactored
+  * Shipped plant model and testing maneuvers
+  * visiond exits more gracefully now
+  * Hardware encoder in visiond should always init
+  * ui now turns off the screen after 30 seconds
+  * Switch to openpilot release branch for future releases
+  * Added preliminary Docker container to run tests on PC
+
+Version 0.1  (2016-11-29)
+=========================
+  * Initial release of openpilot
+  * Adaptive cruise control is working
+  * Lane keep assist is working
+  * Support for Acura ILX 2016 with AcuraWatch Plus
+  * Support for Honda Civic 2016 Touring Edition
--- a/SAFETY.md
+++ b/SAFETY.md
@@ -0,0 +1,73 @@
+openpilot Safety
+======
+
+openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
+Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
+pay attention at all times. We repeat, **driver alertness is necessary, but not 
+sufficient, for openpilot to be used safely**.
+
+Even with an attentive driver, we must make further efforts for the system to be
+safe. We have designed openpilot with two other safety considerations.
+
+1. The driver must always be capable to immediately retake manual control of the vehicle, 
+   by stepping on either pedal or by pressing the cancel button.
+2. The vehicle must not alter its trajectory too quickly for the driver to safely
+   react. This means that while the system is engaged, the actuators are constrained
+   to operate within reasonable limits.
+
+Following are details of the car specific safety implementations:
+
+Honda/Acura
+------
+
+  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+    the stock system.
+
+  - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
+    The PCM limits acceleration to what is reasonable for a cruise control system.  With an
+    interceptor, the gas is clipped to 60%.
+
+  - The brake is controlled by the 0x1FA CAN message. This message allows full
+    braking, although the board and the software clip it to 1/4th of the max.
+    This is around .3g of braking.
+
+  - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
+    controller in the car limits the torque to a very small amount, so regardless of the 
+    message, the controller cannot jerk the wheel.
+
+  - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
+    either signal triggers a disengagement, which is enforced by the board and in software. The
+    green led on the board signifies if the board is allowing control messages.
+
+  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+Toyota
+------
+
+  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+    the stock system.
+
+  - With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled 
+    by the stock system and is subject to the stock adaptive cruise control limits. Without the
+    stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
+    value is limited by the board and the software to between .3g of deceleration and .15g of
+    acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
+    cruise control system is disengaged.
+
+  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
+    software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
+    commands outside these limits.  A steering torque rate limit is enforced by the board and in
+    software so that the commanded steering torque must rise from 0 to max value no faster than
+    1.5s. Commanded steering torque is limited by the board and in software to be no more than 500
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+  - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
+    respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
+    board and in software. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal.
+
+  - The cruise control system state is contained in the 0x1D2 message. No control messages are
+    allowed if the cruise control system is not active. This is enforced by the software and the
+    board. The green led on the board signifies if the board is allowing control messages.
--- a/apk/ai.comma.plus.black.apk
+++ b/apk/ai.comma.plus.black.apk
--- a/apk/ai.comma.plus.frame.apk
+++ b/apk/ai.comma.plus.frame.apk
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/apk/external/.gitignore
+++ b/apk/external/.gitignore
@@ -0,0 +1,2 @@
+src/*
+out/*
--- a/apk/external/com.spotify.music.apkpatch
+++ b/apk/external/com.spotify.music.apkpatch
--- a/apk/external/com.waze.apkpatch
+++ b/apk/external/com.waze.apkpatch
--- a/apk/external/out/.gitkeep
+++ b/apk/external/out/.gitkeep
--- a/apk/external/patcher.py
+++ b/apk/external/patcher.py
@@ -0,0 +1,122 @@
+#!/usr/bin/env python2.7
+
+import os
+import sys
+import glob
+import shutil
+import urllib2
+import hashlib
+import subprocess
+
+
+EXTERNAL_PATH = os.path.dirname(os.path.abspath(__file__))
+
+if os.path.exists("/init.qcom.rc"):
+  # android
+  APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch_android')
+  SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk_android')
+else:
+  APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch')
+  SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk')
+
+APKS = {
+  'com.waze': {
+    'src': 'https://apkcache.s3.amazonaws.com/com.waze_1021278.apk',
+    'src_sha256': 'f00957e93e2389f9e30502ac54994b98ac769314b0963c263d4e8baa625ab0c2',
+    'patch': 'com.waze.apkpatch',
+    'out_sha256': '9ec8b0ea3c78c666342865b1bfb66e368a3f5c911df2ad12835206ec8b19f444'
+  },
+  'com.spotify.music': {
+    'src': 'https://apkcache.s3.amazonaws.com/com.spotify.music_24382006.apk',
+    'src_sha256': '0610fea68ee7ba5f8e4e0732ad429d729dd6cbb8bc21222c4c99db6cb09fbff4',
+    'patch': 'com.spotify.music.apkpatch',
+    'out_sha256': '5a3d6f478c7e40403a98ccc8906d7e0ae12b06543b41f5df52149dd09c647c11'
+  },
+}
+
+def sha256_path(path):
+  with open(path, 'rb') as f:
+    return hashlib.sha256(f.read()).hexdigest()
+
+def remove(path):
+  try:
+    os.remove(path)
+  except OSError:
+    pass
+
+def process(download, patch):
+  # clean up any junk apks
+  for out_apk in glob.glob(os.path.join(EXTERNAL_PATH, 'out/*.apk')):
+    app = os.path.basename(out_apk)[:-4]
+    if app not in APKS:
+      print "remove junk", out_apk
+      remove(out_apk)
+
+  complete = True
+  for k,v in APKS.iteritems():
+    apk_path = os.path.join(EXTERNAL_PATH, 'out', k+'.apk')
+    print "checking", apk_path
+    if os.path.exists(apk_path) and sha256_path(apk_path) == v['out_sha256']:
+      # nothing to do
+      continue
+
+    complete = False
+
+    remove(apk_path)
+
+    src_path = os.path.join(EXTERNAL_PATH, 'src', v['src_sha256'])
+    if not os.path.exists(src_path) or sha256_path(src_path) != v['src_sha256']:
+      if not download:
+        continue
+
+      print "downloading", v['src'], "to", src_path
+      # download it
+      resp = urllib2.urlopen(v['src'])
+      data = resp.read()
+      with open(src_path, 'wb') as src_f:
+        src_f.write(data)
+
+      if sha256_path(src_path) != v['src_sha256']:
+        print "download was corrupted..."
+        continue
+
+    if not patch:
+      continue
+
+    # ignoring lots of TOCTTOU here...
+
+    apk_temp = "/tmp/"+k+".patched"
+    remove(apk_temp)
+    apk_temp2 = "/tmp/"+k+".signed"
+    remove(apk_temp2)
+
+    try:
+      print "patching", v['patch']
+      subprocess.check_call([APKPATCH, 'apply', src_path, apk_temp, os.path.join(EXTERNAL_PATH, v['patch'])])
+      print "signing", apk_temp
+      subprocess.check_call([SIGNAPK,
+        os.path.join(EXTERNAL_PATH, 'tools/certificate.pem'), os.path.join(EXTERNAL_PATH, 'tools/key.pk8'),
+        apk_temp, apk_temp2])
+
+      out_sha256 = sha256_path(apk_temp2) if os.path.exists(apk_temp2) else None
+
+      if out_sha256 == v['out_sha256']:
+        print "done", apk_path
+        shutil.move(apk_temp2, apk_path)
+      else:
+        print "patch was corrupted", apk_temp2, out_sha256
+    finally:
+      remove(apk_temp)
+      remove(apk_temp2)
+
+  return complete
+
+if __name__ == "__main__":
+  ret = True
+  if len(sys.argv) == 2 and sys.argv[1] == "download":
+    ret = process(True, False)
+  elif len(sys.argv) == 2 and sys.argv[1] == "patch":
+    ret = process(False, True)
+  else:
+    ret = process(True, True)
+  sys.exit(0 if ret else 1)
--- a/apk/external/src/.gitkeep
+++ b/apk/external/src/.gitkeep
--- a/apk/external/tools/ApkPatch.android.jar
+++ b/apk/external/tools/ApkPatch.android.jar
--- a/apk/external/tools/apkpatch_android
+++ b/apk/external/tools/apkpatch_android
@@ -0,0 +1,7 @@
+#!/system/bin/sh
+
+DIR="$(cd "$(dirname "$0")" && pwd)"
+
+export LD_LIBRARY_PATH=/system/lib64
+export CLASSPATH="$DIR"/ApkPatch.android.jar
+exec app_process "$DIR" ApkPatch "$@"
--- a/apk/external/tools/certificate.pem
+++ b/apk/external/tools/certificate.pem
@@ -0,0 +1,17 @@
+-----BEGIN CERTIFICATE-----
+MIICtTCCAh4CCQDm79UqF+Dc5zANBgkqhkiG9w0BAQUFADCBnjELMAkGA1UEBhMC
+SUQxEzARBgNVBAgTCkphd2EgQmFyYXQxEDAOBgNVBAcTB0JhbmR1bmcxEjAQBgNV
+BAoTCUxvbmRhdGlnYTETMBEGA1UECxMKQW5kcm9pZERldjEaMBgGA1UEAxMRTG9y
+ZW5zaXVzIFcuIEwuIFQxIzAhBgkqhkiG9w0BCQEWFGxvcmVuekBsb25kYXRpZ2Eu
+bmV0MB4XDTEwMDUwNTA5MjEzOFoXDTEzMDEyODA5MjEzOFowgZ4xCzAJBgNVBAYT
+AklEMRMwEQYDVQQIEwpKYXdhIEJhcmF0MRAwDgYDVQQHEwdCYW5kdW5nMRIwEAYD
+VQQKEwlMb25kYXRpZ2ExEzARBgNVBAsTCkFuZHJvaWREZXYxGjAYBgNVBAMTEUxv
+cmVuc2l1cyBXLiBMLiBUMSMwIQYJKoZIhvcNAQkBFhRsb3JlbnpAbG9uZGF0aWdh
+Lm5ldDCBnzANBgkqhkiG9w0BAQEFAAOBjQAwgYkCgYEAy2oWtbdVXMHGiS6cA3qi
+3VfZt5Vz9jTlux+TEcGx5h18ZKwclyo+z2B0L/p5bYdnrTdFEiD7IxvX+h3lu0JV
+B9rdXZdyrzXNOw5YFrsn2k7hKvB8KEBaga1gZEwodlc6N14H3FbZdZkIA9V716Pu
+e5CWBZ2VqU03lUJmKnpH8c8CAwEAATANBgkqhkiG9w0BAQUFAAOBgQBpNgXh8dw9
+uMjZxzLUXovV5ptHd61jAcZlQlffqPsz6/2QNfIShVdGH9jkm0IudfKkbvvOKive
+a77t9c4sDh2Sat2L/rx6BfTuS1+y9wFr1Ee8Rrr7wGHhRkx2qqGrXGVWqXn8aE3E
+P6e7BTPF0ibS+tG8cdDPEisqGFxw36nTNQ==
+-----END CERTIFICATE-----
--- a/apk/external/tools/key.pk8
+++ b/apk/external/tools/key.pk8
--- a/apk/external/tools/signapk.android.jar
+++ b/apk/external/tools/signapk.android.jar
--- a/apk/external/tools/signapk_android
+++ b/apk/external/tools/signapk_android
@@ -0,0 +1,7 @@
+#!/system/bin/sh
+
+DIR="$(cd "$(dirname "$0")" && pwd)"
+
+export LD_LIBRARY_PATH=/system/lib64
+export CLASSPATH="$DIR"/signapk.android.jar
+exec app_process "$DIR" com.android.signapk.SignApk "$@"
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -0,0 +1 @@
+gen
--- a/cereal/Makefile
+++ b/cereal/Makefile
@@ -0,0 +1,52 @@
+PWD := $(shell pwd)
+
+SRCS := log.capnp car.capnp
+
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+
+UNAME_M ?= $(shell uname -m)
+
+# only generate C++ for docker tests
+ifneq ($(OPTEST),1)
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
+
+# Dont build java on the phone...
+ifeq ($(UNAME_M),x86_64)
+	GENS += gen/java/Car.java gen/java/Log.java
+endif
+
+endif
+
+ifeq ($(UNAME_M),aarch64)
+CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
+else
+CAPNPC=capnpc
+endif
+
+.PHONY: all
+all: $(GENS)
+
+.PHONY: clean
+clean:
+	rm -rf gen
+
+gen/c/%.capnp.c: %.capnp
+	@echo "[ CAPNPC C ] $@"
+	mkdir -p gen/c/
+	$(CAPNPC) '$<' -o c:gen/c/
+
+gen/cpp/%.capnp.c++: %.capnp
+	@echo "[ CAPNPC C++ ] $@"
+	mkdir -p gen/cpp/
+	$(CAPNPC) '$<' -o c++:gen/cpp/
+
+gen/java/Car.java gen/java/Log.java: $(SRCS)
+	@echo "[ CAPNPC java ] $@"
+	mkdir -p gen/java/
+	$(CAPNPC) $^ -o java:gen/java
+
+# c-capnproto needs some empty headers
+gen/c/c++.capnp.h gen/c/java.capnp.h:
+	mkdir -p gen/c/
+	touch '$@'
+
--- a/cereal/init.py
+++ b/cereal/init.py
@@ -0,0 +1,20 @@
+import os
+import capnp
+
+CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
+capnp.remove_import_hook()
+
+if os.getenv("NEWCAPNP"):
+  import tempfile
+  import pyximport
+
+  importers = pyximport.install(build_dir=os.path.join(tempfile.gettempdir(), ".pyxbld"))
+  try:
+    import cereal.gen.cython.log_capnp_cython as log
+    import cereal.gen.cython.car_capnp_cython as car
+  finally:
+    pyximport.uninstall(*importers)
+    del importers
+else:
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
--- a/cereal/c++.capnp
+++ b/cereal/c++.capnp
@@ -0,0 +1,26 @@
+# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
+# Licensed under the MIT License:
+#
+# 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.
