Merge branch 'devel-i18n' into devel-zht

dp 0.7.3.3

.pylintrc

@@ -1,585 +0,0 @@
-[MASTER]
-
-# A comma-separated list of package or module names from where C extensions may
-# be loaded. Extensions are loading into the active Python interpreter and may
-# run arbitrary code
-extension-pkg-whitelist=scipy
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=print-statement,
-        parameter-unpacking,
-        unpacking-in-except,
-        old-raise-syntax,
-        backtick,
-        long-suffix,
-        old-ne-operator,
-        old-octal-literal,
-        import-star-module-level,
-        non-ascii-bytes-literal,
-        raw-checker-failed,
-        bad-inline-option,
-        locally-disabled,
-        locally-enabled,
-        file-ignored,
-        suppressed-message,
-        useless-suppression,
-        deprecated-pragma,
-        apply-builtin,
-        basestring-builtin,
-        buffer-builtin,
-        cmp-builtin,
-        coerce-builtin,
-        execfile-builtin,
-        file-builtin,
-        long-builtin,
-        raw_input-builtin,
-        reduce-builtin,
-        standarderror-builtin,
-        unicode-builtin,
-        xrange-builtin,
-        coerce-method,
-        delslice-method,
-        getslice-method,
-        setslice-method,
-        no-absolute-import,
-        old-division,
-        dict-iter-method,
-        dict-view-method,
-        next-method-called,
-        metaclass-assignment,
-        indexing-exception,
-        raising-string,
-        reload-builtin,
-        oct-method,
-        hex-method,
-        nonzero-method,
-        cmp-method,
-        input-builtin,
-        round-builtin,
-        intern-builtin,
-        unichr-builtin,
-        map-builtin-not-iterating,
-        zip-builtin-not-iterating,
-        range-builtin-not-iterating,
-        filter-builtin-not-iterating,
-        using-cmp-argument,
-        eq-without-hash,
-        div-method,
-        idiv-method,
-        rdiv-method,
-        exception-message-attribute,
-        invalid-str-codec,
-        sys-max-int,
-        bad-python3-import,
-        deprecated-string-function,
-        deprecated-str-translate-call,
-        deprecated-itertools-function,
-        deprecated-types-field,
-        next-method-defined,
-        dict-items-not-iterating,
-        dict-keys-not-iterating,
-        dict-values-not-iterating,
-        bad-indentation,
-        line-too-long,
-        missing-docstring,
-        multiple-statements,
-        bad-continuation,
-        invalid-name,
-        too-many-arguments,
-        too-many-locals,
-        superfluous-parens,
-        bad-whitespace,
-        too-many-instance-attributes,
-        wrong-import-position,
-        ungrouped-imports,
-        wrong-import-order,
-        protected-access,
-        trailing-whitespace,
-        too-many-branches,
-        too-few-public-methods,
-        too-many-statements,
-        trailing-newlines,
-        attribute-defined-outside-init,
-        too-many-return-statements,
-        too-many-public-methods,
-        unused-argument,
-        old-style-class,
-        no-init,
-        len-as-condition,
-        unneeded-not,
-        no-self-use,
-        multiple-imports,
-        no-else-return,
-        logging-not-lazy,
-        fixme,
-        redefined-outer-name,
-        unused-variable,
-        unsubscriptable-object,
-        expression-not-assigned,
-        too-many-boolean-expressions,
-        consider-using-ternary,
-        invalid-unary-operand-type,
-        relative-import,
-        deprecated-lambda
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
-      XXX,
-      TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
-
-# Number of spaces of indent required inside a hanging  or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
-# tab).
-indent-string='  '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
-               dict-separator
-
-# Allow the body of a class to be on the same line as the declaration if body
-# contains single statement.
-single-line-class-stmt=no
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
-          bar,
-          baz,
-          toto,
-          tutu,
-          tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
-           j,
-           k,
-           ex,
-           Run,
-           _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
-                      __new__,
-                      setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
-                  _fields,
-                  _replace,
-                  _source,
-                  _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
-                   TERMIOS,
-                   Bastion,
-                   rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception

.travis.yml

@@ -1,7 +0,0 @@
-sudo: required
-
-services:
-  - docker
-
-script:
-  - ./run_docker_tests.sh

README.md

@@ -96,6 +96,7 @@ Supported Cars
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
 | Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
+| Lexus     | NX Hybrid 2018                | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph         |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
@@ -113,6 +114,7 @@ Supported Cars
 | Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
 | Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph         |
 | Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |

RELEASES.md

@@ -1,3 +1,10 @@
+Version 0.7.3 (2020-02-21)
+========================
+ * Support for 2020 Highlander thanks to che220!
+ * Support for 2018 Lexus NX 300h thanks to kengggg!
+ * Speed up ECU firmware query
+ * Fix bug where manager would sometimes hang after shutting down the car
+
 Version 0.7.2 (2020-02-07)
 ========================
  * ECU firmware version based fingerprinting for Honda & Toyota

SConstruct

@@ -228,5 +228,6 @@ if arch == "aarch64":
   SConscript(['selfdrive/clocksd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/kalman/SConscript'])
 
 # TODO: finish cereal, dbcbuilder, MPC

cereal/.github/workflows/tests.yml

@@ -0,0 +1,23 @@
+name: Tests
+
+on: [push, pull_request]
+
+jobs:
+  test:
+
+    runs-on: ubuntu-16.04
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build docker image
+      run: docker build -t cereal .
+    - name: Unit Tests
+      run: |
+        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
+    - name: Test ZMQ
+      run: |
+        docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
+    - name: Test MSGQ
+      run: |
+        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
+

cereal/azure-pipelines.yml

@@ -1,14 +0,0 @@
-pr: none
-
-pool:
-  vmImage: 'ubuntu-16.04'
-
-steps:
-- script: |
-    set -e
-    docker build -t cereal .
-    docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
-    docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
-    docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
-
-  displayName: 'Run Tests'

cereal/car.capnp

@@ -485,5 +485,6 @@ struct CarParams {
   enum FingerprintSource {
     can @0;
     fw @1;
+    fixed @2;
   }
 }

cereal/log.capnp

@@ -280,6 +280,7 @@ struct ThermalData {
   batteryVoltage @16 :Int32;
   usbOnline @12 :Bool;
   networkType @22 :NetworkType;
+  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
 
   fanSpeed @10 :UInt16;
   started @11 :Bool;
@@ -292,7 +293,7 @@ struct ThermalData {
   memUsedPercent @19 :Int8;
   cpuPerc @20 :Int8;
 
-  ipAddr @23 :Text; # dragonpilot
+  ipAddr @24 :Text; # dragonpilot
 
   enum ThermalStatus {
     green @0;   # all processes run

cereal/service_list.yaml

@@ -31,7 +31,7 @@ carState: [8021, true, 100., 10]
 # 8022 is reserved for sshd
 carControl: [8023, true, 100., 10]
 plan: [8024, true, 20.]
-liveLocation: [8025, true, 0.]
+liveLocation: [8025, true, 0., 1]
 gpsLocation: [8026, true, 1., 1]
 ethernetData: [8027, true, 0.]
 navUpdate: [8028, true, 0.]

common/apk.py

@@ -33,10 +33,9 @@ def start_frame():
 def set_package_permissions():
   pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
   pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
+  pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
   appops_set("ai.comma.plus.offroad", "SU", "allow")
   appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
-  appops_set("ai.comma.plus.offroad", "READ_EXTERNAL_STORAGE", "allow")
-  appops_set("ai.comma.plus.offroad", "WRITE_EXTERNAL_STORAGE", "allow")
 
 def appops_set(package, op, mode):
   system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")

common/params.py

@@ -81,6 +81,7 @@ keys = {
   "LiveParameters": [TxType.PERSISTENT],
   "LongitudinalControl": [TxType.PERSISTENT],
   "OpenpilotEnabledToggle": [TxType.PERSISTENT],
+  "LaneChangeEnabled": [TxType.PERSISTENT],
   "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
@@ -93,6 +94,7 @@ keys = {
   "TermsVersion": [TxType.PERSISTENT],
   "TrainingVersion": [TxType.PERSISTENT],
   "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
+  "UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
   "Version": [TxType.PERSISTENT],
   "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
@@ -104,6 +106,7 @@ keys = {
   #dragonpilot config
   "DragonEnableDashcam": [TxType.PERSISTENT],
   "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
+  "DragonEnableAutoShutdown": [TxType.PERSISTENT],
   "DragonAutoShutdownAt": [TxType.PERSISTENT],
   "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
   "DragonEnableLogger": [TxType.PERSISTENT],
@@ -149,22 +152,23 @@ keys = {
   "DragonUILead": [TxType.PERSISTENT],
   "DragonUIPath": [TxType.PERSISTENT],
   "DragonUIBlinker": [TxType.PERSISTENT],
+  "DragonUIDMView": [TxType.PERSISTENT],
   "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
   "DragonCarModel": [TxType.PERSISTENT],
-  "DragonCarVIN": [TxType.PERSISTENT], #deprecated
   "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
   "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
   "DragonToyotaSnGMod": [TxType.PERSISTENT],
   "DragonEnableSRLearner": [TxType.PERSISTENT],
   "DragonWazeMode": [TxType.PERSISTENT],
   "DragonRunWaze": [TxType.PERSISTENT],
-  "DragonEnableAssistedLC": [TxType.PERSISTENT],
   "DragonEnableAutoLC": [TxType.PERSISTENT],
   "DragonAssistedLCMinMPH": [TxType.PERSISTENT],
   "DragonAutoLCMinMPH": [TxType.PERSISTENT],
   "DragonAutoLCDelay": [TxType.PERSISTENT],
   "DragonBTG": [TxType.PERSISTENT],
   "DragonBootHotspot": [TxType.PERSISTENT],
+  "DragonAccelProfile": [TxType.PERSISTENT],
+  "DragonLastModified": [TxType.PERSISTENT],
 }
 
 

dragonpilot/chinese-fonts/installer.sh

@@ -31,7 +31,7 @@
 
 
 # Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
-lang=en
+lang=zh-TW
 
 update_font=0
 remove_old_font=0

installer/updater/Makefile

@@ -31,9 +31,9 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
 .PHONY: all
 all: updater
 
-OBJS = opensans_regular.ttf.o \
-			 opensans_semibold.ttf.o \
-			 opensans_bold.ttf.o \
+OBJS = NotoSansCJKtc-Regular.otf.o \
+			 NotoSansCJKtc-Medium.otf.o \
+			 NotoSansCJKtc-Bold.otf.o \
        ../../selfdrive/common/touch.o \
        ../../selfdrive/common/framebuffer.o \
        $(PHONELIBS)/json11/json11.o \
@@ -52,15 +52,15 @@ updater: updater.o $(OBJS)
     -lcutils -lm -llog
 	strip updater
 
-opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
+NotoSansCJKtc-Regular.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
 
-opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
+NotoSansCJKtc-Bold.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Bold.otf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
 
-opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
+NotoSansCJKtc-Medium.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Medium.otf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
 

installer/updater/update.json

@@ -1,7 +1,7 @@
 {
-  "ota_url": "http://dpp.cool/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
   "ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
-  "recovery_url": "http://dpp.cool/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
   "recovery_len": 15861036,
   "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
 }

installer/updater/updater.cc

@@ -43,12 +43,12 @@ const char *manifest_url = MANIFEST_URL_EON;
 
 #define UPDATE_DIR "/data/neoupdate"
 
-extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
-extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
-extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
-extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
-extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
-extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
+extern const uint8_t bin_opensans_regular[] asm("_binary_NotoSansCJKtc_Regular_otf_start");
+extern const uint8_t bin_opensans_regular_end[] asm("_binary_NotoSansCJKtc_Regular_otf_end");
+extern const uint8_t bin_opensans_semibold[] asm("_binary_NotoSansCJKtc_Medium_otf_start");
+extern const uint8_t bin_opensans_semibold_end[] asm("_binary_NotoSansCJKtc_Medium_otf_end");
+extern const uint8_t bin_opensans_bold[] asm("_binary_NotoSansCJKtc_Bold_otf_start");
+extern const uint8_t bin_opensans_bold_end[] asm("_binary_NotoSansCJKtc_Bold_otf_end");
 
 namespace {
 
@@ -322,18 +322,18 @@ struct Updater {
   std::string stage_download(std::string url, std::string hash, std::string name) {
     std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
 
-    set_progress("Downloading " + name + "...");
+    set_progress("下載 " + name + " 中...");
     bool r = download_file(url, out_fn);
     if (!r) {
-      set_error("failed to download " + name);
+      set_error("無法下載 " + name);
       return "";
     }
 
-    set_progress("Verifying " + name + "...");
+    set_progress("驗證 " + name + " 中...");
     std::string fn_hash = sha256_file(out_fn);
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
+    printf("得到 %s hash: %s\n", name.c_str(), hash.c_str());
     if (fn_hash != hash) {
-      set_error(name + " was corrupt");
+      set_error(name + " 已損壞");
       unlink(out_fn.c_str());
       return "";
     }
@@ -357,7 +357,7 @@ struct Updater {
     }
 
     if (!check_space()) {
-      set_error("2GB of free space required to update");
+      set_error("您需要至少 2GB 的空間進行升級");
       return;
     }
 
@@ -365,7 +365,7 @@ struct Updater {
 
     const int EON = (access("/EON", F_OK) != -1);
 
-    set_progress("Finding latest version...");
+    set_progress("尋找最新的版本...");
     std::string manifest_s;
     if (EON) {
       manifest_s = download_string(curl, manifest_url);
@@ -374,12 +374,12 @@ struct Updater {
       exit(0);
     }
 
-    printf("manifest: %s\n", manifest_s.c_str());
+    printf("宣示說明: %s\n", manifest_s.c_str());
 
     std::string err;
     auto manifest = json11::Json::parse(manifest_s, err);
     if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
+      set_error("無法載入新的宣示說明");
       return;
     }
 
@@ -394,7 +394,7 @@ struct Updater {
     // std::string installer_hash = manifest["installer_hash"].string_value();
 
     if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
+      set_error("錯誤的宣示說明");
       return;
     }
 
@@ -406,12 +406,12 @@ struct Updater {
 
     std::string recovery_fn;
     if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("Skipping recovery flash...");
+      set_progress("跳過 recovery 更新...");
     } else {
       // only download the recovery if it differs from what's flashed
-      set_progress("Checking recovery...");
+      set_progress("檢查 recovery...");
       std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
+      printf("目前 recovery 的 hash: %s\n", existing_recovery_hash.c_str());
 
       if (existing_recovery_hash != recovery_hash) {
         recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
@@ -441,18 +441,18 @@ struct Updater {
 
     if (!recovery_fn.empty()) {
       // flash recovery
-      set_progress("Flashing recovery...");
+      set_progress("刷新 recovery...");
 
       FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
       if (!flash_file) {
-        set_error("failed to flash recovery");
+        set_error("刷新 recovery 失敗");
         return;
       }
 
       FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
       if (!recovery_dev) {
         fclose(flash_file);
-        set_error("failed to flash recovery");
+        set_error("刷新 recovery 失敗");
         return;
       }
 
@@ -467,7 +467,7 @@ struct Updater {
         if (bytes_read != bytes_written) {
           fclose(recovery_dev);
           fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
+          set_error("刷新 recovery 失敗: 無法寫入");
           return;
         }
       }
@@ -475,12 +475,12 @@ struct Updater {
       fclose(recovery_dev);
       fclose(flash_file);
 
-      set_progress("Verifying flash...");
+      set_progress("驗證新的 recovery...");
       std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
+      printf("新的 recovery hash: %s\n", new_recovery_hash.c_str());
 
       if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
+        set_error("刷新 recovery 失敗");
         return;
       }
 
@@ -489,13 +489,13 @@ struct Updater {
     // write arguments to recovery
     FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
     if (!cmd_file) {
-      set_error("failed to reboot into recovery");
+      set_error("無法重啟至 recovery");
       return;
     }
     fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
     fclose(cmd_file);
 
-    set_progress("Rebooting");
+    set_progress("重新啟動");
 
     // remove the continue.sh so we come back into the setup.
     // maybe we should go directly into the installer, but what if we don't come back with internet? :/
@@ -562,9 +562,9 @@ struct Updater {
   }
 
   void draw_battery_screen() {
-    low_battery_title = "Low Battery";
-    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
-    low_battery_context = "Current battery charge: " + battery_cap_text + "%";
+    low_battery_title = "電量過低";
+    low_battery_text = "請將您的 EON 充電。當電量達到 35% 時系統將會繼續更新。";
+    low_battery_context = "目前的電量為: " + battery_cap_text + "%";
 
     nvgFillColor(vg, nvgRGBA(255,255,255,255));
     nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
@@ -601,7 +601,7 @@ struct Updater {
       int powerprompt_y = 312;
       nvgFontFace(vg, "opensans_regular");
       nvgFontSize(vg, 64.0f);
-      nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
+      nvgText(vg, fb_w/2, 740, "請確保您的 EON 已接上充電器。", NULL);
 
       NVGpaint paint = nvgBoxGradient(
           vg, progress_x + 1, progress_y + 1,
@@ -635,10 +635,10 @@ struct Updater {
 
     switch (state) {
     case CONFIRMATION:
-      draw_ack_screen("An update to NEOS is required.",
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
-                      "Continue",
-                      "Connect to WiFi");
+      draw_ack_screen("NEOS 需要更新。",
+                      "您的設備將在點擊繼續後開始更新。\n更新檔約為 1GB 我們建議您先連接至無線網路。\n設備上現有的檔案不會丟失。",
+                      "繼續",
+                      "連線至無線網路");
       break;
     case LOW_BATTERY:
       draw_battery_screen();
@@ -647,7 +647,7 @@ struct Updater {
       draw_progress_screen();
       break;
     case ERROR:
-      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
+      draw_ack_screen("發生錯誤", (error_text).c_str(), NULL, "重新啟動");
       break;
     }
 

opendbc/.github/workflows/tests.yml

@@ -0,0 +1,24 @@
+name: Tests
+
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-16.04
+
+    steps:
+      - uses: actions/checkout@v2
+      - run: |
+          set -e
+          docker build -t opendbc .
+        name: "Build"
+      - run: |
+          docker run opendbc bash -c "python -m unittest discover opendbc"
+        name: "Unit tests"
+      - run: |
+          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
+          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
+        name: "Python linter"
+      - run: |
+          docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
+        name: "Generator test"

opendbc/azure-pipelines.yml

@@ -1,19 +0,0 @@
-pr: none
-
-pool:
-  vmImage: 'ubuntu-16.04'
-steps:
-- script: |
-    set -e
-    docker build -t opendbc .
-  displayName: 'Build'
-- script: |
-    docker run opendbc bash -c "python -m unittest discover opendbc"
-  displayName: 'Unit tests'
-- script: |
-    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
-    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
-  displayName: 'Python linter'
-- script: |
-    docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
-  displayName: 'Generator test'

opendbc/chrysler_pacifica_2017_hybrid.dbc

@@ -429,5 +429,5 @@ CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
-VAL_ 746 PRNDL 5 "Low" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
+VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

opendbc/generator/honda/_bosch_2018.dbc

@@ -54,13 +54,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON

opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/generator/honda/honda_accord_s2t_2018_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/generator/honda/honda_civic_sedan_16_diesel_2019_can.dbc

@@ -0,0 +1,57 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+BO_ 316 GAS_PEDAL_2: 8 XXX
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 419 GEARBOX: 8 XXX
+ SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P" ;
+VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/generator/honda/honda_crv_ex_2017_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/generator/honda/honda_crv_hybrid_2019_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_insight_ex_2019_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON

opendbc/gm_global_a_powertrain.dbc

@@ -241,7 +241,7 @@ VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
 VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
 VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
-VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;

opendbc/honda_accord_lx15t_2018_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -301,6 +294,13 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 CM_ "honda_accord_lx15t_2018_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -301,6 +294,13 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 CM_ "honda_accord_s2t_2018_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -301,6 +294,13 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc

@@ -0,0 +1,351 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
+CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here"
+
+
+BO_ 316 GAS_PEDAL_2: 8 XXX
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 419 GEARBOX: 8 XXX
+ SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P" ;
+VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -301,6 +294,13 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 CM_ "honda_crv_ex_2017_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -301,6 +294,13 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 CM_ "honda_crv_hybrid_2019_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -301,6 +294,13 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 CM_ "honda_insight_ex_2019_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON

panda/board/boards/black.h

@@ -99,7 +99,7 @@ void black_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable OBD mode
         set_gpio_mode(GPIOB, 12, MODE_INPUT);
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -198,7 +198,7 @@ void black_init(void) {
   black_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_NORMAL) {
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 
@@ -210,12 +210,12 @@ const harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
-  .GPIO_relay_normal = GPIOC,
-  .GPIO_relay_flipped = GPIOC,
+  .GPIO_relay_SBU1 = GPIOC,
+  .GPIO_relay_SBU2 = GPIOC,
   .pin_SBU1 = 0,
   .pin_SBU2 = 3,
-  .pin_relay_normal = 10,
-  .pin_relay_flipped = 11,
+  .pin_relay_SBU1 = 10,
+  .pin_relay_SBU2 = 11,
   .adc_channel_SBU1 = 10,
   .adc_channel_SBU2 = 13
 };

panda/board/boards/uno.h

@@ -113,7 +113,7 @@ void uno_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable OBD mode
         set_gpio_mode(GPIOB, 12, MODE_INPUT);
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -230,7 +230,7 @@ void uno_init(void) {
   uno_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_NORMAL) {
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 
@@ -252,12 +252,12 @@ const harness_configuration uno_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
-  .GPIO_relay_normal = GPIOC,
-  .GPIO_relay_flipped = GPIOC,
+  .GPIO_relay_SBU1 = GPIOC,
+  .GPIO_relay_SBU2 = GPIOC,
   .pin_SBU1 = 0,
   .pin_SBU2 = 3,
-  .pin_relay_normal = 10,
-  .pin_relay_flipped = 11,
+  .pin_relay_SBU1 = 10,
+  .pin_relay_SBU2 = 11,
   .adc_channel_SBU1 = 10,
   .adc_channel_SBU2 = 13
 };

panda/board/drivers/harness.h

@@ -10,12 +10,12 @@ struct harness_configuration {
   const bool has_harness;
   GPIO_TypeDef *GPIO_SBU1;
   GPIO_TypeDef *GPIO_SBU2;
-  GPIO_TypeDef *GPIO_relay_normal;
-  GPIO_TypeDef *GPIO_relay_flipped;
+  GPIO_TypeDef *GPIO_relay_SBU1;
+  GPIO_TypeDef *GPIO_relay_SBU2;
   uint8_t pin_SBU1;
   uint8_t pin_SBU2;
-  uint8_t pin_relay_normal;
-  uint8_t pin_relay_flipped;
+  uint8_t pin_relay_SBU1;
+  uint8_t pin_relay_SBU2;
   uint8_t adc_channel_SBU1;
   uint8_t adc_channel_SBU2;
 };
@@ -30,9 +30,9 @@ void set_intercept_relay(bool intercept) {
     }
 
     if(car_harness_status == HARNESS_STATUS_NORMAL){
-      set_gpio_output(current_board->harness_config->GPIO_relay_normal, current_board->harness_config->pin_relay_normal, !intercept);
+      set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !intercept);
     } else {
-      set_gpio_output(current_board->harness_config->GPIO_relay_flipped, current_board->harness_config->pin_relay_flipped, !intercept);
+      set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !intercept);
     }
   }
 }
@@ -41,10 +41,10 @@ bool harness_check_ignition(void) {
   bool ret = false;
   switch(car_harness_status){
     case HARNESS_STATUS_NORMAL:
-      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
       break;
     case HARNESS_STATUS_FLIPPED:
-      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
       break;
     default:
       break;
@@ -62,11 +62,11 @@ uint8_t harness_detect_orientation(void) {
   // Detect connection and orientation
   if((sbu1_voltage < HARNESS_CONNECTED_THRESHOLD) || (sbu2_voltage < HARNESS_CONNECTED_THRESHOLD)){
     if (sbu1_voltage < sbu2_voltage) {
-      // orientation normal
-      ret = HARNESS_STATUS_NORMAL;
-    } else {
-      // orientation flipped
+      // orientation flipped (PANDA_SBU1->HARNESS_SBU1(relay), PANDA_SBU2->HARNESS_SBU2(ign))
       ret = HARNESS_STATUS_FLIPPED;
+    } else {
+      // orientation normal (PANDA_SBU2->HARNESS_SBU1(relay), PANDA_SBU1->HARNESS_SBU2(ign))
+      ret = HARNESS_STATUS_NORMAL;
     }
   }
   #endif
@@ -90,13 +90,6 @@ void harness_init(void) {
     set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
     set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
 
-    // now we have orientation, set pin ignition detection
-    if(car_harness_status == HARNESS_STATUS_NORMAL){
-      set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
-    } else {
-      set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
-    }
-
     // keep busses connected by default
     set_intercept_relay(false);
   } else {

panda/board/safety/safety_toyota.h

@@ -4,8 +4,8 @@ const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
 const int TOYOTA_MAX_RATE_UP = 10;        // ramp up slow
-const int TOYOTA_MAX_RATE_DOWN = 25;      // ramp down fast
-const int TOYOTA_MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
+const int TOYOTA_MAX_RATE_DOWN = 44;      // ramp down fast
+const int TOYOTA_MAX_TORQUE_ERROR = 500;  // max torque cmd in excess of torque motor
 
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
@@ -13,7 +13,7 @@ const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real t
 const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
-const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
+const int TOYOTA_MAX_ACCEL = 4000;        // 1.5 m/s2
 const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2
 
 const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and gain from dbc file
@@ -21,7 +21,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and g
 const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}, {0x344, 0}, {0x365, 0}, {0x366, 0}, {0x4CB, 0},  // DSU bus 0
                                   {0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1},  // DSU bus 1
                                   {0x2E4, 0}, {0x411, 0}, {0x412, 0}, {0x343, 0}, {0x1D2, 0},  // LKAS + ACC
-                                  {0x200, 0}};  // interceptor
+                                  {0x200, 0}, {0x750, 0}};  // interceptor + Blindspot monitor
 