+
+@0xbdf87d7bb8304e81;
+$namespace("capnp::annotations");
+
+annotation namespace(file): Text;
+annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text;
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -0,0 +1,315 @@
+using Cxx = import "c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Car");
+
+@0x8e2af1e708af8b8d;
+
+# ******* events causing controls state machine transition *******
+
+struct CarEvent @0x9b1657f34caf3ad3 {
+  name @0 :EventName;
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool;
+
+  enum EventName @0xbaa8c5d505f727de {
+    # TODO: copy from error list
+    commIssue @0;
+    steerUnavailable @1;
+    brakeUnavailable @2;
+    gasUnavailable @3;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    buttonCancel @11;
+    buttonEnable @12;
+    pedalPressed @13;
+    cruiseDisabled @14;
+    radarCommIssue @15;
+    dataNeeded @16;
+    speedTooLow @17;
+    outOfSpace @18;
+    overheat @19;
+    calibrationInProgress @20;
+    calibrationInvalid @21;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    noTarget @25;
+    radarFault @26;
+    modelCommIssue @27;
+    brakeHold @28;
+    parkBrake @29;
+    manualRestart @30;
+    lowSpeedLockout @31;
+  }
+}
+
+# ******* main car state @ 100hz *******
+# all speeds in m/s
+
+struct CarState {
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  events @13 :List(CarEvent);
+
+  # car speed
+  vEgo @1 :Float32;         # best estimate of speed
+  aEgo @16 :Float32;        # best estimate of acceleration
+  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
+  yawRate @22 :Float32;     # best estimate of yaw rate
+  standstill @18 :Bool;
+  wheelSpeeds @2 :WheelSpeeds;
+
+  # gas pedal, 0.0-1.0
+  gas @3 :Float32;        # this is user + computer
+  gasPressed @4 :Bool;    # this is user pedal only
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+  brakeLights @19 :Bool;
+
+  # steering wheel
+  steeringAngle @7 :Float32;   # deg
+  steeringRate @15 :Float32;   # deg/s
+  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;    # if the user is using the steering wheel
+
+  # cruise state
+  cruiseState @10 :CruiseState;
+
+  # gear
+  gearShifter @14 :GearShifter;
+
+  # button presses
+  buttonEvents @11 :List(ButtonEvent);
+  leftBlinker @20 :Bool;
+  rightBlinker @21 :Bool;
+
+  # which packets this state came from
+  canMonoTimes @12: List(UInt64);
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    fr @1 :Float32;
+    rl @2 :Float32;
+    rr @3 :Float32;
+  }
+
+  struct CruiseState {
+    enabled @0 :Bool;
+    speed @1 :Float32;
+    available @2 :Bool;
+    speedOffset @3 :Float32;
+    standstill @4 :Bool;
+  }
+
+  enum GearShifter {
+    unknown @0;
+    park @1;
+    drive @2;
+    neutral @3;
+    reverse @4;
+    sport @5;
+    low @6;
+    brake @7;
+  }
+
+
+  # send on change
+  struct ButtonEvent {
+    pressed @0 :Bool;
+    type @1 :Type;
+
+    enum Type {
+      unknown @0;
+      leftBlinker @1;
+      rightBlinker @2;
+      accelCruise @3;
+      decelCruise @4;
+      cancel @5;
+      altButton1 @6;
+      altButton2 @7;
+      altButton3 @8;
+    }
+  }
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarState {
+  errors @0 :List(Error);
+  points @1 :List(RadarPoint);
+
+  # which packets this state came from
+  canMonoTimes @2 :List(UInt64);
+
+  enum Error {
+    commIssue @0;
+    fault @1;
+  }
+
+  # similar to LiveTracks
+  # is one timestamp valid for all? I think so
+  struct RadarPoint {
+    trackId @0 :UInt64;  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel @1 :Float32; # m from the front bumper of the car
+    yRel @2 :Float32; # m
+    vRel @3 :Float32; # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel @4 :Float32; # m/s^2
+    yvRel @5 :Float32; # m/s
+
+    # some radars flag measurements VS estimates
+    measured @6 :Bool;
+  }
+}
+
+# ******* car controls @ 100hz *******
+
+struct CarControl {
+  # must be true for any actuator commands to work
+  enabled @0 :Bool;
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
+
+  actuators @6 :Actuators;
+
+  cruiseControl @4 :CruiseControl;
+  hudControl @5 :HUDControl;
+
+  struct Actuators {
+    # range from 0.0 - 1.0
+    gas @0: Float32;
+    brake @1: Float32;
+    # range from -1.0 - 1.0
+    steer @2: Float32;
+  }
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    override @1: Bool;
+    speedOverride @2: Float32;
+    accelOverride @3: Float32;
+  }
+
+  struct HUDControl {
+    speedVisible @0: Bool;
+    setSpeed @1: Float32;
+    lanesVisible @2: Bool;
+    leadVisible @3: Bool;
+    visualAlert @4: VisualAlert;
+    audibleAlert @5: AudibleAlert;
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      fcw @1;
+      steerRequired @2;
+      brakePressed @3;
+      wrongGear @4;
+      seatbeltUnbuckled @5;
+      speedTooHigh @6;
+    }
+
+    enum AudibleAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      beepSingle @1;
+      beepTriple @2;
+      beepRepeated @3;
+      chimeSingle @4;
+      chimeDouble @5;
+      chimeRepeated @6;
+      chimeContinuous @7;
+    }
+  }
+}
+
+# ****** car param ******
+
+struct CarParams {
+  carName @0 :Text;
+  radarName @1 :Text;
+  carFingerprint @2 :Text;
+
+  enableSteer @3 :Bool;
+  enableGas @4 :Bool;
+  enableBrake @5 :Bool;
+  enableCruise @6 :Bool;
+  enableCamera @26 :Bool;
+  enableDsu @27 :Bool; # driving support unit
+  enableApgs @28 :Bool; # advanced parking guidance system
+
+  minEnableSpeed @17 :Float32;
+  safetyModel @18 :Int16;
+
+  steerMaxBP @19 :List(Float32);
+  steerMaxV @20 :List(Float32);
+  gasMaxBP @21 :List(Float32);
+  gasMaxV @22 :List(Float32);
+  brakeMaxBP @23 :List(Float32);
+  brakeMaxV @24 :List(Float32);
+
+  longPidDeadzoneBP @32 :List(Float32);
+  longPidDeadzoneV @33 :List(Float32);
+
+  enum SafetyModels {
+    # does NOT match board setting
+    noOutput @0;
+    honda @1;
+    toyota @2;
+    elm327 @3;
+  }
+
+  # things about the car in the manual
+  mass @7 :Float32;             # [kg] running weight
+  wheelbase @8 :Float32;        # [m] distance from rear to front axle
+  centerToFront @9 :Float32;   # [m] GC distance to front axle
+  steerRatio @10 :Float32;       # [] ratio between front wheels and steering wheel angles
+  steerRatioRear @11 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+
+  # things we can derive
+  rotationalInertia @12 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFront @13 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  # Kp and Ki for the lateral control
+  steerKp @15 :Float32;
+  steerKi @16 :Float32;
+  steerKf @25 :Float32;
+
+  # Kp and Ki for the longitudinal control
+  longitudinalKpBP @36 :List(Float32);
+  longitudinalKpV @37 :List(Float32);
+  longitudinalKiBP @38 :List(Float32);
+  longitudinalKiV @39 :List(Float32);
+
+  steerLimitAlert @29 :Bool;
+
+  vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state
+  directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
+  stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
+  startAccel @35 :Float32; # Required acceleraton to overcome creep braking
+  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
+}
--- a/cereal/java.capnp
+++ b/cereal/java.capnp
@@ -0,0 +1,28 @@
+# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
+# Licensed under the MIT License:
+#
+# 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.
+
+@0xc5f1af96651f70ea;
+
+annotation package @0x9ee4c8f803b3b596 (file) : Text;
+# Name of the package, such as "org.example.foo", in which the generated code will reside.
+
+annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
+# Name of the outer class that will wrap the generated code.
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
--- a/common/init.py
+++ b/common/init.py
--- a/common/api/init.py
+++ b/common/api/init.py
@@ -0,0 +1,15 @@
+import requests
+
+from selfdrive.version import version
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  backend = "https://api.commadotai.com/"
+
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT "+access_token
+
+  headers['User-Agent'] = "openpilot-" + version
+
+  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
+
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -0,0 +1,4 @@
+import os
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
+
--- a/common/dbc.py
+++ b/common/dbc.py
@@ -0,0 +1,206 @@
+import re
+import os
+import struct
+import bitstring
+from collections import namedtuple
+
+def int_or_float(s):
+  # return number, trying to maintain int format
+  try:
+    return int(s)
+  except ValueError:
+    return float(s)
+
+DBCSignal = namedtuple(
+  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
+                "factor", "offset", "tmin", "tmax", "units"])
+
+class dbc(object):
+  def __init__(self, fn):
+    self.name, _ = os.path.splitext(os.path.basename(fn))
+    with open(fn) as f:
+      self.txt = f.read().split("\n")
+    self._warned_addresses = set()
+
+    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
+    bo_regexp = re.compile("^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
+    sg_regexp = re.compile("^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    sgm_regexp = re.compile("^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+
+    # A dictionary which maps message ids to tuples ((name, size), signals).
+    #   name is the ASCII name of the message.
+    #   size is the size of the message in bytes.
+    #   signals is a list signals contained in the message.
+    # signals is a list of DBCSignal in order of increasing start_bit.
+    self.msgs = {}
+
+    # lookup to bit reverse each byte
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
+
+    for l in self.txt:
+      l = l.strip()
+
+      if l.startswith("BO_ "):
+        # new group
+        dat = bo_regexp.match(l)
+
+        if dat is None:
+          print "bad BO", l
+        name = dat.group(2)
+        size = int(dat.group(3))
+        ids = int(dat.group(1), 0) # could be hex
+
+        self.msgs[ids] = ((name, size), [])
+
+      if l.startswith("SG_ "):
+        # new signal
+        dat = sg_regexp.match(l)
+        go = 0
+        if dat is None:
+          dat = sgm_regexp.match(l)
+          go = 1
+        if dat is None:
+          print "bad SG", l
+
+        sgname = dat.group(1)
+        start_bit = int(dat.group(go+2))
+        signal_size = int(dat.group(go+3))
+        is_little_endian = int(dat.group(go+4))==1
+        is_signed = dat.group(go+5)=='-'
+        factor = int_or_float(dat.group(go+6))
+        offset = int_or_float(dat.group(go+7))
+        tmin = int_or_float(dat.group(go+8))
+        tmax = int_or_float(dat.group(go+9))
+        units = dat.group(go+10)
+
+        self.msgs[ids][1].append(
+          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
+                    is_signed, factor, offset, tmin, tmax, units))
+
+    for msg in self.msgs.viewvalues():
+      msg[1].sort(key=lambda x: x.start_bit)
+
+  def encode(self, msg_id, dd):
+    """Encode a CAN message using the dbc.
+
+       Inputs:
+        msg_id: The message ID.
+        dd: A dictionary mapping signal name to signal data.
+    """
+    # TODO: Stop using bitstring, which is super slow.
+    msg_def = self.msgs[msg_id]
+    size = msg_def[0][1]
+
+    bsf = bitstring.Bits(hex="00"*size)
+    for s in msg_def[1]:
+      ival = dd.get(s.name)
+      if ival is not None:
+        ival = (ival / s.factor) - s.offset
+        ival = int(round(ival))
+
+        # should pack this
+        if s.is_little_endian:
+          ss = s.start_bit
+        else:
+          ss = self.bits_index[s.start_bit]
+
+
+        if s.is_signed:
+          tbs = bitstring.Bits(int=ival, length=s.size)
+        else:
+          tbs = bitstring.Bits(uint=ival, length=s.size)
+
+        lpad = bitstring.Bits(bin="0b"+"0"*ss)
+        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
+        tbs = lpad+tbs+rpad
+
+        bsf |= tbs
+    return bsf.tobytes()
+
+  def decode(self, x, arr=None, debug=False):
+    """Decode a CAN message using the dbc.
+
+       Inputs:
+        x: A collection with elements (address, time, data), where address is
+           the CAN address, time is the bus time, and data is the CAN data as a
+           hex string.
+        arr: Optional list of signals which should be decoded and returned.
+        debug: True to print debugging statements.
+
+       Returns:
+        A tuple (name, data), where name is the name of the CAN message and data
+        is the decoded result. If arr is None, data is a dict of properties.
+        Otherwise data is a list of the same length as arr.
+
+        Returns (None, None) if the message could not be decoded.
+    """
+    
+    if arr is None:
+      out = {}
+    else:
+      out = [None]*len(arr)
+
+    msg = self.msgs.get(x[0])
+    if msg is None:
+      if x[0] not in self._warned_addresses:
+        #print("WARNING: Unknown message address {}".format(x[0]))
+        self._warned_addresses.add(x[0])
+      return None, None
+
+    name = msg[0][0]
+    if debug:
+      print name
+
+    blen = 8*len(x[2])
+
+    st = x[2].rjust(8, '\x00')
+    le, be = None, None
+
+    for s in msg[1]:
+      if arr is not None and s[0] not in arr:
+        continue
+
+      # big or little endian?