 AddrCheckStruct toyota_rx_checks[] = {
   {.addr = {0x260}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 20000U},

panda/tests/safety/test_toyota.py

@@ -21,7 +21,7 @@ INTERCEPTOR_THRESHOLD = 475
 TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
            [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
            [0x2E4, 0], [0x411, 0], [0x412, 0], [0x343, 0], [0x1D2, 0],  # LKAS + ACC
-           [0x200, 0]];  # interceptor
+           [0x200, 0], [0x750, 0]];  # interceptor + blindspot monitor
 
 
 def twos_comp(val, bits):

selfdrive/camerad/cameras/camera_qcom.c

@@ -1752,7 +1752,6 @@ static void do_autofocus(CameraState *s) {
   const float focus_kp = 0.005;
 
   float err = s->focus_err;
-  float offset = 0;
   float sag = (s->last_sag_acc_z/9.8) * 128;
 
   const int dac_up = s->device == DEVICE_LP3? 634:456;

selfdrive/car/car_helpers.py

@@ -8,6 +8,9 @@ from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 import pickle
+import requests
+import threading
+import selfdrive.crash as crash
 
 from cereal import car
 
@@ -73,15 +76,15 @@ def fingerprint(logcan, sendcan, has_relay):
   dragon_source = car.CarParams.FingerprintSource.can
 
   dragon_has_cache = False
-  if dragon_cache_car == "1":
-    cached_source = params.get("DragonCachedSource")
+  try:
+    if dragon_cache_car == "1":
+      cached_source = params.get("DragonCachedSource")
 
-    dragon_source = car.CarParams.FingerprintSource.can if cached_source == "" else pickle.loads(cached_source)
+      dragon_source = car.CarParams.FingerprintSource.can if cached_source == b'' else pickle.loads(cached_source)
 
-    cached_finger = params.get("DragonCachedFP")
-    cached_model = params.get("DragonCachedModel")
-    if cached_finger != "" and cached_model != "":
-      try:
+      cached_finger = params.get("DragonCachedFP")
+      cached_model = params.get("DragonCachedModel")
+      if cached_finger != "" and cached_model != "":
         dragon_car_fingerprint = pickle.loads(cached_model)
         dragon_finger = pickle.loads(cached_finger)
 
@@ -100,8 +103,8 @@ def fingerprint(logcan, sendcan, has_relay):
         # set relay to false if cache is right
         has_relay = False
         dragon_has_cache = True
-      except EOFError as e:
-        pass # dragon_has_cache = False
+  except EOFError as e:
+    pass # dragon_has_cache = False
 
   if has_relay:
     # Vin query only reliably works thorugh OBDII
@@ -194,17 +197,53 @@ def fingerprint(logcan, sendcan, has_relay):
     # these are for display only
     put_nonblocking("DragonCarModel", car_fingerprint)
 
+  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
+  if len(fixed_fingerprint):
+    car_fingerprint = fixed_fingerprint
+    source = car.CarParams.FingerprintSource.fixed
+
+  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
+  if len(fixed_fingerprint):
+    car_fingerprint = fixed_fingerprint
+    source = car.CarParams.FingerprintSource.fixed
+
   cloudlog.warning("fingerprinted %s", car_fingerprint)
   return car_fingerprint, finger, vin, car_fw, source
 
+def is_online(timeout=5):
+  try:
+    requests.get("https://sentry.io", timeout=timeout)
+    return True
+  except:
+    return False
+
+def log_fingerprinted(candidate):
+  while True:
+    crash.capture_warning("fingerprinted %s" % candidate)
+    break
+
+def log_unmatched_fingerprint(fingerprints, fw):
+  while True:
+    crash.capture_warning("car doesn't match any fingerprints: %s" % fingerprints)
+    crash.capture_warning("car doesn't match any fw: %s" % fw)
+    break
 
 def get_car(logcan, sendcan, has_relay=False):
   candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan, has_relay)
 
   if candidate is None:
+    if is_online():
+      y = threading.Thread(target=log_unmatched_fingerprint, args=(fingerprints,car_fw,))
+      y.start()
+
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
+    cloudlog.warning("car doesn't match any fw: %s" % car_fw)
     candidate = "mock"
 
+  if is_online():
+    x = threading.Thread(target=log_fingerprinted, args=(candidate,))
+    x.start()
+
   CarInterface, CarController = interfaces[candidate]
   car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
   car_params.carVin = vin

selfdrive/car/chrysler/carcontroller.py

@@ -35,14 +35,14 @@ class CarController():
     # steer torque
     new_steer = actuators.steer * SteerLimitParams.STEER_MAX
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                   CS.steer_torque_motor, SteerLimitParams)
+                                                   CS.out.steeringTorqueEps, SteerLimitParams)
     self.steer_rate_limited = new_steer != apply_steer
 
-    moving_fast = CS.v_ego > CS.CP.minSteerSpeed  # for status message
-    if CS.v_ego > (CS.CP.minSteerSpeed - 0.5):  # for command high bit
+    moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed  # for status message
+    if CS.out.vEgo > (CS.CP.minSteerSpeed - 0.5):  # for command high bit
       self.gone_fast_yet = True
     elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020_HYBRID, CAR.JEEP_CHEROKEE_2019):
-      if CS.v_ego < (CS.CP.minSteerSpeed - 3.0):
+      if CS.out.vEgo < (CS.CP.minSteerSpeed - 3.0):
         self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
     lkas_active = moving_fast and enabled
 
@@ -65,7 +65,7 @@ class CarController():
     if (self.ccframe % 25 == 0):  # 0.25s period
       if (CS.lkas_car_model != -1):
         new_msg = create_lkas_hud(
-            self.packer, CS.gear_shifter, lkas_active, hud_alert,
+            self.packer, CS.out.gearShifter, lkas_active, hud_alert,
             self.hud_count, CS.lkas_car_model)
         can_sends.append(new_msg)
         self.hud_count += 1

selfdrive/car/chrysler/carstate.py

@@ -1,14 +1,9 @@
 from cereal import car
 from opendbc.can.parser import CANParser
+from opendbc.can.can_define import CANDefine
+from selfdrive.config import Conversions as CV
+from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
-from common.kalman.simple_kalman import KF1D
-
-GearShifter = car.CarState.GearShifter
-
-def parse_gear_shifter(can_gear):
-  return {0x1: GearShifter.park, 0x2: GearShifter.reverse, 0x3: GearShifter.neutral,
-          0x4: GearShifter.drive, 0x5: GearShifter.low}.get(can_gear, GearShifter.unknown)
-
 
 def get_can_parser(CP):
 
@@ -68,83 +63,61 @@ def get_camera_parser(CP):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
 
-class CarState():
+class CarState(CarStateBase):
   def __init__(self, CP):
-
-    self.CP = CP
-    self.left_blinker_on = 0
-    self.right_blinker_on = 0
-
-    # initialize can parser
-    self.car_fingerprint = CP.carFingerprint
-
-    # vEgo kalman filter
-    dt = 0.01
-    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
-    # R = 1e3
-    self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
-                         A=[[1.0, dt], [0.0, 1.0]],
-                         C=[1.0, 0.0],
-                         K=[[0.12287673], [0.29666309]])
-    self.v_ego = 0.0
-
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    self.shifter_values = can_define.dv["GEAR"]['PRNDL']
 
   def update(self, cp, cp_cam):
 
-    # update prevs, update must run once per loop
-    self.prev_left_blinker_on = self.left_blinker_on
-    self.prev_right_blinker_on = self.right_blinker_on
+    ret = car.CarState.new_message()
 
     self.frame_23b = int(cp.vl["WHEEL_BUTTONS"]['COUNTER'])
     self.frame = int(cp.vl["EPS_STATUS"]['COUNTER'])
 
-    self.door_all_closed = not any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
-                                    cp.vl["DOORS"]['DOOR_OPEN_FR'],
-                                    cp.vl["DOORS"]['DOOR_OPEN_RL'],
-                                    cp.vl["DOORS"]['DOOR_OPEN_RR']])
-    self.seatbelt = (cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 0)
+    ret.doorOpen = any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
+                        cp.vl["DOORS"]['DOOR_OPEN_FR'],
+                        cp.vl["DOORS"]['DOOR_OPEN_RL'],
+                        cp.vl["DOORS"]['DOOR_OPEN_RR']])
+    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 1
+
+    ret.brakePressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
+    ret.brake = 0
+    ret.brakeLights = ret.brakePressed
+    ret.gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
+    ret.gasPressed = ret.gas > 1e-5
 
-    self.brake_pressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
-    self.pedal_gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
-    self.car_gas = self.pedal_gas
     self.esp_disabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)
 
-    self.v_wheel_fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
-    self.v_wheel_rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
-    self.v_wheel_rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
-    self.v_wheel_fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
-    v_wheel = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.
+    ret.wheelSpeeds.fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
+    ret.wheelSpeeds.rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
+    ret.wheelSpeeds.rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
+    ret.wheelSpeeds.fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
+    ret.vEgoRaw = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = not ret.vEgoRaw > 0.001
 
-    # Kalman filter
-    if abs(v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
-      self.v_ego_kf.x = [[v_wheel], [0.0]]
+    ret.leftBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
+    ret.rightBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
+    ret.steeringAngle = cp.vl["STEERING"]['STEER_ANGLE']
+    ret.steeringRate = cp.vl["STEERING"]['STEERING_RATE']
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl['GEAR']['PRNDL'], None))
 
-    self.v_ego_raw = v_wheel
-    v_ego_x = self.v_ego_kf.update(v_wheel)
-    self.v_ego = float(v_ego_x[0])
-    self.a_ego = float(v_ego_x[1])
-    self.standstill = not v_wheel > 0.001
+    ret.cruiseState.enabled = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7  # ACC is green.
+    ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
+    ret.cruiseState.speed = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH'] * CV.KPH_TO_MS
 
-    self.angle_steers = cp.vl["STEERING"]['STEER_ANGLE']
-    self.angle_steers_rate = cp.vl["STEERING"]['STEERING_RATE']
-    self.gear_shifter = parse_gear_shifter(cp.vl['GEAR']['PRNDL'])
-    self.main_on = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7  # ACC is green.
-    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
-    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
-
-    self.steer_torque_driver = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
-    self.steer_torque_motor = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
-    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
+    ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
+    ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
     steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
-    self.steer_error = steer_state == 4 or (steer_state == 0 and self.v_ego > self.CP.minSteerSpeed)
+    self.steer_error = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
-    self.user_brake = 0
-    self.brake_lights = self.brake_pressed
-    self.v_cruise_pcm = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH']
-    self.pcm_acc_status = self.main_on
-
-    self.generic_toggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
+    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
 
     self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
     self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
     self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
+
+    return ret

selfdrive/car/chrysler/interface.py

@@ -20,6 +20,8 @@ class CarInterface(CarInterfaceBase):
     self.brake_pressed_prev = False
     self.cruise_enabled_prev = False
     self.low_speed_alert = False
+    self.left_blinker_prev = False
+    self.right_blinker_prev = False
 
     # *** init the major players ***
     self.CS = CarState(CP)
@@ -113,78 +115,33 @@ class CarInterface(CarInterfaceBase):
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
 
-    self.CS.update(self.cp, self.cp_cam)
-
-    # create message
-    ret = car.CarState.new_message()
+    ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
 
     # speeds
-    ret.vEgo = self.CS.v_ego
-    ret.vEgoRaw = self.CS.v_ego_raw
-    ret.aEgo = self.CS.a_ego
-    ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
-    ret.standstill = self.CS.standstill
-    ret.wheelSpeeds.fl = self.CS.v_wheel_fl
-    ret.wheelSpeeds.fr = self.CS.v_wheel_fr
-    ret.wheelSpeeds.rl = self.CS.v_wheel_rl
-    ret.wheelSpeeds.rr = self.CS.v_wheel_rr
-
-    # gear shifter
-    ret.gearShifter = self.CS.gear_shifter
-
-    # gas pedal
-    ret.gas = self.CS.car_gas
-    ret.gasPressed = self.CS.pedal_gas > 0
-
-    # brake pedal
-    ret.brake = self.CS.user_brake
-    ret.brakePressed = self.CS.brake_pressed
-    ret.brakeLights = self.CS.brake_lights
-
-    # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
-    ret.steeringRate = self.CS.angle_steers_rate
-
-    ret.steeringTorque = self.CS.steer_torque_driver
-    ret.steeringPressed = self.CS.steer_override
+    ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    # cruise state
-    ret.cruiseState.enabled = self.CS.pcm_acc_status  # same as main_on
-    ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
-    ret.cruiseState.available = self.CS.main_on
-    ret.cruiseState.speedOffset = 0.
-    ret.cruiseState.standstill = False
-
     # TODO: button presses
     buttonEvents = []
 
-    if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
+    if ret.leftBlinker != self.left_blinker_prev:
       be = car.CarState.ButtonEvent.new_message()
       be.type = ButtonType.leftBlinker
-      be.pressed = self.CS.left_blinker_on != 0
+      be.pressed = ret.leftBlinker != 0
       buttonEvents.append(be)
 
-    if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
+    if ret.rightBlinker != self.right_blinker_prev:
       be = car.CarState.ButtonEvent.new_message()
       be.type = ButtonType.rightBlinker
-      be.pressed = self.CS.right_blinker_on != 0
+      be.pressed = ret.rightBlinker != 0
       buttonEvents.append(be)
 
     ret.buttonEvents = buttonEvents
-    ret.leftBlinker = bool(self.CS.left_blinker_on)
-    ret.rightBlinker = bool(self.CS.right_blinker_on)
 
-    ret.doorOpen = not self.CS.door_all_closed
-    ret.seatbeltUnlatched = not self.CS.seatbelt
     self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed)
 
-    ret.genericToggle = self.CS.generic_toggle
-    #ret.lkasCounter = self.CS.lkas_counter
-    #ret.lkasCarModel = self.CS.lkas_car_model
-
     # events
     events = []
     if not (ret.gearShifter in (GearShifter.drive, GearShifter.low)):
@@ -195,7 +152,7 @@ class CarInterface(CarInterfaceBase):
       events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if self.CS.esp_disabled:
       events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not self.CS.main_on:
+    if not ret.cruiseState.available:
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if ret.gearShifter == GearShifter.reverse:
       events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
@@ -220,8 +177,13 @@ class CarInterface(CarInterfaceBase):
     self.gas_pressed_prev = ret.gasPressed
     self.brake_pressed_prev = ret.brakePressed
     self.cruise_enabled_prev = ret.cruiseState.enabled
+    self.left_blinker_prev = ret.leftBlinker
+    self.right_blinker_prev = ret.rightBlinker
 
-    return ret.as_reader()
+    # copy back carState packet to CS
+    self.CS.out = ret.as_reader()
+
+    return self.CS.out
 
   # pass in a car.CarControl
   # to be called @ 100hz

selfdrive/car/chrysler/values.py

@@ -53,7 +53,10 @@ FINGERPRINTS = {
     # Based on 3c7ce223e3571b54|2019-05-11--20-16-14
     {
       168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1562: 8, 1570: 8
-    }
+    },
+    # Based on "d26bf42deb1910e7|2020-02-13--16-22-31"
+    {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1262: 8, 1284: 8, 1568: 8, 1902: 8, 2015: 8, 2016: 8, 2018: 8, 2023: 8, 2024: 8, 2026: 8, 2031: 8
+    },
   ],
   CAR.PACIFICA_2020_HYBRID: [
     {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 2015: 8, 2016: 8, 2024: 8},

selfdrive/car/fingerprints.py

@@ -1,11 +1,12 @@
 import os
 from common.basedir import BASEDIR
 
-def get_attr_from_cars(attr):
+
+def get_attr_from_cars(attr, result=dict):
   # read all the folders in selfdrive/car and return a dict where:
   # - keys are all the car models
   # - values are attr values from all car folders
-  result = {}
+  result = result()
 
   for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
     try:
@@ -16,8 +17,11 @@ def get_attr_from_cars(attr):
       else:
         continue
 
-      for f, v in attr_values.items():
-        result[f] = v
+      if isinstance(attr_values, dict):
+        for f, v in attr_values.items():
+          result[f] = v
+      elif isinstance(attr_values, list):
+        result += attr_values
 
     except (ImportError, IOError):
       pass
@@ -25,20 +29,9 @@ def get_attr_from_cars(attr):
   return result
 
 
-def get_fw_versions_list():
-  return get_attr_from_cars('FW_VERSIONS')
-
-
-def get_fingerprint_list():
-  # read all the folders in selfdrive/car and return a dict where:
-  # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique
-  #   CAN fingerprint of each car model and all its variants
-  return get_attr_from_cars('FINGERPRINTS')
-
-
-FW_VERSIONS = get_fw_versions_list()
-_FINGERPRINTS = get_fingerprint_list()
+FW_VERSIONS = get_attr_from_cars('FW_VERSIONS')
+_FINGERPRINTS = get_attr_from_cars('FINGERPRINTS')
+IGNORED_FINGERPRINTS = get_attr_from_cars('IGNORED_FINGERPRINTS', list)
 
 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 
@@ -61,6 +54,9 @@ def eliminate_incompatible_cars(msg, candidate_cars):
   compatible_cars = []
 
   for car_name in candidate_cars:
+    if car_name in IGNORED_FINGERPRINTS:
+      continue
+
     car_fingerprints = _FINGERPRINTS[car_name]
 
     for fingerprint in car_fingerprints:

selfdrive/car/ford/carcontroller.py

@@ -33,27 +33,27 @@ class CarController():
 
       if (frame % 3) == 0:
 
-        curvature = self.vehicle_model.calc_curvature(actuators.steerAngle*3.1415/180., CS.v_ego)
+        curvature = self.vehicle_model.calc_curvature(actuators.steerAngle*3.1415/180., CS.out.vEgo)
 
         # The use of the toggle below is handy for trying out the various LKAS modes
         if TOGGLE_DEBUG:
-          self.lkas_action += int(CS.generic_toggle and not self.generic_toggle_last)
+          self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last)
           self.lkas_action &= 0xf
         else:
           self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
 
         can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
-                                              CS.lkas_state, CS.angle_steers, curvature, self.lkas_action))
-        self.generic_toggle_last = CS.generic_toggle
+                                              CS.lkas_state, CS.out.steeringAngle, curvature, self.lkas_action))
+        self.generic_toggle_last = CS.out.genericToggle
 
       if (frame % 100) == 0:
 
         can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
         #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
 
-      if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.main_on) or \
+      if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
          (self.steer_alert_last != steer_alert):
-        can_sends.append(create_lkas_ui(self.packer, CS.main_on, enabled, steer_alert))
+        can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert))
 
       if (frame % 200) == 0:
         can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
@@ -81,7 +81,7 @@ class CarController():
         can_sends.append(make_can_msg(addr, (cnt<<4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
 
       self.enabled_last = enabled
-      self.main_on_last = CS.main_on
+      self.main_on_last = CS.out.cruiseState.available
       self.steer_alert_last = steer_alert
 
     return can_sends

selfdrive/car/ford/carstate.py

@@ -1,8 +1,9 @@
+from cereal import car
 from opendbc.can.parser import CANParser
 from common.numpy_fast import mean
 from selfdrive.config import Conversions as CV
+from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.ford.values import DBC
-from common.kalman.simple_kalman import KF1D
 
 WHEEL_RADIUS = 0.33
 
@@ -32,57 +33,28 @@ def get_can_parser(CP):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
 
-class CarState():
-  def __init__(self, CP):
-
-    self.CP = CP
-    self.left_blinker_on = 0
-    self.right_blinker_on = 0
-
-    # initialize can parser
-    self.car_fingerprint = CP.carFingerprint
-
-    # vEgo kalman filter
-    dt = 0.01
-    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
-    # R = 1e3
-    self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
-                         A=[[1.0, dt], [0.0, 1.0]],
-                         C=[1.0, 0.0],
-                         K=[[0.12287673], [0.29666309]])
-    self.v_ego = 0.0
-
+class CarState(CarStateBase):
   def update(self, cp):
-    # update prevs, update must run once per loop
-    self.prev_left_blinker_on = self.left_blinker_on
-    self.prev_right_blinker_on = self.right_blinker_on
-
-    # calc best v_ego estimate, by averaging two opposite corners
-    self.v_wheel_fl = cp.vl["WheelSpeed_CG1"]['WhlRr_W_Meas'] * WHEEL_RADIUS
-    self.v_wheel_fr = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
-    self.v_wheel_rl = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
-    self.v_wheel_rr = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
-    v_wheel = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
-
-    # Kalman filter
-    if abs(v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
-      self.v_ego_kf.x = [[v_wheel], [0.0]]
-
-    self.v_ego_raw = v_wheel
-    v_ego_x = self.v_ego_kf.update(v_wheel)
-    self.v_ego = float(v_ego_x[0])
-    self.a_ego = float(v_ego_x[1])
-    self.standstill = not v_wheel > 0.001
-
-    self.angle_steers = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns']
-    self.v_cruise_pcm = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS
-    self.pcm_acc_status = cp.vl["Cruise_Status"]['Cruise_State']
-    self.main_on = cp.vl["Cruise_Status"]['Cruise_State'] != 0
-    self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
+    ret = car.CarState.new_message()
+    ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]['WhlRr_W_Meas'] * WHEEL_RADIUS
+    ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
+    ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
+    ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
+    ret.vEgoRaw = mean([ret.wheelSpeeds.rr, ret.wheelSpeeds.rl, ret.wheelSpeeds.fr, ret.wheelSpeeds.fl])
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = not ret.vEgoRaw > 0.001
+    ret.steeringAngle = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns']
+    ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]['LaHandsOff_B_Actl']
+    ret.cruiseState.speed = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS
+    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]['Cruise_State'] in [0, 3])
+    ret.cruiseState.available = cp.vl["Cruise_Status"]['Cruise_State'] != 0
+    ret.gas = cp.vl["EngineData_14"]['ApedPosScal_Pc_Actl'] / 100.
+    ret.gasPressed = ret.gas > 1e-6
+    ret.brakePressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
+    ret.brakeLights = bool(cp.vl["BCM_to_HS_Body"]["Brake_Lights"])
+    ret.genericToggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
     # TODO: we also need raw driver torque, needed for Assisted Lane Change
-    self.steer_override = not cp.vl["Lane_Keep_Assist_Status"]['LaHandsOff_B_Actl']
+    self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
     self.steer_error = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl']
-    self.user_gas = cp.vl["EngineData_14"]['ApedPosScal_Pc_Actl']
-    self.brake_pressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
-    self.brake_lights = bool(cp.vl["BCM_to_HS_Body"]["Brake_Lights"])
-    self.generic_toggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
+
+    return ret

selfdrive/car/ford/interface.py

@@ -106,38 +106,10 @@ class CarInterface(CarInterfaceBase):
     # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
 
-    self.CS.update(self.cp)
-
-    # create message
-    ret = car.CarState.new_message()
+    ret = self.CS.update(self.cp)
 
     ret.canValid = self.cp.can_valid
 
-    # speeds
-    ret.vEgo = self.CS.v_ego
-    ret.vEgoRaw = self.CS.v_ego_raw
-    ret.standstill = self.CS.standstill
-    ret.wheelSpeeds.fl = self.CS.v_wheel_fl
-    ret.wheelSpeeds.fr = self.CS.v_wheel_fr
-    ret.wheelSpeeds.rl = self.CS.v_wheel_rl
-    ret.wheelSpeeds.rr = self.CS.v_wheel_rr
-
-    # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
-    ret.steeringPressed = self.CS.steer_override
-
-    # gas pedal
-    ret.gas = self.CS.user_gas / 100.
-    ret.gasPressed = self.CS.user_gas > 0.0001
-    ret.brakePressed = self.CS.brake_pressed
-    ret.brakeLights = self.CS.brake_lights
-
-    ret.cruiseState.enabled = not (self.CS.pcm_acc_status in [0, 3])
-    ret.cruiseState.speed = self.CS.v_cruise_pcm
-    ret.cruiseState.available = self.CS.pcm_acc_status != 0
-
-    ret.genericToggle = self.CS.generic_toggle
-
     # events
     events = []
 
@@ -167,7 +139,9 @@ class CarInterface(CarInterfaceBase):
     self.brake_pressed_prev = ret.brakePressed
     self.cruise_enabled_prev = ret.cruiseState.enabled
 
-    return ret.as_reader()
+    self.CS.out = ret.as_reader()
+
+    return self.CS.out
 
   # pass in a car.CarControl
   # to be called @ 100hz

selfdrive/car/fw_versions.py

@@ -123,9 +123,12 @@ def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False,
         ecu_types[a] = ecu_type
 
       if sub_addr is None:
-        parallel_addrs.append(a)
+        if a not in parallel_addrs:
+          parallel_addrs.append(a)
       else:
-        addrs.append([a])
+        if [a] not in addrs:
+          addrs.append([a])
+
   addrs.insert(0, parallel_addrs)
 
   fw_versions = {}

selfdrive/car/gm/carstate.py

@@ -1,9 +1,10 @@
 from cereal import car
 from common.numpy_fast import mean
-from common.kalman.simple_kalman import KF1D
 from selfdrive.config import Conversions as CV
+from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.gm.values import DBC, CAR, parse_gear_shifter, \
+from selfdrive.car.interfaces import CarStateBase
+from selfdrive.car.gm.values import DBC, CAR, \
                                     CruiseButtons, is_eps_status_ok, \
                                     STEER_THRESHOLD, SUPERCRUISE_CARS
 
@@ -50,25 +51,11 @@ def get_powertrain_can_parser(CP, canbus):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], canbus.powertrain)
 