+      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
+      if s[3] is False:
+        ss = self.bits_index[s[1]]
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        x2_int = be
+        data_bit_pos = (blen - (ss + s[2]))
+      else:
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        x2_int = le
+        ss = s[1]
+        data_bit_pos = ss
+
+      if data_bit_pos < 0:
+        continue
+      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
+
+      if s[4] and (ival & (1<<(s[2]-1))): # signed
+        ival -= (1<<s[2])
+
+      # control the offset
+      ival = (ival * s[5]) + s[6]
+      #if debug:
+      #  print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
+
+      if arr is None:
+        out[s[0]] = ival
+      else:
+        out[arr.index(s[0])] = ival
+    return name, out
+
+
+  def get_signals(self, msg):
+    return [sgs.name for sgs in self.msgs[msg][1]]
+    
+if __name__ == "__main__":
+   import sys
+   import os
+   from opendbc import DBC_PATH
+
+   dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
+   print dbc_test.get_signals(0xe4)
--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@@ -0,0 +1,62 @@
+import os
+
+_FINGERPRINTS = {
+  "ACURA ILX 2016 ACURAWATCH PLUS": {
+    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
+    # sent messages
+    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
+  },
+  "HONDA CIVIC 2016 TOURING": {
+    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
+    # sent messages
+    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
+  },
+  "HONDA CR-V 2016 TOURING": {
+    57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
+    # sent messages
+    0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
+  },
+  "TOYOTA RAV4 2017": {
+    36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
+  },
+  "TOYOTA RAV4 2017 HYBRID": {
+   36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8, 581L: 5, 296: 8, 552L: 8, 560L: 7, 552L: 4, 713L: 8, 550L: 8, 608L: 8, 37L: 8, 36L: 8, 950L: 8, 1198L: 8, 1197L: 8, 1199L: 8, 1212L: 8, 953L: 3, 1264L: 8, 1184L: 8, 1005L: 2, 1185L: 8, 1232L: 8, 1186L: 8
+ },
+  "TOYOTA PRIUS 2017": {
+    36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
+  },
+}
+
+# support additional internal only fingerprints
+try:
+  from common.fingerprints_internal import add_additional_fingerprints
+  add_additional_fingerprints(_FINGERPRINTS)
+except ImportError:
+  pass
+
+def eliminate_incompatible_cars(msg, candidate_cars):
+  """Removes cars that could not have sent msg.
+
+     Inputs:
+      msg: A cereal/log CanData message from the car.
+      candidate_cars: A list of cars to consider.
+
+     Returns:
+      A list containing the subset of candidate_cars that could have sent msg.
+  """
+  compatible_cars = []
+  for car_name in candidate_cars:
+    adr = msg.address
+    if msg.src != 0 or (adr in _FINGERPRINTS[car_name] and
+                        _FINGERPRINTS[car_name][adr] == len(msg.dat)):
+      compatible_cars.append(car_name)
+    else:
+      pass
+      #isin = adr in _FINGERPRINTS[car_name]
+      #print "eliminate", car_name, hex(adr), isin, len(msg.dat), msg.dat.encode("hex")
+  return compatible_cars
+
+def all_known_cars():
+  """Returns a list of all known car strings."""
+  return _FINGERPRINTS.keys()
+
--- a/common/kalman/init.py
+++ b/common/kalman/init.py
--- a/common/kalman/ekf.py
+++ b/common/kalman/ekf.py
@@ -0,0 +1,252 @@
+import abc
+import numpy as np
+import numpy.matlib
+# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
+# A subclass must implement:
+#   1) calc_transfer_fun(); see bottom of file for more info.
+#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
+
+# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
+
+# Sensor classes are optionally used to pass measurement information into the EKF, to keep
+#   sensor parameters and processing methods for a each sensor together.
+# Sensor classes have a read() method which takes raw sensor data and returns
+#   a SensorReading object, which can be passed to the EKF update() method.
+
+# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
+# ekf.predict(dt) should be called between update cycles with the time since it was last called.
+# Ideally, predict(dt) should be called at a relatively constant rate.
+# update() should be called once per sensor, and can be called multiple times between predict steps.
+# Access and set the state of the filter directly with ekf.state and ekf.covar.
+
+
+class SensorReading:
+  # Given a perfect model and no noise, data = obs_model * state
+  def __init__(self, data, covar, obs_model):
+    self.data = data
+    self.obs_model = obs_model
+    self.covar = covar
+
+  def __repr__(self):
+    return "SensorReading(data={}, covar={}, obs_model={})".format(
+      repr(self.data), repr(self.covar), repr(self.obs_model))
+
+
+# A generic sensor class that does no pre-processing of data
+class SimpleSensor:
+  # obs_model can be
+  #   a full observation model matrix, or
+  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
+  # covar can be
+  #   a full covariance matrix
+  #   a float or tuple of individual covars for each component of the sensor reading
+  # dims is the number of states in the EKF
+  def __init__(self, obs_model, covar, dims):
+    # Allow for integer covar/obs_model
+    if not hasattr(obs_model, "__len__"):
+      obs_model = (obs_model, )
+    if not hasattr(covar, "__len__"):
+      covar = (covar, )
+
+    # Full observation model passed
+    if dims in np.array(obs_model).shape:
+      self.obs_model = np.asmatrix(obs_model)
+      self.covar = np.asmatrix(covar)
+    # Indices of unit observations passed
+    else:
+      self.obs_model = np.matlib.zeros((len(obs_model), dims))
+      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
+      if np.asarray(covar).ndim == 2:
+        self.covar = np.asmatrix(covar)
+      elif len(covar) == len(obs_model):
+        self.covar = np.matlib.diag(covar)
+      else:
+        self.covar = np.matlib.identity(len(obs_model)) * covar
+
+  def read(self, data, covar=None):
+    if covar:
+      self.covar = covar
+    return SensorReading(data, self.covar, self.obs_model)
+
+
+class EKF:
+  __metaclass__ = abc.ABCMeta
+
+  def __init__(self, debug=False):
+    self.DEBUG = debug
+
+
+  def __str__(self):
+    return "EKF(state={}, covar={})".format(self.state, self.covar)
+
+  # Measurement update
+  # Reading should be a SensorReading object with data, covar, and obs_model attributes
+  def update(self, reading):
+    # Potential improvements:
+    # deal with negative covars
+    # add noise to really low covars to ensure stability
+    # use mahalanobis distance to reject outliers
+    # wrap angles after state updates and innovation
+
+    # y = z - H*x
+    innovation = reading.data - reading.obs_model * self.state
+
+    if self.DEBUG:
+      print "reading:\n",reading.data
+      print "innovation:\n",innovation
+
+    # S = H*P*H' + R
+    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
+
+    # K = P*H'*S^-1
+    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
+      innovation_covar)
+
+    if self.DEBUG:
+      print "gain:\n", kalman_gain
+      print "innovation_covar:\n", innovation_covar
+      print "innovation: ", innovation
+      print "test: ", self.covar * reading.obs_model.T * (
+        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
+        0).I
+
+    # x = x + K*y
+    self.state += kalman_gain*innovation
+
+    # print "covar", np.diag(self.covar)
+    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
+
+    # Standard form: P = (I - K*H)*P
+    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
+
+    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
+    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
+    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
+
+    if self.DEBUG:
+      print "After update"
+      print "state\n", self.state
+      print "covar:\n",self.covar
+
+  def update_scalar(self, reading):
+    # like update but knowing that measurement is a scalar
+    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
+
+    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
+    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
+    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
+    # self.state += np.matmul(kalman_gain, innovation)
+    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
+    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
+
+    # written without np.matmul
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB_T = "ij,kj->ik"
+    AB = "ij,jk->ik"
+    innovation = reading.data - es(AB, reading.obs_model, self.state)
+    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
+                          reading.obs_model) + reading.covar
+    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
+
+    self.state += es(AB, kalman_gain, innovation)
+    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
+    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
+                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
+
+  # Prediction update
+  def predict(self, dt):
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB = "ij,jk->ik"
+
+    # State update
+    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
+
+    # self.state = np.matmul(transfer_fun, self.state)
+    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
+
+    # x = f(x, u), written in the form x = A(x, u)*x
+    self.state = es(AB, transfer_fun, self.state)
+
+    # P = J*P*J' + Q
+    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
+                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
+
+    #! Clip covariance to avoid explosions
+    self.covar = np.clip(self.covar,-1e10,1e10)
+
+  @abc.abstractmethod
+  def calc_transfer_fun(self, dt):
+    """Return a tuple with the transfer function and transfer function jacobian
+    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
+
+    The transfer function matrix A should satisfy the state-update equation
+      x_(k+1) = A * x_k
+
+    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
+
+    Current implementations calculate A and J as functions of state. Control input
+      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
+      and using it during calculation of A and J
+    """
+
+
+class FastEKF1D(EKF):
+  """Fast version of EKF for 1D problems with scalar readings."""
+
+  def __init__(self, dt, var_init, Q):
+    super(FastEKF1D, self).__init__(False)
+    self.state = [0, 0]
+    self.covar = [var_init, var_init, 0]
+
+    # Process Noise
+    self.dtQ0 = dt * Q[0]
+    self.dtQ1 = dt * Q[1]
+
+  def update(self, reading):
+    raise NotImplementedError
+
+  def update_scalar(self, reading):
+    # TODO(mgraczyk): Delete this for speed.
+    # assert np.all(reading.obs_model == [1, 0])
+
+    rcov = reading.covar[0, 0]
+
+    x = self.state
+    S = self.covar
+
+    innovation = reading.data - x[0]
+    innovation_covar = S[0] + rcov
+
+    k0 = S[0] / innovation_covar
+    k1 = S[2] / innovation_covar
+
+    x[0] += k0 * innovation
+    x[1] += k1 * innovation
+
+    mk = 1 - k0
+    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
+    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
+    S[0] = mk * mk * S[0] + rcov * k0 * k0
+
+  def predict(self, dt):
+    # State update
+    x = self.state
+
+    x[0] += dt * x[1]
+
+    # P = J*P*J' + Q
+    S = self.covar
+    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
+    S[2] += dt * S[1]
+    S[1] += self.dtQ1
+
+    # Clip covariance to avoid explosions
+    S = max(-1e10, min(S, 1e10))
+
+  def calc_transfer_fun(self, dt):
+    tf = np.identity(2)
+    tf[0, 1] = dt
+    tfj = tf
+    return tf, tfj
--- a/common/kalman/simple_kalman.py
+++ b/common/kalman/simple_kalman.py
@@ -0,0 +1,23 @@
+import numpy as np
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x = x0
+    self.A = A
+    self.C = C
+    self.K = K
+
+    self.A_K = self.A - np.dot(self.K, self.C)
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    return self.x
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -0,0 +1,142 @@
+import os
+import sys
+import copy
+import json
+import socket
+import logging
+from threading import local
+from collections import OrderedDict
+from contextlib import contextmanager
+
+def json_handler(obj):
+  # if isinstance(obj, (datetime.date, datetime.time)):
+  #   return obj.isoformat()
+  return repr(obj)
+
+def json_robust_dumps(obj):
+  return json.dumps(obj, default=json_handler)
+
+class NiceOrderedDict(OrderedDict):
+  def __str__(self):
+    return '{'+', '.join("%r: %r" % p for p in self.iteritems())+'}'
+
+class SwagFormatter(logging.Formatter):
+  def __init__(self, swaglogger):
+    logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
+
+    self.swaglogger = swaglogger
+    self.host = socket.gethostname()
+
+  def format_dict(self, record):
+    record_dict = NiceOrderedDict()
+
+    if isinstance(record.msg, dict):
+      record_dict['msg'] = record.msg
+    else:
+      try:
+        record_dict['msg'] = record.getMessage()
+      except (ValueError, TypeError):
+        record_dict['msg'] = [record.msg]+record.args
+
+    record_dict['ctx'] = self.swaglogger.get_ctx()
+
+    if record.exc_info:
+      record_dict['exc_info'] = self.formatException(record.exc_info)
+
+    record_dict['level'] = record.levelname
+    record_dict['levelnum'] = record.levelno
+    record_dict['name'] = record.name
+    record_dict['filename'] = record.filename
+    record_dict['lineno'] = record.lineno
+    record_dict['pathname'] = record.pathname
+    record_dict['module'] = record.module
+    record_dict['funcName'] = record.funcName
+    record_dict['host'] = self.host
+    record_dict['process'] = record.process
+    record_dict['thread'] = record.thread
+    record_dict['threadName'] = record.threadName
+    record_dict['created'] = record.created
+
+    return record_dict
+
+  def format(self, record):
+    return json_robust_dumps(self.format_dict(record))
+
+_tmpfunc = lambda: 0
+_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+
+class SwagLogger(logging.Logger):
+  def __init__(self):
+    logging.Logger.__init__(self, "swaglog")
+
+    self.global_ctx = {}
+
+    self.log_local = local()
+    self.log_local.ctx = {}
+
+  def findCaller(self):
+    """
+      Find the stack frame of the caller so that we can note the source
+      file name, line number and function name.
+      """
+    # f = currentframe()
+    f = sys._getframe(3)
+    #On some versions of IronPython, currentframe() returns None if
+    #IronPython isn't run with -X:Frames.
+    if f is not None:
+      f = f.f_back
+    rv = "(unknown file)", 0, "(unknown function)"
+    while hasattr(f, "f_code"):
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
+      if filename in (logging._srcfile, _srcfile):
+        f = f.f_back
+        continue
+      rv = (co.co_filename, f.f_lineno, co.co_name)
+      break
+    return rv
+
+  def local_ctx(self):
+    try:
+      return self.log_local.ctx
+    except AttributeError:
+      self.log_local.ctx = {}
+      return self.log_local.ctx
+
+  def get_ctx(self):
+    return dict(self.local_ctx(), **self.global_ctx)
+
+  @contextmanager
+  def ctx(self, **kwargs):
+    old_ctx = self.local_ctx()
+    self.log_local.ctx = copy.copy(old_ctx) or {}
+    self.log_local.ctx.update(kwargs)
+    try:
+      yield
+    finally:
+      self.log_local.ctx = old_ctx
+
+  def bind(self, **kwargs):
+    self.local_ctx().update(kwargs)
+
+  def bind_global(self, **kwargs):
+    self.global_ctx.update(kwargs)
+
+  def event(self, event_name, *args, **kwargs):
+    evt = NiceOrderedDict()
+    evt['event'] = event_name
+    if args:
+      evt['args'] = args
+    evt.update(kwargs)
+    self.info(evt)
+
+if __name__ == "__main__":
+  log = SwagLogger()
+
+  log.info("asdasd %s", "a")
+  log.info({'wut': 1})
+
+  with log.ctx():
+    log.bind(user="some user")
+    log.info("in req")
+    log.event("do_req")
--- a/common/numpy_fast.py
+++ b/common/numpy_fast.py
@@ -0,0 +1,25 @@
+def clip(x, lo, hi):
+  return max(lo, min(hi, x))
+
+
+def interp(x, xp, fp):
+  N = len(xp)
+  if not hasattr(x, '__iter__'):
+    hi = 0
+    while hi < N and x > xp[hi]:
+      hi += 1
+    low = hi - 1
+    return fp[-1] if hi == N and x > xp[low] else (
+      fp[0] if hi == 0 else
+      (x - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+
+  result = []
+  for v in x:
+    hi = 0
+    while hi < N and v > xp[hi]:
+      hi += 1
+    low = hi - 1
+    result.append(fp[-1] if hi == N and v > xp[low] else (fp[
+      0] if hi == 0 else (v - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]
+                                                               ) + fp[low]))
+  return result
--- a/common/params.py
+++ b/common/params.py
@@ -0,0 +1,330 @@
+#!/usr/bin/env python
+"""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.
+On Android, we store params under params_dir = /data/params. The writer lock is a file
+"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
+"<params_dir>/d".
+
+Each key, value pair is stored as a file with named <key> with contents <value>, located in
+  <params_dir>/d/<key>
+
+Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
+Readers who want a consistent snapshot of multiple keys should take the lock.
+
+Writers should take the lock before modifying anything. Writers should also leave the DB in a
+consistent state after a crash. The implementation below does this by copying all params to a temp
+directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
+before deleting the old <params_dir>/<d> directory.
+
+Writers that only modify a single key can simply take the lock, then swap the corresponding value
+file in place without messing with <params_dir>/d.
+"""
+import time
+import os
+import errno
+import sys
+import shutil
+import fcntl
+import tempfile
+from enum import Enum
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+class TxType(Enum):
+  PERSISTANT = 1
+  CLEAR_ON_MANAGER_START = 2
+  CLEAR_ON_CAR_START = 3
+
+class UnknownKeyName(Exception):
+  pass
+
+keys = {
+# written: manager
+# read:    loggerd, uploaderd, baseui
+  "DongleId": TxType.PERSISTANT,
+  "AccessToken": TxType.PERSISTANT,
+  "Version": TxType.PERSISTANT,
+  "GitCommit": TxType.PERSISTANT,
+  "GitBranch": TxType.PERSISTANT,
+  "GitRemote": TxType.PERSISTANT,
+# written: baseui
+# read:    ui, controls
+  "IsMetric": TxType.PERSISTANT,
+  "IsRearViewMirror": TxType.PERSISTANT,
+  "IsFcwEnabled": TxType.PERSISTANT,
+  "HasAcceptedTerms": TxType.PERSISTANT,
+  "IsUploadVideoOverCellularEnabled": TxType.PERSISTANT,
+# written: visiond
+# read:    visiond, controlsd
+  "CalibrationParams": TxType.PERSISTANT,
+# written: visiond
+# read:    visiond, ui
+  "CloudCalibration": TxType.PERSISTANT,
+# written: controlsd
+# read:    radard
+  "CarParams": TxType.CLEAR_ON_CAR_START,
+
+  "Passive": TxType.PERSISTANT,
+  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
+}
+
+def fsync_dir(path):
+  fd = os.open(path, os.O_RDONLY)
+  try:
+    os.fsync(fd)
+  finally:
+    os.close(fd)
+
+
+class FileLock(object):
+  def __init__(self, path, create):
+    self._path = path
+    self._create = create
+    self._fd = None
+
+  def acquire(self):
+    self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
+    fcntl.flock(self._fd, fcntl.LOCK_EX)
+
+  def release(self):
+    if self._fd is not None:
+      os.close(self._fd)
+      self._fd = None
+
+
+class DBAccessor(object):
+  def __init__(self, path):
+    self._path = path
+    self._vals = None
+
+  def keys(self):
+    self._check_entered()
+    return self._vals.keys()
+
+  def get(self, key):
+    self._check_entered()
+    try:
+      return self._vals[key]
+    except KeyError:
+      return None
+
+  def _get_lock(self, create):
+    lock = FileLock(os.path.join(self._path, ".lock"), create)
+    lock.acquire()
+    return lock
+
+  def _read_values_locked(self):
+    """Callers should hold a lock while calling this method."""
+    vals = {}
+    try:
+      data_path = self._data_path()
+      keys = os.listdir(data_path)
+      for key in keys:
+        with open(os.path.join(data_path, key), "rb") as f:
+          vals[key] = f.read()
+    except (OSError, IOError) as e:
+      # Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
+      # inconsistent state. Either way, return empty.
+      if e.errno == errno.ENOENT:
+        return {}
+
+    return vals
+
+  def _data_path(self):
+    return os.path.join(self._path, "d")
+
+  def _check_entered(self):
+    if self._vals is None:
+      raise Exception("Must call __enter__ before using DB")
+
+
+class DBReader(DBAccessor):
+  def __enter__(self):
+    try:
+      lock = self._get_lock(False)
+    except OSError as e:
+      # Do not create lock if it does not exist.
+      if e.errno == errno.ENOENT:
+        self._vals = {}
+        return self
+
+    try:
+      # Read everything.
+      self._vals = self._read_values_locked()
+      return self
+    finally:
+      lock.release()
+
+  def __exit__(self, type, value, traceback): pass
+
+
+class DBWriter(DBAccessor):
+  def __init__(self, path):
+    super(DBWriter, self).__init__(path)
+    self._lock = None
+    self._prev_umask = None
+
+  def put(self, key, value):
+    self._vals[key] = value
+
+  def delete(self, key):
+    self._vals.pop(key, None)
+
+  def __enter__(self):
+    mkdirs_exists_ok(self._path)
+
+    # Make sure we can write and that permissions are correct.
+    self._prev_umask = os.umask(0)
+
+    try:
+      os.chmod(self._path, 0o777)
+      self._lock = self._get_lock(True)
+      self._vals = self._read_values_locked()
+    except:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+      raise
+
+    return self
+
+  def __exit__(self, type, value, traceback):
+    self._check_entered()
+
+    try:
+      # data_path refers to the externally used path to the params. It is a symlink.
+      # old_data_path is the path currently pointed to by data_path.
+      # tempdir_path is a path where the new params will go, which the new data path will point to.
+      # new_data_path is a temporary symlink that will atomically overwrite data_path.
+      #
+      # The current situation is:
+      #   data_path -> old_data_path
+      # We're going to write params data to tempdir_path
+      #   tempdir_path -> params data
+      # Then point new_data_path to tempdir_path
+      #   new_data_path -> tempdir_path
+      # Then atomically overwrite data_path with new_data_path
+      #   data_path -> tempdir_path
+      old_data_path = None
+      new_data_path = None
+      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
+
+      try:
+        # Write back all keys.
+        os.chmod(tempdir_path, 0o777)
+        for k, v in self._vals.items():
+          with open(os.path.join(tempdir_path, k), "wb") as f:
+            f.write(v)
+            f.flush()
+            os.fsync(f.fileno())
+        fsync_dir(tempdir_path)
+
+        data_path = self._data_path()
+        try:
+          old_data_path = os.path.join(self._path, os.readlink(data_path))
+        except (OSError, IOError) as e:
+          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
+          #                 copies to be left behind, but we still want to overwrite.
+          pass
+
+        new_data_path = "{}.link".format(tempdir_path)
+        os.symlink(os.path.basename(tempdir_path), new_data_path)
+        os.rename(new_data_path, data_path)
+        fsync_dir(self._path)
+      finally:
+        # If the rename worked, we can delete the old data. Otherwise delete the new one.
+        success = new_data_path is not None and os.path.exists(data_path) and (
+          os.readlink(data_path) == os.path.basename(tempdir_path))
+
+        if success:
+          if old_data_path is not None:
+            shutil.rmtree(old_data_path)
+        else:
+          shutil.rmtree(tempdir_path)
+
+        # Regardless of what happened above, there should be no link at new_data_path.
+        if new_data_path is not None and os.path.islink(new_data_path):
+          os.remove(new_data_path)
+    finally:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+
+      # Always release the lock.
+      self._lock.release()
+      self._lock = None
+
+
+
+class JSDB(object):
+  def __init__(self, fn):
+    self._fn = fn
+
+  def begin(self, write=False):
+    if write:
+      return DBWriter(self._fn)
+    else:
+      return DBReader(self._fn)
+
+class Params(object):
+  def __init__(self, db='/data/params'):
+    self.env = JSDB(db)
+
+  def _clear_keys_with_type(self, tx_type):
+    with self.env.begin(write=True) as txn:
+      for key in keys:
+        if keys[key] == tx_type:
+          txn.delete(key)
+
+  def manager_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
+
+  def car_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
+
+  def delete(self, key):
+    with self.env.begin(write=True) as txn:
+      txn.delete(key)
+
+  def get(self, key, block=False):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    while 1:
+      with self.env.begin() as txn:
+        ret = txn.get(key)
+      if not block or ret is not None:
+        break
+      # is polling really the best we can do?
+      time.sleep(0.05)
+    return ret
+
+  def put(self, key, dat):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    with self.env.begin(write=True) as txn:
+      txn.put(key, dat)
+    print "set", key
+
+if __name__ == "__main__":
+  params = Params()
+  if len(sys.argv) > 2:
+    params.put(sys.argv[1], sys.argv[2])
+  else:
+    for k in keys:
+      pp = params.get(k)
+      if pp is None:
+        print k, "is None"
+      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
+        print k, pp
+      else:
+        print k, pp.encode("hex")
+
+  # Test multiprocess:
+  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
+  # while python common/params.py DongleId; do sleep 0.05; done
--- a/common/profiler.py
+++ b/common/profiler.py
@@ -0,0 +1,47 @@
+import time
+
+class Profiler(object):
+  def __init__(self, enabled=False):
+    self.enabled = enabled
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.clock()
+    self.last_time = self.start_time
+    self.tot = 0.
+
+  def reset(self, enabled=False):
+    self.enabled = enabled
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.clock()
+    self.last_time = self.start_time
+
+  def checkpoint(self, name, ignore=False):
+    # ignore flag needed when benchmarking threads with ratekeeper
+    if not self.enabled:
+      return
+    tt = time.clock()
+    if name not in self.cp:
+      self.cp[name] = 0.
+      if ignore:
+        self.cp_ignored.append(name)
+    self.cp[name] += tt - self.last_time
+    if not ignore:
+      self.tot += tt - self.last_time
+    self.last_time = tt
+
+  def display(self):
+    if not self.enabled:
+      return
+    self.iter += 1
+    print "******* Profiling *******"
+    for n in self.cp:
+      ms = self.cp[n]
+      if n in self.cp_ignored:
+        print "%30s: %7.2f   perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100), "  IGNORED"
+      else:
+        print "%30s: %7.2f   perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100)
+    print "Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot)
+
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -0,0 +1,111 @@
+"""Utilities for reading real time clocks and keeping soft real time constraints."""
+import os
+import time
+import ctypes
+import platform
+import threading
+import subprocess
+import multiprocessing
+
+from cffi import FFI
+ffi = FFI()
+ffi.cdef("""
+
+typedef int clockid_t;
+struct timespec {
+    long tv_sec;   /* Seconds.  */
+    long tv_nsec;  /* Nanoseconds.  */
+};
+int clock_gettime (clockid_t clk_id, struct timespec *tp);
+
+long syscall(long number, ...);
+
+"""
+)
+libc = ffi.dlopen(None)
+
+
+# see <linux/time.h>
+CLOCK_MONOTONIC_RAW = 4
+CLOCK_BOOTTIME = 7
+
+if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
+  c_clock_gettime = libc.clock_gettime
+
+  tlocal = threading.local()
+  def clock_gettime(clk_id):
+    if not hasattr(tlocal, 'ts'):
+      tlocal.ts = ffi.new('struct timespec *')
+
+    ts = tlocal.ts
+
+    r = c_clock_gettime(clk_id, ts)
+    if r != 0:
+      raise OSError("clock_gettime")
+    return ts.tv_sec + ts.tv_nsec * 1e-9
+else:
+  # hack. only for OS X < 10.12
+  def clock_gettime(clk_id):
+    return time.time()
+
+def monotonic_time():
+  return clock_gettime(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return clock_gettime(CLOCK_BOOTTIME)
+
+
+def set_realtime_priority(level):
+  if os.getuid() != 0:
+    print("not setting priority, not root")
+    return
+  if platform.machine() == "x86_64":
+    NR_gettid = 186
+  elif platform.machine() == "aarch64":
+    NR_gettid = 178
+  else:
+    raise NotImplementedError
+
+  tid = libc.syscall(NR_gettid)
+  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
+
+
+class Ratekeeper(object):
+  def __init__(self, rate, print_delay_threshold=0.):
+    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
+    self._interval = 1. / rate
+    self._next_frame_time = sec_since_boot() + self._interval
+    self._print_delay_threshold = print_delay_threshold
+    self._frame = 0
+    self._remaining = 0
+    self._process_name = multiprocessing.current_process().name
+
+  @property
+  def frame(self):
+    return self._frame
+
+  @property
+  def remaining(self):
+    return self._remaining
+
+  # Maintain loop rate by calling this at the end of each loop
+  def keep_time(self):
+    lagged = self.monitor_time()
+    if self._remaining > 0:
+      time.sleep(self._remaining)
+    return lagged
+
+  # this only monitor the cumulative lag, but does not enforce a rate
+  def monitor_time(self):
+    lagged = False
+    remaining = self._next_frame_time - sec_since_boot()
+    self._next_frame_time += self._interval
+    if remaining < -self._print_delay_threshold:
+      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
+      lagged = True
+    self._frame += 1
+    self._remaining = remaining
+    return lagged
+
+if __name__ == "__main__":
+  print sec_since_boot()
--- a/common/testing.py
+++ b/common/testing.py
@@ -0,0 +1,9 @@
+import os
+from nose.tools import nottest
+
+def phone_only(x):
+  if os.path.isfile("/init.qcom.rc"):
+    return x
+  else:
+    return nottest(x)
+
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -0,0 +1,39 @@
+#!/usr/bin/bash
+
+function launch {
+  # apply update
+  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+     git reset --hard @{u} &&
+     git clean -xdf &&
+     exec "${BASH_SOURCE[0]}"
+  fi
+
+  # no cpu rationing for now
+  echo 0-3 > /dev/cpuset/background/cpus
+  echo 0-3 > /dev/cpuset/system-background/cpus
+  echo 0-3 > /dev/cpuset/foreground/boost/cpus
+  echo 0-3 > /dev/cpuset/foreground/cpus
+  echo 0-3 > /dev/cpuset/android/cpus
+
+  # wait for network
+  (cd selfdrive/ui/spinner && exec ./spinner 'waiting for network...') & spin_pid=$!