 
-class CarState():
-  def __init__(self, CP, canbus):
-    self.CP = CP
-    # initialize can parser
-
-    self.car_fingerprint = CP.carFingerprint
-    self.cruise_buttons = CruiseButtons.UNPRESS
-    self.left_blinker_on = False
-    self.prev_left_blinker_on = False
-    self.right_blinker_on = False
-    self.prev_right_blinker_on = False
-
-    # vEgo kalman filter
-    dt = 0.01
-    self.v_ego_kf = KF1D(x0=[[0.], [0.]],
-                         A=[[1., dt], [0., 1.]],
-                         C=[1., 0.],
-                         K=[[0.12287673], [0.29666309]])
-    self.v_ego = 0.
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    self.shifter_values = can_define.dv["ECMPRDNL"]["PRNDL"]
 
   def update(self, pt_cp):
     self.prev_cruise_buttons = self.cruise_buttons
@@ -78,20 +65,12 @@ class CarState():
     self.v_wheel_fr = pt_cp.vl["EBCMWheelSpdFront"]['FRWheelSpd'] * CV.KPH_TO_MS
     self.v_wheel_rl = pt_cp.vl["EBCMWheelSpdRear"]['RLWheelSpd'] * CV.KPH_TO_MS
     self.v_wheel_rr = pt_cp.vl["EBCMWheelSpdRear"]['RRWheelSpd'] * CV.KPH_TO_MS
-    v_wheel = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
-
-    if abs(v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
-      self.v_ego_kf.x = [[v_wheel], [0.0]]
-
-    self.v_ego_raw = v_wheel
-    v_ego_x = self.v_ego_kf.update(v_wheel)
-    self.v_ego = float(v_ego_x[0])
-    self.a_ego = float(v_ego_x[1])
-
+    self.v_ego_raw = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
+    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
     self.standstill = self.v_ego_raw < 0.01
 
     self.angle_steers = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
-    self.gear_shifter = parse_gear_shifter(pt_cp.vl["ECMPRDNL"]['PRNDL'])
+    self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]['PRNDL'], None))
     self.user_brake = pt_cp.vl["EBCMBrakePedalPosition"]['BrakePedalPosition']
 
     self.pedal_gas = pt_cp.vl["AcceleratorPedal"]['AcceleratorPedal']

selfdrive/car/gm/gmcan.py

@@ -67,8 +67,8 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
   else:
     mode = 0xa
 
-    if at_full_stop:
-      mode = 0xd
+  if at_full_stop:
+    mode = 0xd
     # TODO: this is to have GM bringing the car to complete stop,
     # but currently it conflicts with OP controls, so turned off.
     #elif near_stop:

selfdrive/car/gm/interface.py

@@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
 
     # *** init the major players ***
     canbus = CanBus()
-    self.CS = CarState(CP, canbus)
+    self.CS = CarState(CP)
     self.VM = VehicleModel(CP)
     self.pt_cp = get_powertrain_can_parser(CP, canbus)
     self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
@@ -64,6 +64,13 @@ class CarInterface(CarInterfaceBase):
     ret.openpilotLongitudinalControl = ret.enableCamera
     tire_stiffness_factor = 0.444  # not optimized yet
 
+    # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
+    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
+    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
+    ret.steerRateCost = 1.0
+    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
+
     if candidate == CAR.VOLT:
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
@@ -141,11 +148,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    # same tuning for Volt and CT6 for now
-    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
-    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
-
     ret.steerMaxBP = [0.]  # m/s
     ret.steerMaxV = [1.]
     ret.gasMaxBP = [0.]
@@ -163,8 +165,6 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = True
     ret.startAccel = 0.8
 
-    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.steerRateCost = 1.0
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
     ret.steerControlType = car.CarParams.SteerControlType.torque
@@ -237,7 +237,7 @@ class CarInterface(CarInterfaceBase):
       be.pressed = self.CS.right_blinker_on
       buttonEvents.append(be)
 
-    if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
+    if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       be = car.CarState.ButtonEvent.new_message()
       be.type = ButtonType.unknown
       if self.CS.cruise_buttons != CruiseButtons.UNPRESS:

selfdrive/car/gm/values.py

@@ -14,6 +14,7 @@ class CAR:
 SUPERCRUISE_CARS = [CAR.CADILLAC_CT6]
 
 class CruiseButtons:
+  INIT        = 0
   UNPRESS     = 1
   RES_ACCEL   = 2
   DECEL_SET   = 3
@@ -34,18 +35,6 @@ def is_eps_status_ok(eps_status, car_fingerprint):
     valid_eps_status += [0, 1]
   return eps_status in valid_eps_status
 
-def parse_gear_shifter(can_gear):
-  if can_gear == 0:
-    return car.CarState.GearShifter.park
-  elif can_gear == 1:
-    return car.CarState.GearShifter.neutral
-  elif can_gear == 2:
-    return car.CarState.GearShifter.drive
-  elif can_gear == 3:
-    return car.CarState.GearShifter.reverse
-  else:
-    return car.CarState.GearShifter.unknown
-
 FINGERPRINTS = {
   # Astra BK MY17, ASCM unplugged
   CAR.HOLDEN_ASTRA: [{

selfdrive/car/honda/carcontroller.py

@@ -9,6 +9,7 @@ from selfdrive.car.honda.values import CruiseButtons, CAR, VISUAL_HUD
 from opendbc.can.packer import CANPacker
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -96,14 +97,18 @@ class CarController():
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   def update(self, enabled, CS, frame, actuators, \
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
-      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
 
     # *** apply brake hysteresis ***
     brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -167,15 +172,21 @@ class CarController():
     can_sends = []
 
     # dragonpilot
-    if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and self.dragon_enable_steering_on_signal:
-      self.turning_signal_timer = 100
+    if enabled:
+      if self.dragon_enable_steering_on_signal:
+        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          self.turning_signal_timer = 0
+        else:
+          self.turning_signal_timer = 100
 
-    if self.turning_signal_timer > 0:
-      self.turning_signal_timer -= 1
-      lkas_active = False
+        if self.turning_signal_timer > 0:
+          self.turning_signal_timer -= 1
+          lkas_active = False
+      else:
+        self.turning_signal_timer = 0
 
-    if not self.dragon_lat_ctrl:
-      lkas_active = False
+      if not self.dragon_lat_ctrl:
+        lkas_active = False
 
     # Send steering command.
     idx = frame % 4

selfdrive/car/honda/carstate.py

@@ -1,19 +1,11 @@
-from cereal import car
 from collections import defaultdict
 from common.numpy_fast import interp
-from common.kalman.simple_kalman import KF1D
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
+from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
 
-GearShifter = car.CarState.GearShifter
-
-def parse_gear_shifter(gear):
-  return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
-            'D': GearShifter.drive, 'S': GearShifter.sport, 'L': GearShifter.low}.get(gear, GearShifter.unknown)
-
-
 def calc_cruise_offset(offset, speed):
   # euristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
   # constraints to solve for _K0, _K1, _K2 are:
@@ -190,38 +182,22 @@ def get_cam_can_parser(CP):
   bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH  and not CP.isPandaBlack else 2
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
 
-class CarState():
+class CarState(CarStateBase):
   def __init__(self, CP):
-    self.CP = CP
-    self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
-    self.steer_status_values = defaultdict(lambda: "UNKNOWN", self.can_define.dv["STEER_STATUS"]["STEER_STATUS"])
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
+    self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 
     self.user_gas, self.user_gas_pressed = 0., 0
     self.brake_switch_prev = 0
     self.brake_switch_ts = 0
-
-    self.cruise_buttons = 0
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
-    self.blinker_on = 0
-
-    self.left_blinker_on = 0
-    self.right_blinker_on = 0
-
     self.cruise_mode = 0
     self.stopped = 0
 
-    # vEgo kalman filter
-    dt = 0.01
-    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
-    # R = 1e3
-    self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
-                         A=[[1.0, dt], [0.0, 1.0]],
-                         C=[1.0, 0.0],
-                         K=[[0.12287673], [0.29666309]])
-    self.v_ego = 0.0
-
+    # dragonpilot
     self.lkMode = True
 
   def update(self, cp, cp_cam):
@@ -233,8 +209,6 @@ class CarState():
     # update prevs, update must run once per loop
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_cruise_setting = self.cruise_setting
-    self.prev_blinker_on = self.blinker_on
-
     self.prev_left_blinker_on = self.left_blinker_on
     self.prev_right_blinker_on = self.right_blinker_on
 
@@ -264,7 +238,6 @@ class CarState():
       self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
     self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
 
-    # calc best v_ego estimate, by averaging two opposite corners
     speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
     self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor
     self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor
@@ -274,16 +247,10 @@ class CarState():
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     self.v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
-    speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + \
+    self.v_ego_raw = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + \
       self.v_weight * v_wheel
 
-    if abs(speed - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
-      self.v_ego_kf.x = [[speed], [0.0]]
-
-    self.v_ego_raw = speed
-    v_ego_x = self.v_ego_kf.update(speed)
-    self.v_ego = float(v_ego_x[0])
-    self.a_ego = float(v_ego_x[1])
+    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
 
     # this is a hack for the interceptor. This is now only used in the simulation
     # TODO: Replace tests by toyota so this can go away
@@ -321,7 +288,7 @@ class CarState():
       self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
 
     can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
-    self.gear_shifter = parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
+    self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
 
     self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
     # crv doesn't include cruise control

selfdrive/car/honda/interface.py

@@ -14,6 +14,7 @@ from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
 
@@ -105,6 +106,7 @@ class CarInterface(CarInterfaceBase):
     self.dragon_allow_gas = False
     self.ts_last_check = 0.
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
@@ -386,10 +388,13 @@ class CarInterface(CarInterfaceBase):
   def update(self, c, can_strings):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 5.:
-      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
-      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
+        self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
       self.ts_last_check = ts
 
     # ******************* do can recv *******************
@@ -554,8 +559,8 @@ class CarInterface(CarInterfaceBase):
     if self.CP.enableCruise and not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
       # non loud alert if cruise disbales below 25mph as expected (+ a little margin)
       if ret.vEgo < self.CP.minEnableSpeed + 2.:
-        events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
-      else:
+#         events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
+#       else:
         events.append(create_event("cruiseDisabled", [ET.IMMEDIATE_DISABLE]))
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.append(create_event('manualRestart', [ET.WARNING]))

selfdrive/car/honda/values.py

@@ -73,6 +73,10 @@ FINGERPRINTS = {
   # 2017 Civic Hatchback EX, 2019 Civic Sedan Touring Canadian, and 2018 Civic Hatchback Executive Premium 1.0L CVT European
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 460: 3, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1625: 5, 1629: 5, 1633: 8,
   },
+  # Manual CIVIC from AlexNoop
+  {
+    57: 3, 148: 8, 228: 5, 274: 3, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 460: 3, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1029: 8, 1036: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1625: 5, 1633: 8,
+  },
   # 2017 Civic Hatchback LX
   {
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1092: 1, 1108: 8, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
@@ -143,11 +147,12 @@ FW_VERSIONS = {
       b'37805-6A0-A640\x00\x00',
       b'37805-6B2-A550\x00\x00',
       b'37805-6B2-A650\x00\x00',
+      b'37805-6B2-A660\x00\x00',
       b'37805-6B2-M520\x00\x00',
     ],
     (Ecu.unknown, 0x18da0bf1, None): [b'54008-TVC-A910\x00\x00'],
     (Ecu.unknown, 0x18da1ef1, None): [b'28102-6B8-A560\x00\x00', b'28102-6B8-M520\x00\x00'],
-    (Ecu.unknown, 0x18da2bf1, None): [b'46114-TVA-A060\x00\x00'],
+    (Ecu.unknown, 0x18da2bf1, None): [b'46114-TVA-A060\x00\x00', b'46114-TVA-A080\x00\x00'],
     (Ecu.unknown, 0x18da28f1, None): [b'57114-TVA-C050\x00\x00'],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TVA-A150\x00\x00',
@@ -164,7 +169,11 @@ FW_VERSIONS = {
       b'78109-TVC-M510\x00\x00',
     ],
     (Ecu.unknown, 0x18da61f1, None): [b'78209-TVA-A010\x00\x00'],
-    (Ecu.unknown, 0x18dab0f1, None): [b'36802-TVA-A160\x00\x00', b'36802-TWA-A070\x00\x00'],
+    (Ecu.unknown, 0x18dab0f1, None): [
+      b'36802-TVA-A160\x00\x00',
+      b'36802-TVA-A170\x00\x00',
+      b'36802-TWA-A070\x00\x00',
+    ],
     (Ecu.unknown, 0x18dab5f1, None): [b'36161-TVA-A060\x00\x00', b'36161-TWA-A070\x00\x00'],
     (Ecu.unknown, 0x18daeff1, None): [b'38897-TVA-A010\x00\x00'],
   },
@@ -235,6 +244,7 @@ FW_VERSIONS = {
       b'37805-5AA-A670\x00\x00',
       b'37805-5AA-A680\x00\x00',
       b'37805-5AA-A810\x00\x00',
+      b'37805-5AA-C820\x00\x00',
       b'37805-5AA-L660\x00\x00',
       b'37805-5AJ-A610\x00\x00',
       b'37805-5BA-A510\x00\x00',
@@ -247,6 +257,7 @@ FW_VERSIONS = {
       b'28101-5CG-A070\x00\x00',
       b'28101-5CG-A080\x00\x00',
       b'28101-5CG-A810\x00\x00',
+      b'28101-5CG-A820\x00\x00',
       b'28101-5DJ-A040\x00\x00',
       b'28101-5DJ-A060\x00\x00',
       b'28101-5DJ-A510\x00\x00',
@@ -273,6 +284,7 @@ FW_VERSIONS = {
       b'78109-TBC-A510\x00\x00',
       b'78109-TBC-A520\x00\x00',
       b'78109-TBC-A530\x00\x00',
+      b'78109-TBC-C530\x00\x00',
       b'78109-TBH-A530\x00\x00',
       b'78109-TEG-A310\x00\x00',
     ],
@@ -283,7 +295,6 @@ FW_VERSIONS = {
       b'36161-TEG-A010\x00\x00',
     ],
     (Ecu.unknown, 0x18daeff1, None): [
-      b'36161-TBA-A030\x00\x00',
       b'38897-TBA-A010\x00\x00',
       b'38897-TBA-A020\x00\x00',
     ],
@@ -296,11 +307,16 @@ FW_VERSIONS = {
       b'37805-5AN-A830\x00\x00',
       b'37805-5AN-A930\x00\x00',
       b'37805-5AN-L940\x00\x00',
+      b'37805-5AN-LH20\x00\x00',
+      b'37805-5AN-LJ20\x00\x00',
       b'37805-5AZ-E850\x00\x00',
       b'37805-5BB-L640\x00\x00',
+      b'37805-5AN-E410\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
     ],
     (Ecu.unknown, 0x18da1ef1, None): [
       b'28101-5CG-A920\x00\x00',
+      b'28101-5CG-C220\x00\x00',
+      b'28101-5CG-C320\x00\x00',
       b'28101-5CK-A130\x00\x00',
       b'28101-5CK-A140\x00\x00',
       b'28101-5CK-A150\x00\x00',
@@ -312,6 +328,7 @@ FW_VERSIONS = {
       b'57114-TBG-A340\x00\x00',
       b'57114-TGG-A340\x00\x00',
       b'57114-TGL-G330\x00\x00',
+      b'57114-TGG-C320\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TBA-C020\x00\x00',
@@ -319,31 +336,41 @@ FW_VERSIONS = {
       b'39990-TGG-A020\x00\x00',
       b'39990-TGG-A120\x00\x00',
       b'39990-TGL-E130\x00\x00',
+      b'39990-TGG-A020\x00\x00',
     ],
     (Ecu.unknown, 0x18da53f1, None): [
       b'77959-TBA-A060\x00\x00',
       b'77959-TGG-A020\x00\x00',
       b'77959-TGG-G010\x00\x00',
+      b'77959-TGG-A020\x00\x00',
     ],
     (Ecu.unknown, 0x18da60f1, None): [
       b'78109-TBA-A910\x00\x00',
       b'78109-TBC-A740\x00\x00',
       b'78109-TGG-A210\x00\x00',
       b'78109-TGG-A310\x00\x00',
+      b'78109-TGG-A320\x00\x00',
       b'78109-TGG-A810\x00\x00',
+      b'78109-TGG-A820\x00\x00',
       b'78109-TGL-G120\x00\x00',
     ],
     (Ecu.unknown, 0x18dab0f1, None): [
       b'36802-TBA-A150\x00\x00',
       b'36802-TGG-A050\x00\x00',
       b'36802-TGL-G040\x00\x00',
+      b'36802-TGG-A060\x00\x00',
     ],
     (Ecu.unknown, 0x18dab5f1, None): [
       b'36161-TBA-A130\x00\x00',
       b'36161-TGG-A060\x00\x00',
       b'36161-TGL-G050\x00\x00',
+      b'36161-TGG-A080\x00\x00',
+    ],
+    (Ecu.unknown, 0x18daeff1, None): [
+      b'38897-TBA-A110\x00\x00',
+      b'38897-TBA-A020\x00\x00',
+      b'38897-TBA-A020\x00\x00',
     ],
-    (Ecu.unknown, 0x18daeff1, None): [b'38897-TBA-A110\x00\x00', b'38897-TBA-A020\x00\x00'],
   },
   CAR.CRV_5G: {
     (Ecu.unknown, 0x18da10f1, None): [
@@ -355,6 +382,7 @@ FW_VERSIONS = {
       b'37805-5PA-A680\x00\x00',
       b'37805-5PA-A850\x00\x00',
       b'37805-5PA-A870\x00\x00',
+      b'37805-5PA-A880\x00\x00',
       b'37805-5PA-A890\x00\x00',
     ],
     (Ecu.unknown, 0x18da1ef1, None): [
@@ -433,6 +461,7 @@ FW_VERSIONS = {
       b'28102-5MX-A610\x00\x00',
       b'28102-5MX-A710\x00\x00',
       b'28102-5MX-A910\x00\x00',
+      b'28102-5MX-C001\x00\x00',
       b'28103-5NZ-A300\x00\x00',
     ],
     (Ecu.unknown, 0x18da28f1, None): [b'57114-THR-A040\x00\x00', b'57114-THR-A110\x00\x00'],
@@ -447,6 +476,7 @@ FW_VERSIONS = {
       b'78109-THR-AE40\x00\x00',
       b'78109-THR-AL10\x00\x00',
       b'78109-THR-C330\x00\x00',
+      b'78109-THR-CE20\x00\x00',
     ],
     (Ecu.unknown, 0x18da0bf1, None): [b'54008-THR-A020\x00\x00'],
   },

selfdrive/car/hyundai/carcontroller.py

@@ -4,7 +4,7 @@ from selfdrive.car.hyundai.values import Buttons, SteerLimitParams
 from opendbc.can.packer import CANPacker
 from common.params import Params
 params = Params()
-
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 class CarController():
   def __init__(self, dbc_name, car_fingerprint):
@@ -20,13 +20,17 @@ class CarController():
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert):
 
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
-      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
 
     ### Steering Torque
     new_steer = actuators.steer * SteerLimitParams.STEER_MAX
@@ -43,15 +47,21 @@ class CarController():
     can_sends = []
 
     # dragonpilot
-    if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and self.dragon_enable_steering_on_signal:
-      self.turning_signal_timer = 100
+    if enabled:
+      if self.dragon_enable_steering_on_signal:
+        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          self.turning_signal_timer = 0
+        else:
+          self.turning_signal_timer = 100
 
-    if self.turning_signal_timer > 0:
-      self.turning_signal_timer -= 1
-      steer_req = 0
+        if self.turning_signal_timer > 0:
+          self.turning_signal_timer -= 1
+          steer_req = 0
+      else:
+        self.turning_signal_timer = 0
 
-    if not self.dragon_lat_ctrl:
-      steer_req = 0
+      if not self.dragon_lat_ctrl:
+        steer_req = 0
 
     self.lkas11_cnt = self.cnt % 0x10
     self.clu11_cnt = self.cnt % 0x10

selfdrive/car/hyundai/carstate.py

@@ -1,8 +1,8 @@
 from cereal import car
 from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD
+from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
-from common.kalman.simple_kalman import KF1D
 
 GearShifter = car.CarState.GearShifter
 
@@ -124,27 +124,7 @@ def get_camera_parser(CP):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
 
-class CarState():
-  def __init__(self, CP):
-
-    self.CP = CP
-
-    # initialize can parser
-    self.car_fingerprint = CP.carFingerprint
-
-    # vEgo kalman filter
-    dt = 0.01
-    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
-    # R = 1e3
-    self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
-                         A=[[1.0, dt], [0.0, 1.0]],
-                         C=[1.0, 0.0],
-                         K=[[0.12287673], [0.29666309]])
-    self.v_ego = 0.0
-    self.left_blinker_on = 0
-    self.left_blinker_flash = 0
-    self.right_blinker_on = 0
-    self.right_blinker_flash = 0
+class CarState(CarStateBase):
 
   def update(self, cp, cp_cam):
     # update prevs, update must run once per Loop
@@ -162,36 +142,26 @@ class CarState():
     self.acc_active = cp.vl["SCC12"]['ACCMode'] != 0
     self.pcm_acc_status = int(self.acc_active)
 
-    # calc best v_ego estimate, by averaging two opposite corners
     self.v_wheel_fl = cp.vl["WHL_SPD11"]['WHL_SPD_FL'] * CV.KPH_TO_MS
     self.v_wheel_fr = cp.vl["WHL_SPD11"]['WHL_SPD_FR'] * CV.KPH_TO_MS
     self.v_wheel_rl = cp.vl["WHL_SPD11"]['WHL_SPD_RL'] * CV.KPH_TO_MS
     self.v_wheel_rr = cp.vl["WHL_SPD11"]['WHL_SPD_RR'] * CV.KPH_TO_MS
-    v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
+    self.v_ego_raw = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
+    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
 
-    self.low_speed_lockout = v_wheel < 1.0
+    self.low_speed_lockout = self.v_ego_raw < 1.0
 
-    # Kalman filter, even though Hyundai raw wheel speed is heaviliy filtered by default
-    if abs(v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
-      self.v_ego_kf.x = [[v_wheel], [0.0]]
-
-    self.v_ego_raw = v_wheel
-    v_ego_x = self.v_ego_kf.update(v_wheel)
-    self.v_ego = float(v_ego_x[0])
-    self.a_ego = float(v_ego_x[1])
     is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"])
     speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
     self.cruise_set_speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
-    self.standstill = not v_wheel > 0.1
+    self.standstill = not self.v_ego_raw > 0.1
 
     self.angle_steers = cp.vl["SAS11"]['SAS_Angle']
     self.angle_steers_rate = cp.vl["SAS11"]['SAS_Speed']
     self.yaw_rate = cp.vl["ESP12"]['YAW_RATE']
     self.main_on = True
     self.left_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigLHSw']
-    self.left_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigLh']
     self.right_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigRHSw']
-    self.right_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigRh']
     self.steer_override = abs(cp.vl["MDPS11"]['CR_Mdps_DrvTq']) > STEER_THRESHOLD
     self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
     self.steer_error = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']

selfdrive/car/hyundai/interface.py

@@ -10,6 +10,7 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 GearShifter = car.CarState.GearShifter
 ButtonType = car.CarState.ButtonEvent.Type
@@ -42,6 +43,7 @@ class CarInterface(CarInterfaceBase):
     self.dragon_allow_gas = False
     self.ts_last_check = 0.
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -162,10 +164,13 @@ class CarInterface(CarInterfaceBase):
   def update(self, c, can_strings):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 5.:
-      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
-      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
+        self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
       self.ts_last_check = ts
 
     # ******************* do can recv *******************

selfdrive/car/interfaces.py

@@ -1,8 +1,12 @@
 import os
 import time
 from cereal import car
+from common.kalman.simple_kalman import KF1D
+from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
 
+GearShifter = car.CarState.GearShifter
+
 # generic car and radar interfaces
 
 class CarInterfaceBase():
@@ -42,3 +46,31 @@ class RadarInterfaceBase():
       time.sleep(self.radar_ts)  # radard runs on RI updates
 
     return ret
+
+class CarStateBase:
+  def __init__(self, CP):
+    self.CP = CP
+    self.car_fingerprint = CP.carFingerprint
+    self.left_blinker_on = 0
+    self.right_blinker_on = 0
+    self.cruise_buttons = 0
+
+    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
+    # R = 1e3
+    self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
+                         A=[[1.0, DT_CTRL], [0.0, 1.0]],
+                         C=[1.0, 0.0],
+                         K=[[0.12287673], [0.29666309]])
+
+  def update_speed_kf(self, v_ego_raw):
+    if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
+      self.v_ego_kf.x = [[v_ego_raw], [0.0]]
+
+    v_ego_x = self.v_ego_kf.update(v_ego_raw)
+    return float(v_ego_x[0]), float(v_ego_x[1])
+
+  @staticmethod
+  def parse_gear_shifter(gear):
+    return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
+            'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
+            'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)

selfdrive/car/subaru/carcontroller.py

@@ -3,7 +3,9 @@ from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
 from selfdrive.car.subaru.values import DBC
 from opendbc.can.packer import CANPacker
-
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 class CarControllerParams():
   def __init__(self, car_fingerprint):
@@ -32,9 +34,23 @@ class CarController():
     self.params = CarControllerParams(car_fingerprint)
     self.packer = CANPacker(DBC[car_fingerprint]['pt'])
 
+    # dragonpilot
+    self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
+
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
     """ Controls thread """
 
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 500 == 0:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
+
     P = self.params
 
     # Send CAN commands.
@@ -53,11 +69,28 @@ class CarController():
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.steer_torque_driver, P)
       self.steer_rate_limited = new_steer != apply_steer
 
-      lkas_enabled = enabled and not CS.steer_not_allowed
+      lkas_enabled = enabled
 
       if not lkas_enabled:
         apply_steer = 0
 
+      # dragonpilot
+      if enabled:
+        if self.dragon_enable_steering_on_signal:
+          if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+            self.turning_signal_timer = 0
+          else:
+            self.turning_signal_timer = 100
+
+          if self.turning_signal_timer > 0:
+            self.turning_signal_timer -= 1
+            apply_steer = 0
+        else:
+          self.turning_signal_timer = 0
+
+        if not self.dragon_lat_ctrl:
+          apply_steer = 0
+
       can_sends.append(subarucan.create_steering_control(self.packer, CS.CP.carFingerprint, apply_steer, frame, P.STEER_STEP))
 
       self.apply_steer_last = apply_steer

selfdrive/car/subaru/carstate.py

@@ -1,6 +1,6 @@
 import copy
-from common.kalman.simple_kalman import KF1D
 from selfdrive.config import Conversions as CV
+from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD
 
@@ -82,29 +82,12 @@ def get_camera_can_parser(CP):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
 