+  until ping -W 1 -c 1 8.8.8.8; do sleep 1; done
+  kill $spin_pid
+
+  # check if NEOS update is required
+  while [ "$(cat /VERSION)" -lt 4 ] && [ ! -e /data/media/0/noupdate ]; do
+    curl -o /tmp/updater https://neos.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater
+    sleep 10
+  done
+
+  export PYTHONPATH="$PWD"
+
+  # start manager
+  cd selfdrive
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch
--- a/opendbc/.gitignore
+++ b/opendbc/.gitignore
@@ -0,0 +1,2 @@
+*.pyc
+.*.swp
--- a/opendbc/README.md
+++ b/opendbc/README.md
@@ -0,0 +1,49 @@
+opendbc
+======
+
+The project to democratize access to the decoder ring of your car.
+
+
+
+### DBC file basics
+
+A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file.
+Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) a good overview.
+
+### How to start reverse engineering cars
+
+[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).
+
+Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
+
+### Good practices for contributing to opendbc
+
+- Comments: the best way to store comments is to add them directly to the DBC files. For example: 
+    ```
+    CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+    ```
+    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
+
+- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better. 
+For example:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM
+    ```
+    is better than:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM
+    ```
+    However, the cleanest option is really:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
+    ``` 
+
+- Signal's size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
+    ```
+    SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
+    ```
+    However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is:
+    ```
+    SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM
+    ```
+    which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else.
--- a/opendbc/init.py
+++ b/opendbc/init.py
--- a/opendbc/acura_ilx_2016_can.dbc
+++ b/opendbc/acura_ilx_2016_can.dbc
--- a/opendbc/acura_ilx_2016_nidec.dbc
+++ b/opendbc/acura_ilx_2016_nidec.dbc
--- a/opendbc/acura_rdx_2018_can.dbc
+++ b/opendbc/acura_rdx_2018_can.dbc
--- a/opendbc/ford_cgea1_2_bodycan_2011.dbc
+++ b/opendbc/ford_cgea1_2_bodycan_2011.dbc
--- a/opendbc/ford_cgea1_2_ptcan_2011.dbc
+++ b/opendbc/ford_cgea1_2_ptcan_2011.dbc
--- a/opendbc/gm_global_a_chassis.dbc
+++ b/opendbc/gm_global_a_chassis.dbc
--- a/opendbc/gm_global_a_lowspeed.dbc
+++ b/opendbc/gm_global_a_lowspeed.dbc
--- a/opendbc/gm_global_a_lowspeed_1818125.dbc
+++ b/opendbc/gm_global_a_lowspeed_1818125.dbc
--- a/opendbc/gm_global_a_object.dbc
+++ b/opendbc/gm_global_a_object.dbc
--- a/opendbc/gm_global_a_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
--- a/opendbc/honda_accord_touring_2016_can.dbc
+++ b/opendbc/honda_accord_touring_2016_can.dbc
--- a/opendbc/honda_civic_hatchback_ex_2017_can.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can.dbc
--- a/opendbc/honda_civic_touring_2016_can.dbc
+++ b/opendbc/honda_civic_touring_2016_can.dbc
--- a/opendbc/honda_clarity_hybrid_2018_can.dbc
+++ b/opendbc/honda_clarity_hybrid_2018_can.dbc
--- a/opendbc/honda_crv_ex_2017_can.dbc
+++ b/opendbc/honda_crv_ex_2017_can.dbc
--- a/opendbc/honda_crv_touring_2016_can.dbc
+++ b/opendbc/honda_crv_touring_2016_can.dbc
--- a/opendbc/honda_odyssey_exl_2018.dbc
+++ b/opendbc/honda_odyssey_exl_2018.dbc
--- a/opendbc/honda_pilot_touring_2017_can.dbc
+++ b/opendbc/honda_pilot_touring_2017_can.dbc
--- a/opendbc/hyundai_2015_ccan.dbc
+++ b/opendbc/hyundai_2015_ccan.dbc
--- a/opendbc/hyundai_2015_mcan.dbc
+++ b/opendbc/hyundai_2015_mcan.dbc
--- a/opendbc/hyundai_i30_2014.dbc
+++ b/opendbc/hyundai_i30_2014.dbc
--- a/opendbc/mercedes_benz_e350_2010.dbc
+++ b/opendbc/mercedes_benz_e350_2010.dbc
--- a/opendbc/subaru_outback_2016_eyesight.dbc
+++ b/opendbc/subaru_outback_2016_eyesight.dbc
--- a/opendbc/tesla_can.dbc
+++ b/opendbc/tesla_can.dbc
--- a/opendbc/toyota_iQ_2009_can.dbc
+++ b/opendbc/toyota_iQ_2009_can.dbc
--- a/opendbc/toyota_prius_2017_adas.dbc
+++ b/opendbc/toyota_prius_2017_adas.dbc
--- a/opendbc/toyota_prius_2017_pt.dbc
+++ b/opendbc/toyota_prius_2017_pt.dbc
--- a/opendbc/toyota_rav4_2017_pt.dbc
+++ b/opendbc/toyota_rav4_2017_pt.dbc
--- a/opendbc/toyota_rav4_hybrid_2017_pt.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt.dbc
--- a/opendbc/vw_golf_mk4.dbc
+++ b/opendbc/vw_golf_mk4.dbc
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
--- a/panda/.gitignore
+++ b/panda/.gitignore
@@ -0,0 +1,12 @@
+*.pyc
+.*.swp
+.*.swo
+*.o
+a.out
+*~
+.#*
+dist/
+pandacan.egg-info/
+board/obj/
+examples/output.csv
+.DS_Store
--- a/panda/.travis.yml
+++ b/panda/.travis.yml
@@ -0,0 +1,20 @@
+language: python
+
+cache:
+  directories:
+    - build/commaai/panda/boardesp/esp-open-sdk/crosstool-NG
+
+addons:
+  apt:
+    packages:
+    - gcc-arm-none-eabi
+    - libnewlib-arm-none-eabi
+    - gperf
+    - texinfo
+    - help2man
+
+script:
+  - python setup.py install
+  - pushd board && make bin && popd
+  - pushd boardesp && git clone --recursive https://github.com/pfalcon/esp-open-sdk.git && pushd esp-open-sdk && git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec && LD_LIBRARY_PATH="" make STANDALONE=y && popd && popd
+  - pushd boardesp && make user1.bin && popd
--- a/panda/LICENSE
+++ b/panda/LICENSE
@@ -0,0 +1,7 @@
+Copyright (c) 2016, Comma.ai, Inc.
+
+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/panda/README.md
+++ b/panda/README.md
@@ -0,0 +1,89 @@
+Welcome to panda
+======
+
+[panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
+
+<a href="https://panda.comma.ai"><img src="https://github.com/commaai/panda/blob/master/panda.png">
+
+<img src="https://github.com/commaai/panda/blob/master/buy.png"></a>
+
+It supports 3x CAN, 2x LIN, and 1x GMLAN. It also charges a phone. On the computer side, it has both USB and Wi-Fi.
+
+It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004) for low level stuff and an [ESP8266](https://en.wikipedia.org/wiki/ESP8266) for Wi-Fi. They are connected over high speed SPI, so the panda is actually capable of dumping the full contents of the busses over Wi-Fi, unlike every other dongle on amazon. ELM327 is weak, panda is strong.
+
+It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.
+
+[![Build Status](https://travis-ci.org/commaai/panda.svg?branch=master)](https://travis-ci.org/commaai/panda)
+
+Usage
+------
+
+To install the library:
+```
+# pip install pandacan
+```
+
+See [this class](https://github.com/commaai/panda/blob/master/python/__init__.py#L80) for how to interact with the panda.
+
+For example, to receive CAN messages:
+```
+>>> from panda import Panda
+>>> panda = Panda()
+>>> panda.can_recv()
+```
+And to send one on bus 0:
+```
+>>> panda.can_send(0x1aa, "message", 0)
+```
+More examples coming soon
+
+Software interface support
+------
+
+As a universal car interface, it should support every reasonable software interface.
+
+- User space ([done](https://github.com/commaai/panda/tree/master/python))
+- socketcan in kernel ([alpha](https://github.com/commaai/panda/tree/master/drivers/linux))
+- ELM327 ([done](https://github.com/commaai/panda/blob/master/boardesp/elm327.c))
+- Windows J2534 ([alpha](https://github.com/commaai/panda/tree/master/drivers/windows))
+
+Directory structure
+------
+
+- board      -- Code that runs on the STM32
+- boardesp   -- Code that runs on the ESP8266
+- drivers    -- Drivers (not needed for use with python)
+- python     -- Python userspace library for interfacing with the panda
+- tests      -- Tests and helper programs for panda
+
+Programming (over USB)
+------
+
+[Programming the Board (STM32)](board/README.md)
+
+[Programming the ESP](boardesp/README.md)
+
+
+Debugging
+------
+
+To print out the serial console from the STM32, run tests/debug_console.py
+
+To print out the serial console from the ESP8266, run PORT=1 tests/debug_console.py
+
+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.
+
+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.
+
+Hardware
+------
+
+Check out the hardware [guide](https://github.com/commaai/panda/blob/master/docs/guide.pdf)
+
+Licensing
+------
+
+panda software is released under the MIT license unless otherwise specified.
--- a/panda/TODO
+++ b/panda/TODO
@@ -0,0 +1,31 @@
+** Projects **
+
+== ELM327 Emulator ==
+
+Write an elm327 emulator in boardesp/elm327.c and make it work with Torque
+
+You'll find a start at this in the "elm327" branch.
+
+== socketcan Kernel Driver ==
+
+Write a kernel driver version of lib/panda.py that exposes the Panda on socketcan and makes it work with those tools.
+
+You may want to switch to interrupt endpoint first. Should LIN be exposed as a serial interface?
+
+== Windows J2534 DLL ==
+
+Write a Windows DLL that exposes the J2534 API.
+
+Will make the Panda work with car diagnostic software.
+
+
+** Refactors **
+
+== USB Interrupt Endpoint ==
+
+Switch USB to use an interrupt endpoint instead of a bulk endpoint for can recv
+
+== WebSocket Support ==
+
+Add CAN streaming over WebSocket to the ELM code in addition to the UDP pipe.
+
--- a/panda/UPDATING.md
+++ b/panda/UPDATING.md
@@ -0,0 +1,9 @@
+# Updating your panda
+
+Panda should update automatically via the [Chffr](http://chffr.comma.ai/) app ([apple](https://itunes.apple.com/us/app/chffr-dash-cam-that-remembers/id1146683979) and [android](https://play.google.com/store/apps/details?id=ai.comma.chffr))
+
+If it doesn't however,  you can use the following commands on linux or Mac OSX
+ `sudo pip install --upgrade pandacan`
+` PYTHONPATH="" sudo python -c "import panda; panda.flash_release()"`
+
+(You'll need to have `pip` and `sudo` installed.)