-class CarState():
+class CarState(CarStateBase):
   def __init__(self, CP):
+    super().__init__(CP)
     # initialize can parser
-    self.CP = CP
-
-    self.car_fingerprint = CP.carFingerprint
-    self.left_blinker_on = False
     self.left_blinker_cnt = 0
-    self.prev_left_blinker_on = False
-    self.right_blinker_on = False
     self.right_blinker_cnt = 0
-    self.prev_right_blinker_on = False
-    self.steer_torque_driver = 0
-    self.steer_not_allowed = False
-    self.main_on = False
-
-    # vEgo kalman filter
-    dt = 0.01
-    self.v_ego_kf = KF1D(x0=[[0.], [0.]],
-                         A=[[1., dt], [0., 1.]],
-                         C=[1., 0.],
-                         K=[[0.12287673], [0.29666309]])
-    self.v_ego = 0.
 
   def update(self, cp, cp_cam):
 
@@ -124,16 +107,10 @@ class CarState():
     if cp.vl["Dash_State"]['Units'] == 1:
       self.v_cruise_pcm *= CV.MPH_TO_KPH
 
-    v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
+    self.v_ego_raw = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
     # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
-    if abs(v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
-      self.v_ego_kf.x = [[v_wheel], [0.0]]
+    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
 
-    self.v_ego_raw = v_wheel
-    v_ego_x = self.v_ego_kf.update(v_wheel)
-
-    self.v_ego = float(v_ego_x[0])
-    self.a_ego = float(v_ego_x[1])
     self.standstill = self.v_ego_raw < 0.01
 
     self.prev_left_blinker_on = self.left_blinker_on

selfdrive/car/subaru/interface.py

@@ -7,6 +7,10 @@ from selfdrive.car.subaru.values import CAR
 from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 ButtonType = car.CarState.ButtonEvent.Type
 
@@ -30,6 +34,14 @@ class CarInterface(CarInterfaceBase):
     if CarController is not None:
       self.CC = CarController(CP.carFingerprint)
 
+    # dragonpilot
+    self.frame = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+    self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
+
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 4.0
@@ -95,6 +107,17 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
+        self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
+      self.ts_last_check = ts
+
     self.pt_cp.update_strings(can_strings)
     self.cam_cp.update_strings(can_strings)
 
@@ -166,17 +189,24 @@ class CarInterface(CarInterfaceBase):
     if ret.doorOpen:
       events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
+    if not self.dragon_lat_ctrl:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+
     if self.CS.acc_active and not self.acc_active_prev:
       events.append(create_event('pcmEnable', [ET.ENABLE]))
     if not self.CS.acc_active:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # disable on gas pedal rising edge
-    if (ret.gasPressed and not self.gas_pressed_prev):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    # DragonAllowGas
+    if not self.dragon_allow_gas:
+      # disable on gas pedal rising edge
+      if (ret.gasPressed and not self.gas_pressed_prev):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      if ret.gasPressed:
+        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     ret.events = events
 

selfdrive/car/toyota/carcontroller.py

@@ -8,6 +8,7 @@ from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, SteerLimitParams
 from opendbc.can.packer import CANPacker
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -25,12 +26,6 @@ ANGLE_DELTA_BP = [0., 5., 15.]
 ANGLE_DELTA_V = [5., .8, .15]     # windup limit
 ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
 
-TARGET_IDS = [0x340, 0x341, 0x342, 0x343, 0x344, 0x345,
-              0x363, 0x364, 0x365, 0x370, 0x371, 0x372,
-              0x373, 0x374, 0x375, 0x380, 0x381, 0x382,
-              0x383]
-
-
 def accel_hysteresis(accel, accel_steady, enabled):
 
   # for small accel oscillations within ACCEL_HYST_GAP, don't change the accel command
@@ -115,16 +110,20 @@ class CarController():
     self.dragon_lat_ctrl = True
     self.dragon_lane_departure_warning = True
     self.dragon_toyota_sng_mod = False
+    self.dp_last_modified = None
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
              left_line, right_line, lead, left_lane_depart, right_lane_depart):
 
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
-      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
-      self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
-      self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
+        self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False
+        self.dp_last_modified = modified
 
     # *** compute control surfaces ***
 
@@ -197,26 +196,32 @@ class CarController():
     can_sends = []
 
     # dragonpilot
-    if enabled and (CS.left_blinker_on or CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
-      self.turning_signal_timer = 100
+    if enabled:
+      if self.dragon_enable_steering_on_signal:
+        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          self.turning_signal_timer = 0
+        else:
+          self.turning_signal_timer = 100
+  
+        if self.turning_signal_timer > 0:
+          self.turning_signal_timer -= 1
+          apply_steer_req = 0
+      else:
+        self.turning_signal_timer = 0
+  
+      if not self.dragon_lat_ctrl:
+        apply_steer_req = 0
+    else:
+      if CS.v_ego > 12.5:
+        if right_lane_depart and not CS.right_blinker_on:
+          apply_steer = self.last_steer + 3
+          apply_steer = min(apply_steer , 800)
+          apply_steer_req = 1
 
-    if self.turning_signal_timer > 0:
-      self.turning_signal_timer -= 1
-      apply_steer_req = 0
-
-    if not self.dragon_lat_ctrl:
-      apply_steer_req = 0
-
-    if CS.v_ego > 12.5 and not enabled:
-      if right_lane_depart and not CS.right_blinker_on:
-        apply_steer = self.last_steer + 3
-        apply_steer = min(apply_steer , 800)
-        apply_steer_req = 1
-
-      if left_lane_depart and not CS.left_blinker_on:
-        apply_steer = self.last_steer - 3
-        apply_steer = max(apply_steer , -800)
-        apply_steer_req = 1
+        if left_lane_depart and not CS.left_blinker_on:
+          apply_steer = self.last_steer - 3
+          apply_steer = max(apply_steer , -800)
+          apply_steer_req = 1
 
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)

selfdrive/car/toyota/carstate.py

@@ -1,251 +1,220 @@
-from cereal import car
-from common.numpy_fast import mean
-from common.kalman.simple_kalman import KF1D
-from opendbc.can.can_define import CANDefine
-from opendbc.can.parser import CANParser
-from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR
-from common.realtime import sec_since_boot
-from common.params import Params
-params = Params()
-
-GearShifter = car.CarState.GearShifter
-
-def parse_gear_shifter(gear):
-  return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
-              'D': GearShifter.drive, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)
-
-
-def get_can_parser(CP):
-
-  signals = [
-    # sig_name, sig_address, default
-    ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
-    ("GEAR", "GEAR_PACKET", 0),
-    ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
-    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
-    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
-    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
-    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
-    ("DOOR_OPEN_FL", "SEATS_DOORS", 1),
-    ("DOOR_OPEN_FR", "SEATS_DOORS", 1),
-    ("DOOR_OPEN_RL", "SEATS_DOORS", 1),
-    ("DOOR_OPEN_RR", "SEATS_DOORS", 1),
-    ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
-    ("TC_DISABLED", "ESP_CONTROL", 1),
-    ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
-    ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
-    ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
-    ("CRUISE_STATE", "PCM_CRUISE", 0),
-    ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
-    ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
-    ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
-    ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
-    ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
-  ]
-
-  checks = [
-    ("WHEEL_SPEEDS", 80),
-    ("STEER_ANGLE_SENSOR", 80),
-    ("PCM_CRUISE", 33),
-    ("STEER_TORQUE_SENSOR", 50),
-    ("EPS_STATUS", 25),
-  ]
-
-  if CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
-    signals.append(("GAS_PEDAL", "GAS_PEDAL_ALT", 0))
-    signals.append(("MAIN_ON", "PCM_CRUISE_ALT", 0))
-    signals.append(("SET_SPEED", "PCM_CRUISE_ALT", 0))
-    signals.append(("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0))
-    checks += [
-      ("BRAKE_MODULE", 50),
-      ("GAS_PEDAL_ALT", 50),
-      ("PCM_CRUISE_ALT", 1),
-    ]
-  else:
-    signals += [
-      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
-      ("GAS_PEDAL", "GAS_PEDAL", 0),
-    ]
-    checks += [
-      ("BRAKE_MODULE", 40),
-      ("GAS_PEDAL", 33),
-    ]
-
-  if CP.carFingerprint == CAR.LEXUS_IS:
-    signals.append(("MAIN_ON", "DSU_CRUISE", 0))
-    signals.append(("SET_SPEED", "DSU_CRUISE", 0))
-    checks.append(("DSU_CRUISE", 5))
-  else:
-    signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
-    signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
-    signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
-    checks.append(("PCM_CRUISE_2", 33))
-
-  if CP.carFingerprint in NO_DSU_CAR or CP.carFingerprint == CAR.LEXUS_ISH:
-    signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
-
-  if CP.carFingerprint == CAR.PRIUS:
-    signals += [("STATE", "AUTOPARK_STATUS", 0)]
-
-  # add gas interceptor reading if we are using it
-  if CP.enableGasInterceptor:
-    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
-    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
-    checks.append(("GAS_SENSOR", 50))
-
-  checks = []
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
-
-
-def get_cam_can_parser(CP):
-
-  signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
-
-  # use steering message to check if panda is connected to frc
-  checks = [("STEERING_LKA", 42)]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
-
-
-class CarState():
-  def __init__(self, CP):
-
-    self.CP = CP
-    self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
-    self.left_blinker_on = 0
-    self.right_blinker_on = 0
-    self.angle_offset = 0.
-    self.init_angle_offset = False
-
-    # initialize can parser
-    self.car_fingerprint = CP.carFingerprint
-
-    # vEgo kalman filter
-    dt = 0.01
-    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
-    # R = 1e3
-    self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
-                         A=[[1.0, dt], [0.0, 1.0]],
-                         C=[1.0, 0.0],
-                         K=[[0.12287673], [0.29666309]])
-    self.v_ego = 0.0
-
-    # dragonpilot
-    self.dragon_toyota_stock_dsu = False
-    self.ts_last_check = 0.
-
-  def update(self, cp, cp_cam):
-    # dragonpilot, don't check for param too often as it's a kernel call
-    ts = sec_since_boot()
-    if ts - self.ts_last_check > 5.:
-      self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
-      self.ts_last_check = ts
-
-    # update prevs, update must run once per loop
-    self.prev_left_blinker_on = self.left_blinker_on
-    self.prev_right_blinker_on = self.right_blinker_on
-
-    self.door_all_closed = not any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
-                                    cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
-    self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
-
-    self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
-    if self.CP.enableGasInterceptor:
-      self.pedal_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
-    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
-      self.pedal_gas = cp.vl["GAS_PEDAL_ALT"]['GAS_PEDAL']
-    else:
-      self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
-    self.car_gas = self.pedal_gas
-    self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
-
-    # calc best v_ego estimate, by averaging two opposite corners
-    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
-    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
-    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
-    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
-    v_wheel = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
-
-    # Kalman filter
-    if abs(v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
-      self.v_ego_kf.x = [[v_wheel], [0.0]]
-
-    self.v_ego_raw = v_wheel
-    v_ego_x = self.v_ego_kf.update(v_wheel)
-    self.v_ego = float(v_ego_x[0])
-    self.a_ego = float(v_ego_x[1])
-    self.standstill = not v_wheel > 0.001
-
-    if self.CP.carFingerprint in TSS2_CAR:
-      self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
-    elif self.CP.carFingerprint in NO_DSU_CAR or self.CP.carFingerprint == CAR.LEXUS_ISH:
-      # cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.
-      # need to apply an offset as soon as the steering angle measurements are both received
-      self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
-      angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
-      if abs(angle_wheel) > 1e-3 and abs(self.angle_steers) > 1e-3 and not self.init_angle_offset:
-        self.init_angle_offset = True
-        self.angle_offset = self.angle_steers - angle_wheel
-    else:
-      self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
-    self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
-    can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
-    self.gear_shifter = parse_gear_shifter(self.shifter_values.get(can_gear, None))
-    if self.CP.carFingerprint == CAR.LEXUS_IS:
-      self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
-    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
-      self.main_on = cp.vl["PCM_CRUISE_ALT"]['MAIN_ON']
-    else:
-      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
-    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
-    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
-
-    # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
-    self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
-    self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
-    self.brake_error = 0
-    self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
-    self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
-    # we could use the override bit from dbc, but it's triggered at too high torque values
-    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
-
-    self.user_brake = 0
-    if self.CP.carFingerprint == CAR.LEXUS_IS:
-      self.v_cruise_pcm = cp.vl["DSU_CRUISE"]['SET_SPEED']
-      self.low_speed_lockout = False
-    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
-      self.v_cruise_pcm = cp.vl["PCM_CRUISE_ALT"]['SET_SPEED']
-      self.low_speed_lockout = False
-    else:
-      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
-    if self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
-      # Lexus ISH does not have curise status value (always 0), so we use curise_active value instead
-      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
-    else:
-      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
-    self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
-    if self.CP.carFingerprint == CAR.PRIUS:
-      self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
-    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
-      self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
-    else:
-      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
-
-    self.stock_aeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
-
-    if self.dragon_toyota_stock_dsu and self.generic_toggle and self.main_on:
-      enable_acc = True
-      if not self.gear_shifter == GearShifter.drive or not self.seatbelt or not self.door_all_closed:
-       enable_acc = False
-      self.pcm_acc_active = enable_acc
-      if self.standstill:
-        self.pcm_acc_status = 7
-      else:
-        self.pcm_acc_status = 1
+from common.numpy_fast import mean
+from opendbc.can.can_define import CANDefine
+from selfdrive.car.interfaces import CarStateBase
+from opendbc.can.parser import CANParser
+from selfdrive.config import Conversions as CV
+from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR
+
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
+
+
+def get_can_parser(CP):
+
+  signals = [
+    # sig_name, sig_address, default
+    ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
+    ("GEAR", "GEAR_PACKET", 0),
+    ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
+    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
+    ("DOOR_OPEN_FL", "SEATS_DOORS", 1),
+    ("DOOR_OPEN_FR", "SEATS_DOORS", 1),
+    ("DOOR_OPEN_RL", "SEATS_DOORS", 1),
+    ("DOOR_OPEN_RR", "SEATS_DOORS", 1),
+    ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
+    ("TC_DISABLED", "ESP_CONTROL", 1),
+    ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
+    ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
+    ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
+    ("CRUISE_STATE", "PCM_CRUISE", 0),
+    ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
+    ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
+    ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
+    ("LKA_STATE", "EPS_STATUS", 0),
+    ("IPAS_STATE", "EPS_STATUS", 1),
+    ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
+  ]
+
+  checks = [
+    ("WHEEL_SPEEDS", 80),
+    ("STEER_ANGLE_SENSOR", 80),
+    ("PCM_CRUISE", 33),
+    ("STEER_TORQUE_SENSOR", 50),
+    ("EPS_STATUS", 25),
+  ]
+
+  if CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+    signals.append(("GAS_PEDAL", "GAS_PEDAL_ALT", 0))
+    signals.append(("MAIN_ON", "PCM_CRUISE_ALT", 0))
+    signals.append(("SET_SPEED", "PCM_CRUISE_ALT", 0))
+    signals.append(("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0))
+    checks += [
+      ("BRAKE_MODULE", 50),
+      ("GAS_PEDAL_ALT", 50),
+      ("PCM_CRUISE_ALT", 1),
+    ]
+  else:
+    signals += [
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+      ("GAS_PEDAL", "GAS_PEDAL", 0),
+    ]
+    checks += [
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+    ]
+
+  if CP.carFingerprint == CAR.LEXUS_IS:
+    signals.append(("MAIN_ON", "DSU_CRUISE", 0))
+    signals.append(("SET_SPEED", "DSU_CRUISE", 0))
+    checks.append(("DSU_CRUISE", 5))
+  else:
+    signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
+    signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
+    signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
+    checks.append(("PCM_CRUISE_2", 33))
+
+  if CP.carFingerprint in NO_DSU_CAR or CP.carFingerprint == CAR.LEXUS_ISH:
+    signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
+
+  if CP.carFingerprint == CAR.PRIUS:
+    signals += [("STATE", "AUTOPARK_STATUS", 0)]
+
+  # add gas interceptor reading if we are using it
+  if CP.enableGasInterceptor:
+    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
+    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
+    checks.append(("GAS_SENSOR", 50))
+
+  checks = []
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
+
+
+def get_cam_can_parser(CP):
+
+  signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
+
+  # use steering message to check if panda is connected to frc
+  checks = [("STEERING_LKA", 42)]
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    self.shifter_values = can_define.dv["GEAR_PACKET"]['GEAR']
+    self.angle_offset = 0.
+    self.init_angle_offset = False
+
+    # dragonpilot
+    self.dragon_toyota_stock_dsu = False
+    self.ts_last_check = 0.
+
+  def update(self, cp, cp_cam):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check >= 5.:
+      self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+      self.ts_last_check = ts
+
+    # update prevs, update must run once per loop
+    self.prev_left_blinker_on = self.left_blinker_on
+    self.prev_right_blinker_on = self.right_blinker_on
+
+    self.door_all_closed = not any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
+                                    cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
+    self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
+
+    self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
+    if self.CP.enableGasInterceptor:
+      self.pedal_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      self.pedal_gas = cp.vl["GAS_PEDAL_ALT"]['GAS_PEDAL']
+    else:
+      self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
+    self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
+
+    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
+    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
+    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
+    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
+    self.v_ego_raw = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
+    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
+
+    self.standstill = not self.v_ego_raw > 0.001
+
+    if self.CP.carFingerprint in TSS2_CAR:
+      self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
+    elif self.CP.carFingerprint in NO_DSU_CAR or self.CP.carFingerprint == CAR.LEXUS_ISH:
+      # cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.
+      # need to apply an offset as soon as the steering angle measurements are both received
+      self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
+      angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
+      if abs(angle_wheel) > 1e-3 and abs(self.angle_steers) > 1e-3 and not self.init_angle_offset:
+        self.init_angle_offset = True
+        self.angle_offset = self.angle_steers - angle_wheel
+    else:
+      self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
+    self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
+    can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
+    self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+    if self.CP.carFingerprint == CAR.LEXUS_IS:
+      self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      self.main_on = cp.vl["PCM_CRUISE_ALT"]['MAIN_ON']
+    else:
+      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
+    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
+    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
+
+    # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
+    self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
+    self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
+    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    self.brake_error = 0
+    self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
+    self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
+    # we could use the override bit from dbc, but it's triggered at too high torque values
+    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
+
+    self.user_brake = 0
+    if self.CP.carFingerprint == CAR.LEXUS_IS:
+      self.v_cruise_pcm = cp.vl["DSU_CRUISE"]['SET_SPEED']
+      self.low_speed_lockout = False
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_ALT"]['SET_SPEED']
+      self.low_speed_lockout = False
+    else:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    if self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      # Lexus ISH does not have curise status value (always 0), so we use curise_active value instead
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
+    else:
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
+    self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
+    if self.CP.carFingerprint == CAR.PRIUS:
+      self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
+    else:
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
+
+    self.stock_aeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
+
+    if self.dragon_toyota_stock_dsu and self.generic_toggle and self.main_on:
+      enable_acc = True
+      if not self.seatbelt or not self.door_all_closed:
+       enable_acc = False
+      self.pcm_acc_active = enable_acc
+      if self.standstill:
+        self.pcm_acc_status = 7
+      else:
+        self.pcm_acc_status = 1

selfdrive/car/toyota/interface.py

@@ -11,6 +11,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
 from common.realtime import sec_since_boot
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -41,6 +42,7 @@ class CarInterface(CarInterfaceBase):
     self.dragon_allow_gas = False
     self.ts_last_check = 0.
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -72,7 +74,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.70
       ret.steerRatio = 15.74   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
-      ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
 
       ret.lateralTuning.init('indi')
       ret.lateralTuning.indi.innerLoopGain = 4.0
@@ -173,6 +175,16 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00006
 
+    elif candidate == CAR.HIGHLANDER_TSS2:
+      stop_and_go = True
+      ret.safetyParam = 73
+      ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
+      ret.steerRatio = 16.0
+      tire_stiffness_factor = 0.8
+      ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]]  # community tuning
+      ret.lateralTuning.pid.kf = 0.00012  # community tuning
+
     elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
       stop_and_go = True
       ret.safetyParam = 73
@@ -202,16 +214,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kf = 0.00007818594
-      
-    elif candidate == CAR.RAV4H_TSS2:
-      stop_and_go = True
-      ret.safetyParam = 73
-      ret.wheelbase = 2.68986
-      ret.steerRatio = 14.3
-      tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
-      ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate == CAR.RAV4H_TSS2:
       stop_and_go = True
@@ -273,6 +275,16 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00007
 
+    elif candidate == CAR.LEXUS_NXH:
+      stop_and_go = True
+      ret.safetyParam = 73
+      ret.wheelbase = 2.66
+      ret.steerRatio = 14.7
+      tire_stiffness_factor = 0.444 # not optimized yet
+      ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kf = 0.00006
+
     elif candidate == CAR.LEXUS_ISH:
         stop_and_go = True # set to true because it's a hybrid
         ret.safetyParam = 130
@@ -316,11 +328,14 @@ class CarInterface(CarInterfaceBase):
     ret.brakeMaxV = [1.]
 
     ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
+    # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
+    smartDsu = 0x2FF in fingerprint[0]
     # In TSS2 cars the camera does long control
     ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in TSS2_CAR
     ret.enableApgs = False  # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.apgs)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
-    ret.openpilotLongitudinalControl = ret.enableCamera and (ret.enableDsu or candidate in TSS2_CAR)
+    # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
+    ret.openpilotLongitudinalControl = ret.enableCamera and (smartDsu or ret.enableDsu or candidate in TSS2_CAR)
     cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
     cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
     cloudlog.warning("ECU APGS Simulated: %r", ret.enableApgs)
@@ -331,7 +346,8 @@ class CarInterface(CarInterfaceBase):
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
 
     # removing the DSU disables AEB and it's considered a community maintained feature
-    ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu
+    # intercepting the DSU is a community feature since it requires unofficial hardware
+    ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
 
     ret.longitudinalTuning.deadzoneBP = [0., 9.]
     ret.longitudinalTuning.deadzoneV = [0., .15]
@@ -357,11 +373,14 @@ class CarInterface(CarInterfaceBase):
   def update(self, c, can_strings):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 5.:
-      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
-      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
-      self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+        self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
       self.ts_last_check = ts
 
     # ******************* do can recv *******************
@@ -390,7 +409,7 @@ class CarInterface(CarInterfaceBase):
     ret.gearShifter = self.CS.gear_shifter
 
     # gas pedal
-    ret.gas = self.CS.car_gas
+    ret.gas = self.CS.pedal_gas
     if self.CP.enableGasInterceptor:
     # use interceptor values to disengage on pedal press
       ret.gasPressed = self.CS.pedal_gas > 15

selfdrive/car/toyota/values.py

@@ -22,6 +22,7 @@ class CAR:
   CAMRY = "TOYOTA CAMRY 2018"
   CAMRYH = "TOYOTA CAMRY HYBRID 2018"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
+  HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
   HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
   AVALON = "TOYOTA AVALON 2016"
   RAV4_TSS2 = "TOYOTA RAV4 2019"
@@ -33,30 +34,31 @@ class CAR:
   LEXUS_IS = "LEXUS IS300 2018"
   LEXUS_CTH = "LEXUS CT 200H 2018"
   RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
+  LEXUS_NXH = "LEXUS NX300H 2018"
   LEXUS_ISH = "LEXUS IS300h 2017"
   LEXUS_GSH = "LEXUS GS450h 2017"
 
 
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
-  (0x128, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
   (0x128, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
+  (0x141, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
   (0X161, Ecu.dsu, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x283, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
   (0x2E6, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
   (0x2E7, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
   (0x33E, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x344, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
   (0x365, Ecu.dsu, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
   (0x366, Ecu.dsu, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
   (0x470, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
   (0x470, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x4CB, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 
   (0x292, Ecu.apgs, (CAR.PRIUS), 0,   3, b'\x00\x00\x00\x00\x00\x00\x00\x9e'),
   (0x32E, Ecu.apgs, (CAR.PRIUS), 0,  20, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
@@ -69,25 +71,25 @@ STATIC_MSGS = [
 
 ECU_FINGERPRINT = {
   Ecu.fwdCamera: [0x2e4],   # steer torque cmd
-  Ecu.dsu: [0x343],   # accel cmd
+  Ecu.dsu: [0x283],   # accel cmd
   Ecu.apgs: [0x835],  # angle cmd
 }
 
 
 FINGERPRINTS = {
   CAR.RAV4: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8
   }],
   CAR.RAV4H: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   # Chinese RAV4
   {
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 742: 8, 743: 8, 800: 8, 830: 7, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1207: 8, 1227: 8, 1235: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 830: 7, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1207: 8, 1227: 8, 1235: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8
   }],
   CAR.PRIUS: [{
   # with ipas
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   {
     # Taiwan Prius 4.5
@@ -95,27 +97,31 @@ FINGERPRINTS = {
   },
   #2019 LE
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   # 2020 Prius Prime LE
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767:4, 800: 8, 810: 2, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   #2020 Prius Prime Limited
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8, 2026: 8, 2027: 8, 2029: 8, 2030: 8, 2031: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8, 2026: 8, 2027: 8, 2029: 8, 2030: 8, 2031: 8
   },
   #2020 Central Europe Prime
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 8, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767:4, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 8, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
+  },
+  #2017 German Prius
+  {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296:8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8,740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1792: 8, 1767:4, 800: 8, 1863:8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1990: 8, 1992: 8, 1996:8, 1998: 8, 2002: 8, 2010: 8, 2015: 8, 2016: 8, 2018: 8, 2024: 8, 2026: 8, 2030: 8
   }],
   #Corolla w/ added Pedal Support (512L and 513L)
   CAR.COROLLA: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 8
   }],
   CAR.LEXUS_RX: [{
   # 2016 Lexus RX 350
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   },
   {
   # RX300 China
@@ -123,99 +129,111 @@ FINGERPRINTS = {
   },
   # 2017 Lexus RX 350
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.LEXUS_RXH: [{
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513:6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513:6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
   },
   # RX450HL
   # TODO: get proper fingerprint in stock mode
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   # RX540H 2019 with color hud
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1952: 8, 1960: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1952: 8, 1960: 8, 1990: 8, 1998: 8
   },
   # 2017 RX 450h
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 744: 8, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1745: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 744: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1745: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   }],
   CAR.LEXUS_RX_TSS2: [
   # 2020 Lexus RX 350
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594:8, 1595: 8, 1600: 8, 1649: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594:8, 1595: 8, 1600: 8, 1649: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   }],
   CAR.CHR: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 913: 8, 918: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 705: 8, 740: 5, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 913: 8, 918: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
   }],
   CAR.CHRH: [{
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 800: 8, 810: 2, 812: 8, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.CAMRY: [
   #XLE and LE
   {
-    36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   #XSE and SE
   # TODO: get proper fingerprint in stock mode
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  # China 2018 Camry from superdongle
+  {
+    36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   {
   # 2019 XSE
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1800: 8, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   }],
   CAR.CAMRYH: [
   #SE, LE and LE with Blindspot Monitor
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   #SL
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   #XLE
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.HIGHLANDER: [{
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1992: 8, 1996: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1992: 8, 1996: 8, 1990: 8, 1998: 8
   },
   # 2019 Highlander XLE
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   # 2017 Highlander Limited
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   # 2018 Highlander Limited Platinum
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1263: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1585: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1988: 8, 1990: 8, 1996: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1263: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1585: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1988: 8, 1990: 8, 1996: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+  }],
+  CAR.HIGHLANDER_TSS2: [{
+    # 2020 highlander limited
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1952: 8, 1960: 8, 1990: 8, 1998: 8
   }],
   CAR.HIGHLANDERH: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   {
   # 2019 Highlander Hybrid Limited Platinum
-    36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.AVALON: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.RAV4_TSS2: [
   # Taiwan 2019 RAV4 from Max Duan / CloudJ
   {
     36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 913: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8
   },
+  # China 2020 RAV4 from superdongle
+  {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1112: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1263: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8      
+  },
   # LE
   {
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   # XLE, Limited, and AWD
   {
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   },
   # Taiwan 2019 RAV4H from Max Duan
   {
@@ -224,7 +242,7 @@ FINGERPRINTS = {
   CAR.COROLLA_TSS2: [
   # hatch 2019+ and sedan 2020+
   {
-    36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8
+    36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8
   },
   {
     # 2019 Taiwan Altis
@@ -241,52 +259,48 @@ FINGERPRINTS = {
   CAR.COROLLAH_TSS2: [
   # 2019 Taiwan Altis Hybrid
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 767:4, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
   },
   # 2019 Chinese Levin Hybrid
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8
   }
   ],
-  CAR.LEXUS_ES_TSS2: [
+  CAR.LEXUS_ES_TSS2: [{
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8,
+  },
   {
     # 2019 Lexus ES200 from Shell
     36: 8, 37: 8, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
-  {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8
   }],
   CAR.LEXUS_ESH_TSS2: [
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 744: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 744: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.SIENNA: [
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 888: 8, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 767:4, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 888: 8, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   # XLE AWD 2018
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 767:4, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.LEXUS_IS: [
   # IS300 2018
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1590: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1648: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 767:4, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1590: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1648: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.LEXUS_ISH: [
   # IS300H 2017
   {
-    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 767:4, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.RAV4H_TSS2: [
   #Hybrid Limited
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913:8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913:8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
-  # German Lounge
-  {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1800: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
-  }],
+  ],
   CAR.LEXUS_CTH: [{
     # Taiwan CT200h FP from CloudJ
     36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8
@@ -294,6 +308,9 @@ FINGERPRINTS = {
   {
     36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
+  CAR.LEXUS_NXH: [{
+    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 812: 3, 818: 8, 822: 8, 824: 8, 835: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 889: 8, 891: 8, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 987: 8, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1006: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
   CAR.LEXUS_GSH: [
   # GS450H 2017
   {
@@ -301,6 +318,9 @@ FINGERPRINTS = {
   }],
 }
 
+# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
+IGNORED_FINGERPRINTS = [CAR.RAV4H_TSS2]
+
 FW_VERSIONS = {
   CAR.AVALON: {
     (Ecu.esp, 0x7b0, None): [b'F152607060\x00\x00\x00\x00\x00\x00'],
@@ -312,6 +332,7 @@ FW_VERSIONS = {
   },
   CAR.CAMRY: {
     (Ecu.engine, 0x700, None): [
+      b'\x018966306L5200\x00\x00\x00\x00',
       b'\x018966333P4200\x00\x00\x00\x00',
       b'\x018966333P4300\x00\x00\x00\x00',
       b'\x018966333P4400\x00\x00\x00\x00',
@@ -370,9 +391,18 @@ FW_VERSIONS = {
       b'8646F0605000    ',
     ],
   },
+  CAR.CHR: {
+    (Ecu.dsu, 0x791, None): [b'8821FF404100    '],
+    (Ecu.esp, 0x7b0, None): [b'F1526F4122\x00\x00\x00\x00\x00\x00'],
+    (Ecu.eps, 0x7a1, None): [b'8965B10040\x00\x00\x00\x00\x00\x00'],
+    (Ecu.engine, 0x7e0, None): [b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00'],
+    (Ecu.fwdRadar, 0x750, 0xf): [b'8821FF404100    '],
+    (Ecu.fwdCamera, 0x750, 0x6d): [b'8646FF404000    '],
+  },
   CAR.COROLLA: {
     (Ecu.engine, 0x7e0, None): [
       b'\x01896630E88000\x00\x00\x00\x00',
+      b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC2200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC2300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -539,9 +569,11 @@ FW_VERSIONS = {
       b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634782000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634784000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
       b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701002\x00\x00\x00\x00',
+      b'\x03896634760100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
       b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703001\x00\x00\x00\x00',
@@ -596,6 +628,7 @@ FW_VERSIONS = {
   },
   CAR.RAV4: {
     (Ecu.engine, 0x7e0, None): [
+      b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q1300\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q2000\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -606,6 +639,7 @@ FW_VERSIONS = {
       b'8965B42083\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
+      b'F15260R102\x00\x00\x00\x00\x00\x00',
       b'F15260R103\x00\x00\x00\x00\x00\x00',
       b'F152642493\x00\x00\x00\x00\x00\x00',
     ],
@@ -664,9 +698,11 @@ FW_VERSIONS = {
       b'\x018966342V3100\x00\x00\x00\x00',
       b'\x018966342X5000\x00\x00\x00\x00',
       b'\x01896634A05000\x00\x00\x00\x00',
+      b'\x01896634A19000\x00\x00\x00\x00',
       b'\x01896634A22000\x00\x00\x00\x00',
       b'\x01F152642551\x00\x00\x00\x00\x00\x00',
       b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'F152606230\x00\x00\x00\x00\x00\x00',
@@ -740,9 +776,17 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F5301400\x00\x00\x00\x00'],
   },
   CAR.SIENNA: {
-    (Ecu.engine, 0x700, None): [b'\x01896630832100\x00\x00\x00\x00'],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630832100\x00\x00\x00\x00',
+      b'\x01896630842000\x00\x00\x00\x00',
+      b'\x01896630851100\x00\x00\x00\x00',
+      b'\x01896630860000\x00\x00\x00\x00',
+    ],
     (Ecu.eps, 0x7a1, None): [b'8965B45070\x00\x00\x00\x00\x00\x00'],
-    (Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702100\x00\x00\x00\x00'],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
     (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F0801100\x00\x00\x00\x00'],
   },
   CAR.LEXUS_RXH: {
@@ -792,6 +836,7 @@ DBC = {
   CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_adas'),
+  CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_adas'),
   CAR.AVALON: dbc_dict('toyota_avalon_2017_pt_generated', 'toyota_adas'),
   CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -803,10 +848,11 @@ DBC = {
   CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
   CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_GSH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
 }
 
-NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2]
-TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2]
-NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2]  # no resume button press required
+NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]
+TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]
+NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]  # no resume button press required

selfdrive/car/volkswagen/carstate.py

@@ -1,13 +1,10 @@
 import numpy as np
-from cereal import car
-from common.kalman.simple_kalman import KF1D
 from selfdrive.config import Conversions as CV
+from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.volkswagen.values import DBC, BUTTON_STATES, CarControllerParams
 
-GEAR = car.CarState.GearShifter
-
 def get_mqb_pt_can_parser(CP, canbus):
   # this function generates lists for signal, messages and initial values
   signals = [
@@ -99,29 +96,14 @@ def get_mqb_cam_can_parser(CP, canbus):
 
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, canbus.cam)
 
-def parse_gear_shifter(gear):
-  # Return mapping of gearshift position to selected gear.
-  return {'P': GEAR.park, 'R': GEAR.reverse, 'N': GEAR.neutral,
-              'D': GEAR.drive, 'E': GEAR.eco, 'S': GEAR.sport, 'T': GEAR.manumatic}.get(gear, GEAR.unknown)
 
-class CarState():
+class CarState(CarStateBase):
   def __init__(self, CP, canbus):
-    # initialize can parser
-    self.CP = CP
-    self.car_fingerprint = CP.carFingerprint
-    self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-
-    self.shifter_values = self.can_define.dv["Getriebe_11"]['GE_Fahrstufe']
-
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
     self.buttonStates = BUTTON_STATES.copy()
 
-    # vEgo Kalman filter
-    dt = 0.01
-    self.v_ego_kf = KF1D(x0=[[0.], [0.]],
-                         A=[[1., dt], [0., 1.]],
-                         C=[1., 0.],
-                         K=[[0.12287673], [0.29666309]])
-
   def update(self, pt_cp):
     # Update vehicle speed and acceleration from ABS wheel speeds.
     self.wheelSpeedFL = pt_cp.vl["ESP_19"]['ESP_VL_Radgeschw_02'] * CV.KPH_TO_MS
@@ -130,9 +112,8 @@ class CarState():
     self.wheelSpeedRR = pt_cp.vl["ESP_19"]['ESP_HR_Radgeschw_02'] * CV.KPH_TO_MS
 
     self.vEgoRaw = float(np.mean([self.wheelSpeedFL, self.wheelSpeedFR, self.wheelSpeedRL, self.wheelSpeedRR]))
-    v_ego_x = self.v_ego_kf.update(self.vEgoRaw)
-    self.vEgo = float(v_ego_x[0])
-    self.aEgo = float(v_ego_x[1])
+    self.vEgo, self.aEgo = self.update_speed_kf(self.vEgoRaw)
+
     self.standstill = self.vEgoRaw < 0.1
 
     # Update steering angle, rate, yaw rate, and driver input torque. VW send
@@ -152,7 +133,7 @@ class CarState():
 
     # Update gear and/or clutch position data.
     can_gear_shifter = int(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'])
-    self.gearShifter = parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
+    self.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
 
     # Update door and trunk/hatch lid open status.
     self.doorOpen = any([pt_cp.vl["Gateway_72"]['ZV_FT_offen'],

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.7.2-release"
+#define COMMA_VERSION "0.7.3-release"

selfdrive/controls/controlsd.py

@@ -25,6 +25,7 @@ from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.planner import LON_MPC_STEP
 from selfdrive.locationd.calibration_helpers import Calibration, Filter
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 LANE_DEPARTURE_THRESHOLD = 0.1
 
@@ -546,15 +547,19 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
   dragon_display_steering_limit_alert = True
   dragon_stopped_has_lead_count = 0
   dragon_lead_car_moving_alert = False
+  dp_last_modified = None
 
   while True:
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - ts_last_check > 5.:
-      dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
-      dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
-      dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
-      dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
+    if ts - ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+        dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
+        dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
+        dp_last_modified = modified
       ts_last_check = ts
 
     start_time = sec_since_boot()

selfdrive/controls/dmonitoringd.py

@@ -1,12 +1,15 @@
 #!/usr/bin/env python3
 import gc
-from common.realtime import set_realtime_priority
+from common.realtime import set_realtime_priority, sec_since_boot
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
 from selfdrive.locationd.calibration_helpers import Calibration
 from selfdrive.controls.lib.gps_helpers import is_rhd_region
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 def dmonitoringd_thread(sm=None, pm=None):
   gc.disable()
@@ -40,8 +43,46 @@ def dmonitoringd_thread(sm=None, pm=None):
   v_cruise_last = 0
   driver_engaged = False
 
+  # dragonpilot
+  last_ts = 0
+  dp_last_modified = None
+  dp_enable_driver_safety_check = True
+  dp_enable_driver_monitoring = True
+
   # 10Hz <- dmonitoringmodeld
   while True:
+    cur_time = sec_since_boot()
+    if cur_time - last_ts >= 5.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        dp_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
+        # load driver monitor val only when safety is on
+        if dp_enable_driver_safety_check:
+          dp_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
+        # load steering monitor timer val only when driver monitor is on
+        if dp_enable_driver_safety_check:
+          try:
+            dp_awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
+          except TypeError:
+            dp_awareness_time = 0.
+          driver_status.awareness_time = 86400 if dp_awareness_time <= 0. else dp_awareness_time * 60.
+        dp_last_modified = modified
+      last_ts = cur_time
+
+    if not dp_enable_driver_safety_check:
+      dp_enable_driver_monitoring = False
+      driver_status.awareness_time = 86400
+
+    # reset all awareness val and set to rhd region, this will enforce steering monitor.
+    if not dp_enable_driver_monitoring:
+      driver_status.is_rhd_region = True
+      driver_status.is_rhd_region_checked = True
+      driver_status.awareness = 1.
+      driver_status.awareness_active = 1.
+      driver_status.awareness_passive = 1.
+      driver_status.terminal_alert_cnt = 0
+      driver_status.terminal_time = 0
+
     sm.update()
 
     # GPS coords RHD parsing, once every restart

selfdrive/controls/lib/alerts.py

@@ -77,99 +77,99 @@ ALERTS = [
 
   Alert(
       "fcw",
-      "BRAKE!",
-      "Risk of Collision",
+      "剎車!",
+      "有碰撞的風險",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
 
   Alert(
       "fcwStock",
-      "BRAKE!",
-      "Risk of Collision",
+      "馬上剎車！",
+      "有碰撞風險",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),  # no EON chime for stock FCW
 
   Alert(
       "steerSaturated",
-      "TAKE CONTROL",
-      "Turn Exceeds Steering Limit",
+      "接管控制",
+      "彎道超過方向盤轉向限制",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
 
   Alert(
       "steerTempUnavailable",
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
+      "接管控制",
+      "轉向控制暫時失效",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
 
   Alert(
       "steerTempUnavailableMute",
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
+      "接管控制",
+      "轉向控制暫時失效",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
 
   Alert(
       "preDriverDistracted",
-      "KEEP EYES ON ROAD: Driver Appears Distracted",
+      "注意路況：駕駛分心",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
 
   Alert(
       "promptDriverDistracted",
-      "KEEP EYES ON ROAD",
-      "Driver Appears Distracted",
+      "注意路況",
+      "駕駛分心",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
 
   Alert(
       "driverDistracted",
-      "DISENGAGE IMMEDIATELY",
-      "Driver Was Distracted",
+      "立即解除",
+      "駕駛分心",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
 
   Alert(
       "preDriverUnresponsive",
-      "TOUCH STEERING WHEEL: No Face Detected",
+      "請觸碰方向盤：無駕駛監控",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
 
   Alert(
       "promptDriverUnresponsive",
-      "TOUCH STEERING WHEEL",
-      "Driver Is Unresponsive",
+      "請觸碰方向盤",
+      "駕駛沒有反應",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
 
   Alert(
       "driverUnresponsive",
-      "DISENGAGE IMMEDIATELY",
-      "Driver Was Unresponsive",
+      "立即解除",
+      "駕駛沒有反應",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
 
   Alert(
       "driverMonitorLowAcc",
-      "CHECK DRIVER FACE VISIBILITY",
-      "Driver Monitor Model Output Uncertain",
+      "請檢查駕駛面部的可見度",
+      "駕駛監控模型輸出不明確",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.),
 
   Alert(
       "geofence",
       "DISENGAGEMENT REQUIRED",
-      "Not in Geofenced Area",
+      "不在地理圍欄區域之內",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
 
   Alert(
       "startup",
-      "Be ready to take over at any time",
-      "Always keep hands on wheel and eyes on road",
+      "隨時準備好接管",
+      "請您將手放在方向盤上並持續注意路況",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
@@ -182,50 +182,50 @@ ALERTS = [
 
   Alert(
       "startupNoControl",
-      "Dashcam mode",
-      "Always keep hands on wheel and eyes on road",
+      "行車記錄模式",
+      "請您將手放在方向盤上並持續注意路況",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
   Alert(
       "startupNoCar",
-      "Dashcam mode with unsupported car",
-      "Always keep hands on wheel and eyes on road",
+      "行車記錄模式 (尚未支援車種)",
+      "請您將手放在方向盤上並持續注意路況",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
   Alert(
       "ethicalDilemma",
-      "TAKE CONTROL IMMEDIATELY",
+      "即刻接管控制",
       "Ethical Dilemma Detected",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 3.),
 
   Alert(
       "steerTempUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Steering Temporarily Unavailable",
+      "無法使用 dragonpilot",
+      "轉向控制暫時失效",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
   Alert(
       "manualRestart",
-      "TAKE CONTROL",
-      "Resume Driving Manually",
+      "接管控制",
+      "請自行恢復駕駛",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "resumeRequired",
-      "STOPPED",
-      "Press Resume to Move",
+      "已停止",
+      "請按 RES 繼續",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "belowSteerSpeed",
-      "TAKE CONTROL",
-      "Steer Unavailable Below ",
+      "接管控制",
+      "轉向控制暫時失效，車速低於 ",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3),
 
@@ -237,539 +237,539 @@ ALERTS = [
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
   Alert(
       "preLaneChangeLeft",
-      "Steer Left to Start Lane Change",
-      "Monitor Other Vehicles",
+      "請往左打方向盤切換車道",
+      "請注意其它車輛",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
 
   Alert(
       "preLaneChangeRight",
-      "Steer Right to Start Lane Change",
-      "Monitor Other Vehicles",
+      "請往右打方向盤切換車道",
+      "請注意其它車輛",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
 
   Alert(
       "laneChange",
-      "Changing Lane",
-      "Monitor Other Vehicles",
+      "切換車道中",
+      "請注意其它車輛",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
 
   Alert(
       "posenetInvalid",
-      "TAKE CONTROL",
-      "Vision Model Output Uncertain",
+      "接管控制",
+      "視覺模型輸出不明確",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
 
   # Non-entry only alerts
   Alert(
       "wrongCarModeNoEntry",
-      "openpilot Unavailable",
-      "Main Switch Off",
+      "無法使用 dragonpilot",
+      "主開關關閉",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
   Alert(
       "dataNeededNoEntry",
-      "openpilot Unavailable",
-      "Data Needed for Calibration. Upload Drive, Try Again",
+      "無法使用 dragonpilot",
+      "需要更多的數據來協助校準，請將行車記錄上傳後再試",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
   Alert(
       "outOfSpaceNoEntry",
-      "openpilot Unavailable",
-      "Out of Storage Space",
+      "無法使用 dragonpilot",
+      "儲存空間不足",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
   Alert(
       "pedalPressedNoEntry",
-      "openpilot Unavailable",
+      "無法使用 dragonpilot",
       "Pedal Pressed During Attempt",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, "brakePressed", AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "speedTooLowNoEntry",
-      "openpilot Unavailable",
-      "Speed Too Low",
+      "無法使用 dragonpilot",
+      "車速過慢",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "brakeHoldNoEntry",
-      "openpilot Unavailable",
-      "Brake Hold Active",
+      "無法使用 dragonpilot",
+      "駐車煞車已啟用",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "parkBrakeNoEntry",
-      "openpilot Unavailable",
-      "Park Brake Engaged",
+      "無法使用 dragonpilot",
+      "電子駐車已啟動",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "lowSpeedLockoutNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
+      "無法使用 dragonpilot",
+      "巡航系統錯誤：請重新發動車子",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "lowBatteryNoEntry",
-      "openpilot Unavailable",
-      "Low Battery",
+      "無法使用 dragonpilot",
+      "電池電量過低",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "sensorDataInvalidNoEntry",
-      "openpilot Unavailable",
-      "No Data from Device Sensors",
+      "無法使用 dragonpilot",
+      "沒有收到任何來自裝置傳感器的資料",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "soundsUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Speaker not found",
+      "無法使用 dragonpilot",
+      "找不到音效裝置",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "tooDistractedNoEntry",
-      "openpilot Unavailable",
-      "Distraction Level Too High",
+      "無法使用 dragonpilot",
+      "駕駛分心次數過高",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   # Cancellation alerts causing soft disabling
   Alert(
       "overheat",
-      "TAKE CONTROL IMMEDIATELY",
-      "System Overheated",
+      "即刻接管控制",
+      "系統過熱",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "wrongGear",
-      "TAKE CONTROL IMMEDIATELY",
-      "Gear not D",
+      "即刻接管控制",
+      "檔位不在 D 檔",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "calibrationInvalid",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration Invalid: Reposition Device and Recalibrate",
+      "即刻接管控制",
+      "校準無效：請將裝置放於新的位置並重新校準",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "calibrationIncomplete",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration in Progress",
+      "即刻接管控制",
+      "正在校準相機中",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "doorOpen",
-      "TAKE CONTROL IMMEDIATELY",
-      "Door Open",
+      "即刻接管控制",
+      "車門開啟",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "seatbeltNotLatched",
-      "TAKE CONTROL IMMEDIATELY",
-      "Seatbelt Unlatched",
+      "即刻接管控制",
+      "安全帶未繫",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "espDisabled",
-      "TAKE CONTROL IMMEDIATELY",
-      "ESP Off",
+      "即刻接管控制",
+      "ESP 關閉",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "lowBattery",
-      "TAKE CONTROL IMMEDIATELY",
-      "Low Battery",
+      "即刻接管控制",
+      "電池電量過低",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "commIssue",
-      "TAKE CONTROL IMMEDIATELY",
-      "Communication Issue between Processes",
+      "即刻接管控制",
+      "雷達訊號錯誤：請重新發動車子",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "radarCommIssue",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Communication Issue",
+      "即刻接管控制",
+      "雷達通訊出現問題",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "radarCanError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Error: Restart the Car",
+      "即刻接管控制",
+      "雷達訊號錯誤：請重新發動車子",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   Alert(
       "radarFault",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Error: Restart the Car",
+      "即刻接管控制",
+      "AI 模型錯誤：請檢查網路連線",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
 
   Alert(
       "lowMemory",
-      "TAKE CONTROL IMMEDIATELY",
-      "Low Memory: Reboot Your Device",
+      "即刻接管控制",
+      "記憶體不足：請重啟您的裝置",
       AlertStatus.critical, AlertSize.full,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
 
   # Cancellation alerts causing immediate disabling
   Alert(
       "controlsFailed",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Failed",
+      "即刻接管控制",
+      "控制發生錯誤",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
   Alert(
       "controlsMismatch",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Mismatch",
+      "即刻接管控制",
+      "控制不匹配",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
   Alert(
       "canError",
-      "TAKE CONTROL IMMEDIATELY",
-      "CAN Error: Check Connections",
+      "即刻接管控制",
+      "CAN 訊號錯誤：請檢查接線",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
   Alert(
       "steerUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "LKAS Fault: Restart the Car",
+      "即刻接管控制",
+      "LKAS 錯誤：請重新發動車子",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
   Alert(
       "brakeUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Fault: Restart the Car",
+      "即刻接管控制",
+      "巡航系統錯誤：請重新發動車子",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
   Alert(
       "gasUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Gas Fault: Restart the Car",
+      "即刻接管控制",
+      "油門錯誤：請重新發動車子",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
   Alert(
       "reverseGear",
-      "TAKE CONTROL IMMEDIATELY",
-      "Reverse Gear",
+      "即刻接管控制",
+      "切換至倒車檔",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
   Alert(
       "cruiseDisabled",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Is Off",
+      "即刻接管控制",
+      "巡航系統關閉",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
   Alert(
       "plannerError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Planner Solution Error",
+      "即刻接管控制",
+      "Planner Solution 錯誤",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
   # not loud cancellations (user is in control)
   Alert(
       "noTarget",
-      "openpilot Canceled",
-      "No close lead car",
+      "dragonpilot 已取消",
+      "沒有偵測到前車",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   Alert(
       "speedTooLow",
-      "openpilot Canceled",
-      "Speed too low",
+      "dragonpilot 已取消",
+      "車速過慢",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   # Cancellation alerts causing non-entry
   Alert(
       "overheatNoEntry",
-      "openpilot Unavailable",
-      "System overheated",
+      "無法使用 dragonpilot",
+      "系統過熱",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "wrongGearNoEntry",
-      "openpilot Unavailable",
-      "Gear not D",
+      "無法使用 dragonpilot",
+      "車子不在 D 檔",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "calibrationInvalidNoEntry",
-      "openpilot Unavailable",
-      "Calibration Invalid: Reposition Device and Recalibrate",
+      "無法使用 dragonpilot",
+      "校準無效：請將裝置放於新的位置並重新校準",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "calibrationIncompleteNoEntry",
-      "openpilot Unavailable",
-      "Calibration in Progress",
+      "無法使用 dragonpilot",
+      "正在校準相機中",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "doorOpenNoEntry",
-      "openpilot Unavailable",
-      "Door open",
+      "無法使用 dragonpilot",
+      "車門未關",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "seatbeltNotLatchedNoEntry",
-      "openpilot Unavailable",
-      "Seatbelt unlatched",
+      "無法使用 dragonpilot",
+      "安全帶未繫",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "espDisabledNoEntry",
-      "openpilot Unavailable",
-      "ESP Off",
+      "無法使用 dragonpilot",
+      "ESP 關閉",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "geofenceNoEntry",
-      "openpilot Unavailable",
-      "Not in Geofenced Area",
+      "無法使用 dragonpilot",
+      "不在地理圍欄區域之內",
       AlertStatus.normal, AlertSize.mid,
       Priority.MID, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "radarCanErrorNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
+      "無法使用 dragonpilot",
+      "雷達訊號錯誤：請重新發動車子",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "radarFaultNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
+      "無法使用 dragonpilot",
+      "雷達訊號錯誤：請重新發動車子",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "posenetInvalidNoEntry",
-      "openpilot Unavailable",
-      "Vision Model Output Uncertain",
+      "無法使用 dragonpilot",
+      "視覺模型輸出不明確",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "controlsFailedNoEntry",
-      "openpilot Unavailable",
-      "Controls Failed",
+      "無法使用 dragonpilot",
+      "控制發生錯誤",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "canErrorNoEntry",
-      "openpilot Unavailable",
-      "CAN Error: Check Connections",
+      "無法使用 dragonpilot",
+      "CAN 訊號錯誤：請檢查接線",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "steerUnavailableNoEntry",
-      "openpilot Unavailable",
-      "LKAS Fault: Restart the Car",
+      "無法使用 dragonpilot",
+      "LKAS 錯誤：請重新發動車子",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "brakeUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
+      "無法使用 dragonpilot",
+      "巡航系統錯誤：請重新發動車子",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "gasUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Gas Error: Restart the Car",
+      "無法使用 dragonpilot",
+      "油門錯誤：請重新發動車子",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "reverseGearNoEntry",
-      "openpilot Unavailable",
-      "Reverse Gear",
+      "無法使用 dragonpilot",
+      "切換至倒車檔",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "cruiseDisabledNoEntry",
-      "openpilot Unavailable",
-      "Cruise is Off",
+      "無法使用 dragonpilot",
+      "巡航系統關閉",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "noTargetNoEntry",
-      "openpilot Unavailable",
-      "No Close Lead Car",
+      "無法使用 dragonpilot",
+      "沒有偵測到前車",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "plannerErrorNoEntry",
-      "openpilot Unavailable",
-      "Planner Solution Error",
+      "無法使用 dragonpilot",
+      "Planner Solution 錯誤",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
   Alert(
       "commIssueNoEntry",
-      "openpilot Unavailable",
-      "Communication Issue between Processes",
+      "無法使用 dragonpilot",
+      "行程出現通訊問題",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   Alert(
       "radarCommIssueNoEntry",
-      "openpilot Unavailable",
-      "Radar Communication Issue",
+      "無法使用 dragonpilot",
+      "雷達通訊出現問題",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   Alert(
       "internetConnectivityNeededNoEntry",
-      "openpilot Unavailable",
-      "Please Connect to Internet",
+      "無法使用 dragonpilot",
+      "請連接網路",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   Alert(
       "lowMemoryNoEntry",
-      "openpilot Unavailable",
-      "Low Memory: Reboot Your Device",
+      "無法使用 dragonpilot",
+      "記憶體不足：請重啟您的裝置",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
   # permanent alerts
   Alert(
       "steerUnavailablePermanent",
-      "LKAS Fault: Restart the car to engage",
+      "LKAS 錯誤：請重新發動車子",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "brakeUnavailablePermanent",
-      "Cruise Fault: Restart the car to engage",
+      "巡航系統錯誤：請重新發動車子",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "lowSpeedLockoutPermanent",
-      "Cruise Fault: Restart the car to engage",
+      "巡航系統錯誤：請重新發動車子",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "calibrationIncompletePermanent",
-      "Calibration in Progress: ",
-      "Drive Above ",
+      "正在校準相機中：",
+      "車速請高於 ",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "invalidGiraffeToyotaPermanent",
-      "Unsupported Giraffe Configuration",
-      "Visit comma.ai/tg",
+      "未支援的 Giraffe 設置",
+      "請查閱 comma.ai/tg",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "internetConnectivityNeededPermanent",
-      "Please connect to Internet",
-      "An Update Check Is Required to Engage",
+      "請連接網路",
+      "需檢查更新後才能啟用",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "communityFeatureDisallowedPermanent",
-      "Community Feature Detected",
-      "Enable Community Features in Developer Settings",
+      "偵測到社群開發功能",
+      "請至開發人員設定裡啟用社群開發功能",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),  # LOW priority to overcome Cruise Error
 