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -0,0 +1 @@
+v1.0.4
--- a/panda/init.py
+++ b/panda/init.py
@@ -0,0 +1 @@
+from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
--- a/panda/board/Makefile
+++ b/panda/board/Makefile
@@ -0,0 +1,8 @@
+PROJ_NAME = panda
+CFLAGS = -g -Wall
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
+CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx
+STARTUP_FILE = startup_stm32f413xx
+
+include build.mk
--- a/panda/board/Makefile.legacy
+++ b/panda/board/Makefile.legacy
@@ -0,0 +1,9 @@
+# :set noet
+PROJ_NAME = comma
+CFLAGS  = -g -Wall
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+STARTUP_FILE = startup_stm32f205xx
+
+include build.mk
--- a/panda/board/README.md
+++ b/panda/board/README.md
@@ -0,0 +1,41 @@
+Dependencies
+--------
+
+**Mac**
+
+```
+./get_sdk_mac.sh
+```
+
+**Debian / Ubuntu**
+
+```
+./get_sdk.sh
+```
+
+
+Programming
+----
+
+**Panda**
+
+```
+make
+```
+
+**NEO**
+
+```
+make -f Makefile.legacy
+```
+
+Troubleshooting
+----
+
+If your panda will not flash and is quickly blinking a single Green LED, use:
+```
+make recover
+```
+
+
+[dfu-util](http://github.com/dsigma/dfu-util.git) for flashing
--- a/panda/board/init.py
+++ b/panda/board/init.py
--- a/panda/board/bootstub.c
+++ b/panda/board/bootstub.c
@@ -0,0 +1,91 @@
+#define BOOTSTUB
+
+#include "config.h"
+#include "obj/gitversion.h"
+
+#ifdef STM32F4
+  #define PANDA
+  #include "stm32f4xx.h"
+  #include "stm32f4xx_hal_gpio_ex.h"
+#else
+  #include "stm32f2xx.h"
+  #include "stm32f2xx_hal_gpio_ex.h"
+#endif
+
+#include "libc.h"
+#include "provision.h"
+
+#include "drivers/drivers.h"
+
+#include "drivers/llgpio.h"
+#include "gpio.h"
+
+#include "drivers/spi.h"
+#include "drivers/usb.h"
+//#include "drivers/uart.h"
+
+int puts(const char *a) { return 0; }
+void puth(unsigned int i) {}
+
+#include "crypto/rsa.h"
+#include "crypto/sha.h"
+
+#include "obj/cert.h"
+
+#include "spi_flasher.h"
+
+void __initialize_hardware_early() {
+  early();
+}
+
+void fail() {
+  soft_flasher_start();
+}
+
+// know where to sig check
+extern void *_app_start[];
+
+int main() {
+  __disable_irq();
+  clock_init();
+  detect();
+
+  if (revision == PANDA_REV_C) {
+    set_usb_power_mode(USB_POWER_CLIENT);
+  }
+
+  if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
+    enter_bootloader_mode = 0;
+    soft_flasher_start();
+  }
+
+  // validate length
+  int len = (int)_app_start[0];
+  if ((len < 8) || (len > (0x1000000 - 0x4000 - 4 - RSANUMBYTES))) goto fail;
+
+  // compute SHA hash
+  uint8_t digest[SHA_DIGEST_SIZE];
+  SHA_hash(&_app_start[1], len-4, digest);
+
+  // verify RSA signature
+  if (RSA_verify(&release_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) {
+    goto good;
+  }
+
+  // allow debug if built from source
+#ifdef ALLOW_DEBUG
+  if (RSA_verify(&debug_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) {
+    goto good;
+  }
+#endif
+
+// here is a failure
+fail:
+  fail();
+  return 0;
+good:
+  // jump to flash
+  ((void(*)()) _app_start[1])();
+  return 0;
+}
+
--- a/panda/board/build.mk
+++ b/panda/board/build.mk
@@ -0,0 +1,59 @@
+CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O0
+CFLAGS += -Tstm32_flash.ld
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+
+ifeq ($(RELEASE),1)
+  CERT = ../../pandaextra/certs/release
+else
+  # enable the debug cert
+  CERT = ../certs/debug
+  CFLAGS += "-DALLOW_DEBUG"
+endif
+
+DFU_UTIL = "dfu-util"
+
+# this no longer pushes the bootstub
+flash: obj/$(PROJ_NAME).bin
+	PYTHONPATH=../ python -c "from panda import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
+
+ota: obj/$(PROJ_NAME).bin
+	curl http://192.168.0.10/stupdate --upload-file $<
+
+bin: obj/$(PROJ_NAME).bin
+
+# this flashes everything
+recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
+	-PYTHONPATH=../ python -c "from panda import Panda; Panda().reset(enter_bootloader=True)"
+	sleep 1.0
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.$(PROJ_NAME).bin
+
+include ../common/version.mk
+
+obj/cert.h: ../crypto/getcertheader.py
+	../crypto/getcertheader.py ../certs/debug.pub ../certs/release.pub > $@
+
+obj/%.$(PROJ_NAME).o: %.c obj/cert.h obj/gitversion.h config.h drivers/*.h gpio.h libc.h provision.h safety.h safety/*.h spi_flasher.h
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/%.$(PROJ_NAME).o: ../crypto/%.c
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: $(STARTUP_FILE).s
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
+	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
+
+obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
+
+clean:
+	@rm -f obj/*
--- a/panda/board/config.h
+++ b/panda/board/config.h
@@ -0,0 +1,40 @@
+#ifndef PANDA_CONFIG_H
+#define PANDA_CONFIG_H
+
+//#define DEBUG
+//#define DEBUG_USB
+//#define DEBUG_SPI
+
+#ifdef STM32F4
+  #define PANDA
+  #include "stm32f4xx.h"
+#else
+  #include "stm32f2xx.h"
+#endif
+
+#define USB_VID 0xbbaa
+
+#ifdef BOOTSTUB
+#define USB_PID 0xddee
+#else
+#define USB_PID 0xddcc
+#endif
+
+#include <stdbool.h>
+#define NULL ((void*)0)
+#define COMPILE_TIME_ASSERT(pred) switch(0){case 0:case pred:;}
+
+#define min(a,b) \
+ ({ __typeof__ (a) _a = (a); \
+     __typeof__ (b) _b = (b); \
+   _a < _b ? _a : _b; })
+
+#define max(a,b) \
+ ({ __typeof__ (a) _a = (a); \
+     __typeof__ (b) _b = (b); \
+   _a > _b ? _a : _b; })
+
+#define MAX_RESP_LEN 0x40
+
+#endif
+
--- a/panda/board/drivers/adc.h
+++ b/panda/board/drivers/adc.h
@@ -0,0 +1,38 @@
+// ACCEL1 = ADC10
+// ACCEL2 = ADC11
+// VOLT_S = ADC12
+// CURR_S = ADC13
+
+#define ADCCHAN_ACCEL0 10
+#define ADCCHAN_ACCEL1 11
+#define ADCCHAN_VOLTAGE 12
+#define ADCCHAN_CURRENT 13
+
+void adc_init() {
+  // global setup
+  ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
+  //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
+  ADC1->CR2 = ADC_CR2_ADON;
+
+  // long
+  //ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
+  ADC1->SMPR1 = ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
+}
+
+uint32_t adc_get(int channel) {
+  // includes length
+  //ADC1->SQR1 = 0;
+
+  // select channel
+  ADC1->JSQR = channel << 15;
+
+  //ADC1->CR1 = ADC_CR1_DISCNUM_0;
+  //ADC1->CR1 = ADC_CR1_EOCIE;
+
+  ADC1->SR &= ~(ADC_SR_JEOC);
+  ADC1->CR2 |= ADC_CR2_JSWSTART;
+  while (!(ADC1->SR & ADC_SR_JEOC));
+
+  return ADC1->JDR1;
+}
+
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -0,0 +1,401 @@
+// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE, CAN2_TX, CAN2_RX0, CAN2_SCE, CAN3_TX, CAN3_RX0, CAN3_SCE
+#define ALL_CAN_SILENT 0xFF
+#define ALL_CAN_BUT_MAIN_SILENT 0xFE
+#define ALL_CAN_LIVE 0
+
+int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
+
+// ********************* instantiate queues *********************
+
+#define can_buffer(x, size) \
+  CAN_FIFOMailBox_TypeDef elems_##x[size]; \
+  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = size, .elems = (CAN_FIFOMailBox_TypeDef *)&elems_##x };
+
+can_buffer(rx_q, 0x1000)
+can_buffer(tx1_q, 0x100)
+can_buffer(tx2_q, 0x100)
+
+#ifdef PANDA
+  can_buffer(tx3_q, 0x100)
+  can_buffer(txgmlan_q, 0x100)
+  can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
+#else
+  can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
+#endif
+
+// ********************* interrupt safe queue *********************
+
+int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  int ret = 0;
+
+  enter_critical_section();
+  if (q->w_ptr != q->r_ptr) {
+    *elem = q->elems[q->r_ptr];
+    if ((q->r_ptr + 1) == q->fifo_size) q->r_ptr = 0;
+    else q->r_ptr += 1;
+    ret = 1;
+  }
+  exit_critical_section();
+
+  return ret;
+}
+
+int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  int ret = 0;
+  uint32_t next_w_ptr;
+
+  enter_critical_section();
+  if ((q->w_ptr + 1) == q->fifo_size) next_w_ptr = 0;
+  else next_w_ptr = q->w_ptr + 1;
+  if (next_w_ptr != q->r_ptr) {
+    q->elems[q->w_ptr] = *elem;
+    q->w_ptr = next_w_ptr;
+    ret = 1;
+  }
+  exit_critical_section();
+  if (ret == 0) puts("can_push failed!\n");
+  return ret;
+}
+
+void can_clear(can_ring *q) {
+  enter_critical_section();
+  q->w_ptr = 0;
+  q->r_ptr = 0;
+  exit_critical_section();
+}
+
+// assign CAN numbering
+// bus num: Can bus number on ODB connector. Sent to/from USB
+//    Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
+// cans: Look up MCU can interface from bus number
+// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
+// bus_lookup: Translates from 'can number' to 'bus number'.
+// can_num_lookup: Translates from 'bus number' to 'can number'.
+// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
+
+int can_rx_cnt = 0;
+int can_tx_cnt = 0;
+int can_txd_cnt = 0;
+int can_err_cnt = 0;
+
+// NEO:         Bus 1=CAN1   Bus 2=CAN2
+// Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
+#ifdef PANDA
+  CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
+  uint8_t bus_lookup[] = {0,1,2};
+  uint8_t can_num_lookup[] = {0,1,2,-1};
+  int8_t can_forwarding[] = {-1,-1,-1,-1};
+  uint32_t can_speed[] = {5000, 5000, 5000, 333};
+  #define CAN_MAX 3
+#else
+  CAN_TypeDef *cans[] = {CAN1, CAN2};
+  uint8_t bus_lookup[] = {1,0};
+  uint8_t can_num_lookup[] = {1,0};
+  int8_t can_forwarding[] = {-1,-1};
+  uint32_t can_speed[] = {5000, 5000};
+  #define CAN_MAX 2
+#endif
+
+#define CANIF_FROM_CAN_NUM(num) (cans[num])
+#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
+#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
+
+// other option
+/*#define CAN_QUANTA 16
+#define CAN_SEQ1 13
+#define CAN_SEQ2 2*/
+
+// this is needed for 1 mbps support
+#define CAN_QUANTA 8
+#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
+#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
+
+#define CAN_PCLK 24000
+// 333 = 33.3 kbps
+// 5000 = 500 kbps
+#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
+
+void process_can(uint8_t can_number);
+
+void can_init(uint8_t can_number) {
+  if (can_number == 0xff) return;
+
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  set_can_enable(CAN, 1);
+
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+
+  // set time quanta from defines
+  CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+             (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+             (can_speed_to_prescaler(can_speed[BUS_NUM_FROM_CAN_NUM(can_number)]) - 1);
+
+  // silent loopback mode for debugging
+  if (can_loopback) {
+    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+  }
+
+  if (can_silent & (1 << can_number)) {
+    CAN->BTR |= CAN_BTR_SILM;
+  }
+
+  // reset
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
+
+  #define CAN_TIMEOUT 1000000
+  int tmp = 0;
+  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
+
+  if (tmp == CAN_TIMEOUT) {
+    puts("CAN init FAILED!!!!!\n");
+    puth(can_number); puts(" ");
+    puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
+  }
+
+  // accept all filter
+  CAN->FMR |= CAN_FMR_FINIT;
+
+  // no mask
+  CAN->sFilterRegister[0].FR1 = 0;
+  CAN->sFilterRegister[0].FR2 = 0;
+  CAN->sFilterRegister[14].FR1 = 0;
+  CAN->sFilterRegister[14].FR2 = 0;
+  CAN->FA1R |= 1 | (1 << 14);
+
+  CAN->FMR &= ~(CAN_FMR_FINIT);
+
+  // enable certain CAN interrupts
+  CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0;
+
+  switch (can_number) {
+    case 0:
+      NVIC_EnableIRQ(CAN1_TX_IRQn);
+      NVIC_EnableIRQ(CAN1_RX0_IRQn);
+      NVIC_EnableIRQ(CAN1_SCE_IRQn);
+      break;
+    case 1:
+      NVIC_EnableIRQ(CAN2_TX_IRQn);
+      NVIC_EnableIRQ(CAN2_RX0_IRQn);
+      NVIC_EnableIRQ(CAN2_SCE_IRQn);
+      break;
+#ifdef CAN3
+    case 2:
+      NVIC_EnableIRQ(CAN3_TX_IRQn);
+      NVIC_EnableIRQ(CAN3_RX0_IRQn);
+      NVIC_EnableIRQ(CAN3_SCE_IRQn);
+      break;
+#endif
+  }
+
+  // in case there are queued up messages
+  process_can(can_number);