   Alert(
       "sensorDataInvalidPermanent",
-      "No Data from Device Sensors",
-      "Reboot your Device",
+      "沒有收到任何來自 EON 傳感器的資料",
+      "請重啟您的裝置",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "soundsUnavailablePermanent",
-      "Speaker not found",
-      "Reboot your Device",
+      "找不到音效裝置",
+      "請重啟您的裝置",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "lowMemoryPermanent",
-      "RAM Critically Low",
-      "Reboot your Device",
+      "記憶體嚴重不足",
+      "請重啟您的裝置",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "carUnrecognizedPermanent",
-      "Dashcam Mode",
-      "Car Unrecognized",
+      "行車記錄模式",
+      "無法辨識您的車款",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "vehicleModelInvalid",
-      "Vehicle Parameter Identification Failed",
+      "車子參數識別失敗",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
@@ -777,55 +777,54 @@ ALERTS = [
   # offroad alerts
   Alert(
       "ldwPermanent",
-      "TAKE CONTROL",
-      "Lane Departure Detected",
+      "接管控制",
+      "偵測到已偏離車道",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
   # dragonpilot
   Alert(
     "manualSteeringRequired",
-    "STEERING REQUIRED: Lane Keeping OFF",
+    "請接管方向盤：車道維持關閉",
     "",
     AlertStatus.normal, AlertSize.small,
     Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
 
   Alert(
     "manualSteeringRequiredBlinkersOn",
-    "STEERING REQUIRED: Blinkers ON",
+    "請接管方向盤：方向燈開啟",
     "",
     AlertStatus.normal, AlertSize.small,
     Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
   Alert(
     "leadCarMoving",
-    "Lead Car Is Moving",
+    "前車移動中，請開始加速",
     "",
     AlertStatus.userPrompt, AlertSize.small,
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
   Alert(
     "leadCarDetected",
-    "Lead Car Detected",
+    "偵測到前車，等待中",
     "",
     AlertStatus.normal, AlertSize.small,
     Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
   Alert(
     "preAutoLaneChangeLeft",
-    "Left Auto Lane Change will engage in 3 seconds",
-    "Monitor Other Vehicles",
+    "將在三秒後自動切至左車道",
+    "請注意其它車輛",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
 
   Alert(
     "preAutoLaneChangeRight",
-    "Right Auto Lane Change will engage in 3 seconds",
-    "Monitor Other Vehicles",
+    "將在三秒後自動切至右車道",
+    "請注意其它車輛",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
 
   Alert(
     "autoLaneChange",
-    "Changing Lane",
-    "Monitor Other Vehicles",
+    "切換車道中",
+    "請注意其它車輛",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
-
 ]

selfdrive/controls/lib/alerts_offroad.json

@@ -1,31 +1,31 @@
 {
   "Offroad_ChargeDisabled": {
-    "text": "EON charging disabled after car being off for more than 30 hours. Turn ignition on to start charging again.",
+    "text": "因車輛已熄火超過 30 小時，系統將會停止為 EON 充電，再次發動車輛後 EON 會恢復充電",
     "severity": 0
   },
   "Offroad_TemperatureTooHigh": {
-    "text": "Device temperature too high. System won't start.",
+    "text": "裝置溫度過高，系統暫時無法啟用。",
     "severity": 1
   },
   "Offroad_ConnectivityNeededPrompt": {
-    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in ",
+    "text": "目前 dragonpilot 無法啟用，請馬上連網檢查更新。",
     "severity": 0,
     "_comment": "Append the number of days at the end of the text"
   },
   "Offroad_ConnectivityNeeded": {
-    "text": "Connect to internet to check for updates. openpilot won't engage until it connects to internet to check for updates.",
+    "text": "請連網檢查更新。不然 dragonpilot 將無法啟用。",
     "severity": 1
   },
   "Offroad_PandaFirmwareMismatch": {
-    "text": "Unexpected panda firmware version. System won't start. Reboot your device to reflash panda.",
+    "text": "Panda 的韌體版本出現異常，系統無法啟用。請重啟您的裝置以刷新 Panda 韌體。",
     "severity": 1
   },
   "Offroad_InvalidTime": {
-    "text": "Invalid date and time settings, system won't start. Connect to internet to set time.",
+    "text": "系統日期／時間設定錯誤，系統無法啟用。請連上網設定的時間。",
     "severity": 1
   },
   "Offroad_IsTakingSnapshot": {
-    "text": "Taking camera snapshots. System won't start until finished.",
+    "text": "相機拍攝中，完成前系統無法啟用。",
     "severity": 0
   }
 }

selfdrive/controls/lib/driver_monitor.py

@@ -4,8 +4,6 @@ from common.realtime import DT_DMON
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
-from common.params import Params
-params = Params()
 
 _AWARENESS_TIME = 70.  # one minute limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME_TILL_TERMINAL = 15.  # a first alert is issued 25s before expiration
@@ -114,10 +112,7 @@ class DriverStatus():
     self.is_rhd_region_checked = False
 
     # dragonpilot
-    self.awareness_time = float(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
-    self.awareness_time = 86400 if self.awareness_time <= 0. else self.awareness_time * 60.
-    self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
-    self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
+    self.awareness_time = 70.
 
     self._set_timers(active_monitoring=True)
 
@@ -182,9 +177,6 @@ class DriverStatus():
     if len(driver_state.faceOrientation) == 0 or len(driver_state.facePosition) == 0 or len(driver_state.faceOrientationStd) == 0 or len(driver_state.facePositionStd) == 0:
       return
 
-    if not self.dragon_enable_driver_monitoring:
-      self.is_rhd_region = True
-
     self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy)
     self.pose.pitch_std = driver_state.faceOrientationStd[0]
     self.pose.yaw_std = driver_state.faceOrientationStd[1]
@@ -220,7 +212,7 @@ class DriverStatus():
       self.hi_stds = 0
 
   def update(self, events, driver_engaged, ctrl_active, standstill):
-    if (driver_engaged and self.awareness > 0) or not ctrl_active or not self.dragon_enable_driver_safety_check:
+    if (driver_engaged and self.awareness > 0) or not ctrl_active:
       # reset only when on disengagement if red reached
       self.awareness = 1.
       self.awareness_active = 1.

selfdrive/controls/lib/lane_planner.py

@@ -77,7 +77,7 @@ class LanePlanner():
 
   def update_d_poly(self, v_ego):
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 5.:
+    if ts - self.ts_last_check >= 5.:
       self.camera_offset = int(params.get("DragonCameraOffset", encoding='utf8')) * 0.01
       self.ts_last_check = ts
     # only offset left and right lane lines; offsetting p_poly does not make sense

selfdrive/controls/lib/pathplanner.py

@@ -6,10 +6,12 @@ from selfdrive.controls.lib.lateral_mpc import libmpc_py
 from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
 from selfdrive.controls.lib.lane_planner import LanePlanner
 from selfdrive.config import Conversions as CV
+from common.params import Params
 import cereal.messaging as messaging
 from cereal import log
 # dragonpilot
 from common.params import Params
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 LaneChangeState = log.PathPlan.LaneChangeState
 LaneChangeDirection = log.PathPlan.LaneChangeDirection
@@ -55,6 +57,7 @@ class PathPlanner():
 
     self.setup_mpc()
     self.solution_invalid_cnt = 0
+    self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1'
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
@@ -66,10 +69,11 @@ class PathPlanner():
     self.dragon_auto_lc_enabled = False
     self.dragon_auto_lc_allowed = False
     self.dragon_auto_lc_timer = None
-    self.dragon_assisted_lc_min_mph = 37
-    self.dragon_auto_lc_min_mph = 60
+    self.dragon_assisted_lc_min_mph = 37 * CV.MPH_TO_MS
+    self.dragon_auto_lc_min_mph = 60 * CV.MPH_TO_MS
     self.dragon_auto_lc_delay = 2.
     self.last_ts = 0.
+    self.dp_last_modified = None
 
   def setup_mpc(self):
     self.libmpc = libmpc_py.libmpc
@@ -90,26 +94,29 @@ class PathPlanner():
   def update(self, sm, pm, CP, VM):
     # dragonpilot
     cur_time = sec_since_boot()
-    if cur_time - self.last_ts > 5.:
-      self.dragon_assisted_lc_enabled = True if self.params.get("DragonEnableAssistedLC", encoding='utf8') == "1" else False
-      if self.dragon_assisted_lc_enabled:
-        self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
-        # adjustable assisted lc min speed
-        self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8'))
-        if self.dragon_assisted_lc_min_mph < 0:
-          self.dragon_assisted_lc_min_mph = 0
-        if self.dragon_auto_lc_enabled:
-          # adjustable auto lc min speed
-          self.dragon_auto_lc_min_mph = int(self.params.get("DragonAutoLCMinMPH", encoding='utf8'))
-          if self.dragon_auto_lc_min_mph < 0:
-            self.dragon_auto_lc_min_mph = 0
-          # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc
-          if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph:
-            self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph
-          # adjustable auto lc delay
-          self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8'))
-          if self.dragon_auto_lc_delay < 0:
-            self.dragon_auto_lc_delay = 0
+    if cur_time - self.last_ts >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_assisted_lc_enabled = self.lane_change_enabled
+        if self.dragon_assisted_lc_enabled:
+          self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
+          # adjustable assisted lc min speed
+          self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
+          if self.dragon_assisted_lc_min_mph < 0:
+            self.dragon_assisted_lc_min_mph = 0
+          if self.dragon_auto_lc_enabled:
+            # adjustable auto lc min speed
+            self.dragon_auto_lc_min_mph = int(self.params.get("DragonAutoLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
+            if self.dragon_auto_lc_min_mph < 0:
+              self.dragon_auto_lc_min_mph = 0
+            # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc
+            if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph:
+              self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph
+            # adjustable auto lc delay
+            self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8'))
+            if self.dragon_auto_lc_delay < 0:
+              self.dragon_auto_lc_delay = 0
+        self.dp_last_modified = modified
       self.last_ts = cur_time
 
     v_ego = sm['carState'].vEgo
@@ -127,14 +134,14 @@ class PathPlanner():
 
     # Lane change logic
     one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
-    below_lane_change_speed = not self.dragon_assisted_lc_enabled or v_ego < self.dragon_assisted_lc_min_mph * CV.MPH_TO_MS
+    below_lane_change_speed = v_ego < self.dragon_assisted_lc_min_mph
 
     if sm['carState'].leftBlinker:
       self.lane_change_direction = LaneChangeDirection.left
     elif sm['carState'].rightBlinker:
       self.lane_change_direction = LaneChangeDirection.right
 
-    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker):
+    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker) or (not self.lane_change_enabled):
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:
@@ -145,7 +152,7 @@ class PathPlanner():
       lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
 
       # dragonpilot auto lc
-      if not below_lane_change_speed and self.dragon_auto_lc_enabled and v_ego >= self.dragon_auto_lc_min_mph * CV.MPH_TO_MS:
+      if not below_lane_change_speed and self.dragon_auto_lc_enabled and v_ego >= self.dragon_auto_lc_min_mph:
         # we allow auto lc when speed reached dragon_auto_lc_min_mph
         self.dragon_auto_lc_allowed = True
 
@@ -153,7 +160,7 @@ class PathPlanner():
           # we only set timer when in preLaneChange state, dragon_auto_lc_delay delay
           if self.lane_change_state == LaneChangeState.preLaneChange:
             self.dragon_auto_lc_timer = cur_time + self.dragon_auto_lc_delay
-        elif cur_time > self.dragon_auto_lc_timer:
+        elif cur_time >= self.dragon_auto_lc_timer:
           # if timer is up, we set torque_applied to True to fake user input
           torque_applied = True
       else:
@@ -167,7 +174,7 @@ class PathPlanner():
 
       # State transitions
       # off
-      if self.dragon_assisted_lc_enabled and self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
+      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
 
       # pre

selfdrive/controls/lib/planner.py

@@ -13,6 +13,7 @@ from selfdrive.controls.lib.speed_smoother import speed_smoother
 from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
 from selfdrive.controls.lib.fcw import FCWChecker
 from selfdrive.controls.lib.long_mpc import LongitudinalMpc
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 MAX_SPEED = 255.0
 
@@ -22,33 +23,51 @@ AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distract
 
 # lookup tables VS speed to determine min and max accels in cruise
 # make sure these accelerations are smaller than mpc limits
-_A_CRUISE_MIN_V  = [-1.0, -.8, -.67, -.5, -.30]
-_A_CRUISE_MIN_BP = [   0., 5.,  10., 20.,  40.]
+_A_CRUISE_MIN_V_ECO = [-1.0, -0.7, -0.6, -0.5, -0.3]
+_A_CRUISE_MIN_V_SPORT = [-3.0, -2.6, -2.3, -2.0, -1.0]
+
+_A_CRUISE_MIN_V = [-2.0, -1.5, -1.0, -0.7, -0.5]
+_A_CRUISE_MIN_BP = [0.0, 5.0, 10.0, 20.0, 55.0]
 
 # need fast accel at very low speed for stop and go
 # make sure these accelerations are smaller than mpc limits
-_A_CRUISE_MAX_V = [1.2, 1.2, 0.65, .4]
-_A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 0.65, .4]
-_A_CRUISE_MAX_BP = [0.,  6.4, 22.5, 40.]
+_A_CRUISE_MAX_V = [2.0, 2.0, 1.5, .5, .3]
+_A_CRUISE_MAX_V_ECO = [1.0, 1.5, 1.0, 0.3, 0.1]
+_A_CRUISE_MAX_V_SPORT = [3.0, 3.5, 4.0, 4.0, 4.0]
+_A_CRUISE_MAX_V_FOLLOWING = [1.3, 1.6, 1.2, .7, .3]
+_A_CRUISE_MAX_BP = [0., 5., 10., 20., 55.]
 
 # Lookup table for turns
-_A_TOTAL_MAX_V = [1.7, 3.2]
-_A_TOTAL_MAX_BP = [20., 40.]
+_A_TOTAL_MAX_V = [3.3, 3.0, 3.9]
+_A_TOTAL_MAX_BP = [0., 25., 55.]
 
 # 75th percentile
 SPEED_PERCENTILE_IDX = 7
 
+# dragonpilot, accel profiles
+ACCEL_ECO_MODE = -1
+ACCEL_NORMAL_MODE = 0
+ACCEL_SPORT_MODE = 1
 
-def calc_cruise_accel_limits(v_ego, following):
-  a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+def calc_cruise_accel_limits(v_ego, following, accel_profile):
+  if accel_profile == ACCEL_ECO_MODE:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_ECO)
+  elif accel_profile == ACCEL_SPORT_MODE:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_SPORT)
+  else:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
 
   if following:
     a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
   else:
-    a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
+    if accel_profile == ACCEL_ECO_MODE:
+      a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_ECO)
+    elif accel_profile == ACCEL_SPORT_MODE:
+      a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_SPORT)
+    else:
+      a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
   return np.vstack([a_cruise_min, a_cruise_max])
 
-
 def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
   This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
@@ -89,7 +108,11 @@ class Planner():
 
     # dragonpilot
     self.dragon_slow_on_curve = True
+    self.dragon_alt_accel_profile = False
+    self.dragon_fast_accel = False
+    self.dragon_accel_profile = ACCEL_NORMAL_MODE
     self.last_ts = 0.
+    self.dp_last_modified = None
 
   def choose_solution(self, v_cruise_setpoint, enabled):
     if enabled:
@@ -125,8 +148,14 @@ class Planner():
 
     # dragonpilot
     # update variable status every 5 secs
-    if cur_time - self.last_ts > 5.:
-      self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
+    if cur_time - self.last_ts >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
+        self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8'))
+        if self.dragon_accel_profile >= 2 or self.dragon_accel_profile <= -2:
+          self.dragon_accel_profile = 0
+        self.dp_last_modified = modified
       self.last_ts = cur_time
 
     long_control_state = sm['controlsState'].longControlState
@@ -160,7 +189,7 @@ class Planner():
 
     # Calculate speed for normal cruise control
     if enabled and not self.first_loop:
-      accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
+      accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following, self.dragon_accel_profile)]
       jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]  # TODO: make a separate lookup for jerk tuning
       accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngle, accel_limits, self.CP)
 

selfdrive/crash.py

@@ -1,10 +1,11 @@
 """Install exception handler for process crash."""
 import os
 import sys
-import json
-#from subprocess import check_output
 import threading
-from selfdrive.version import version, dirty
+import capnp
+from common.params import Params
+from selfdrive.version import version, dirty, origin, branch
+uniqueID = Params().get('DongleId', None)
 
 from selfdrive.swaglog import cloudlog
 
@@ -20,47 +21,33 @@ if os.getenv("NOLOG") or os.getenv("NOCRASH"):
 else:
   from raven import Client
   from raven.transport.http import HTTPTransport
-
-  error_tags = {'dirty': dirty, 'username': 'char_error'}
-
+  params = Params()
   try:
-    with open("/data/data/ai.comma.plus.offroad/files/persistStore/persist-auth", "r") as f:
-      auth = json.loads(f.read())
-    auth = json.loads(auth['commaUser'])
-    tags = ['username', 'email']
-    for tag in tags:
-      try:
-        error_tags[tag] = ''.join(char for char in auth[tag].decode('utf-8', 'ignore') if char.isalnum())
-      except:
-        pass
-  except:
-    pass
-
-  logging_data = {"branch": "/data/params/d/GitBranch", "commit": "/data/params/d/GitCommit", "remote": "/data/params/d/GitRemote"}
-
-  for key in logging_data:
-    try:
-      with open(logging_data[key], "r") as f:
-        error_tags[key] = str(f.read())
-    except:
-      error_tags[key] = "unknown"
+    dongle_id = params.get("DongleId").decode('utf8')
+  except AttributeError:
+    dongle_id = "None"
+  error_tags = {'dirty': dirty, 'username': uniqueID, 'dongle_id': dongle_id, 'branch': branch, 'remote': origin}
 
   client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
                   install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
 
-  def capture_warning(warning_string):
-    client.captureMessage(warning_string, level='warning')
-
-  def capture_info(info_string):
-    client.captureMessage(info_string, level='info')
-
   def capture_exception(*args, **kwargs):
-    client.captureException(*args, **kwargs)
+    exc_info = sys.exc_info()
+    if not exc_info[0] is capnp.lib.capnp.KjException:
+      client.captureException(*args, **kwargs)
     cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   def bind_user(**kwargs):
     client.user_context(kwargs)
 
+  def capture_warning(warning_string):
+    bind_user(id=dongle_id)
+    client.captureMessage(warning_string, level='warning')
+
+  def capture_info(info_string):
+    bind_user(id=dongle_id)
+    client.captureMessage(info_string, level='info')
+
   def bind_extra(**kwargs):
     client.extra_context(kwargs)
 

selfdrive/debug/live_cpu_and_temp.py

@@ -1,64 +1,72 @@
 #!/usr/bin/env python3
+import argparse
+
 import numpy as np
 
 from cereal.messaging import SubMaster
 
+
 def cputime_total(ct):
-    return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
+  return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
 
 
 def cputime_busy(ct):
-    return ct.user + ct.nice + ct.system + ct.irq + ct.softirq
+  return ct.user + ct.nice + ct.system + ct.irq + ct.softirq
 
 
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--mem', action='store_true')
+  args = parser.parse_args()
 
-sm = SubMaster(['thermal', 'procLog'])
+  sm = SubMaster(['thermal', 'procLog'])
 
-last_temp = 0.0
-last_mem = 0.0
-total_times = [0., 0., 0., 0.]
-busy_times = [0., 0., 0.0, 0.]
+  last_temp = 0.0
+  last_mem = 0.0
+  total_times = [0., 0., 0., 0.]
+  busy_times = [0., 0., 0.0, 0.]
+
+  while True:
+    sm.update()
+
+    if sm.updated['thermal']:
+      t = sm['thermal']
+      last_temp = np.mean([t.cpu0, t.cpu1, t.cpu2, t.cpu3]) / 10.
+      last_mem = t.memUsedPercent
+
+    if sm.updated['procLog']:
+      m = sm['procLog']
 
 
-while True:
-  sm.update()
+      cores = [0., 0., 0., 0.]
+      total_times_new = [0., 0., 0., 0.]
+      busy_times_new = [0., 0., 0.0, 0.]
 
-  if sm.updated['thermal']:
-    t = sm['thermal']
-    last_temp = np.mean([t.cpu0, t.cpu1, t.cpu2, t.cpu3]) / 10.
-    last_mem = t.memUsedPercent
+      for c in m.cpuTimes:
+        n = c.cpuNum
+        total_times_new[n] = cputime_total(c)
+        busy_times_new[n] = cputime_busy(c)
 
-  if sm.updated['procLog']:
-    m = sm['procLog']
+      for n in range(4):
+        t_busy = busy_times_new[n] - busy_times[n]
+        t_total = total_times_new[n] - total_times[n]
+        cores[n] = t_busy / t_total
 
-    mems = {}
-    for proc in m.procs:
-      name = proc.name
-      if len(proc.cmdline):
-        name = proc.cmdline[0]
-      if len(proc.exe):
-        name = proc.exe + " - " + name
-      mems[name] = float(proc.memRss) / 1e6
+      total_times = total_times_new[:]
+      busy_times = busy_times_new[:]
 
-    cores = [0., 0., 0., 0.]
-    total_times_new = [0., 0., 0., 0.]
-    busy_times_new = [0., 0., 0.0, 0.]
+      print("CPU %.2f%% - RAM: %.2f - Temp %.2f" % (100. * np.mean(cores), last_mem, last_temp))
 
-    for c in m.cpuTimes:
-      n = c.cpuNum
-      total_times_new[n] = cputime_total(c)
-      busy_times_new[n] = cputime_busy(c)
-
-    for n in range(4):
-      t_busy = busy_times_new[n] - busy_times[n]
-      t_total = total_times_new[n] - total_times[n]
-      cores[n] = t_busy / t_total
-
-    total_times = total_times_new[:]
-    busy_times = busy_times_new[:]
-
-    print()
-    print("CPU %.2f%% - RAM: %.2f - Temp %.2f" % (100. * np.mean(cores), last_mem, last_temp))
-    print("Top memory usage:")
-    for k, v in sorted(mems.items(), key=lambda item: item[1], reverse=True)[:10]:
-      print(f"{k.rjust(70)}   {v:.2f} MB")
+      if args.mem:
+        mems = {}
+        for proc in m.procs:
+          name = proc.name
+          if len(proc.cmdline):
+            name = proc.cmdline[0]
+          if len(proc.exe):
+            name = proc.exe + " - " + name
+          mems[name] = float(proc.memRss) / 1e6
+        print("Top memory usage:")
+        for k, v in sorted(mems.items(), key=lambda item: item[1], reverse=True)[:10]:
+          print(f"{k.rjust(70)}   {v:.2f} MB")
+        print()

selfdrive/debug/test_fw_query_on_routes.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 import traceback
 import sys
 from tqdm import tqdm
@@ -13,14 +14,19 @@ from selfdrive.car.honda.values import FINGERPRINTS as HONDA_FINGERPRINTS
 
 if __name__ == "__main__":
   if len(sys.argv) < 2:
-    print("Usage: ./test_fw_query_on_routes.py <route_list>")
+    print("Usage: ./test_fw_query_on_routes.py <route_list>/<route>")
     sys.exit(1)
 
+  if os.path.exists(sys.argv[1]):
+    routes = list(open(sys.argv[1]))
+  else:
+    routes = [sys.argv[1]]
+
   wrong = 0
   good = 0
 
   dongles = []
-  for route in tqdm(list(open(sys.argv[1]))):
+  for route in tqdm(routes):
     route = route.rstrip()
     dongle_id, time = route.split('|')
     qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"

selfdrive/dragonpilot/appd/appd.py

@@ -8,6 +8,8 @@ from selfdrive.swaglog import cloudlog
 from common.realtime import sec_since_boot
 from common.params import Params, put_nonblocking
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
+from math import floor
 
 class App():
 
@@ -72,44 +74,44 @@ class App():
 
     self.set_package_permissions()
     self.system("pm disable %s" % self.app)
+    if self.manual_ctrl_param is not None:
+      put_nonblocking(self.manual_ctrl_param, '0')
     self.last_ts = sec_since_boot()
 
   def read_params(self):
-    cur_time = sec_since_boot()
-    if cur_time - self.last_ts > 5:
-      self.last_is_enabled = self.is_enabled
-      if self.enable_param is None:
-        self.is_enabled = False
-      else:
-        self.is_enabled = True if params.get(self.enable_param, encoding='utf8') == "1" else False
+    self.last_is_enabled = self.is_enabled
+    if self.enable_param is None:
+      self.is_enabled = False
+    else:
+      self.is_enabled = True if params.get(self.enable_param, encoding='utf8') == "1" else False
 
-      if self.is_enabled:
-        # a service app should run automatically and not manual controllable.
-        if self.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
-          self.is_auto_runnable = True
+    if self.is_enabled:
+      # a service app should run automatically and not manual controllable.
+      if self.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
+        self.is_auto_runnable = True
+        self.manual_ctrl_status = self.MANUAL_IDLE
+      else:
+        if self.manual_ctrl_param is None:
           self.manual_ctrl_status = self.MANUAL_IDLE
         else:
-          if self.manual_ctrl_param is None:
-            self.manual_ctrl_status = self.MANUAL_IDLE
-          else:
-            self.manual_ctrl_status = params.get(self.manual_ctrl_param, encoding='utf8')
+          self.manual_ctrl_status = params.get(self.manual_ctrl_param, encoding='utf8')
 
+        if self.manual_ctrl_status == self.MANUAL_IDLE:
           if self.auto_run_param is None:
             self.is_auto_runnable = False
           else:
             self.is_auto_runnable = True if params.get(self.auto_run_param, encoding='utf8') == "1" else False
-      else:
-        self.is_auto_runnable = False
-        self.manual_ctrl_status = self.MANUAL_IDLE
-        self.manually_ctrled = False
-
-      self.last_ts = cur_time
+    else:
+      self.is_auto_runnable = False
+      self.manual_ctrl_status = self.MANUAL_IDLE
+      self.manually_ctrled = False
 
   def run(self, force = False):
     if force or self.is_enabled:
       # app is manually ctrl, we record that
       if self.manual_ctrl_param is not None and self.manual_ctrl_status == self.MANUAL_ON:
         put_nonblocking(self.manual_ctrl_param, '0')
+        put_nonblocking('DragonLastModified', str(floor(time.time())))
         self.manually_ctrled = True
         self.is_running = False
 
@@ -164,6 +166,16 @@ class App():
                      returncode=e.returncode)
 
 def init_apps(apps):
+  apps.append(App(
+    "cn.dragonpilot.gpsservice",
+    "cn.dragonpilot.gpsservice.MainService",
+    "DragonGreyPandaMode",
+    None,
+    None,
+    App.TYPE_GPS_SERVICE,
+    [],
+    [],
+  ))
   apps.append(App(
     # v1.16.2
     "com.tomtom.speedcams.android.map",
@@ -231,16 +243,6 @@ def init_apps(apps):
       "SYSTEM_ALERT_WINDOW",
     ]
   ))
-  apps.append(App(
-    "cn.dragonpilot.gpsservice",
-    "cn.dragonpilot.gpsservice.MainService",
-    "DragonGreyPandaMode",
-    None,
-    None,
-    App.TYPE_GPS_SERVICE,
-    [],
-    [],
-  ))
   apps.append(App(
     # v4.57.2.0
     "com.waze",
@@ -272,8 +274,6 @@ def main():
     system(f"LD_LIBRARY_PATH= input tap 995 160")
     system(f"pkill com.android.settings")
 
-  init_apps(apps)
-
   last_started = False
   thermal_sock = messaging.sub_sock('thermal')
 
@@ -283,105 +283,99 @@ def main():
   allow_auto_run = True
   last_thermal_status = None
   thermal_status = None
-
-  set_location_provider_allowed = False
+  start_ts = sec_since_boot()
+  init_done = False
+  last_modified = None
 
   while 1: #has_enabled_apps:
-    has_fullscreen_apps = False
-    has_gps_apps = False
-    has_gps_service_apps = False
+    if not init_done and sec_since_boot() - start_ts >= 10:
+      init_apps(apps)
+      init_done = True
 
-    for app in apps:
-      # read params loop
-      app.read_params()
-      if app.last_is_enabled and not app.is_enabled and app.is_running:
-        app.kill(True)
-
-      if app.is_enabled:
-        if not has_fullscreen_apps and app.app_type == App.TYPE_FULLSCREEN:
-          has_fullscreen_apps = True
-        elif not has_gps_apps and app.app_type == App.TYPE_GPS:
-          has_gps_apps = True
-        elif not has_gps_service_apps and app.app_type == App.TYPE_GPS_SERVICE:
-          has_gps_service_apps = True
-
-        # process manual ctrl apps
-        if app.manual_ctrl_status != App.MANUAL_IDLE:
-          if app.manual_ctrl_status == App.MANUAL_ON:
-            app.run(True)
-          else:
-            app.kill(True)
-
-    # set location provider accuracy
-    if not set_location_provider_allowed and (has_gps_apps or has_gps_service_apps):
-      system(f"settings put secure location_providers_allowed -gps")
-      system(f"settings put secure location_providers_allowed -network")
-      system(f"settings put secure location_providers_allowed +gps,network")
-      set_location_provider_allowed = True
-
-    msg = messaging.recv_sock(thermal_sock, wait=True)
-    started = msg.thermal.started
-    # when car is running
-    if started:
-      stop_delay = None
-      # apps start 5 secs later
-      if start_delay is None:
-        start_delay = frame + 5
-
-      thermal_status = msg.thermal.thermalStatus
-      if thermal_status <= ThermalStatus.yellow:
-        allow_auto_run = True
-        # when temp reduce from red to yellow, we add start up delay as well
-        # so apps will not start up immediately
-        if last_thermal_status == ThermalStatus.red:
-          start_delay = frame + 60
-      elif thermal_status >= ThermalStatus.red:
-        allow_auto_run = False
-
-      last_thermal_status = thermal_status
-
-      # we run service apps and kill all util apps
-      # only run once
-      if last_started != started:
-        for app in apps:
-          if app.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
-            app.run()
-          elif app.app_type == App.TYPE_UTIL:
-            app.kill()
-
-      # only run apps that's not manually ctrled
+    if init_done:
+      enabled_apps = []
+      has_fullscreen_apps = False
+      modified = dp_get_last_modified()
       for app in apps:
-        if not app.manually_ctrled:
-          if has_fullscreen_apps:
-            if app.app_type == App.TYPE_FULLSCREEN:
+        # read params loop
+        if last_modified != modified:
+          app.read_params()
+        if app.last_is_enabled and not app.is_enabled and app.is_running:
+          app.kill(True)
+
+        if app.is_enabled:
+          if not has_fullscreen_apps and app.app_type == App.TYPE_FULLSCREEN:
+            has_fullscreen_apps = True
+
+          # process manual ctrl apps
+          if app.manual_ctrl_status != App.MANUAL_IDLE:
+            app.run(True) if app.manual_ctrl_status == App.MANUAL_ON else app.kill(True)
+
+          enabled_apps.append(app)
+      last_modified = modified
+      msg = messaging.recv_sock(thermal_sock, wait=True)
+      started = msg.thermal.started
+      # when car is running
+      if started:
+        stop_delay = None
+        # apps start 5 secs later
+        if start_delay is None:
+          start_delay = frame + 5
+
+        thermal_status = msg.thermal.thermalStatus
+        if thermal_status <= ThermalStatus.yellow:
+          allow_auto_run = True
+          # when temp reduce from red to yellow, we add start up delay as well
+          # so apps will not start up immediately
+          if last_thermal_status == ThermalStatus.red:
+            start_delay = frame + 60
+        elif thermal_status >= ThermalStatus.red:
+          allow_auto_run = False
+
+        last_thermal_status = thermal_status
+
+        # we run service apps and kill all util apps
+        # only run once
+        if last_started != started:
+          for app in enabled_apps:
+            if app.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
               app.run()
-            elif app.app_type in [App.TYPE_GPS, App.TYPE_UTIL]:
+            elif app.app_type == App.TYPE_UTIL:
               app.kill()
-          else:
-            if not allow_auto_run:
-              app.kill()
-            else:
-              if frame > start_delay and app.is_auto_runnable and app.app_type == App.TYPE_GPS:
+
+        # only run apps that's not manually ctrled
+        for app in enabled_apps:
+          if not app.manually_ctrled:
+            if has_fullscreen_apps:
+              if app.app_type == App.TYPE_FULLSCREEN:
                 app.run()
-    # when car is stopped
-    else:
-      start_delay = None
-      # set delay to 30 seconds
-      if stop_delay is None:
-        stop_delay = frame + 30
+              elif app.app_type in [App.TYPE_GPS, App.TYPE_UTIL]:
+                app.kill()
+            else:
+              if not allow_auto_run:
+                app.kill()
+              else:
+                if frame >= start_delay and app.is_auto_runnable and app.app_type == App.TYPE_GPS:
+                  app.run()
+      # when car is stopped
+      else:
+        start_delay = None
+        # set delay to 30 seconds
+        if stop_delay is None:
+          stop_delay = frame + 30
 
-      for app in apps:
-        if app.is_running and not app.manually_ctrled:
-          if has_fullscreen_apps or frame > stop_delay:
-            app.kill()
+        for app in enabled_apps:
+          if app.is_running and not app.manually_ctrled:
+            if has_fullscreen_apps or frame >= stop_delay:
+              app.kill()
 
-    if last_started != started:
-      for app in apps:
-        app.manually_ctrled = False
+      if last_started != started:
+        for app in enabled_apps:
+          app.manually_ctrled = False
 
-    last_started = started
-    frame += 3
-    time.sleep(3)
+      last_started = started
+      frame += 3
+      time.sleep(3)
 
 def system(cmd):
   try:

selfdrive/dragonpilot/dashcamd/dashcamd.py

@@ -29,7 +29,7 @@ def main(gctx=None):
 
   thermal_sock = messaging.sub_sock('thermal')
   while 1:
-    if params.get("DragonWazeMode", encoding='utf8') == "0" and params.get("DragonEnableDashcam", encoding='utf8') == "1":
+    if params.get("DragonEnableDashcam", encoding='utf8') == "1":
       now = datetime.datetime.now()
       file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
       os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos, file_name))

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -1,9 +1,12 @@
 #!/usr/bin/env python2.7
 from common.params import Params, put_nonblocking
+import time
+from math import floor
 
 default_conf = {
   'DragonEnableDashcam': '0',
   'DragonEnableDriverSafetyCheck': '1',
+  'DragonEnableAutoShutdown': '1',
   'DragonAutoShutdownAt': '0', # in minute
   'DragonEnableSteeringOnSignal': '0',
   'DragonEnableLogger': '1',
@@ -50,6 +53,7 @@ default_conf = {
   'DragonUILead': '1',
   'DragonUIPath': '1',
   'DragonUIBlinker': '0',
+  'DragonUIDMView': '0',
   'DragonEnableDriverMonitoring': '1',
   'DragonCarModel': '',
   'DragonEnableSlowOnCurve': '1',
@@ -58,17 +62,17 @@ default_conf = {
   'DragonEnableSRLearner': '1',
   'DragonWazeMode': '0',
   'DragonRunWaze': '0',
-  'DragonEnableAssistedLC': '1',
   'DragonEnableAutoLC': '0',
   'DragonAssistedLCMinMPH': 45,
   'DragonAutoLCMinMPH': 60,
   'DragonAutoLCDelay': 2,
   'DragonBTG': 0,
   'DragonBootHotspot': 0,
+  'DragonAccelProfile': '0',
+  'DragonLastModified': str(floor(time.time()))
 }
 
 deprecated_conf = {
-  'DragonCarVIN': '',
 }
 
 deprecated_conf_invert = {
@@ -79,18 +83,21 @@ deprecated_conf_invert = {
 #   'DragonBBUI': False
 }
 
+def dp_get_last_modified():
+  return Params().get('DragonLastModified', encoding='utf-8')
+
 def dragonpilot_set_params(params):
-  # remove deprecated params
-  for old, new in deprecated_conf.items():
-    if params.get(old) is not None:
-      if new is not None:
-        old_val = str(params.get(old))
-        new_val = old_val
-        # invert the value if true
-        if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
-          new_val = "1" if old_val == "0" else "0"
-        put_nonblocking(new, new_val)
-      params.delete(old)
+  # # remove deprecated params
+  # for old, new in deprecated_conf.items():
+  #   if params.get(old) is not None:
+  #     if new is not None:
+  #       old_val = str(params.get(old))
+  #       new_val = old_val
+  #       # invert the value if true
+  #       if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
+  #         new_val = "1" if old_val == "0" else "0"
+  #       put_nonblocking(new, new_val)
+  #     params.delete(old)
 
   # set params
   for key, val in default_conf.items():

selfdrive/dragonpilot/shutdownd/shutdownd.py

@@ -1,48 +1,49 @@
 #!/usr/bin/env python3
-
 import os
 import time
 from common.params import Params
 params = Params()
+import cereal.messaging as messaging
+from common.realtime import sec_since_boot
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
-def main(gctx=None):
-
-  shutdown_count = 0
-  auto_shutdown_at = get_shutdown_val()
-  frame = 0
-  last_shutdown_val = get_shutdown_val()
-
+def main():
+  thermal_sock = messaging.sub_sock('thermal')
+  last_ts = 0
+  secs = 0
+  last_secs = None
+  shutdown_at = 0
+  started = False
+  usb_online = False
+  enabled = False
+  last_enabled = None
+  dp_last_modified = None
   while 1:
-    with open("/sys/class/power_supply/usb/present") as f:
-      usb_online = bool(int(f.read()))
+    cur_time = sec_since_boot()
+    if cur_time - last_ts >= 10.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False
+        if enabled:
+          secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
 
-    if not usb_online:
-      # we update the value every 5 seconds in case of user updates it
-      if frame % 5 == 0:
-        auto_shutdown_at = get_shutdown_val()
-      shutdown_count += 1
-    else:
-      shutdown_count = 0
+        dp_last_modified = modified
 
-    if not last_shutdown_val == auto_shutdown_at:
-      shutdown_count = 0
-      last_shutdown_val = auto_shutdown_at
+      if enabled:
+        msg = messaging.recv_sock(thermal_sock, wait=True)
+        started = msg.thermal.started
+        usb_online = msg.thermal.usbOnline
 
-    if auto_shutdown_at is None:
-      auto_shutdown_at = get_shutdown_val()
-    else:
-      if shutdown_count >= auto_shutdown_at > 0:
-        os.system('LD_LIBRARY_PATH="" svc power shutdown')
+      if last_enabled != enabled or last_secs != secs or started or usb_online:
+        shutdown_at = cur_time + secs
 
-    time.sleep(1)
-
-def get_shutdown_val():
-  val = params.get("DragonAutoShutdownAt", encoding='utf8')
-  if val is None:
-    return None
-  else:
-    return int(val)*60 # convert to seconds
+      last_enabled = enabled
+      last_secs = secs
+      last_ts = cur_time
 
+    if enabled and not started and not usb_online and secs > 0 and cur_time >= shutdown_at:
+      os.system('LD_LIBRARY_PATH="" svc power shutdown')
+    time.sleep(10)
 
 if __name__ == "__main__":
   main()

selfdrive/locationd/kalman/.gitignore

@@ -0,0 +1 @@
+generated/

selfdrive/locationd/kalman/README.md

@@ -0,0 +1,52 @@
+# Kalman filter library
+
+## Introduction
+The kalman filter framework described here is an incredibly powerful tool for any optimization problem,
+but particularly for visual odometry, sensor fusion localization or SLAM. It is designed to provide very
+accurate results, work online or offline, be fairly computationally efficient, be easy to design filters with in
+python.
+
+## Feature walkthrough
+
+### Extended Kalman Filter with symbolic Jacobian computation
+Most dynamic systems can be described as a Hidden Markov Process. To estimate the state of such a system with noisy
+measurements one can use a Recursive Bayesian estimator. For a linear Markov Process a regular linear Kalman filter is optimal.
+Unfortunately, a lot of systems are non-linear. Extended Kalman Filters can model systems by linearizing the non-linear
+system at every step, this provides a close to optimal estimator when the linearization is good enough. If the linearization
+introduces too much noise, one can use an Iterated Extended Kalman Filter, Unscented Kalman Filter or a Particle Filter. For
+most applications those estimators are overkill and introduce too much complexity and require a lot of additional compute.
+
+Conventionally Extended Kalman Filters are implemented by writing the system's dynamic equations and then manually symbolically 
+calculating the Jacobians for the linearization. For complex systems this is time consuming and very prone to calculation errors.
+This library symbolically computes the Jacobians using sympy to simplify the system's definition and remove the possiblity of introducing calculation errors.
+
+### Error State Kalman Filter
+3D localization algorithms ussually also require estimating orientation of an object in 3D. Orientation is generally represented
+with euler angles or quaternions. 
+
+Euler angles have several problems, there are mulitple ways to represent the same orientation,
+gimbal lock can cause the loss of a degree of freedom and lastly their behaviour is very non-linear when errors are large. 
+Quaternions with one strictly positive dimension don't suffer from these issues, but have another set of problems.
+Quaternions need to be normalized otherwise they will grow unbounded, this is cannot be cleanly enforced in a kalman filter.
+Most importantly though a quaternion has 4 dimensions, but only represents 3 degrees of freedom, so there is one redundant dimension.
+
+Kalman filters are designed to minimize the error of the system's state. It is possible to have a kalman filter where state and the error of the state are represented in a different space. As long as there is an error function that can compute the error based on the true state and estimated state. It is problematic to have redundant dimensions in the error of the kalman filter, but not in the state. A good compromise then, is to use the quaternion to represent the system's attitude state and use euler angles to describe the error in attitude. This library supports and defining an arbitrary error that is in  a different space than the state. [Joan Solà](https://arxiv.org/abs/1711.02508) has written a comprehensive description of using ESKFs for robust 3D orientation estimation.
+
+### Multi-State Constraint Kalman Filter
+How do you integrate feature-based visual odometry with a Kalman filter? The problem is that one cannot write an observation equation for 2D feature observations in image space for a localization kalman filter. One needs to give the feature observation a depth so it has a 3D position, then one can write an obvervation equation in the kalman filter. This is possible by tracking the feature across frames and then estimating the depth. However, the solution is not that simple, the depth estimated by tracking the feature across frames depends on the location of the camera at those frames, and thus the state of the kalman filter. This creates a positive feedback loop where the kalman filter wrongly gains confidence in it's position because the feature position updates reinforce it.
+
+The solution is to use an [MSCKF](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.437.1085&rep=rep1&type=pdf), which this library fully supports.
+
+### Rauch–Tung–Striebel smoothing
+When doing offline estimation with a kalman filter there can be an initialization period where states are badly estimated. 
+Global estimators don't suffer from this, to make our kalman filter competitive with global optimizers we can run the filter
+backwards using an RTS smoother. Those combined with potentially multiple forward and backwards passes of the data should make
+performance very close to global optimization.
+
+### Mahalanobis distance outlier rejector
+A lot of measurements do not come from a Gaussian distribution and as such have outliers that do not fit the statistical model
+of the Kalman filter. This can cause a lot of performance issues if not dealt with. This library allows the use of a mahalanobis
+distance statistical test on the incoming measurements to deal with this. Note that good initialization is critical to prevent
+good measurements from being rejected.
+
+

selfdrive/locationd/kalman/SConscript

@@ -0,0 +1,31 @@
+Import('env')
+
+templates = Glob('templates/*')
+sympy_helpers = "helpers/sympy_helpers.py"
+ekf_sym = "helpers/ekf_sym.py"
+
+to_build = {
+    'pos_computer_4': 'helpers/lst_sq_computer.py',
+    'pos_computer_5': 'helpers/lst_sq_computer.py',
+    'feature_handler_5': 'helpers/feature_handler.py',
+    'gnss': 'models/gnss_kf.py',
+    'loc_4': 'models/loc_kf.py',
+    'live': 'models/live_kf.py',
+    'lane': '#xx/pipeline/lib/ekf/lane_kf.py',
+}
+
+found = {}
+
+for target, command in to_build.items():
+    if File(command).exists():
+        found[target] = command
+
+for target, command in found.items():
+    target_files = File([f'generated/{target}.cpp', f'generated/{target}.h'])
+    command_file = File(command)
+    env.Command(target_files,
+                [templates, command_file, sympy_helpers, ekf_sym],
+                command_file.get_abspath()+" "+target
+    )
+
+    env.SharedLibrary('generated/' + target, target_files[0])

selfdrive/locationd/kalman/helpers/__init__.py

@@ -0,0 +1,191 @@
+import numpy as np
+import os
+from bisect import bisect
+from tqdm import tqdm
+from cffi import FFI
+
+TEMPLATE_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'templates'))
+GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'generated'))
+
+
+def write_code(name, code, header):
+  if not os.path.exists(GENERATED_DIR):
+    os.mkdir(GENERATED_DIR)
+
+  open(os.path.join(GENERATED_DIR, f"{name}.cpp"), 'w').write(code)
+  open(os.path.join(GENERATED_DIR, f"{name}.h"), 'w').write(header)
+
+
+def load_code(name):
+  shared_fn = os.path.join(GENERATED_DIR, f"lib{name}.so")
+  header_fn = os.path.join(GENERATED_DIR, f"{name}.h")
+  header = open(header_fn).read()
+
+  ffi = FFI()
+  ffi.cdef(header)
+  return (ffi, ffi.dlopen(shared_fn))
+
+
+class KalmanError(Exception):
+  pass
+
+
+class ObservationKind():
+  UNKNOWN = 0
+  NO_OBSERVATION = 1
+  GPS_NED = 2
+  ODOMETRIC_SPEED = 3
+  PHONE_GYRO = 4
+  GPS_VEL = 5
+  PSEUDORANGE_GPS = 6
+  PSEUDORANGE_RATE_GPS = 7
+  SPEED = 8
+  NO_ROT = 9
+  PHONE_ACCEL = 10
+  ORB_POINT = 11
+  ECEF_POS = 12
+  CAMERA_ODO_TRANSLATION = 13
+  CAMERA_ODO_ROTATION = 14
+  ORB_FEATURES = 15
+  MSCKF_TEST = 16
+  FEATURE_TRACK_TEST = 17
+  LANE_PT = 18
+  IMU_FRAME = 19
+  PSEUDORANGE_GLONASS = 20
+  PSEUDORANGE_RATE_GLONASS = 21
+  PSEUDORANGE = 22
+  PSEUDORANGE_RATE = 23
+
+  names = ['Unknown',
+           'No observation',
+           'GPS NED',
+           'Odometric speed',
+           'Phone gyro',
+           'GPS velocity',
+           'GPS pseudorange',
+           'GPS pseudorange rate',
+           'Speed',
+           'No rotation',
+           'Phone acceleration',
+           'ORB point',
+           'ECEF pos',
+           'camera odometric translation',
+           'camera odometric rotation',
+           'ORB features',
+           'MSCKF test',
+           'Feature track test',
+           'Lane ecef point',
+           'imu frame eulers',
+           'GLONASS pseudorange',
+           'GLONASS pseudorange rate']
+
+  @classmethod
+  def to_string(cls, kind):
+    return cls.names[kind]
+
+
+
+SAT_OBS = [ObservationKind.PSEUDORANGE_GPS,
+           ObservationKind.PSEUDORANGE_RATE_GPS,
+           ObservationKind.PSEUDORANGE_GLONASS,
+           ObservationKind.PSEUDORANGE_RATE_GLONASS]
+
+
+def run_car_ekf_offline(kf, observations_by_kind):
+  from laika.raw_gnss import GNSSMeasurement
+  observations = []
+  # create list of observations with element format: [kind, time, data]
+  for kind in observations_by_kind:
+    for t, data in zip(observations_by_kind[kind][0], observations_by_kind[kind][1]):
+      observations.append([t, kind, data])
+  observations.sort(key=lambda obs: obs[0])
+
+  times, estimates = run_observations_through_filter(kf, observations)
+
+  forward_states = np.stack(e[1] for e in estimates)
+  forward_covs = np.stack(e[3] for e in estimates)
+  smoothed_states, smoothed_covs = kf.rts_smooth(estimates)
+
+  observations_dict = {}
+  # TODO assuming observations and estimates
+  # are same length may not work with VO
+  for e in estimates:
+    t = e[4]
+    kind = str(int(e[5]))
+    res = e[6]
+    z = e[7]
+    ea = e[8]
+    if len(z) == 0:
+      continue
+    if kind not in observations_dict:
+      observations_dict[kind] = {}
+      observations_dict[kind]['t'] = np.array(len(z)*[t])
+      observations_dict[kind]['z'] = np.array(z)
+      observations_dict[kind]['ea'] = np.array(ea)
+      observations_dict[kind]['residual'] = np.array(res)
+    else:
+      observations_dict[kind]['t'] = np.append(observations_dict[kind]['t'], np.array(len(z)*[t]))
+      observations_dict[kind]['z'] = np.vstack((observations_dict[kind]['z'], np.array(z)))
+      observations_dict[kind]['ea'] = np.vstack((observations_dict[kind]['ea'], np.array(ea)))
+      observations_dict[kind]['residual'] = np.vstack((observations_dict[kind]['residual'], np.array(res)))
+
+  # add svIds to gnss data
+  for kind in map(str, SAT_OBS):
+    if int(kind) in observations_by_kind and kind in observations_dict:
+      observations_dict[kind]['svIds'] = np.array([])
+      observations_dict[kind]['CNO'] = np.array([])
+      observations_dict[kind]['std'] = np.array([])
+      for obs in observations_by_kind[int(kind)][1]:
+        observations_dict[kind]['svIds'] = np.append(observations_dict[kind]['svIds'],
+                                                     np.array([obs[:,GNSSMeasurement.PRN]]))
+        observations_dict[kind]['std'] = np.append(observations_dict[kind]['std'],
+                                                   np.array([obs[:,GNSSMeasurement.PR_STD]]))
+  return smoothed_states, smoothed_covs, forward_states, forward_covs, times, observations_dict
+
+
+def run_observations_through_filter(kf, observations, filter_time=None):
+  estimates = []
+
+  for obs in tqdm(observations):
+    t = obs[0]
+    kind = obs[1]
+    data = obs[2]
+    estimates.append(kf.predict_and_observe(t, kind, data))
+  times = [x[4] for x in estimates]
+  return times, estimates
+
+
+def save_residuals_plot(obs, save_path, data_name):
+  import matplotlib.pyplot as plt
+  import mpld3  # pylint: disable=import-error
+  fig = plt.figure(figsize=(10,20))
+  fig.suptitle('Residuals of ' + data_name, fontsize=24)
+  n = len(list(obs.keys()))
+  start_times = [obs[kind]['t'][0] for kind in obs]
+  start_time = min(start_times)
+  xlims = [start_time + 3, start_time + 60]
+
+  for i, kind in enumerate(obs):
+    ax = fig.add_subplot(n, 1, i+1)
+    ax.set_xlim(xlims)
+    t = obs[kind]['t']
+    res = obs[kind]['residual']
+    start_idx = bisect(t, xlims[0])
+    if len(res) == start_idx:
+      continue
+    ylim = max(np.linalg.norm(res[start_idx:], axis=1))
+    ax.set_ylim([-ylim, ylim])
+    if int(kind) in SAT_OBS:
+      svIds = obs[kind]['svIds']
+      for svId in set(svIds):
+        svId_idx = (svIds == svId)
+        t = obs[kind]['t'][svId_idx]
+        res = obs[kind]['residual'][svId_idx]
+        ax.plot(t, res, label='SV ' + str(int(svId)))
+        ax.legend(loc='right')
+    else:
+      ax.plot(t, res)
+    plt.title('Residual of kind ' + ObservationKind.to_string(int(kind)), fontsize=20)
+  plt.tight_layout()
+  os.makedirs(save_path)
+  mpld3.save_html(fig, save_path + 'residuals_plot.html')

selfdrive/locationd/kalman/helpers/chi2_lookup.py

@@ -0,0 +1,22 @@
+import os
+
+import numpy as np
+
+
+def gen_chi2_ppf_lookup(max_dim=200):
+  from scipy.stats import chi2
+  table = np.zeros((max_dim, 98))
+  for dim in range(1, max_dim):
+    table[dim] = chi2.ppf(np.arange(.01, .99, .01), dim)
+
+  np.save('chi2_lookup_table', table)
+
+
+def chi2_ppf(p, dim):
+  table = np.load(os.path.dirname(os.path.realpath(__file__)) + '/chi2_lookup_table.npy')
+  result = np.interp(p, np.arange(.01, .99, .01), table[dim])
+  return result
+
+
+if __name__ == "__main__":
+  gen_chi2_ppf_lookup()

selfdrive/locationd/kalman/helpers/ekf_sym.py

@@ -0,0 +1,563 @@
+import os
+from bisect import bisect_right
+
+import numpy as np
+import sympy as sp
+from numpy import dot
+
+from selfdrive.locationd.kalman.helpers.sympy_helpers import sympy_into_c
+from selfdrive.locationd.kalman.helpers import (TEMPLATE_DIR, load_code,
+                                                write_code)
+
+from selfdrive.locationd.kalman.helpers.chi2_lookup import chi2_ppf
+
+
+def solve(a, b):
+  if a.shape[0] == 1 and a.shape[1] == 1:
+    return b / a[0][0]
+  else:
+    return np.linalg.solve(a, b)
+
+
+def null(H, eps=1e-12):
+  u, s, vh = np.linalg.svd(H)
+  padding = max(0, np.shape(H)[1] - np.shape(s)[0])
+  null_mask = np.concatenate(((s <= eps), np.ones((padding,), dtype=bool)), axis=0)
+  null_space = np.compress(null_mask, vh, axis=0)
+  return np.transpose(null_space)
+
+
+def gen_code(name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_params=None, msckf_params=None, maha_test_kinds=[]):
+  # optional state transition matrix, H modifier
+  # and err_function if an error-state kalman filter (ESKF)
+  # is desired. Best described in "Quaternion kinematics
+  # for the error-state Kalman filter" by Joan Sola
+
+  if eskf_params:
+    err_eqs = eskf_params[0]
+    inv_err_eqs = eskf_params[1]
+    H_mod_sym = eskf_params[2]
+    f_err_sym = eskf_params[3]
+    x_err_sym = eskf_params[4]
+  else:
+    nom_x = sp.MatrixSymbol('nom_x', dim_x, 1)
+    true_x = sp.MatrixSymbol('true_x', dim_x, 1)
+    delta_x = sp.MatrixSymbol('delta_x', dim_x, 1)
+    err_function_sym = sp.Matrix(nom_x + delta_x)
+    inv_err_function_sym = sp.Matrix(true_x - nom_x)
+    err_eqs = [err_function_sym, nom_x, delta_x]
+    inv_err_eqs = [inv_err_function_sym, nom_x, true_x]
+
+    H_mod_sym = sp.Matrix(np.eye(dim_x))
+    f_err_sym = f_sym
+    x_err_sym = x_sym
+
+  # This configures the multi-state augmentation
+  # needed for EKF-SLAM with MSCKF (Mourikis et al 2007)
+  if msckf_params:
+    msckf = True
+    dim_main = msckf_params[0]      # size of the main state
+    dim_augment = msckf_params[1]   # size of one augment state chunk
+    dim_main_err = msckf_params[2]
+    dim_augment_err = msckf_params[3]
+    N = msckf_params[4]
+    feature_track_kinds = msckf_params[5]
+    assert dim_main + dim_augment * N == dim_x
+    assert dim_main_err + dim_augment_err * N == dim_err
+  else:
+    msckf = False
+    dim_main = dim_x
+    dim_augment = 0
+    dim_main_err = dim_err
+    dim_augment_err = 0
+    N = 0
+
+  # linearize with jacobians
+  F_sym = f_err_sym.jacobian(x_err_sym)
+  for sym in x_err_sym:
+    F_sym = F_sym.subs(sym, 0)
+  for i in range(len(obs_eqs)):
+    obs_eqs[i].append(obs_eqs[i][0].jacobian(x_sym))
+    if msckf and obs_eqs[i][1] in feature_track_kinds:
+      obs_eqs[i].append(obs_eqs[i][0].jacobian(obs_eqs[i][2]))
+    else:
+      obs_eqs[i].append(None)
+
+  # collect sympy functions
+  sympy_functions = []
+
+  # error functions
+  sympy_functions.append(('err_fun', err_eqs[0], [err_eqs[1], err_eqs[2]]))
+  sympy_functions.append(('inv_err_fun', inv_err_eqs[0], [inv_err_eqs[1], inv_err_eqs[2]]))
+
+  # H modifier for ESKF updates
+  sympy_functions.append(('H_mod_fun', H_mod_sym, [x_sym]))
+
+  # state propagation function
+  sympy_functions.append(('f_fun', f_sym, [x_sym, dt_sym]))
+  sympy_functions.append(('F_fun', F_sym, [x_sym, dt_sym]))
+
+  # observation functions
+  for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs:
+    sympy_functions.append(('h_%d' % kind, h_sym, [x_sym, ea_sym]))
+    sympy_functions.append(('H_%d' % kind, H_sym, [x_sym, ea_sym]))
+    if msckf and kind in feature_track_kinds:
+      sympy_functions.append(('He_%d' % kind, He_sym, [x_sym, ea_sym]))
+
+  # Generate and wrap all th c code
+  header, code = sympy_into_c(sympy_functions)
+  extra_header = "#define DIM %d\n" % dim_x
+  extra_header += "#define EDIM %d\n" % dim_err
+  extra_header += "#define MEDIM %d\n" % dim_main_err
+  extra_header += "typedef void (*Hfun)(double *, double *, double *);\n"
+
+  extra_header += "\nvoid predict(double *x, double *P, double *Q, double dt);"
+
+  extra_post = ""
+
+  for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs:
+    if msckf and kind in feature_track_kinds:
+      He_str = 'He_%d' % kind
+      # ea_dim = ea_sym.shape[0]
+    else:
+      He_str = 'NULL'
+      # ea_dim = 1 # not really dim of ea but makes c function work
+    maha_thresh = chi2_ppf(0.95, int(h_sym.shape[0]))  # mahalanobis distance for outlier detection
+    maha_test = kind in maha_test_kinds
+    extra_post += """
+      void update_%d(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
+        update<%d,%d,%d>(in_x, in_P, h_%d, H_%d, %s, in_z, in_R, in_ea, MAHA_THRESH_%d);
+      }
+    """ % (kind, h_sym.shape[0], 3, maha_test, kind, kind, He_str, kind)
+    extra_header += "\nconst static double MAHA_THRESH_%d = %f;" % (kind, maha_thresh)
+    extra_header += "\nvoid update_%d(double *, double *, double *, double *, double *);" % kind
+
+  code += '\nextern "C"{\n' + extra_header + "\n}\n"
+  code += "\n" + open(os.path.join(TEMPLATE_DIR, "ekf_c.c")).read()
+  code += '\nextern "C"{\n' + extra_post + "\n}\n"
+  header += "\n" + extra_header
+
+  write_code(name, code, header)
+
+
+class EKF_sym():
+  def __init__(self, name, Q, x_initial, P_initial, dim_main, dim_main_err,
+               N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[]):
+    """Generates process function and all observation functions for the kalman filter."""
+    self.msckf = N > 0
+    self.N = N
+    self.dim_augment = dim_augment
+    self.dim_augment_err = dim_augment_err
+    self.dim_main = dim_main
+    self.dim_main_err = dim_main_err
+
+    # state
+    x_initial = x_initial.reshape((-1, 1))
+    self.dim_x = x_initial.shape[0]
+    self.dim_err = P_initial.shape[0]
+    assert dim_main + dim_augment * N == self.dim_x
+    assert dim_main_err + dim_augment_err * N == self.dim_err
+    assert Q.shape == P_initial.shape
+
+    # kinds that should get mahalanobis distance
+    # tested for outlier rejection
+    self.maha_test_kinds = maha_test_kinds
+
+    # process noise
+    self.Q = Q
+
+    # rewind stuff
+    self.rewind_t = []
+    self.rewind_states = []
+    self.rewind_obscache = []
+    self.init_state(x_initial, P_initial, None)
+
+    ffi, lib = load_code(name)
+    kinds, self.feature_track_kinds = [], []
+    for func in dir(lib):
+      if func[:2] == 'h_':
+        kinds.append(int(func[2:]))
+      if func[:3] == 'He_':
+        self.feature_track_kinds.append(int(func[3:]))
+
+    # wrap all the sympy functions
+    def wrap_1lists(name):
+      func = eval("lib.%s" % name, {"lib": lib})
+
+      def ret(lst1, out):
+        func(ffi.cast("double *", lst1.ctypes.data),
+             ffi.cast("double *", out.ctypes.data))
+      return ret
+
+    def wrap_2lists(name):
+      func = eval("lib.%s" % name, {"lib": lib})
+
+      def ret(lst1, lst2, out):
+        func(ffi.cast("double *", lst1.ctypes.data),
+             ffi.cast("double *", lst2.ctypes.data),
+             ffi.cast("double *", out.ctypes.data))
+      return ret
+
+    def wrap_1list_1float(name):
+      func = eval("lib.%s" % name, {"lib": lib})
+
+      def ret(lst1, fl, out):
+        func(ffi.cast("double *", lst1.ctypes.data),
+             ffi.cast("double", fl),
+             ffi.cast("double *", out.ctypes.data))
+      return ret
+
+    self.f = wrap_1list_1float("f_fun")
+    self.F = wrap_1list_1float("F_fun")
+
+    self.err_function = wrap_2lists("err_fun")
+    self.inv_err_function = wrap_2lists("inv_err_fun")
+    self.H_mod = wrap_1lists("H_mod_fun")
+
+    self.hs, self.Hs, self.Hes = {}, {}, {}
+    for kind in kinds:
+      self.hs[kind] = wrap_2lists("h_%d" % kind)
+      self.Hs[kind] = wrap_2lists("H_%d" % kind)
+      if self.msckf and kind in self.feature_track_kinds:
+        self.Hes[kind] = wrap_2lists("He_%d" % kind)
+
+    # wrap the C++ predict function
+    def _predict_blas(x, P, dt):
+      lib.predict(ffi.cast("double *", x.ctypes.data),
+                  ffi.cast("double *", P.ctypes.data),
+                  ffi.cast("double *", self.Q.ctypes.data),
+                  ffi.cast("double", dt))
+      return x, P
+
+    # wrap the C++ update function
+    def fun_wrapper(f, kind):
+      f = eval("lib.%s" % f, {"lib": lib})
+
+      def _update_inner_blas(x, P, z, R, extra_args):
+        f(ffi.cast("double *", x.ctypes.data),
+          ffi.cast("double *", P.ctypes.data),
+          ffi.cast("double *", z.ctypes.data),
+          ffi.cast("double *", R.ctypes.data),
+          ffi.cast("double *", extra_args.ctypes.data))
+        if self.msckf and kind in self.feature_track_kinds:
+          y = z[:-len(extra_args)]
+        else:
+          y = z
+        return x, P, y
+      return _update_inner_blas
+
+    self._updates = {}
+    for kind in kinds:
+      self._updates[kind] = fun_wrapper("update_%d" % kind, kind)
+
+    def _update_blas(x, P, kind, z, R, extra_args=[]):
+        return self._updates[kind](x, P, z, R, extra_args)
+
+    # assign the functions
+    self._predict = _predict_blas
+    # self._predict = self._predict_python
+    self._update = _update_blas
+    # self._update = self._update_python
+
+  def init_state(self, state, covs, filter_time):
+    self.x = np.array(state.reshape((-1, 1))).astype(np.float64)
+    self.P = np.array(covs).astype(np.float64)
+    self.filter_time = filter_time
+    self.augment_times = [0] * self.N
+    self.rewind_obscache = []
+    self.rewind_t = []
+    self.rewind_states = []
+
+  def augment(self):
+    # TODO this is not a generalized way of doing this and implies that the augmented states
+    # are simply the first (dim_augment_state) elements of the main state.
+    assert self.msckf
+    d1 = self.dim_main
+    d2 = self.dim_main_err
+    d3 = self.dim_augment
+    d4 = self.dim_augment_err
+
+    # push through augmented states
+    self.x[d1:-d3] = self.x[d1 + d3:]
+    self.x[-d3:] = self.x[:d3]
+    assert self.x.shape == (self.dim_x, 1)
+
+    # push through augmented covs
+    assert self.P.shape == (self.dim_err, self.dim_err)
+    P_reduced = self.P
+    P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=1)
+    P_reduced = np.delete(P_reduced, np.s_[d2:d2 + d4], axis=0)
+    assert P_reduced.shape == (self.dim_err - d4, self.dim_err - d4)
+    to_mult = np.zeros((self.dim_err, self.dim_err - d4))
+    to_mult[:-d4, :] = np.eye(self.dim_err - d4)
+    to_mult[-d4:, :d4] = np.eye(d4)
+    self.P = to_mult.dot(P_reduced.dot(to_mult.T))
+    self.augment_times = self.augment_times[1:]
+    self.augment_times.append(self.filter_time)
+    assert self.P.shape == (self.dim_err, self.dim_err)
+
+  def state(self):
+    return np.array(self.x).flatten()
+
+  def covs(self):
+    return self.P
+
+  def rewind(self, t):
+    # find where we are rewinding to
+    idx = bisect_right(self.rewind_t, t)
+    assert self.rewind_t[idx - 1] <= t
+    assert self.rewind_t[idx] > t    # must be true, or rewind wouldn't be called
+
+    # set the state to the time right before that
+    self.filter_time = self.rewind_t[idx - 1]
+    self.x[:] = self.rewind_states[idx - 1][0]
+    self.P[:] = self.rewind_states[idx - 1][1]
+
+    # return the observations we rewound over for fast forwarding
+    ret = self.rewind_obscache[idx:]
+
+    # throw away the old future
+    # TODO: is this making a copy?
+    self.rewind_t = self.rewind_t[:idx]
+    self.rewind_states = self.rewind_states[:idx]
+    self.rewind_obscache = self.rewind_obscache[:idx]
+
+    return ret
+
+  def checkpoint(self, obs):
+    # push to rewinder
+    self.rewind_t.append(self.filter_time)
+    self.rewind_states.append((np.copy(self.x), np.copy(self.P)))
+    self.rewind_obscache.append(obs)
+
+    # only keep a certain number around
+    REWIND_TO_KEEP = 512
+    self.rewind_t = self.rewind_t[-REWIND_TO_KEEP:]
+    self.rewind_states = self.rewind_states[-REWIND_TO_KEEP:]
+    self.rewind_obscache = self.rewind_obscache[-REWIND_TO_KEEP:]
+
+  def predict_and_update_batch(self, t, kind, z, R, extra_args=[[]], augment=False):
+    # TODO handle rewinding at this level"
+
+    # rewind
+    if self.filter_time is not None and t < self.filter_time:
+      if len(self.rewind_t) == 0 or t < self.rewind_t[0] or t < self.rewind_t[-1] - 1.0:
+        print("observation too old at %.3f with filter at %.3f, ignoring" % (t, self.filter_time))
+        return None
+      rewound = self.rewind(t)
+    else:
+      rewound = []
+
+    ret = self._predict_and_update_batch(t, kind, z, R, extra_args, augment)
+
+    # optional fast forward
+    for r in rewound:
+      self._predict_and_update_batch(*r)
+
+    return ret
+
+  def _predict_and_update_batch(self, t, kind, z, R, extra_args, augment=False):
+    """The main kalman filter function
+    Predicts the state and then updates a batch of observations
+
+    dim_x: dimensionality of the state space
+    dim_z: dimensionality of the observation and depends on kind
+    n: number of observations
+
+    Args:
+      t                 (float): Time of observation
+      kind                (int): Type of observation
+      z         (vec [n,dim_z]): Measurements
+      R  (mat [n,dim_z, dim_z]): Measurement Noise
+      extra_args    (list, [n]): Values used in H computations
+    """
+    # initialize time
+    if self.filter_time is None:
+      self.filter_time = t
+
+    # predict
+    dt = t - self.filter_time
+    assert dt >= 0
+    self.x, self.P = self._predict(self.x, self.P, dt)
+    self.filter_time = t
+    xk_km1, Pk_km1 = np.copy(self.x).flatten(), np.copy(self.P)
+
+    # update batch
+    y = []
+    for i in range(len(z)):
+      # these are from the user, so we canonicalize them
+      z_i = np.array(z[i], dtype=np.float64, order='F')
+      R_i = np.array(R[i], dtype=np.float64, order='F')
+      extra_args_i = np.array(extra_args[i], dtype=np.float64, order='F')
+      # update
+      self.x, self.P, y_i = self._update(self.x, self.P, kind, z_i, R_i, extra_args=extra_args_i)
+      y.append(y_i)
+    xk_k, Pk_k = np.copy(self.x).flatten(), np.copy(self.P)
+
+    if augment:
+      self.augment()
+
+    # checkpoint
+    self.checkpoint((t, kind, z, R, extra_args))
+
+    return xk_km1, xk_k, Pk_km1, Pk_k, t, kind, y, z, extra_args
+
+  def _predict_python(self, x, P, dt):
+    x_new = np.zeros(x.shape, dtype=np.float64)
+    self.f(x, dt, x_new)
+
+    F = np.zeros(P.shape, dtype=np.float64)
+    self.F(x, dt, F)
+
+    if not self.msckf:
+      P = dot(dot(F, P), F.T)
+    else:
+      # Update the predicted state covariance:
+      #  Pk+1|k   =  |F*Pii*FT + Q*dt   F*Pij |
+      #              |PijT*FT           Pjj   |
+      # Where F is the jacobian of the main state
+      # predict function, Pii is the main state's
+      # covariance and Q its process noise. Pij
+      # is the covariance between the augmented
+      # states and the main state.
+      #
+      d2 = self.dim_main_err    # known at compile time
+      F_curr = F[:d2, :d2]
+      P[:d2, :d2] = (F_curr.dot(P[:d2, :d2])).dot(F_curr.T)
+      P[:d2, d2:] = F_curr.dot(P[:d2, d2:])
+      P[d2:, :d2] = P[d2:, :d2].dot(F_curr.T)
+
+    P += dt * self.Q
+    return x_new, P
+
+  def _update_python(self, x, P, kind, z, R, extra_args=[]):
+    # init vars
+    z = z.reshape((-1, 1))
+    h = np.zeros(z.shape, dtype=np.float64)
+    H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64)
+
+    # C functions
+    self.hs[kind](x, extra_args, h)
+    self.Hs[kind](x, extra_args, H)
+
+    # y is the "loss"
+    y = z - h
+
+    # *** same above this line ***
+
+    if self.msckf and kind in self.Hes:
+      # Do some algebraic magic to decorrelate
+      He = np.zeros((z.shape[0], len(extra_args)), dtype=np.float64)
+      self.Hes[kind](x, extra_args, He)
+
+      # TODO: Don't call a function here, do projection locally
+      A = null(He.T)
+
+      y = A.T.dot(y)
+      H = A.T.dot(H)
+      R = A.T.dot(R.dot(A))
+
+      # TODO If nullspace isn't the dimension we want
+      if A.shape[1] + He.shape[1] != A.shape[0]:
+        print('Warning: null space projection failed, measurement ignored')
+        return x, P, np.zeros(A.shape[0] - He.shape[1])
+
+    # if using eskf
+    H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64)
+    self.H_mod(x, H_mod)
+    H = H.dot(H_mod)
+
+    # Do mahalobis distance test
+    # currently just runs on msckf observations
+    # could run on anything if needed
+    if self.msckf and kind in self.maha_test_kinds:
+      a = np.linalg.inv(H.dot(P).dot(H.T) + R)
+      maha_dist = y.T.dot(a.dot(y))
+      if maha_dist > chi2_ppf(0.95, y.shape[0]):
+        R = 10e16 * R
+
+    # *** same below this line ***
+
+    # Outlier resilient weighting as described in:
+    # "A Kalman Filter for Robust Outlier Detection - Jo-Anne Ting, ..."
+    weight = 1  # (1.5)/(1 + np.sum(y**2)/np.sum(R))
+
+    S = dot(dot(H, P), H.T) + R / weight
+    K = solve(S, dot(H, P.T)).T
+    I_KH = np.eye(P.shape[0]) - dot(K, H)
+
+    # update actual state
+    delta_x = dot(K, y)
+    P = dot(dot(I_KH, P), I_KH.T) + dot(dot(K, R), K.T)
+
+    # inject observed error into state
+    x_new = np.zeros(x.shape, dtype=np.float64)
+    self.err_function(x, delta_x, x_new)
+    return x_new, P, y.flatten()
+
+  def maha_test(self, x, P, kind, z, R, extra_args=[], maha_thresh=0.95):
+    # init vars
+    z = z.reshape((-1, 1))
+    h = np.zeros(z.shape, dtype=np.float64)
+    H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64)
+
+    # C functions
+    self.hs[kind](x, extra_args, h)
+    self.Hs[kind](x, extra_args, H)
+
+    # y is the "loss"
+    y = z - h
+
+    # if using eskf
+    H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64)
+    self.H_mod(x, H_mod)
+    H = H.dot(H_mod)
+
+    a = np.linalg.inv(H.dot(P).dot(H.T) + R)
+    maha_dist = y.T.dot(a.dot(y))
+    if maha_dist > chi2_ppf(maha_thresh, y.shape[0]):
+      return False
+    else:
+      return True
+
+  def rts_smooth(self, estimates, norm_quats=False):
+    '''
+    Returns rts smoothed results of
+    kalman filter estimates
+
+    If the kalman state is augmented with
+    old states only the main state is smoothed
+    '''
+    xk_n = estimates[-1][0]
+    Pk_n = estimates[-1][2]
+    Fk_1 = np.zeros(Pk_n.shape, dtype=np.float64)
+
+    states_smoothed = [xk_n]
+    covs_smoothed = [Pk_n]
+    for k in range(len(estimates) - 2, -1, -1):
+      xk1_n = xk_n
+      if norm_quats:
+        xk1_n[3:7] /= np.linalg.norm(xk1_n[3:7])
+      Pk1_n = Pk_n
+
+      xk1_k, _, Pk1_k, _, t2, _, _, _, _ = estimates[k + 1]
+      _, xk_k, _, Pk_k, t1, _, _, _, _ = estimates[k]
+      dt = t2 - t1
+      self.F(xk_k, dt, Fk_1)
+
+      d1 = self.dim_main
+      d2 = self.dim_main_err
+      Ck = np.linalg.solve(Pk1_k[:d2, :d2], Fk_1[:d2, :d2].dot(Pk_k[:d2, :d2].T)).T
+      xk_n = xk_k
+      delta_x = np.zeros((Pk_n.shape[0], 1), dtype=np.float64)
+      self.inv_err_function(xk1_k, xk1_n, delta_x)
+      delta_x[:d2] = Ck.dot(delta_x[:d2])
+      x_new = np.zeros((xk_n.shape[0], 1), dtype=np.float64)
+      self.err_function(xk_k, delta_x, x_new)
+      xk_n[:d1] = x_new[:d1, 0]
+      Pk_n = Pk_k
+      Pk_n[:d2, :d2] = Pk_k[:d2, :d2] + Ck.dot(Pk1_n[:d2, :d2] - Pk1_k[:d2, :d2]).dot(Ck.T)
+      states_smoothed.append(xk_n)
+      covs_smoothed.append(Pk_n)
+
+    return np.flipud(np.vstack(states_smoothed)), np.stack(covs_smoothed, 0)[::-1]