+}
+
+void can_init_all() {
+  for (int i=0; i < CAN_MAX; i++) {
+    can_init(i);
+  }
+}
+
+void can_set_gmlan(int bus) {
+  if (bus == -1 || bus != can_num_lookup[3]) {
+    // GMLAN OFF
+    switch (can_num_lookup[3]) {
+      case 1:
+        puts("disable GMLAN on CAN2\n");
+        set_can_mode(1, 0);
+        bus_lookup[1] = 1;
+        can_num_lookup[1] = 1;
+        can_num_lookup[3] = -1;
+        can_init(1);
+        break;
+      case 2:
+        puts("disable GMLAN on CAN3\n");
+        set_can_mode(2, 0);
+        bus_lookup[2] = 2;
+        can_num_lookup[2] = 2;
+        can_num_lookup[3] = -1;
+        can_init(2);
+        break;
+    }
+  }
+
+  if (bus == 1) {
+    puts("GMLAN on CAN2\n");
+    // GMLAN on CAN2
+    set_can_mode(1, 1);
+    bus_lookup[1] = 3;
+    can_num_lookup[1] = -1;
+    can_num_lookup[3] = 1;
+    can_init(1);
+  } else if (bus == 2 && revision == PANDA_REV_C) {
+    puts("GMLAN on CAN3\n");
+    // GMLAN on CAN3
+    set_can_mode(2, 1);
+    bus_lookup[2] = 3;
+    can_num_lookup[2] = -1;
+    can_num_lookup[3] = 2;
+    can_init(2);
+  }
+}
+
+// CAN error
+void can_sce(CAN_TypeDef *CAN) {
+  can_err_cnt += 1;
+  #ifdef DEBUG
+    if (CAN==CAN1) puts("CAN1:  ");
+    if (CAN==CAN2) puts("CAN2:  ");
+    #ifdef CAN3
+      if (CAN==CAN3) puts("CAN3:  ");
+    #endif
+    puts("MSR:");
+    puth(CAN->MSR);
+    puts(" TSR:");
+    puth(CAN->TSR);
+    puts(" RF0R:");
+    puth(CAN->RF0R);
+    puts(" RF1R:");
+    puth(CAN->RF1R);
+    puts(" ESR:");
+    puth(CAN->ESR);
+    puts("\n");
+  #endif
+
+  // clear current send
+  CAN->TSR |= CAN_TSR_ABRQ0;
+  CAN->MSR = CAN->MSR;
+}
+
+// ***************************** CAN *****************************
+
+void process_can(uint8_t can_number) {
+  if (can_number == 0xff) return;
+
+  enter_critical_section();
+
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  #ifdef DEBUG
+    puts("process CAN TX\n");
+  #endif
+
+  // check for empty mailbox
+  CAN_FIFOMailBox_TypeDef to_send;
+  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+    // add successfully transmitted message to my fifo
+    if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
+      can_txd_cnt += 1;
+
+      if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
+        CAN_FIFOMailBox_TypeDef to_push;
+        to_push.RIR = CAN->sTxMailBox[0].TIR;
+        to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
+        to_push.RDLR = CAN->sTxMailBox[0].TDLR;
+        to_push.RDHR = CAN->sTxMailBox[0].TDHR;
+        can_push(&can_rx_q, &to_push);
+      }
+
+      if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
+        #ifdef DEBUG
+          puts("CAN TX ERROR!\n");
+        #endif
+      }
+
+      if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
+        #ifdef DEBUG
+          puts("CAN TX ARBITRATION LOST!\n");
+        #endif
+      }
+
+      // clear interrupt
+      // careful, this can also be cleared by requesting a transmission
+      CAN->TSR |= CAN_TSR_RQCP0;
+    }
+
+    if (can_pop(can_queues[bus_number], &to_send)) {
+      can_tx_cnt += 1;
+      // only send if we have received a packet
+      CAN->sTxMailBox[0].TDLR = to_send.RDLR;
+      CAN->sTxMailBox[0].TDHR = to_send.RDHR;
+      CAN->sTxMailBox[0].TDTR = to_send.RDTR;
+      CAN->sTxMailBox[0].TIR = to_send.RIR;
+    }
+  }
+
+  exit_critical_section();
+}
+
+// CAN receive handlers
+// blink blue when we are receiving CAN messages
+void can_rx(uint8_t can_number) {
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    can_rx_cnt += 1;
+
+    // can is live
+    pending_can_live = 1;
+
+    // add to my fifo
+    CAN_FIFOMailBox_TypeDef to_push;
+    to_push.RIR = CAN->sFIFOMailBox[0].RIR;
+    to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
+    to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
+    to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
+
+    // forwarding (panda only)
+    #ifdef PANDA
+      if (can_forwarding[bus_number] != -1) {
+        CAN_FIFOMailBox_TypeDef to_send;
+        to_send.RIR = to_push.RIR | 1; // TXRQ
+        to_send.RDTR = to_push.RDTR;
+        to_send.RDLR = to_push.RDLR;
+        to_send.RDHR = to_push.RDHR;
+        can_send(&to_send, can_forwarding[bus_number]);
+      }
+    #endif
+
+    // modify RDTR for our API
+    to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
+    safety_rx_hook(&to_push);
+
+    #ifdef PANDA
+      set_led(LED_BLUE, 1);
+    #endif
+    can_push(&can_rx_q, &to_push);
+
+    // next
+    CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_TX_IRQHandler() { process_can(0); }
+void CAN1_RX0_IRQHandler() { can_rx(0); }
+void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
+
+void CAN2_TX_IRQHandler() { process_can(1); }
+void CAN2_RX0_IRQHandler() { can_rx(1); }
+void CAN2_SCE_IRQHandler() { can_sce(CAN2); }
+
+#ifdef CAN3
+void CAN3_TX_IRQHandler() { process_can(2); }
+void CAN3_RX0_IRQHandler() { can_rx(2); }
+void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
+#endif
+
+void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
+  if (safety_tx_hook(to_push)) {
+    if (bus_number < BUS_MAX) {
+      // add CAN packet to send queue
+      // bus number isn't passed through
+      to_push->RDTR &= 0xF;
+      can_push(can_queues[bus_number], to_push);
+      process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
+    }
+  }
+}
+
+void can_set_forwarding(int from, int to) {
+  can_forwarding[from] = to;
+}
--- a/panda/board/drivers/dac.h
+++ b/panda/board/drivers/dac.h
@@ -0,0 +1,16 @@
+void dac_init() {
+  // no buffers required since we have an opamp
+  //DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
+  DAC->DHR12R1 = 0;
+  DAC->DHR12R2 = 0;
+  DAC->CR = DAC_CR_EN1 | DAC_CR_EN2;
+}
+
+void dac_set(int channel, uint32_t value) {
+  if (channel == 0) {
+    DAC->DHR12R1 = value;
+  } else if (channel == 1) {
+    DAC->DHR12R2 = value;
+  }
+}
+
--- a/panda/board/drivers/drivers.h
+++ b/panda/board/drivers/drivers.h
@@ -0,0 +1,141 @@
+#ifndef PANDA_DRIVERS_H
+#define PANDA_DRIVERS_H
+
+// ********************* LLGPIO *********************
+
+#define MODE_INPUT 0
+#define MODE_OUTPUT 1
+#define MODE_ALTERNATE 2
+#define MODE_ANALOG 3
+
+#define PULL_NONE 0
+#define PULL_UP 1
+#define PULL_DOWN 2
+
+void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode);
+void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val);
+void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode);
+void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode);
+
+int get_gpio_input(GPIO_TypeDef *GPIO, int pin);
+
+
+// ********************* USB *********************
+// IRQs: OTG_FS
+
+typedef union {
+  uint16_t w;
+  struct BW {
+    uint8_t msb;
+    uint8_t lsb;
+  }
+  bw;
+}
+uint16_t_uint8_t;
+
+typedef union _USB_Setup {
+  uint32_t d8[2];
+  struct _SetupPkt_Struc
+  {
+    uint8_t           bmRequestType;
+    uint8_t           bRequest;
+    uint16_t_uint8_t  wValue;
+    uint16_t_uint8_t  wIndex;
+    uint16_t_uint8_t  wLength;
+  } b;
+}
+USB_Setup_TypeDef;
+
+void usb_init();
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired);
+int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
+void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
+void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
+void usb_cb_enumeration_complete();
+
+
+// ********************* UART *********************
+// IRQs: USART1, USART2, USART3, UART5
+
+#define FIFO_SIZE 0x100
+typedef struct uart_ring {
+  uint8_t w_ptr_tx;
+  uint8_t r_ptr_tx;
+  uint8_t elems_tx[FIFO_SIZE];
+  uint8_t w_ptr_rx;
+  uint8_t r_ptr_rx;
+  uint8_t elems_rx[FIFO_SIZE];
+  USART_TypeDef *uart;
+  void (*callback)(struct uart_ring*);
+} uart_ring;
+
+void uart_init(USART_TypeDef *u, int baud);
+
+int getc(uart_ring *q, char *elem);
+int putc(uart_ring *q, char elem);
+
+int puts(const char *a);
+void puth(unsigned int i);
+void hexdump(const void *a, int l);
+
+
+// ********************* ADC *********************
+
+void adc_init();
+uint32_t adc_get(int channel);
+
+
+// ********************* DAC *********************
+
+void dac_init();
+uint32_t dac_set(int channel, uint32_t value);
+
+
+// ********************* TIMER *********************
+
+void timer_init(TIM_TypeDef *TIM, int psc);
+
+
+// ********************* SPI *********************
+// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
+
+void spi_init();
+int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
+
+
+// ********************* CAN *********************
+// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
+//       CAN2_TX, CAN2_RX0, CAN2_SCE
+//       CAN3_TX, CAN3_RX0, CAN3_SCE
+
+typedef struct {
+  uint32_t w_ptr;
+  uint32_t r_ptr;
+  uint32_t fifo_size;
+  CAN_FIFOMailBox_TypeDef *elems;
+} can_ring;
+
+#define CAN_BUS_RET_FLAG 0x80
+#define CAN_BUS_NUM_MASK 0x7F
+
+#ifdef PANDA
+  #define BUS_MAX 4
+#else
+  #define BUS_MAX 2
+#endif
+
+extern int can_live, pending_can_live;
+
+// must reinit after changing these
+extern int can_loopback, can_silent;
+extern uint32_t can_speed[];
+
+void can_set_forwarding(int from, int to);
+
+void can_init(uint8_t can_number);
+void can_init_all();
+void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
+int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
+
+#endif
+
--- a/panda/board/drivers/llgpio.h
+++ b/panda/board/drivers/llgpio.h
@@ -0,0 +1,35 @@
+void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
+  uint32_t tmp = GPIO->MODER;
+  tmp &= ~(3 << (pin*2));
+  tmp |= (mode << (pin*2));
+  GPIO->MODER = tmp;
+}
+
+void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val) {
+  if (val) {
+    GPIO->ODR |= (1 << pin);
+  } else {
+    GPIO->ODR &= ~(1 << pin);
+  }
+  set_gpio_mode(GPIO, pin, MODE_OUTPUT);
+}
+
+void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode) {
+  uint32_t tmp = GPIO->AFR[pin>>3];
+  tmp &= ~(0xF << ((pin&7)*4));
+  tmp |= mode << ((pin&7)*4);
+  GPIO->AFR[pin>>3] = tmp;
+  set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
+}
+
+void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
+  uint32_t tmp = GPIO->PUPDR;
+  tmp &= ~(3 << (pin*2));
+  tmp |= (mode << (pin*2));
+  GPIO->PUPDR = tmp;
+}
+
+int get_gpio_input(GPIO_TypeDef *GPIO, int pin) {
+  return (GPIO->IDR & (1 << pin)) == (1 << pin);
+}
+
--- a/panda/board/drivers/spi.h
+++ b/panda/board/drivers/spi.h
@@ -0,0 +1,120 @@
+// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
+
+#define SPI_BUF_SIZE 256
+uint8_t spi_buf[SPI_BUF_SIZE];
+int spi_buf_count = 0;
+int spi_total_count = 0;
+
+void spi_init() {
+  //puts("SPI init\n");
+  SPI1->CR1 = SPI_CR1_SPE;
+
+  // enable SPI interrupts
+  //SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
+  SPI1->CR2 = SPI_CR2_RXNEIE;
+
+  NVIC_EnableIRQ(DMA2_Stream2_IRQn);
+  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+  //NVIC_EnableIRQ(SPI1_IRQn);
+
+  // reset handshake back to pull up
+  set_gpio_mode(GPIOB, 0, MODE_INPUT);
+  set_gpio_pullup(GPIOB, 0, PULL_UP);
+
+  // setup interrupt on falling edge of SPI enable (on PA4)
+  SYSCFG->EXTICR[2] = SYSCFG_EXTICR2_EXTI4_PA;
+  EXTI->IMR = (1 << 4);
+  EXTI->FTSR = (1 << 4);
+  NVIC_EnableIRQ(EXTI4_IRQn);
+}
+
+void spi_tx_dma(void *addr, int len) {
+  // disable DMA
+  SPI1->CR2 &= ~SPI_CR2_TXDMAEN;
+  DMA2_Stream3->CR &= ~DMA_SxCR_EN;
+
+  // DMA2, stream 3, channel 3
+  DMA2_Stream3->M0AR = (uint32_t)addr;
+  DMA2_Stream3->NDTR = len;
+  DMA2_Stream3->PAR = (uint32_t)&(SPI1->DR);
+
+  // channel3, increment memory, memory -> periph, enable
+  DMA2_Stream3->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN;
+  DMA2_Stream3->CR |= DMA_SxCR_TCIE;
+
+  SPI1->CR2 |= SPI_CR2_TXDMAEN;
+
+  // signal data is ready by driving low
+  // esp must be configured as input by this point
+  set_gpio_output(GPIOB, 0, 0);
+}
+
+void spi_rx_dma(void *addr, int len) {
+  // disable DMA
+  SPI1->CR2 &= ~SPI_CR2_RXDMAEN;
+  DMA2_Stream2->CR &= ~DMA_SxCR_EN;
+
+  // drain the bus
+  volatile uint8_t dat = SPI1->DR;
+  (void)dat;
+
+  // DMA2, stream 2, channel 3
+  DMA2_Stream2->M0AR = (uint32_t)addr;
+  DMA2_Stream2->NDTR = len;
+  DMA2_Stream2->PAR = (uint32_t)&(SPI1->DR);
+
+  // channel3, increment memory, periph -> memory, enable
+  DMA2_Stream2->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_EN;
+  DMA2_Stream2->CR |= DMA_SxCR_TCIE;
+
+  SPI1->CR2 |= SPI_CR2_RXDMAEN;
+}
+
+// ***************************** SPI IRQs *****************************
+
+// can't go on the stack cause it's DMAed
+uint8_t spi_tx_buf[0x44];
+
+// SPI RX
+void DMA2_Stream2_IRQHandler(void) {
+  int *resp_len = (int*)spi_tx_buf;
+  memset(spi_tx_buf, 0xaa, 0x44);
+  *resp_len = spi_cb_rx(spi_buf, 0x14, spi_tx_buf+4);
+  #ifdef DEBUG_SPI
+    puts("SPI write: ");
+    puth(*resp_len);
+    puts("\n");
+  #endif
+  spi_tx_dma(spi_tx_buf, *resp_len + 4);
+
+  // ack
+  DMA2->LIFCR = DMA_LIFCR_CTCIF2;
+}
+
+// SPI TX
+void DMA2_Stream3_IRQHandler(void) {
+  #ifdef DEBUG_SPI
+    puts("SPI handshake\n");
+  #endif  
+
+  // reset handshake back to pull up
+  set_gpio_mode(GPIOB, 0, MODE_INPUT);
+  set_gpio_pullup(GPIOB, 0, PULL_UP);
+
+  // ack
+  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
+}
+
+void EXTI4_IRQHandler(void) {
+  volatile int pr = EXTI->PR;
+  #ifdef DEBUG_SPI
+    puts("exti4\n");
+  #endif
+  // SPI CS falling
+  if (pr & (1 << 4)) {
+    spi_total_count = 0;
+    spi_rx_dma(spi_buf, 0x14);
+  }
+  EXTI->PR = pr;
+}
+
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	da52d065a4	openpilot v0.4.0.2 release	2018-01-18 15:46:12 -08:00
Vehicle Researcher	b731b7cf12	Merge opendbc subtree	2018-01-18 15:42:13 -08:00
Vehicle Researcher	ef3d8314d3	Merge panda subtree	2018-01-18 15:42:12 -08:00
Vehicle Researcher	5f014635e1	Squashed 'panda/' changes from c371fe6..2573d86 2573d86 docs say max is 4, respect the docs 864cd8f failing on some devices 54bcc67 Merge pull request #75 from gregjhogan/j2534-vs-2017-upgrade 1664270 Merge pull request #74 from gregjhogan/j2534-disconnect-fix a7e3a8f bump panda version for serial bug aa0cfad fix UART hang 09ab8f6 add sendaddr support to isotp 40a1883 fix up baud rate 65997ff add PandaSerial and location panda (aka pigeon) test 57d633c upgraded to VS 2017 35cc32a fixed pointer exception on disconnect git-subtree-dir: panda git-subtree-split: 2573d861e605a2dcf456a6421b31e83fdd9ca606	2018-01-18 15:42:12 -08:00
Vehicle Researcher	7ef3fd567f	openpilot v0.4.0.1 tweaks	2018-01-16 23:26:39 -08:00
heatnation	b773e27ad1	Update fingerprints.py	2018-01-15 18:22:15 -08:00
Vehicle Researcher	a77c0a1098	openpilot v0.4.0.1 release	2017-12-23 17:15:27 -08:00
Vehicle Researcher	c7b5fb9116	Merge commit '57b9ddf20ef28d7a9b4fd57c08630281ef103422' as 'pyextra'	2017-12-23 17:10:45 -08:00
Vehicle Researcher	57b9ddf20e	Squashed 'pyextra/' content from commit 4eda4dd git-subtree-dir: pyextra git-subtree-split: 4eda4dd765c2bc719da9064774de6b2c14c322d1	2017-12-23 17:10:45 -08:00
Vehicle Researcher	b8085e2c42	Merge commit 'ba97d0e83837b4c893edc609001dde7c41b8e24b' as 'opendbc'	2017-12-23 17:10:44 -08:00
Vehicle Researcher	c251b312d8	Squashed 'panda/' content from commit c371fe6 git-subtree-dir: panda git-subtree-split: c371fe688dbad4c53635905d3471a01c185e811d	2017-12-23 17:10:42 -08:00
Vehicle Researcher	14fb17e22f	Merge commit 'c251b312d87d26b5ed347b267f6f1570793f9b91' as 'panda'	2017-12-23 17:10:42 -08:00
Vehicle Researcher	a34c87ab46	remove submodules	2017-12-23 17:06:56 -08:00
Vehicle Researcher	1ad9cc8c67	openpilot v0.3.9 tweaks	2017-12-06 12:48:00 -08:00
Vehicle Researcher	5627d0d7fd	openpilot v0.3.9 release	2017-11-22 04:30:24 -08:00
Vehicle Researcher	2cfdbefde8	update releases	2017-11-04 05:31:15 -07:00
Vehicle Researcher	7dabcdace8	openpilot v0.3.8.2 tweaks	2017-11-03 18:21:38 -07:00
Vehicle Researcher	187a70f760	openpilot v0.3.8.2 release	2017-10-31 02:27:39 -07:00
Vehicle Researcher	48303589e9	openpilot v0.3.7 tweaks	2017-10-03 23:46:23 -07:00
Vehicle Researcher	8385b27cad	openpilot v0.3.7 tweaks	2017-10-03 00:35:46 -07:00
George Hotz	abd75aedd7	Bump panda version to fix old board updating	2017-09-30 23:30:38 -07:00
Vehicle Researcher	daf54ad54d	openpilot v0.3.7 release	2017-09-30 19:05:03 -07:00
espes	94fe677f91	Fix rear view mirror setting	2017-08-28 22:24:11 -07:00
Vehicle Researcher	3de85098e5	openpilot v0.3.6.1 tweaks	2017-08-16 05:21:06 -07:00
Vehicle Researcher	5524dc8773	openpilot v0.3.6.1 release	2017-08-15 03:15:00 -07:00
Vehicle Researcher	19dd5f3e32	openpilot v0.3.6 tweaks	2017-08-10 20:38:56 -07:00
Vehicle Researcher	99cb610b12	openpilot v0.3.6 release	2017-08-09 17:41:38 -07:00
Vehicle Researcher	9d3963559a	openpilot v0.3.5 release	2017-07-30 17:59:37 -07:00
Vehicle Researcher	1b8c44b506	openpilot v0.3.4 tweaks	2017-07-28 20:51:27 -07:00
Vehicle Researcher	6f46f988d9	openpilot v0.3.4 release	2017-07-28 03:23:57 -07:00
George Hotz	68485aa4e4	Merge pull request #116 from commaai/revert-114-new_panda_code Revert "Pulled in new panda firmware and updated boardd to support the changes."	2017-07-17 23:17:13 -07:00
George Hotz	1581fdc198	Revert "Pulled in new panda firmware and updated boardd to support the changes."	2017-07-17 23:16:57 -07:00
George Hotz	317ae0fb37	Merge pull request #114 from diamondman/new_panda_code Pulled in new panda firmware and updated boardd to support the changes.	2017-07-11 22:24:38 -07:00
Jessy Diamond Exum	5bf4196aed	Removed unnecessary TODO	2017-07-11 22:01:04 -07:00
Jessy Diamond Exum	38aa03e0f7	Moved boardd loopback config to envvar.	2017-07-11 21:59:03 -07:00
Jessy Diamond Exum	9a9dc3ab23	Pulled in new panda firmware and updated boardd to support the changes.	2017-07-11 21:45:16 -07:00
George Hotz	e4aa959e2c	Merge pull request #113 from pjlao307/update-alert-text Update alert text	2017-07-07 10:25:59 -07:00
Joey Lao	2aa9a56f40	Update steering controls saturated message	2017-07-06 22:36:55 -07:00
pjlao307	721ed4ec0e	Merge pull request #2 from commaai/release Release	2017-07-03 11:15:42 -07:00
George Hotz	70be4ceab1	Merge pull request #109 from commaai/devel openpilot 0.3.3	2017-06-30 18:23:10 -07:00
Vehicle Researcher	5cf91d0496	openpilot v0.3.3 release	2017-06-28 13:57:09 -07:00
George Hotz	6fee0bdb2d	Merge pull request #102 from energee/devel-crv Bounty: 2016 Honda CR-V Touring	2017-06-22 11:52:38 -07:00
Ted Slesinski	e40c161125	Addresses brake error review comment	2017-06-20 02:51:58 -04:00
Ted Slesinski	97eb55cc55	Fixes global saturation change	2017-06-20 02:47:47 -04:00
Ted Slesinski	65134be0d1	Adds correct value of 8 to gearshifter check array	2017-06-20 02:46:59 -04:00
Ted Slesinski	dbf71a23aa	Init crv variable	2017-06-20 02:26:50 -04:00
George Hotz	7fec3db1d6	Merge pull request #103 from pjlao307/pjlao-update-ui Update UI to make text more readable in all conditions as requested by community	2017-06-19 20:37:37 -07:00
Joey Lao	26b573c1d0	Make lead car text a little brighter	2017-06-12 16:39:10 -07:00
Vehicle Researcher	5ec1e7307e	Revert last commit since KPH can get 3 digits long	2017-06-12 09:30:47 -07:00
Vehicle Researcher	8bc36b7f21	Adjust position of left speed to align with label (based on 2 digit speeds)	2017-06-12 09:03:49 -07:00
Vehicle Researcher	3b909eb693	More code cleanup	2017-06-12 08:41:11 -07:00
Vehicle Researcher	57e39c4472	Use color param in ui_draw_rounded_rect instead of hard coding	2017-06-12 08:27:57 -07:00
Vehicle Researcher	ff7672339c	Add background to radar text. Code cleanup.	2017-06-12 08:19:47 -07:00
John Jones	6e824a2c22	missed one update in latcontrol	2017-06-11 21:33:44 -04:00
Vehicle Researcher	32fa49e093	Clean up code	2017-06-11 15:18:39 -07:00
Vehicle Researcher	2250eac58f	Remove commented line	2017-06-11 15:16:46 -07:00
Vehicle Researcher	97be6b3a0e	Update UI to make speed text more readable in all conditions as requested by community	2017-06-11 15:12:50 -07:00
John Jones	942655c947	adding steering change from video and removing integer div and adding ki/kp changes	2017-06-11 13:20:19 -04:00
Ted Slesinski	615db3f7fd	Reverting steering to original value	2017-06-08 13:15:30 -04:00
Ted Slesinski	0bb75c5389	Syntax typo	2017-06-08 02:33:31 -04:00
Ted Slesinski	7b5ee81d2d	Adds support for 2016 Honda CR-V Touring	2017-06-08 01:37:39 -04:00
Vehicle Researcher	7fe46f1e1d	openpilot v0.3.2 release	2017-05-22 22:26:12 -07:00
George Hotz	50c0d1c9da	Merge pull request #82 from energee/devel DBC file for 2017 Honda CR-V	2017-05-22 09:00:44 -07:00
Ted Slesinski	6dbf544d06	Adds 2017 CR-V dbc file	2017-05-21 19:46:34 -04:00
Vehicle Researcher	41e3a0f699	openpilot v0.3.1 release	2017-05-17 00:40:33 -07:00
Vehicle Researcher	c5d8aec28b	openpilot v0.3.0 release	2017-05-12 16:46:20 -07:00
Vehicle Researcher	4653a9aef0	openpilot v0.3.0-devel release	2017-05-11 12:41:17 -07:00
George Hotz	ab3492bb90	Merge pull request #93 from heidecjj/master Bug fixes for testing suite	2017-05-02 23:34:32 -07:00
George Hotz	ed7cbb3866	Merge pull request #90 from heidecjj/patch-1 Update maneuver.py	2017-05-02 23:30:36 -07:00
Josh Heidecker	a30626cfe3	Fixed relative distance errors in testing	2017-05-02 22:01:03 -04:00
heidecjj	d2c087b3e2	Update maneuver.py self.speed_lead_breakpoints was reading from "speed_lead_values" instead of "speed_lead_breakpoints"	2017-04-20 17:09:15 -04:00
George Hotz	0a747f991d	Merge pull request #65 from jeankalud/master Fixed little endian (and scaling/offset)	2017-03-01 16:09:46 -08:00
jeankalud	f5a1e86d85	Add files via upload Removed unused debug strings	2017-03-01 18:13:37 -05:00
Vehicle Researcher	693bcb0f83	openpilot v0.2.9 release	2017-03-01 10:54:12 -08:00
jeankalud	0d0daed86e	Add files via upload Fixed little endian handling Fixed offset / scaling handling	2017-03-01 11:02:46 -05:00
Vehicle Researcher	95a349abcc	openpilot v0.2.8 release	2017-02-28 00:03:11 -08:00
Vehicle Researcher	c6ba5dc539	openpilot v0.2.7 release	2017-02-08 15:01:17 -08:00
Vehicle Researcher	6c3afeec0f	openpilot v0.2.6 release	2017-01-31 01:33:55 -08:00
Vehicle Researcher	29c58b4588	openpilot v0.2.5 release	2017-01-30 14:10:01 -08:00
Vehicle Researcher	ecc565aa3f	openpilot v0.2.4 release	2017-01-29 16:10:13 -08:00
George Hotz	db61810f98	Merge pull request #49 from mullakhmetov/master Added context manager to file reading	2017-01-27 01:17:23 -08:00
Artur Mullakhmetov	48f203ad5b	Added context manager to file reading	2017-01-27 11:33:27 +03:00
George Hotz	6ab4ac2dfb	Merge pull request #47 from mullakhmetov/crossplatform-gettime Refactor cross-platform libc usage	2017-01-25 09:19:22 -08:00
Artur Mullakhmetov	9cb3c7b6e6	Refactor cross-platform libc usage	2017-01-25 16:16:00 +03:00
Vehicle Researcher	adaa4ed350	openpilot v0.2.3 release	2017-01-11 14:30:55 -08:00
Vehicle Researcher	a64b9aa9b8	openpilot v0.2.2 release	2017-01-10 11:10:04 -08:00
George Hotz	0138eca61d	Merge pull request #40 from TheMutley/master DBC modified to match the Vector format	2017-01-09 20:47:52 -08:00
Mutley	139a40de29	DBC modified to match the Vector format	2017-01-05 16:55:54 -05:00
Vehicle Researcher	17d9becd3c	openpilot v0.2.1 release	2016-12-14 21:29:12 -08:00
Vehicle Researcher	449b482cc3	openpilot v0.2 release	2016-12-12 20:18:19 -08:00
espes	a7e099c946	Update README.md	2016-11-30 14:31:28 -08:00
espes	610462be5a	Merge pull request #2 from autti/ford-fusion Ford Fusion 2017 dbc can file. refs #1.	2016-11-30 11:57:31 -08:00
Ariel Nuñez	207d32668f	Added ford fusion dbc can file. refs #1 . Obtained from: https://bitbucket.org/DataspeedInc/dbw_mkz_ros/downloads	2016-11-30 14:52:47 -05:00
Vehicle Researcher	e94a30bec0	openpilot release	2016-11-29 18:34:21 -08:00
				`@@ -0,0 +1 @@`
				`from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial`