fix hash

update ota/recovery url
Merge branch 'devel-i18n' into 0.7.8-i18n
2026-07-17 10:52:04 +08:00 · 2020-11-10 16:38:47 +10:00 · 2020-11-10 12:40:06 +10:00 · 2020-09-23 12:17:29 +10:00 · 2020-09-23 12:15:50 +10:00 · 2020-09-22 10:03:53 +10:00
165 changed files with 5151 additions and 3257 deletions
@@ -1,3 +1,53 @@
+dragonpilot 0.7.8.2
+========================
+* 修正在沒網路的情況下，開機超過五分鐘的問題。
+* Fixed 5+ minutes boot time issue when there is no internet connection.
+* 錯誤回傳改使用 dp 的主機。
+* Used dp server for error reporting.
+* 更新服務改使用 gitee 的 IP 檢查連線狀態。
+* updated service uses gitee IP address instead.
+
+dragonpilot 0.7.8.1
+========================
+* 加入 ko-KR 翻譯。
+* Added ko-KR translation.
+* 加入 Honda Jade 支援。(感謝 @李俊灝)
+* Added Honda Jade support. (Thanks to @lijunhao731)
+* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
+* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
+* gpxd 記錄改自動存成 zip 格式。
+* gpxd now store in zip format.
+* 強制關閉 panda 檢查 DOS 硬體。
+* Force disabled DOS hardware check in panda.
+
+dragonpilot 0.7.8.0
+========================
+* 基於最新 openpilot 0.7.8 devel.
+* Based on latest openpilot 0.7.8 devel.
+* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
+* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
+* 將警示訊息更改為類似於概念 UI 的設計。
+* Alert messages changed to concept UI alike design.
+* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
+* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. 
+
+dragonpilot 0.7.7.3
+========================
+* 修正方向盤監控。
+* Fixed steering monitor timer param.
+* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
+* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
+* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
+* Re-added Dev Mini UI. (Thanks to @Ninjaa)
+* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
+* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
+* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
+* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
+* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
+* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
+* 使用德國的車道寬度估算值。 （感謝 @arne182）
+* Used lane width estimate value from Germany. (Thanks to @arne182)
+
 dragonpilot 0.7.7.2
 ========================
 * 加入 d_poly offset。 (感謝 @ShaneSmiskol)
@@ -1,3 +1,30 @@
+dragonpilot 0.7.8
+========================
+* 基於最新 openpilot 0.7.8 devel.
+* Based on latest openpilot 0.7.8 devel.
+* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
+* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
+* 將警示訊息更改為類似於概念 UI 的設計。
+* Alert messages changed to concept UI alike design.
+* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
+* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. 
+* 加入 ko-KR 翻譯。
+* Added ko-KR translation.
+* 加入 Honda Jade 支援。(感謝 @李俊灝)
+* Added Honda Jade support. (Thanks to @lijunhao731)
+* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
+* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
+* gpxd 記錄改自動存成 zip 格式。
+* gpxd now store in zip format.
+* 強制關閉 panda 檢查 DOS 硬體。
+* Force disabled DOS hardware check in panda.
+* 修正在沒網路的情況下，開機超過五分鐘的問題。
+* Fixed 5+ minutes boot time issue when there is no internet connection.
+* 錯誤回傳改使用 dp 的主機。
+* Used dp server for error reporting.
+* 更新服務改使用 gitee 的 IP 檢查連線狀態。
+* updated service uses gitee IP address instead.
+
 dragonpilot 0.7.7.0
 ========================
 * 基於最新 openpilot 0.7.7 devel.
@@ -1,3 +1,77 @@
+2020-09-23 (0.7.8.0)
+========================
+* 修正在沒網路的情況下，開機超過五分鐘的問題。
+* Fixed 5+ minutes boot time issue when there is no internet connection.
+* 錯誤回傳改使用 dp 的主機。
+* Used dp server for error reporting.
+* 更新服務改使用 gitee 的 IP 檢查連線狀態。
+* updated service uses gitee IP address instead.
+
+2020-09-21 (0.7.8.0)
+========================
+* 強制關閉 panda 檢查 DOS 硬體。
+* Force disabled DOS hardware check in panda.
+
+2020-09-18 (0.7.8.0)
+========================
+* gpxd 記錄改自動存成 zip 格式。
+* gpxd now store in zip format.
+
+2020-09-15 (0.7.8.0)
+========================
+* 加入 Honda Jade 支援。(感謝 @李俊灝)
+* Added Honda Jade support. (Thanks to @lijunhao731)
+* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
+* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
+
+2020-09-01 (0.7.8.0)
+========================
+* 加入 ko-KR 翻譯。
+* Added ko-KR translation.
+
+2020-08-21 (0.7.8.0)
+========================
+* 基於最新 openpilot 0.7.8 devel.
+* Based on latest openpilot 0.7.8 devel.
+* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
+* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
+* 將警示訊息更改為類似於概念 UI 的設計。
+* Alert messages changed to concept UI alike design.
+* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
+* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. 
+
+2020-08-18 (0.7.7.0)
+========================
+* gpxd 不再切換至 GCJ-02 格式。(感謝 @arne182 建議)
+* gpxd no longer switch to GCJ-02 format automatically. (Thanks to @arne182)
+* 修正方向盤監控。
+* Fixed steering monitor timer param.
+* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
+* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
+* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
+* Re-added Dev Mini UI. (Thanks to @Ninjaa)
+
+2020-08-17 (0.7.7.0)
+========================
+* gpxd 只儲存高精度數據。(感謝 @arne182)
+* gpxd now only stored high accuracy data. (Thanks to @arne182)
+* gpxd 加入自動切換成 GCJ-02 格式。
+* added ability to switch to GCJ-02 format in gpxd.
+* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
+* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
+
+2020-08-12 (0.7.7.0)
+========================
+* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
+* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
+
+2020-08-12 (0.7.7.0)
+========================
+* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
+* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
+* 使用德國的車道寬度估算值。 （感謝 @arne182）
+* Used lane width estimate value from Germany. (Thanks to @arne182)
+
 2020-08-11 (0.7.7.0)
 ========================
 * 加入 d_poly offset。 (感謝 @ShaneSmiskol)
@@ -1,33 +1,60 @@
-pipeline {
-  agent {
-    docker {
-      image 'python:3.7.3'
-      args '--user=root'
+def phone(String ip, String step_label, String cmd) {
+  def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
+
+  withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
+    sh label: step_label,
+        script: """
+                ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
+echo \$\$ > /dev/cpuset/app/tasks || true
+echo \$PPID > /dev/cpuset/app/tasks || true
+mkdir -p /dev/shm
+chmod 777 /dev/shm
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+EOF"""
+  }
+}
+
+def phone_steps(String device_type, steps) {
+  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+    timeout(time: 60, unit: 'MINUTES') {
+      phone(device_ip, "kill old processes", "pkill -f comma || true")
+      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+      steps.each { item ->
+        phone(device_ip, item[0], item[1])
+      }
    }
  }
+}
+
+pipeline {
+  agent none
  environment {
    COMMA_JWT = credentials('athena-test-jwt')
+    TEST_DIR = "/data/openpilot"
  }

  stages {

    stage('Release Build') {
+      agent {
+        docker {
+          image 'python:3.7.3'
+          args '--user=root'
+        }
+      }
      when {
        branch 'devel-staging'
      }
      steps {
-        lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            dir(path: 'selfdrive/test') {
-              sh 'pip install paramiko'
-              sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"'
-            }
-          }
-        }
+        phone_steps("eon-build", [
+          ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+        ])
      }
    }

-    stage('On-device Tests') {
+    stage('openpilot tests') {
      when {
        not {
          anyOf {
@@ -36,48 +63,80 @@ pipeline {
        }
      }

-      parallel {

-        stage('Build') {
-          environment {
-            CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}"
+      stages {
+
+        /*
+        stage('PC tests') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.openpilot'
+              args '--privileged --shm-size=1G --user=root'
+            }
          }
-
-          steps {
-            lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-              timeout(time: 60, unit: 'MINUTES') {
-                dir(path: 'selfdrive/test') {
-                  sh 'pip install paramiko'
-                  sh 'python phone_ci.py "cd release && ./build_devel.sh"'
-                }
+          stages {
+            stage('Build') {
+              steps {
+                sh 'scons -j$(nproc)'
              }
            }
          }
-        }
-
-        stage('Replay Tests') {
-          steps {
-            lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-              timeout(time: 60, unit: 'MINUTES') {
-                dir(path: 'selfdrive/test') {
-                  sh 'pip install paramiko'
-                  sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"'
-                }
-              }
+          post {
+            always {
+              // fix permissions since docker runs as another user
+              sh "chmod -R 777 ."
            }
          }
        }
+        */

-        stage('HW Tests') {
-          steps {
-            lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-              timeout(time: 60, unit: 'MINUTES') {
-                dir(path: 'selfdrive/test') {
-                  sh 'pip install paramiko'
-                  sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \
-                                          nosetests -s selfdrive/test/test_sounds.py && \
-                                          nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"'
+        stage('On-device Tests') {
+          agent {
+            docker {
+              image 'python:3.7.3'
+              args '--user=root'
+            }
+          }
+
+          stages {
+            stage('parallel tests') {
+              parallel {
+
+                stage('Devel Build') {
+                  environment {
+                    CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
+                  }
+                  steps {
+                    phone_steps("eon", [
+                      ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
+                      ["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
+                      ["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                      ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
+                      ["test text window build", "cd selfdrive/ui/text && make clean && make"],
+                    ])
+                  }
                }
+
+                stage('Replay Tests') {
+                  steps {
+                    phone_steps("eon2", [
+                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+                    ])
+                  }
+                }
+
+                stage('HW + Unit Tests') {
+                  steps {
+                    phone_steps("eon", [
+                      ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
+                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      //["test updater", "python installer/updater/test_updater.py"],
+                    ])
+                  }
+                }
+
              }
            }
          }
@@ -66,7 +66,7 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
@@ -76,7 +76,7 @@ Supported Cars
 | Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019                  | Honda Sensing     | Stock            | 0mph               | 3mph              |
+| Honda     | Insight 2019-20               | Honda Sensing     | Stock            | 0mph               | 3mph              |
 | Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
 | Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
@@ -136,6 +136,7 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
 | GMC       | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
@@ -144,11 +145,12 @@ Community Maintained Cars and Features
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | Hyundai   | Ioniq Electric Premium SE 2020| SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric Limited 2019   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Kona 2017-19                  | SCC + LKAS        | Stock            | 22mph              | 0mph         |
+| Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata 2019                   | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Veloster 2019                 | SCC + LKAS        | Stock            | 5mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Kia       | Forte 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
@@ -156,9 +158,9 @@ Community Maintained Cars and Features
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Leaf 2018-19<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2019<sup>2</sup>        | Propilot          | Stock            | 0mph               | 0mph         |
-| Nissan    | X-Trail 2017<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2018-19                  | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2019                    | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | X-Trail 2017                  | Propilot          | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Forester 2019                 | EyeSight          | Stock            | 0mph               | 0mph         |
@@ -1,3 +1,10 @@
+Version 0.7.8 (2020-08-19)
+========================
+ * New driver monitoring model: improved face detection and better compatibility with sunglasses
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
 Version 0.7.7 (2020-07-20)
 ========================
 * White panda is no longer supported, upgrade to comma two or black panda
@@ -1,3 +1,5 @@
+import Cython
+import distutils
 import os
 import shutil
 import subprocess
@@ -12,6 +14,10 @@ AddOption('--asan',
          action='store_true',
          help='turn on ASAN')

+# Rebuild cython extensions if python, distutils, or cython change
+cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
+Export('cython_dependencies')
+
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
@@ -1,35 +1,34 @@
-Import('env', 'arch', 'zmq')
+Import('env', 'arch', 'zmq', 'cython_dependencies')
+
+import shutil

 gen_dir = Dir('gen')
 messaging_dir = Dir('messaging')

 # TODO: remove src-prefix and cereal from command string. can we set working directory?
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(
-  ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
-import shutil
+env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
+            ['car.capnp', 'log.capnp'],
+            'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
+
 if shutil.which('capnpc-java'):
-  env.Command(
-    ['gen/java/Car.java', 'gen/java/Log.java'],
-    ['car.capnp', 'log.capnp'],
-    'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
+  env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
+              ['car.capnp', 'log.capnp'],
+              'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')

 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([
-    'gen/cpp/car.capnp.c++',
-    'gen/cpp/log.capnp.c++',
-  ])
+  'gen/cpp/car.capnp.c++',
+  'gen/cpp/log.capnp.c++',
+])

 env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)

 cereal_dir = Dir('.')
-services_h = env.Command(
-  ['services.h'],
-  ['service_list.yaml', 'services.py'],
-  'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+services_h = env.Command(['services.h'],
+                          ['service_list.yaml', 'services.py'],
+                          'python3 ' + cereal_dir.path + '/services.py > $TARGET')

 messaging_objects = env.SharedObject([
  'messaging/messaging.cc',
@@ -56,9 +55,9 @@ Depends('messaging/bridge.cc', services_h)
 #env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])


-env.Command(['messaging/messaging_pyx.so'],
-  [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
-  "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
+env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
+            cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
+            "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")


 if GetOption('test'):
@@ -112,14 +112,15 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    wrongCruiseMode @87;
    neosUpdateRequired @88;
    modeldLagging @89;
+    deviceFalling @90;

    #dp
-    preLaneChangeLeftALC @90;
-    preLaneChangeRightALC @91;
-    laneChangeALC @92;
-    manualSteeringRequired @93;
-    manualSteeringRequiredBlinkersOn @94;
-    leadCarMoving @95;
+    preLaneChangeLeftALC @91;
+    preLaneChangeRightALC @92;
+    laneChangeALC @93;
+    manualSteeringRequired @94;
+    manualSteeringRequiredBlinkersOn @95;
+    leadCarMoving @96;
  }
 }

@@ -485,6 +486,7 @@ struct CarParams {
    volkswagenPq @21;
    subaruLegacy @22;  # pre-Global platform
    hyundaiLegacy @23;
+    hyundaiCommunity @24;
  }

  enum SteerControlType {
@@ -441,18 +441,22 @@ struct RadarState @0x9a185389d6fdd05f {
 struct LiveCalibrationData {
  # deprecated
  warpMatrix @0 :List(Float32);
+
  # camera_frame_from_model_frame
  warpMatrix2 @5 :List(Float32);
  warpMatrixBig @6 :List(Float32);
+
  calStatus @1 :Int8;
  calCycle @2 :Int32;
  calPerc @3 :Int8;
+  validBlocks @9 :Int32;

  # view_frame_from_road_frame
  # ui's is inversed needs new
  extrinsicMatrix @4 :List(Float32);
  # the direction of travel vector in device frame
  rpyCalib @7 :List(Float32);
+  rpyCalibSpread @8 :List(Float32);
 }

 struct LiveTracks {
@@ -867,6 +871,7 @@ struct LiveLocationKalman {
  posenetOK @18 :Bool = true;
  gpsOK @19 :Bool = true;
  sensorsOK @21 :Bool = true;
+  deviceStable @22 :Bool = true;

  enum Status {
    uninitialized @0;
@@ -2081,11 +2086,11 @@ struct DragonConf {
  dpSteeringLimitAlert @12 :Bool;
  dpSteeringOnSignal @13 :Bool;
  dpSignalOffDelay @14 :UInt8;
-  dpAssistedLcMinMph @15 :UInt8;
+  dpAssistedLcMinMph @15 :Float32;
  dpAutoLc @16 :Bool;
  dpAutoLcCont @17 :Bool;
-  dpAutoLcMinMph @18 :UInt8;
-  dpAutoLcDelay @19 :UInt8;
+  dpAutoLcMinMph @18 :Float32;
+  dpAutoLcDelay @19 :Float32;
  dpSlowOnCurve @20 :Bool;
  dpAllowGas @21 :Bool;
  dpMaxCtrlSpeed @22 :Float32;
@@ -2108,34 +2113,35 @@ struct DragonConf {
  dpUiPath @39 :Bool;
  dpUiLead @40 :Bool;
  dpUiDev @41 :Bool;
-  dpUiBlinker @42 :Bool;
-  dpUiBrightness @43 :UInt8;
-  dpUiVolumeBoost @44 :Int8;
-  dpAppAutoUpdate @45 :Bool;
-  dpAppExtGps @46 :Bool;
-  dpAppTomtom @47 :Bool;
-  dpAppTomtomAuto @48 :Bool;
-  dpAppTomtomManual @49 :Int8;
-  dpAppAutonavi @50 :Bool;
-  dpAppAutonaviAuto @51 :Bool;
-  dpAppAutonaviManual @52 :Int8;
-  dpAppAegis @53 :Bool;
-  dpAppAegisAuto @54 :Bool;
-  dpAppAegisManual @55 :Int8;
-  dpAppMixplorer @56 :Bool;
-  dpAppMixplorerManual @57 :Int8;
-  dpToyotaLdw @58 :Bool;
-  dpToyotaSng @59 :Bool;
-  dpToyotaLowestCruiseOverride @60 :Bool;
-  dpToyotaLowestCruiseOverrideAt @61 :Float32;
-  dpToyotaLowestCruiseOverrideSpeed @62 :Float32;
-  dpIpAddr @63 :Text;
-  dpCameraOffset @64 :Int8;
-  dpLocale @65 :Text;
-  dpChargingCtrl @66 :Bool;
-  dpChargingAt @67 :UInt8;
-  dpDischargingAt @68 :UInt8;
-  dpIsUpdating @69 :Bool;
-  dpThermalStarted @70 :Bool;
-  dpThermalOverheat @71 :Bool;
+  dpUiDevMini @42 :Bool;
+  dpUiBlinker @43 :Bool;
+  dpUiBrightness @44 :UInt8;
+  dpUiVolumeBoost @45 :Int8;
+  dpAppAutoUpdate @46 :Bool;
+  dpAppExtGps @47 :Bool;
+  dpAppTomtom @48 :Bool;
+  dpAppTomtomAuto @49 :Bool;
+  dpAppTomtomManual @50 :Int8;
+  dpAppAutonavi @51 :Bool;
+  dpAppAutonaviAuto @52 :Bool;
+  dpAppAutonaviManual @53 :Int8;
+  dpAppAegis @54 :Bool;
+  dpAppAegisAuto @55 :Bool;
+  dpAppAegisManual @56 :Int8;
+  dpAppMixplorer @57 :Bool;
+  dpAppMixplorerManual @58 :Int8;
+  dpToyotaLdw @59 :Bool;
+  dpToyotaSng @60 :Bool;
+  dpToyotaLowestCruiseOverride @61 :Bool;
+  dpToyotaLowestCruiseOverrideAt @62 :Float32;
+  dpToyotaLowestCruiseOverrideSpeed @63 :Float32;
+  dpIpAddr @64 :Text;
+  dpCameraOffset @65 :Int8;
+  dpLocale @66 :Text;
+  dpChargingCtrl @67 :Bool;
+  dpChargingAt @68 :UInt8;
+  dpDischargingAt @69 :UInt8;
+  dpIsUpdating @70 :Bool;
+  dpThermalStarted @71 :Bool;
+  dpThermalOverheat @72 :Bool;
 }
@@ -122,13 +122,6 @@ def recv_one_retry(sock):
    if dat is not None:
      return log.Event.from_bytes(dat)

-# TODO: This does not belong in messaging
-def get_one_can(logcan):
-  while True:
-    can = recv_one_retry(logcan)
-    if len(can.can) > 0:
-      return can
-
 class SubMaster():
  def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
    self.poller = Poller()
@@ -59,34 +59,36 @@ public:
 };

 class SubMaster {
- public:
+public:
  SubMaster(const std::initializer_list<const char *> &service_list,
            const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
  int update(int timeout = 1000);
  inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
  inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
  inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
-  bool updated(const char *name) const;
  void drain();
-  cereal::Event::Reader &operator[](const char *name);
  ~SubMaster();

- private:
+  uint64_t frame = 0;
+  bool updated(const char *name) const;
+  uint64_t rcv_frame(const char *name) const;
+  cereal::Event::Reader &operator[](const char *name);
+
+private:
  bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
  Poller *poller_ = nullptr;
-  uint64_t frame_ = 0;
  struct SubMessage;
  std::map<SubSocket *, SubMessage *> messages_;
  std::map<std::string, SubMessage *> services_;
 };

 class PubMaster {
- public:
+public:
  PubMaster(const std::initializer_list<const char *> &service_list);
  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
  int send(const char *name, capnp::MessageBuilder &msg);
  ~PubMaster();

- private:
+private:
  std::map<std::string, PubSocket *> sockets_;
 };
@@ -39,7 +39,7 @@ if ARCH == "aarch64" and os.path.isdir("/system"):
  extra_compile_args += ["-Wno-deprecated-register"]
  libraries += ['gnustl_shared']

-setup(name='CAN parser',
+setup(name='messaging',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
        Extension(
@@ -51,7 +51,7 @@ setup(name='CAN parser',
          extra_objects=[
            os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
          ]
-        )
+        ),
+        nthreads=4,
      ),
-      nthreads=4,
 )
@@ -2,20 +2,24 @@
 #include <time.h>
 #include "messaging.hpp"
 #include "services.h"
+
 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC
 #endif
+
 static inline uint64_t nanos_since_boot() {
  struct timespec t;
  clock_gettime(CLOCK_BOOTTIME, &t);
  return t.tv_sec * 1000000000ULL + t.tv_nsec;
 }
+
 static const service *get_service(const char *name) {
  for (const auto &it : services) {
    if (strcmp(it.name, name) == 0) return &it;
  }
  return nullptr;
 }
+
 static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
  for (auto &v : list) {
    if (strcmp(value, v) == 0) return true;
@@ -24,7 +28,7 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
 }

 class MessageContext {
- public:
+public:
  MessageContext() { ctx_ = Context::create(); }
  ~MessageContext() { delete ctx_; }
  Context *ctx_;
@@ -53,18 +57,18 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
    assert(socket != 0);
    poller_->registerSocket(socket);
    SubMessage *m = new SubMessage{
-        .socket = socket,
-        .freq = serv->frequency,
-        .ignore_alive = inList(ignore_alive, name),
-        .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-        .buf = kj::heapArray<capnp::word>(1024)};
+      .socket = socket,
+      .freq = serv->frequency,
+      .ignore_alive = inList(ignore_alive, name),
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
+      .buf = kj::heapArray<capnp::word>(1024)};
    messages_[socket] = m;
    services_[name] = m;
  }
 }

 int SubMaster::update(int timeout) {
-  if (++frame_ == UINT64_MAX) frame_ = 1;
+  if (++frame == UINT64_MAX) frame = 1;
  for (auto &kv : messages_) kv.second->updated = false;

  int updated = 0;
@@ -89,7 +93,7 @@ int SubMaster::update(int timeout) {
    m->event = m->msg_reader->getRoot<cereal::Event>();
    m->updated = true;
    m->rcv_time = current_time;
-    m->rcv_frame = frame_;
+    m->rcv_frame = frame;
    m->valid = m->event.getValid();

    ++updated;
@@ -126,8 +130,17 @@ void SubMaster::drain() {
  }
 }

-bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
-cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
+bool SubMaster::updated(const char *name) const {
+  return services_.at(name)->updated;
+}
+
+uint64_t SubMaster::rcv_frame(const char *name) const {
+  return services_.at(name)->rcv_frame;
+}
+
+cereal::Event::Reader &SubMaster::operator[](const char *name) {
+  return services_.at(name)->event;
+};

 SubMaster::~SubMaster() {
  delete poller_;
@@ -63,7 +63,7 @@ orbOdometry: [8057, true, 0.]
 orbFeatures: [8058, false, 0.]
 orbKeyFrame: [8059, true, 0.]
 uiLayoutState: [8060, true, 0.]
-frontEncodeIdx: [8061, true, 5.]
+frontEncodeIdx: [8061, true, 5.] # should be 20fps on tici
 orbFeaturesSummary: [8062, true, 0.]
 driverState: [8063, true, 5., 1]
 liveParameters: [8064, true, 20., 2]
@@ -77,8 +77,9 @@ carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
 dMonitoringState: [8073, true, 5., 1]
 offroadLayout: [8074, false, 0.]
+wideEncodeIdx: [8075, true, 20.]

-dragonConf: [8075, false, 2.]
+dragonConf: [8088, false, 2.]

 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
@@ -1,6 +1,6 @@
-Import('env')
+Import('env', 'cython_dependencies')

-# parser
-env.Command(['common_pyx.so'],
-  ['common_pyx_setup.py', 'clock.pyx'],
-  "cd common && python3 common_pyx_setup.py build_ext --inplace")
+# Build cython clock module
+env.Command(['common_pyx.so', 'clock.cpp'],
+            cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
+            "cd common && python3 common_pyx_setup.py build_ext --inplace")
@@ -39,4 +39,4 @@ def common_interface_get_params_lqr(ret):
    ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
    ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
    ret.lateralTuning.lqr.dcGain = 0.002237852961363602
-  return ret
+  return ret
@@ -3,6 +3,7 @@ import os
 import json
 import time
 from math import floor
+from common.android import getprop

 confs = [
  {'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
@@ -22,6 +23,7 @@ confs = [
  {'name': 'dp_upload_on_mobile', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_upload_on_hotspot', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # lat ctrl
  {'name': 'dp_lat_ctrl', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
@@ -29,15 +31,15 @@ confs = [
  {'name': 'dp_steering_on_signal', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_signal_off_delay', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 10, 'conf_type': ['param', 'struct']},
  # assist/auto lane change
-  {'name': 'dp_assisted_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_assisted_lc_min_mph', 'default': 45, 'type': 'Float32', 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
  {'name': 'dp_auto_lc', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_auto_lc_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_lc_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_lc_delay', 'default': 3, 'type': 'UInt8', 'min': 0, 'max': 10, 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_min_mph', 'default': 60, 'type': 'Float32', 'min': 0, 'max': 255., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_delay', 'default': 3, 'type': 'Float32', 'min': 0, 'max': 10., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # long ctrl
  {'name': 'dp_slow_on_curve', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_max_ctrl_speed', 'default': 92, 'type': 'Float32', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_max_ctrl_speed', 'default': 92., 'type': 'Float32', 'conf_type': ['param', 'struct']},
  {'name': 'dp_lead_car_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_dynamic_follow', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
@@ -58,7 +60,8 @@ confs = [
  {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_path', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_dev_mini', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_volume_boost', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
@@ -81,8 +84,8 @@ confs = [
  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 44, 'max': 46, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 27, 'max': 44, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
  # custom car
  {'name': 'dp_car_selected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
@@ -94,16 +97,17 @@ confs = [
  {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -255, 'max': 255, 'conf_type': ['param', 'struct']},

-  {'name': 'dp_locale', 'default': '', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_locale', 'default': getprop("persist.sys.locale").rstrip('\n'), 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
  {'name': 'dp_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_charging_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_charging_at', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_discharging_at', 'default': 70, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_is_updating', 'default': False, 'type': 'Bool', 'set_param_only': True, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_is_updating', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},

  {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},

  # including thermal data
  {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
@@ -3,7 +3,7 @@ from common import android

 is_android = android.ANDROID
 locale_dir = '/data/openpilot/selfdrive/assets/locales'
-supported_language = ['en-US', 'zh-TW', 'zh-CN']
+supported_language = ['en-US', 'zh-TW', 'zh-CN', 'ja-JP', 'ko-KR']
 locale = android.getprop("persist.sys.locale") if is_android else 'en-US'

 def events():
@@ -1,6 +1,6 @@
-Import('env')
+Import('env', 'cython_dependencies')

 env.Command(['simple_kalman_impl.so'],
-  ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
-  "cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
+            cython_dependencies + ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
+            "cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")

@@ -8,7 +8,7 @@ class KF1D:
  def __init__(self, x0, A, C, K):
    self.x = x0
    self.A = A
-    self.C = C
+    self.C = np.atleast_2d(C)
    self.K = K

    self.A_K = self.A - np.dot(self.K, self.C)
@@ -21,10 +21,10 @@ class TestSimpleKalman(unittest.TestCase):
    K0_0 = 0.12287673
    K1_0 = 0.29666309

-    self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                           A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                           C=np.matrix([C0_0, C0_1]),
-                           K=np.matrix([[K0_0], [K1_0]]))
+    self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                           A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                           C=np.array([C0_0, C0_1]),
+                           K=np.array([[K0_0], [K1_0]]))

    self.kf = KF1D(x0=[[x0_0], [x1_0]],
                   A=[[A0_0, A0_1], [A1_0, A1_1]],
@@ -47,8 +47,8 @@ class TestSimpleKalman(unittest.TestCase):
      x = self.kf.update(v_wheel)

      # Compare the output x, verify that the error is less than 1e-4
-      self.assertAlmostEqual(x_old[0], x[0])
-      self.assertAlmostEqual(x_old[1], x[1])
+      np.testing.assert_almost_equal(x_old[0], x[0])
+      np.testing.assert_almost_equal(x_old[1], x[1])

  def test_new_is_faster(self):
    setup = """
@@ -69,10 +69,10 @@ C0_1 = 0.0
 K0_0 = 0.12287673
 K1_0 = 0.29666309

-kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                  A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                  C=np.matrix([C0_0, C0_1]),
-                  K=np.matrix([[K0_0], [K1_0]]))
+kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                  A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                  C=np.array([C0_0, C0_1]),
+                  K=np.array([[K0_0], [K1_0]]))

 kf = KF1D(x0=[[x0_0], [x1_0]],
          A=[[A0_0, A0_1], [A1_0, A1_1]],
@@ -81,6 +81,7 @@ keys = {
  "IsUploadRawEnabled": [TxType.PERSISTENT],
  "LastAthenaPingTime": [TxType.PERSISTENT],
  "LastUpdateTime": [TxType.PERSISTENT],
+  "LastUpdateException": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
  "LimitSetSpeedNeural": [TxType.PERSISTENT],
  "LiveParameters": [TxType.PERSISTENT],
@@ -109,6 +110,7 @@ keys = {
  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
  "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
  "Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
 }

 keys = init_params_keys(keys, [TxType.PERSISTENT])
@@ -321,14 +323,15 @@ def write_db(params_path, key, value):
  lock.acquire()

  try:
-    tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
-    with open(tmp_path, "wb") as f:
+    tmp_path = tempfile.NamedTemporaryFile(mode="wb", prefix=".tmp", dir=params_path, delete=False)
+    with tmp_path as f:
      f.write(value)
      f.flush()
      os.fsync(f.fileno())
+    os.chmod(tmp_path.name, 0o666)

    path = "%s/d/%s" % (params_path, key)
-    os.rename(tmp_path, path)
+    os.rename(tmp_path.name, path)
    fsync_dir(os.path.dirname(path))
  finally:
    os.umask(prev_umask)
@@ -4,14 +4,17 @@ from common.basedir import BASEDIR


 class Spinner():
-  def __init__(self):
-    try:
-      self.spinner_proc = subprocess.Popen(["./spinner"],
-                                           stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
-                                           close_fds=True)
-    except OSError:
-      self.spinner_proc = None
+  def __init__(self, noop=False):
+    # spinner is currently only implemented for android
+    self.spinner_proc = None
+    if not noop:
+      try:
+        self.spinner_proc = subprocess.Popen(["./spinner"],
+                                             stdin=subprocess.PIPE,
+                                             cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                             close_fds=True)
+      except OSError:
+        self.spinner_proc = None

  def __enter__(self):
    return self
@@ -40,23 +43,6 @@ class Spinner():
    self.close()


-class FakeSpinner(Spinner):
-  def __init__(self):  # pylint: disable=super-init-not-called
-    pass
-
-  def __enter__(self):
-    return self
-
-  def update(self, _):
-    pass
-
-  def close(self):
-    pass
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    pass
-
-
 if __name__ == "__main__":
  import time
  with Spinner() as s:
@@ -6,20 +6,22 @@ from common.basedir import BASEDIR


 class TextWindow():
-  def __init__(self, s):
-    try:
-      self.text_proc = subprocess.Popen(["./text", s],
-                                        stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
-                                        close_fds=True)
-    except OSError:
-      self.text_proc = None
+  def __init__(self, s, noop=False):
+    # text window is only implemented for android currently
+    self.text_proc = None
+    if not noop:
+      try:
+        self.text_proc = subprocess.Popen(["./text", s],
+                                          stdin=subprocess.PIPE,
+                                          cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
+                                          close_fds=True)
+      except OSError:
+        self.text_proc = None

  def get_status(self):
    if self.text_proc is not None:
      self.text_proc.poll()
      return self.text_proc.returncode
-
    return None

  def __enter__(self):
@@ -31,10 +33,12 @@ class TextWindow():
      self.text_proc = None

  def wait_for_exit(self):
-    while True:
-      if self.get_status() == 1:
-        return
-      time.sleep(0.1)
+    if self.text_proc is not None:
+      while True:
+        if self.get_status() == 1:
+          os.system('/data/openpilot/scripts/reset_update.sh')
+          return
+        time.sleep(0.1)

  def __del__(self):
    self.close()
@@ -43,29 +47,6 @@ class TextWindow():
    self.close()


-class FakeTextWindow(TextWindow):
-  def __init__(self, s):  # pylint: disable=super-init-not-called
-    pass
-
-  def get_status(self):
-    return 1
-
-  def wait_for_exit(self):
-    return
-
-  def __enter__(self):
-    return self
-
-  def update(self, _):
-    pass
-
-  def close(self):
-    pass
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    pass
-
-
 if __name__ == "__main__":
  text = """Traceback (most recent call last):
  File "./controlsd.py", line 608, in <module>
@@ -1,9 +1,8 @@
-Import('env')
+Import('env', 'cython_dependencies')

 d = Dir('.')

-env.Command(
-  ['transformations.so'],
-  ['transformations.pxd', 'transformations.pyx',
-   'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
-  'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
+env.Command(['transformations.so'],
+            cython_dependencies + ['transformations.pxd', 'transformations.pyx',
+             'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
+            'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
@@ -52,6 +52,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
  return np.hstack((view_from_road, [[0], [height], [0]]))


+# aka 'extrinsic_matrix'
+def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
+  device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
+  view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
+  return np.hstack((view_from_calib, [[0], [height], [0]]))
+
+
 def vp_from_ke(m):
  """
  Computes the vanishing point from the product of the intrinsic and extrinsic
@@ -10,9 +10,9 @@
 #define RAD2DEG(x) ((x) * 180.0 / M_PI)


-double a = 6378137;
-double b = 6356752.3142;
-double esq = 6.69437999014 * 0.001;
+double a = 6378137; // lgtm [cpp/short-global-name]
+double b = 6356752.3142; // lgtm [cpp/short-global-name]
+double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
 double e1sq = 6.73949674228 * 0.001;


@@ -2,6 +2,7 @@ import numpy as np

 from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
                                           get_view_frame_from_road_frame,
+                                           get_view_frame_from_calib_frame,
                                           vp_from_ke)

 # segnet
@@ -73,6 +74,9 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

+medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))

@@ -46,7 +46,6 @@ quats_from_rotations = rot2quat
 quat_from_rot = rot2quat
 rotations_from_quats = quat2rot
 rot_from_quat = quat2rot
-rot_from_quat = quat2rot
 euler_from_rot = rot2euler
 euler_from_quat = quat2euler
 rot_from_euler = euler2rot
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
-  "ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
-  "recovery_len": 15861036,
-  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
+  "ota_url": "http://dpp.cool/neosupdate/ota-signed-16e6e346e0e29ba9953d0ebd7185a7955b8e2261790f0e68aee74ced3028dfb8.zip",
+  "ota_hash": "16e6e346e0e29ba9953d0ebd7185a7955b8e2261790f0e68aee74ced3028dfb8",
+  "recovery_url": "http://dpp.cool/neosupdate/recovery-4772f9348e04b560b9df87d6dea6c740fa8d62ea41a8db3842eec216f04e3110.img",
+  "recovery_len": 15922476,
+  "recovery_hash": "4772f9348e04b560b9df87d6dea6c740fa8d62ea41a8db3842eec216f04e3110"
 }
@@ -10,6 +10,7 @@
 #include <string>
 #include <sstream>
 #include <fstream>
+#include <iostream>
 #include <mutex>
 #include <thread>

@@ -33,10 +34,10 @@

 #define USER_AGENT "NEOSUpdater-0.2"

-#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
-#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
-#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
-const char *manifest_url = MANIFEST_URL_EON;
+#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
+#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
+#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
+const char *manifest_url = MANIFEST_URL_NEOS;

 #define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
 #define RECOVERY_COMMAND "/cache/recovery/command"
@@ -96,7 +97,7 @@ std::string download_string(CURL *curl, std::string url) {

  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
+  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
@@ -149,6 +150,32 @@ static void start_settings_activity(const char* name) {
  system(launch_cmd);
 }

+bool is_settings_active() {
+  FILE *fp;
+  char sys_output[4096];
+
+  fp = popen("/bin/dumpsys window windows", "r");
+  if (fp == NULL) {
+    return false;
+  }
+
+  bool active = false;
+  while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
+    if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
+      break;
+    }
+
+    if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
+      active = true;
+      break;
+    }
+  }
+
+  pclose(fp);
+
+  return active;
+}
+
 struct Updater {
  bool do_exit = false;

@@ -166,7 +193,6 @@ struct Updater {

  std::mutex lock;

-  // i hate state machines give me coroutines already
  enum UpdateState {
    CONFIRMATION,
    LOW_BATTERY,
@@ -190,9 +216,15 @@ struct Updater {
  int b_x, b_w, b_y, b_h;
  int balt_x;

+  // download stage writes these for the installation stage
+  int recovery_len;
+  std::string recovery_hash;
+  std::string recovery_fn;
+  std::string ota_fn;
+
  CURL *curl = NULL;

-  Updater() {
+  void ui_init() {
    touch_init(&touch);

    fb = framebuffer_init("updater", 0x00001000, false,
@@ -218,7 +250,6 @@ struct Updater {
    b_h = 220;

    state = CONFIRMATION;
-
  }

  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
@@ -251,7 +282,7 @@ struct Updater {

      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
+      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
@@ -319,32 +350,113 @@ struct Updater {
    state = RUNNING;
  }

-  std::string stage_download(std::string url, std::string hash, std::string name) {
+  std::string download(std::string url, std::string hash, std::string name) {
    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);

-    set_progress("Downloading " + name + "...");
-    bool r = download_file(url, out_fn);
-    if (!r) {
-      set_error("failed to download " + name);
-      return "";
+    // start or resume downloading if hash doesn't match
+    std::string fn_hash = sha256_file(out_fn);
+    if (hash.compare(fn_hash) != 0) {
+      set_progress("Downloading " + name + "...");
+      bool r = download_file(url, out_fn);
+      if (!r) {
+        set_error("failed to download " + name);
+        unlink(out_fn.c_str());
+        return "";
+      }
+      fn_hash = sha256_file(out_fn);
    }

    set_progress("Verifying " + name + "...");
-    std::string fn_hash = sha256_file(out_fn);
    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
    if (fn_hash != hash) {
      set_error(name + " was corrupt");
      unlink(out_fn.c_str());
      return "";
    }
-
    return out_fn;
  }

-  void run_stages() {
+  bool download_stage() {
    curl = curl_easy_init();
    assert(curl);

+    // ** quick checks before download **
+
+    if (!check_space()) {
+      set_error("2GB of free space required to update");
+      return false;
+    }
+
+    mkdir(UPDATE_DIR, 0777);
+
+    set_progress("Finding latest version...");
+    std::string manifest_s = download_string(curl, manifest_url);
+    printf("manifest: %s\n", manifest_s.c_str());
+
+    std::string err;
+    auto manifest = json11::Json::parse(manifest_s, err);
+    if (manifest.is_null() || !err.empty()) {
+      set_error("failed to load update manifest");
+      return false;
+    }
+
+    std::string ota_url = manifest["ota_url"].string_value();
+    std::string ota_hash = manifest["ota_hash"].string_value();
+
+    std::string recovery_url = manifest["recovery_url"].string_value();
+    recovery_hash = manifest["recovery_hash"].string_value();
+    recovery_len = manifest["recovery_len"].int_value();
+
+    // std::string installer_url = manifest["installer_url"].string_value();
+    // std::string installer_hash = manifest["installer_hash"].string_value();
+
+    if (ota_url.empty() || ota_hash.empty()) {
+      set_error("invalid update manifest");
+      return false;
+    }
+
+    // std::string installer_fn = download(installer_url, installer_hash, "installer");
+    // if (installer_fn.empty()) {
+    //   //error'd
+    //   return;
+    // }
+
+    // ** handle recovery download **
+    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
+      set_progress("Skipping recovery flash...");
+    } else {
+      // only download the recovery if it differs from what's flashed
+      set_progress("Checking recovery...");
+      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
+      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
+
+      if (existing_recovery_hash != recovery_hash) {
+        recovery_fn = download(recovery_url, recovery_hash, "recovery");
+        if (recovery_fn.empty()) {
+          // error'd
+          return false;
+        }
+      }
+    }
+
+    // ** handle ota download **
+    ota_fn = download(ota_url, ota_hash, "update");
+    if (ota_fn.empty()) {
+      //error'd
+      return false;
+    }
+
+    // download sucessful
+    return true;
+  }
+
+  // thread that handles downloading and installing the update
+  void run_stages() {
+    printf("run_stages start\n");
+
+
+    // ** download update **
+
    if (!check_battery()) {
      set_battery_low();
      int battery_cap = battery_capacity();
@@ -356,77 +468,12 @@ struct Updater {
      set_running();
    }

-    if (!check_space()) {
-      set_error("2GB of free space required to update");
+    bool sucess = download_stage();
+    if (!sucess) {
      return;
    }

-    mkdir(UPDATE_DIR, 0777);
-
-    const int EON = (access("/EON", F_OK) != -1);
-
-    set_progress("Finding latest version...");
-    std::string manifest_s;
-    if (EON) {
-      manifest_s = download_string(curl, manifest_url);
-    } else {
-      // don't update NEO
-      exit(0);
-    }
-
-    printf("manifest: %s\n", manifest_s.c_str());
-
-    std::string err;
-    auto manifest = json11::Json::parse(manifest_s, err);
-    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
-      return;
-    }
-
-    std::string ota_url = manifest["ota_url"].string_value();
-    std::string ota_hash = manifest["ota_hash"].string_value();
-
-    std::string recovery_url = manifest["recovery_url"].string_value();
-    std::string recovery_hash = manifest["recovery_hash"].string_value();
-    int recovery_len = manifest["recovery_len"].int_value();
-
-    // std::string installer_url = manifest["installer_url"].string_value();
-    // std::string installer_hash = manifest["installer_hash"].string_value();
-
-    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
-      return;
-    }
-
-    // std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
-    // if (installer_fn.empty()) {
-    //   //error'd
-    //   return;
-    // }
-
-    std::string recovery_fn;
-    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("Skipping recovery flash...");
-    } else {
-      // only download the recovery if it differs from what's flashed
-      set_progress("Checking recovery...");
-      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
-
-      if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
-        if (recovery_fn.empty()) {
-          // error'd
-          return;
-        }
-      }
-    }
-
-    std::string ota_fn = stage_download(ota_url, ota_hash, "update");
-    if (ota_fn.empty()) {
-      //error'd
-      return;
-    }
+    // ** install update **

    if (!check_battery()) {
      set_battery_low();
@@ -601,7 +648,7 @@ 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, "Ensure your device remains connected to a power source.", NULL);

      NVGpaint paint = nvgBoxGradient(
          vg, progress_x + 1, progress_y + 1,
@@ -657,9 +704,7 @@ struct Updater {
  void ui_update() {
    std::lock_guard<std::mutex> guard(lock);

-    switch (state) {
-    case ERROR:
-    case CONFIRMATION: {
+    if (state == ERROR || state == CONFIRMATION) {
      int touch_x = -1, touch_y = -1;
      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
      if (res == 1 && !is_settings_active()) {
@@ -678,13 +723,11 @@ struct Updater {
        }
      }
    }
-    default:
-      break;
-    }
  }

-
  void go() {
+    ui_init();
+
    while (!do_exit) {
      ui_update();

@@ -718,51 +761,37 @@ struct Updater {
      update_thread_handle.join();
    }

+    // reboot
    system("service call power 16 i32 0 i32 0 i32 1");
  }

-  bool is_settings_active() {
-    FILE *fp;
-    char sys_output[4096];
-
-    fp = popen("/bin/dumpsys window windows", "r");
-    if (fp == NULL) {
-      return false;
-    }
-
-    bool active = false;
-    while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
-      if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
-        break;
-      }
-
-      if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
-        active = true;
-        break;
-      }
-    }
-
-    pclose(fp);
-
-    return active;
-  }
-
 };

 }
+
 int main(int argc, char *argv[]) {
+  bool background_cache = false;
  if (argc > 1) {
    if (strcmp(argv[1], "local") == 0) {
-      manifest_url = MANIFEST_URL_EON_LOCAL;
+      manifest_url = MANIFEST_URL_NEOS_LOCAL;
    } else if (strcmp(argv[1], "staging") == 0) {
-      manifest_url = MANIFEST_URL_EON_STAGING;
+      manifest_url = MANIFEST_URL_NEOS_STAGING;
+    } else if (strcmp(argv[1], "bgcache") == 0) {
+      manifest_url = argv[2];
+      background_cache = true;
    } else {
      manifest_url = argv[1];
    }
  }
+
  printf("updating from %s\n", manifest_url);
  Updater updater;
-  updater.go();

-  return 0;
+  int err = 0;
+  if (background_cache) {
+    err = !updater.download_stage();
+  } else {
+    updater.go();
+  }
+  return err;
 }
@@ -0,0 +1,4 @@
+#!/usr/bin/bash
+
+export PASSIVE="0"
+exec ./launch_chffrplus.sh
@@ -1,25 +1,20 @@
 #!/usr/bin/bash

-export OMP_NUM_THREADS=1
-export MKL_NUM_THREADS=1
-export NUMEXPR_NUM_THREADS=1
-export OPENBLAS_NUM_THREADS=1
-export VECLIB_MAXIMUM_THREADS=1
-
 if [ -z "$BASEDIR" ]; then
  BASEDIR="/data/openpilot"
 fi

-if [ -z "$PASSIVE" ]; then
-  export PASSIVE="1"
-fi
+source "$BASEDIR/launch_env.sh"

-STAGING_ROOT="/data/safe_staging"
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

 function launch {
  # Wifi scan
  wpa_cli IFNAME=wlan0 SCAN

+  # Remove orphaned git lock if it exists on boot
+  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+
  # Check to see if there's a valid overlay-based update available. Conditions
  # are as follows:
  #
@@ -49,6 +44,7 @@ function launch {
          git submodule foreach --recursive git reset --hard

          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset REQUIRED_NEOS_VERSION
          exec "${LAUNCHER_LOCATION}"
        else
          echo "openpilot backup found, not updating"
@@ -75,26 +71,21 @@ function launch {
  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T

-  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-  # Remove old NEOS update file
-  # TODO: move this code to the updater
-  if [ -d /data/neoupdate ]; then
-    rm -rf /data/neoupdate
-  fi

  # Check for NEOS update
-  if [ $(< /VERSION) != "14" ]; then
+  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
    if [ -f "$DIR/scripts/continue.sh" ]; then
      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
    fi

    if [ ! -f "$BASEDIR/prebuilt" ]; then
-      echo "Clearing build products and resetting scons state prior to NEOS update"
-      cd $BASEDIR && scons --clean
-      rm -rf /tmp/scons_cache
-      rm -r $BASEDIR/.sconsign.dblite
+      # Clean old build products, but preserve the scons cache
+      cd $DIR
+      scons --clean
+      git clean -xdf
+      git submodule foreach --recursive git clean -xdf
    fi
+
    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
  else
    if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
@@ -0,0 +1,17 @@
+#!/usr/bin/bash
+
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
+if [ -z "$REQUIRED_NEOS_VERSION" ]; then
+  export REQUIRED_NEOS_VERSION="14"
+fi
+
+if [ -z "$PASSIVE" ]; then
+  export PASSIVE="1"
+fi
+
+export STAGING_ROOT="/data/safe_staging"
@@ -14,4 +14,3 @@ can/packer_pyx.cpp
 can/parser_pyx.cpp
 can/packer_pyx.html
 can/parser_pyx.html
-can/packer_impl.cpp
@@ -1,4 +1,4 @@
-Import('env', 'cereal')
+Import('env', 'cereal', 'cython_dependencies')

 import os
 from opendbc.can.process_dbc import process
@@ -17,7 +17,6 @@ for x in sorted(os.listdir('../')):
 libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])

 # Build packer and parser
-
-env.Command(['packer_pyx.so', 'parser_pyx.so'],
-  [libdbc, cereal, 'common_pyx_setup.py', 'packer_pyx.pyx', 'parser_pyx.pyx', 'common.pxd'],
-  "cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
+env.Command(['packer_pyx.so', 'packer_pyx.cpp', 'parser_pyx.so', 'parser_pyx.cpp'],
+            cython_dependencies + [libdbc, cereal, 'common_pyx_setup.py', 'common.pxd', 'packer_pyx.pyx', 'parser_pyx.pyx', 'packer.cc', 'parser.cc'],
+            "cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
@@ -63,9 +63,9 @@ setup(name='CAN parser',
          include_dirs=include_dirs,
          extra_link_args=extra_link_args,
        ),
+        nthreads=4,
        annotate=ANNOTATE
      ),
-      nthreads=4,
 )

 if platform.system() == "Darwin":
@@ -85,9 +85,9 @@ setup(name='CAN packer',
          include_dirs=include_dirs,
          extra_link_args=extra_link_args,
        ),
+        nthreads=4,
        annotate=ANNOTATE
      ),
-      nthreads=4,
 )

 if platform.system() == "Darwin":
@@ -3,20 +3,17 @@

 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp cimport bool
 from libcpp.unordered_set cimport unordered_set
 from libc.stdint cimport uint32_t, uint64_t, uint16_t
 from libcpp.map cimport map
-
-from collections import defaultdict
+from libcpp cimport bool

 from common cimport CANParser as cpp_CANParser
 from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC

-
-from libcpp cimport bool
 import os
 import numbers
+from collections import defaultdict

 cdef int CAN_INVALID_CNT = 5

@@ -30,7 +27,7 @@ cdef class CANParser:
    vector[SignalValue] can_values
    bool test_mode_enabled

-  cdef public:
+  cdef readonly:
    string dbc_name
    dict vl
    dict ts
@@ -0,0 +1,13 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+CM_ "honda_crv_ex_2017_body.dbc starts here"
+BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX
+ SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 318291615 BSM_STATUS_LEFT: 8 XXX
+ SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
+
+VAL_ 318291879 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off";
+VAL_ 318291615 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off";
@@ -191,8 +191,12 @@ BO_ 916 TCS13: 8 ESC
 SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,SCC
 SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
 SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,SCC
- SG_ ACCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
- SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS
+ SG_ Pre_TCS_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  Vector__XXX
+ SG_ EBA_ACK : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  Vector__XXX
+ SG_ FCA_ACK : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  Vector__XXX
+ SG_ DF_BF_STAT : 19|2@1+ (1.0,0.0) [0.0|3.0] ""  BCW
+ SG_ SCCReqLim : 21|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ TQI_SCC : 23|9@1+ (0.390625,0.0) [0.0|199.609375] "%"  Vector__XXX
 SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,SCC
 SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
 SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
@@ -448,6 +452,7 @@ BO_ 897 MDPS11: 8 MDPS
 SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag"  LDWS_LKAS
 SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
 SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] ""  LDWS_LKAS,SPAS
+ SG_ CF_MDPS_VSM_FUNC : 56|1@0+ (1.0,0.0) [0.0|1.0] "" XXX

 BO_ 896 DI_BOX13: 8 DI_BOX
 SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
@@ -961,7 +966,7 @@ BO_ 64 DATC14: 8 DATC
 SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU

 BO_ 832 LKAS11: 8 LDWS_LKAS
- SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
+ SG_ CF_Lkas_LdwsActivemode : 0|2@1+ (1,0) [0|3] "" CLU,IBOX,PSB
 SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX,PSB
 SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
 SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
@@ -978,11 +983,11 @@ BO_ 832 LKAS11: 8 LDWS_LKAS
 SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
 SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ CF_Lkas_Unknown1 : 47|1@1+ (1.0,0.0) [0.0|1.0] "" XXX
 SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
 SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
 SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,MDPS
- SG_ CF_Lkas_Unknown1 : 47|1@1+ (1,0) [0|3] "" XXX
- SG_ CF_Lkas_Unknown2 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ CF_Lkas_Unknown2 : 62|2@1+ (1.0,0.0) [0.0|1.0] "" XXX

 BO_ 1342 LKAS12: 6 LDWS_LKAS
 SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
@@ -1037,6 +1042,7 @@ BO_ 1322 CLU15: 8 CLU
 SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
 SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] ""  BCM,PGS
 SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] ""  BCM,CGW,FATC
+ SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX

 BO_ 1066 _4WD13: 6 _4WD
 SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A"  TCU
@@ -1250,14 +1256,6 @@ BO_ 790 EMS11: 8 EMS
 SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS
 SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] ""  _4WD,IBOX,TCU

-BO_ 881 E_EMS11: 8 XXX
- SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
- SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
- SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
- SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
-
 BO_ 1301 CLU14: 8 CLU
 SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
 SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
@@ -1380,6 +1378,7 @@ BO_ 1290 SCC13: 8 SCC
 SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU
 SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC
 SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ Lead_Veh_Dep_Alert_USM : 13|2@0+ (1,0) [0|3] "" XXX

 BO_ 1287 TCS15: 4 ESC
 SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,CUBIS,IBOX
@@ -1451,6 +1450,18 @@ BO_ 909 FCA11: 8 FCA
 SG_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX
 SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX

+BO_ 1156 HDA11_MFC: 8 XXX
+ SG_ Counter : 5|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 1|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 16|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 18|14@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_6 : 33|2@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 34|14@1+ (1,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_8 : 49|2@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_9 : 50|14@1- (1,-4095) [0|16383] "" XXX
+
 BO_ 1155 FCA12: 8 FCA
 SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC
 SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW
@@ -1459,22 +1470,166 @@ BO_ 1186 FRT_RADAR11: 2 FCA
 SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC

 BO_ 905 SCC14: 8 SCC
- SG_ ComfortBandLower : 6|6@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ComfortBandUpper : 0|6@1+ (1,0) [0|0] "" Vector__XXX
- SG_ JerkLowerLimit : 19|7@1+ (1,0) [0|0] "" Vector__XXX
- SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|0] "" Vector__XXX
+ SG_ ComfortBandUpper : 0|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
+ SG_ ComfortBandLower : 6|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
+ SG_ JerkUpperLimit : 12|7@1+ (1,0) [0|12.7] "m/s^3" ESC
+ SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
 SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
 SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC

-BO_ 882 ELECT_GEAR: 8 XXX
- SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] ""  CLU
-
 BO_ 1157 LFAHDA_MFC: 4 XXX
- SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
- SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
- SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
 SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
+ SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
 SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX

+BO_ 913 BCM_PO_11: 8 Vector__XXX
+ SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
+ SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
+
+BO_ 1426 LABEL11: 8 XXX
+ SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 910 WHL_SPD12_FS: 5 iBAU
+ SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ WHL_SPD12_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ WHL_SPD_FL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+ SG_ WHL_SPD_FR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+
+BO_ 911 WHL_SPD13_FS: 5 iBAU
+ SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ WHL_SPD13_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ WHL_SPD_RL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+ SG_ WHL_SPD_RR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+
+BO_ 865 ADAS_PRK_11: 8 ADAS_PRK
+ SG_ CF_PCA_BrkReq : 24|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ CF_PCA_DclTrgtVal : 28|4@1+ (0.04,0) [0|0] "g" Vector__XXX
+ SG_ PCA_ALIVE_CNT : 40|4@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCA_CHECK_SUM : 48|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 882 ELECT_GEAR: 8 XXX
+ SG_ Elect_Gear_Shifter : 16|4@1+ (1,0) [0|7] ""  CLU
+
+BO_ 881 E_EMS11: 8 XXX
+ SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
+ SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
+ SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
+ SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
+ SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
+
+BO_ 1355 EV_PC6: 8 CGW
+ SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX
+
+BO_ 1430 EV_PC2: 8 CGW
+ SG_ CR_Ldc_ActVol_LS_V : 32|8@1+ (0.1,0) [0|0] "V" Vector__XXX
+
+BO_ 1535 EV_PC10: 8 CGW
+ SG_ CF_Vcu_EpbRequest : 37|1@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 908 RSPA11: 8 RSPA
+ SG_ CF_RSPA_State : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ CF_RSPA_Act : 4|2@1+ (1,0) [0|3] "" XXX
+ SG_ CF_RSPA_DecCmd : 6|2@1+ (1,0) [0|3] "" XXX
+ SG_ CF_RSPA_Trgt_Spd : 8|10@1+ (0.01,0) [0|10.23] "km/h" XXX
+ SG_ CF_RSPA_StopReq : 18|1@1+ (1,0) [0|2] "" XXX
+ SG_ CR_RSPA_EPB_Req : 22|2@1+ (1,0) [0|3] "" XXX
+ SG_ CF_RSPA_ACC_ACT : 50|1@1+ (1,0) [0|2] "" XXX
+ SG_ CF_RSPA_AliveCounter : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CF_RSPA_CRC : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 914 S_MDPS11: 8 XXX
+ SG_ CF_Mdps_Stat : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ CR_Mdps_DrvTq : 8|12@1+ (1,0) [0|15] "" XXX
+ SG_ CR_Mdps_StrAng : 24|16@1- (1,0) [0|65535] "" XXX
+ SG_ CF_Mdps_AliveCnt : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CF_Mdps_Chksum : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 357 S_MDPS12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 12|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 352 AHB1: 8 iBAU
+ SG_ CF_Ahb_SLmp : 0|2@1+ (1,0) [0|3] "" CLU
+ SG_ CF_Ahb_Def : 2|2@1+ (1,0) [0|3] "" CGW
+ SG_ CF_Ahb_Act : 4|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CF_Ahb_Diag : 6|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_WLmp : 7|1@1+ (1,0) [0|1] "" CLU
+ SG_ CR_Ahb_StDep_mm : 8|16@1- (0.1,0) [-3276.8|3276.7] "mm" Vector__XXX
+ SG_ CF_Ahb_SnsFail : 24|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_PedalCalStat : 25|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX
+
+BO_ 1191 4a7MFC: 8 XXX
+ SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1162 BCA11: 8 BCW
+ SG_ CF_BCA_State : 16|3@1+ (1,0) [0|7] "" CLU,iBAU
+ SG_ CF_BCA_Warning : 19|2@1+ (1,0) [0|3] "" CLU,iBAU
+ SG_ AliveCounter : 21|4@1+ (1,0) [0|15] "" CLU,iBAU
+ SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU
+ SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU
+
+BO_ 1136 P_STS: 6 CGW
+ SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU
+ SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU
+
+BO_ 304 YRS11: 8 ACU
+ SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU
+ SG_ CR_Yrs_LatAc : 16|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" iBAU
+ SG_ CF_Yrs_YrStat : 32|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_Yrs_LatAcStat : 36|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_Yrs_MCUStat : 40|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" iBAU
+
+BO_ 320 YRS12: 8 ACU
+ SG_ CF_Yrs_LongAcStat : 16|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_IMU_ResetStat : 20|4@1+ (1,0) [0|15] "" iBAU
+ SG_ YRS_Temp : 24|8@1+ (1,-68) [-68|187] "" iBAU
+ SG_ YRS_TempStat : 32|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_Yrs_Type : 36|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" iBAU
+ SG_ CR_Yrs_LongAc : 0|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" CGW,iBAU
+
+BO_ 1173 YRS13: 8 ACU
+ SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU
+
+BO_ 870 366_EMS: 8 EMS
+ SG_ N : 7|16@0+ (1,0.25) [0|16383.75] "rpm" XXX
+ SG_ EMS_Related : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ TQFR : 39|8@0+ (0.390625,0) [0|99.6094] "%" XXX
+ SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS
+ SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 854 356: 8 XXX
+ SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX
+ SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX
+ SG_ PAINT4 : 38|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 ICM_412h: 8 ICM
+ SG_ T_Outside_input : 0|9@0+ (0.01,0) [0|5] "V" Vector__XXX
+ SG_ WarningSoundOutput_1Group : 5|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ WarningSoundOutput_2Group : 6|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ WarningSoundOutput_3Group : 7|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ TRIP_A_DT_Display_clock : 22|7@0+ (1,0) [0|99] "clock" Vector__XXX
+ SG_ TRIP_A_DT_Display_minute : 29|6@0+ (1,0) [0|59] "minute" Vector__XXX
+ SG_ TRIP_B_DT_Display_clock : 38|7@0+ (1,0) [0|99] "clock" Vector__XXX
+ SG_ TRIP_B_DT_Display_minute : 45|6@0+ (1,0) [0|59] "minute" Vector__XXX
+ SG_ PopupMessageOutput_1Level : 48|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_2Level : 49|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_3Level : 50|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_4Level : 51|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_5Level : 52|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_6Level : 53|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX

 VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
@@ -0,0 +1,258 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
+ SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
+ SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 321 Engine: 8 XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 880 Steering_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel: 8 XXX
+
+BO_ 1745 Dash_State: 8 XXX
+ SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+VAL_ 1745 Units 0 "Metric" 1 "Imperial";
+
+CM_ "subaru_forester_2017.dbc starts here"
+
+
+BO_ 355 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 40|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 54|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
@@ -1,209 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX X
-
-
-BO_ 2 Steering: 8 XXX
- SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
- SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
- SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 64 Throttle: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
-
-BO_ 72 Transmission: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 326 Cruise_Buttons: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
- SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
- SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
- SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
-
-BO_ 315 G_Sensor: 8 XXX
- SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
- SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX
-
-BO_ 314 Wheel_Speeds: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
- SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
- SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
- SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
-
-BO_ 281 Steering_Torque: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
- SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
- SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
- SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
-
-BO_ 312 Brake_Pressure_L_R: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
- SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 313 Brake_Pedal: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
-
-BO_ 290 ES_LKAS: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
- SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
- SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 544 ES_Brake: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
- SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
-
-BO_ 545 ES_Distance: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
- SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
- SG_ Main : 56|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 57|7@1+ (1,0) [0|1] "" XXX
-
-BO_ 546 ES_Status: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
- SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 576 CruiseControl: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 552 BSD_RCTA: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
- SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
- SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
- SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 912 Dashlights: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
- SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 940 BodyInfo: 8 XXX
- SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
- SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
- SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
- SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
- SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
- SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 801 ES_DashStatus: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
- SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
- SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
- SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 802 ES_LKAS_State: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
- SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
- SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
- SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ Traffic_light_Ahead : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
-
-BO_ 1677 Dash_State: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
-
-CM_ SG_ 801 Cruise_State "0 = Normal, 3 = Hold";
-CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
-CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
-CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
-CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
-VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
@@ -0,0 +1,306 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _subaru_global.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 64 Throttle: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Signal1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 316 Brake_Status: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
+ SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 326 Cruise_Buttons: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
+ SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
+
+BO_ 315 G_Sensor: 8 XXX
+ SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
+ SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX
+
+BO_ 314 Wheel_Speeds: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
+
+BO_ 280 STOP_START: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 281 Steering_Torque: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
+ SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX
+
+BO_ 312 Brake_Pressure_L_R: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 313 Brake_Pedal: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX
+ SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX
+ SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX
+
+BO_ 290 ES_LKAS: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX
+ SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 544 ES_Brake: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX
+
+BO_ 577 Cruise_Status: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Active : 57|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 552 BSD_RCTA: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 912 Dashlights: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 940 BodyInfo: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ Lowbeam : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 801 ES_DashStatus: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 14|10@1+ (1,0) [0|1023] "" XXX
+ SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 25|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 33|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 37|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal6 : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 802 ES_LKAS_State: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 18|5@1+ (1,0) [0|31] "" XXX
+ SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Green : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Green : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Alert : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal3 : 36|28@1+ (1,0) [0|1] "" XXX
+
+BO_ 722 AC_State: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX
+ SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX
+
+BO_ 1677 Dash_State: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
+
+CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
+CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
+CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
+CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
+CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
+CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
+CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+";
+CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)";
+CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert";
+CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
+CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 1677 Units "AU/EU: 1 = imperial, 3 = metric US: 3 = imperial, 4 = metric";
+
+CM_ "subaru_global_2017.dbc starts here"
+
+
+BO_ 72 Transmission: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ RPM : 40|16@1+ (1,0) [0|65535] "" XXX
+
+BO_ 73 CVT: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ CVT_Gear : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 545 ES_Distance: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX
+
+BO_ 546 ES_Status: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX
+
+BO_ 576 CruiseControl: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|28@1+ (1,0) [0|268435455] "" XXX
+ SG_ Cruise_On : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
+
+CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
+CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
+CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
+CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
+CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
@@ -0,0 +1,273 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
+ SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
+ SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 321 Engine: 8 XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 880 Steering_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel: 8 XXX
+
+BO_ 1745 Dash_State: 8 XXX
+ SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+VAL_ 1745 Units 0 "Metric" 1 "Imperial";
+
+CM_ "subaru_outback_2015.dbc starts here"
+
+
+BO_ 358 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
+ SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
+ SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
+
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 ES_Error "No engagement until restart";
+CM_ SG_ 358 Lead_Car "front car detected";
@@ -0,0 +1,273 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
+ SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
+ SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 321 Engine: 8 XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 880 Steering_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel: 8 XXX
+
+BO_ 1745 Dash_State: 8 XXX
+ SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+VAL_ 1745 Units 0 "Metric" 1 "Imperial";
+
+CM_ "subaru_outback_2019.dbc starts here"
+
+
+BO_ 358 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
+ SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
+ SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
+
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 ES_Error "No engagement until restart";
+CM_ SG_ 358 Lead_Car "front car detected";
@@ -23,7 +23,11 @@ void detect_board_type(void) {
    // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
    set_gpio_output(GPIOC, 14, 1);
    set_gpio_output(GPIOC, 5, 1);
+    #ifdef CHECK_DOS
    if(!detect_with_pull(GPIOB, 1, PULL_UP) && detect_with_pull(GPIOB, 15, PULL_UP)){
+    #else
+    if (false) {
+    #endif
      hw_type = HW_TYPE_DOS;
      current_board = &board_dos;
    } else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
@@ -1,3 +1,3 @@
 #!/bin/bash
 sudo apt-get install gcc-arm-none-eabi python-pip
-sudo pip install libusb1 pycrypto requests
+sudo pip install libusb1 pycryptodome requests
@@ -4,4 +4,4 @@ sudo easy_install pip
 /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
 brew tap ArmMbed/homebrew-formulae
 brew install python dfu-util arm-none-eabi-gcc
-pip install --user libusb1 pycrypto requests
+pip install --user libusb1 pycryptodome requests
@@ -38,6 +38,7 @@
 #define SAFETY_VOLKSWAGEN_PQ 21U
 #define SAFETY_SUBARU_LEGACY 22U
 #define SAFETY_HYUNDAI_LEGACY 23U
+#define SAFETY_HYUNDAI_COMMUNITY 24U

 uint16_t current_safety_mode = SAFETY_SILENT;
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -56,7 +56,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
      // X-Trail 0x15c, Leaf 0x239
      if ((addr == 0x15c) || (addr == 0x239)) {
        if (addr == 0x15c){
-          gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 1;
+          gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 3;
        } else {
          gas_pressed = GET_BYTE(to_push, 0) > 3;
        }
@@ -157,7 +157,7 @@ def gen_code(folder, name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_p

 class EKF_sym():
  def __init__(self, folder, name, Q, x_initial, P_initial, dim_main, dim_main_err,  # pylint: disable=dangerous-default-value
-               N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[], global_vars=None):
+               N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[], global_vars=None, max_rewind_age=1.0):
    """Generates process function and all observation functions for the kalman filter."""
    self.msckf = N > 0
    self.N = N
@@ -184,6 +184,7 @@ class EKF_sym():
    self.Q = Q

    # rewind stuff
+    self.max_rewind_age = max_rewind_age
    self.rewind_t = []
    self.rewind_states = []
    self.rewind_obscache = []
@@ -379,7 +380,7 @@ class EKF_sym():

    # 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:
+      if len(self.rewind_t) == 0 or t < self.rewind_t[0] or t < self.rewind_t[-1] - self.max_rewind_age:
        print("observation too old at %.3f with filter at %.3f, ignoring" % (t, self.filter_time))
        return None
      rewound = self.rewind(t)
@@ -0,0 +1,10 @@
+#!/usr/bin/bash
+
+export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
+export HOME=/data/data/com.termux/files/home
+export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/git
+export PYTHONPATH=/data/openpilot
+echo -n 1 > /data/params/d/dp_is_updating
+rm -fr /data/params/d/dp_*
+rm -fr /data/params/d/Dragon*
+reboot
@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2020-07-14 16:46+1000\n"
+"POT-Creation-Date: 2020-09-01 16:34+1000\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -17,488 +17,497 @@ msgstr ""
 "Content-Type: text/plain; charset=CHARSET\n"
 "Content-Transfer-Encoding: 8bit\n"

-#: selfdrive/controls/lib/events.py:146
+#: selfdrive/controls/lib/events.py:151
 msgid "openpilot Unavailable"
 msgstr ""

-#: selfdrive/controls/lib/events.py:153 selfdrive/controls/lib/events.py:160
+#: selfdrive/controls/lib/events.py:158 selfdrive/controls/lib/events.py:165
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr ""

-#: selfdrive/controls/lib/events.py:180 selfdrive/controls/lib/events.py:330
-#: selfdrive/controls/lib/events.py:356 selfdrive/controls/lib/events.py:420
-#: selfdrive/controls/lib/events.py:472 selfdrive/controls/lib/events.py:524
-#: selfdrive/controls/lib/events.py:534 selfdrive/controls/lib/events.py:543
+#: selfdrive/controls/lib/events.py:185 selfdrive/controls/lib/events.py:335
+#: selfdrive/controls/lib/events.py:361 selfdrive/controls/lib/events.py:425
+#: selfdrive/controls/lib/events.py:477 selfdrive/controls/lib/events.py:529
+#: selfdrive/controls/lib/events.py:539 selfdrive/controls/lib/events.py:654
 msgid "TAKE CONTROL"
 msgstr ""

-#: selfdrive/controls/lib/events.py:181
-msgid "Steer Unavailable Below"
+#: selfdrive/controls/lib/events.py:186
+#, python-format
+msgid "Steer Unavailable Below %d %s"
 msgstr ""

-#: selfdrive/controls/lib/events.py:190
-msgid "Drive Above"
+#: selfdrive/controls/lib/events.py:194
+#, python-format
+msgid "Calibration in Progress: %d%%"
 msgstr ""

-#: selfdrive/controls/lib/events.py:189
-msgid "Calibration in Progress:"
+#: selfdrive/controls/lib/events.py:195
+#, python-format
+msgid "Drive Above %d %s"
 msgstr ""

-#: selfdrive/controls/lib/events.py:197
+#: selfdrive/controls/lib/events.py:202
 msgid "Poor GPS reception"
 msgstr ""

-#: selfdrive/controls/lib/events.py:198
+#: selfdrive/controls/lib/events.py:203
 msgid "If sky is visible, contact support"
 msgstr ""

-#: selfdrive/controls/lib/events.py:198
+#: selfdrive/controls/lib/events.py:203
 msgid "Check GPS antenna placement"
 msgstr ""

-#: selfdrive/controls/lib/events.py:203
+#: selfdrive/controls/lib/events.py:208
 msgid "Cruise Mode Disabled"
 msgstr ""

-#: selfdrive/controls/lib/events.py:205
+#: selfdrive/controls/lib/events.py:210
 msgid "Main Switch Off"
 msgstr ""

-#: selfdrive/controls/lib/events.py:215
+#: selfdrive/controls/lib/events.py:220
 msgid "DEBUG ALERT"
 msgstr ""

-#: selfdrive/controls/lib/events.py:223
+#: selfdrive/controls/lib/events.py:228
 msgid "Be ready to take over at any time"
 msgstr ""

-#: selfdrive/controls/lib/events.py:224 selfdrive/controls/lib/events.py:240
-#: selfdrive/controls/lib/events.py:248 selfdrive/controls/lib/events.py:256
+#: selfdrive/controls/lib/events.py:229 selfdrive/controls/lib/events.py:245
+#: selfdrive/controls/lib/events.py:253 selfdrive/controls/lib/events.py:261
 msgid "Always keep hands on wheel and eyes on road"
 msgstr ""

-#: selfdrive/controls/lib/events.py:231
+#: selfdrive/controls/lib/events.py:236
 msgid "WARNING: White panda is deprecated"
 msgstr ""

-#: selfdrive/controls/lib/events.py:232 selfdrive/controls/lib/events.py:272
+#: selfdrive/controls/lib/events.py:237 selfdrive/controls/lib/events.py:277
 msgid "Upgrade to comma two or black panda"
 msgstr ""

-#: selfdrive/controls/lib/events.py:239
+#: selfdrive/controls/lib/events.py:244
 msgid "WARNING: This branch is not tested"
 msgstr ""

-#: selfdrive/controls/lib/events.py:247
+#: selfdrive/controls/lib/events.py:252
 msgid "Dashcam mode"
 msgstr ""

-#: selfdrive/controls/lib/events.py:255
+#: selfdrive/controls/lib/events.py:260
 msgid "Dashcam mode for unsupported car"
 msgstr ""

-#: selfdrive/controls/lib/events.py:263
+#: selfdrive/controls/lib/events.py:268
 msgid "Unsupported Giraffe Configuration"
 msgstr ""

-#: selfdrive/controls/lib/events.py:264
+#: selfdrive/controls/lib/events.py:269
 msgid "Visit comma.ai/tg"
 msgstr ""

-#: selfdrive/controls/lib/events.py:271
+#: selfdrive/controls/lib/events.py:276
 msgid "White Panda Is No Longer Supported"
 msgstr ""

-#: selfdrive/controls/lib/events.py:275
+#: selfdrive/controls/lib/events.py:280
 msgid "White panda is no longer supported"
 msgstr ""

-#: selfdrive/controls/lib/events.py:280
+#: selfdrive/controls/lib/events.py:285
 msgid "Stock LKAS is turned on"
 msgstr ""

-#: selfdrive/controls/lib/events.py:281
+#: selfdrive/controls/lib/events.py:286
 msgid "Turn off stock LKAS to engage"
 msgstr ""

-#: selfdrive/controls/lib/events.py:290
+#: selfdrive/controls/lib/events.py:295
 msgid "Community Feature Detected"
 msgstr ""

-#: selfdrive/controls/lib/events.py:291
+#: selfdrive/controls/lib/events.py:296
 msgid "Enable Community Features in Developer Settings"
 msgstr ""

-#: selfdrive/controls/lib/events.py:298
+#: selfdrive/controls/lib/events.py:303
 msgid "Dashcam Mode"
 msgstr ""

-#: selfdrive/controls/lib/events.py:299
+#: selfdrive/controls/lib/events.py:304
 msgid "Car Unrecognized"
 msgstr ""

-#: selfdrive/controls/lib/events.py:306 selfdrive/controls/lib/events.py:314
-#: selfdrive/controls/lib/events.py:322
+#: selfdrive/controls/lib/events.py:311 selfdrive/controls/lib/events.py:319
+#: selfdrive/controls/lib/events.py:327
 msgid "BRAKE!"
 msgstr ""

-#: selfdrive/controls/lib/events.py:307
+#: selfdrive/controls/lib/events.py:312
 msgid "Stock AEB: Risk of Collision"
 msgstr ""

-#: selfdrive/controls/lib/events.py:315
+#: selfdrive/controls/lib/events.py:320
 msgid "Stock FCW: Risk of Collision"
 msgstr ""

-#: selfdrive/controls/lib/events.py:323
+#: selfdrive/controls/lib/events.py:328
 msgid "Risk of Collision"
 msgstr ""

-#: selfdrive/controls/lib/events.py:331
+#: selfdrive/controls/lib/events.py:336
 msgid "Lane Departure Detected"
 msgstr ""

-#: selfdrive/controls/lib/events.py:340
+#: selfdrive/controls/lib/events.py:345
 msgid "openpilot will not brake while gas pressed"
 msgstr ""

-#: selfdrive/controls/lib/events.py:348
+#: selfdrive/controls/lib/events.py:353
 msgid "Vehicle Parameter Identification Failed"
 msgstr ""

-#: selfdrive/controls/lib/events.py:357 selfdrive/controls/lib/events.py:525
-#: selfdrive/controls/lib/events.py:528
+#: selfdrive/controls/lib/events.py:362 selfdrive/controls/lib/events.py:530
+#: selfdrive/controls/lib/events.py:533
 msgid "Steering Temporarily Unavailable"
 msgstr ""

-#: selfdrive/controls/lib/events.py:364
+#: selfdrive/controls/lib/events.py:369
 msgid "KEEP EYES ON ROAD: Driver Distracted"
 msgstr ""

-#: selfdrive/controls/lib/events.py:372
+#: selfdrive/controls/lib/events.py:377
 msgid "KEEP EYES ON ROAD"
 msgstr ""

-#: selfdrive/controls/lib/events.py:373
+#: selfdrive/controls/lib/events.py:378
 msgid "Driver Appears Distracted"
 msgstr ""

-#: selfdrive/controls/lib/events.py:380 selfdrive/controls/lib/events.py:404
+#: selfdrive/controls/lib/events.py:385 selfdrive/controls/lib/events.py:409
 msgid "DISENGAGE IMMEDIATELY"
 msgstr ""

-#: selfdrive/controls/lib/events.py:381
+#: selfdrive/controls/lib/events.py:386
 msgid "Driver Was Distracted"
 msgstr ""

-#: selfdrive/controls/lib/events.py:388
+#: selfdrive/controls/lib/events.py:393
 msgid "TOUCH STEERING WHEEL: No Face Detected"
 msgstr ""

-#: selfdrive/controls/lib/events.py:396
+#: selfdrive/controls/lib/events.py:401
 msgid "TOUCH STEERING WHEEL"
 msgstr ""

-#: selfdrive/controls/lib/events.py:397
+#: selfdrive/controls/lib/events.py:402
 msgid "Driver Is Unresponsive"
 msgstr ""

-#: selfdrive/controls/lib/events.py:405
+#: selfdrive/controls/lib/events.py:410
 msgid "Driver Was Unresponsive"
 msgstr ""

-#: selfdrive/controls/lib/events.py:412
+#: selfdrive/controls/lib/events.py:417
 msgid "CHECK DRIVER FACE VISIBILITY"
 msgstr ""

-#: selfdrive/controls/lib/events.py:413
+#: selfdrive/controls/lib/events.py:418
 msgid "Driver Monitor Model Output Uncertain"
 msgstr ""

-#: selfdrive/controls/lib/events.py:421
+#: selfdrive/controls/lib/events.py:426
 msgid "Resume Driving Manually"
 msgstr ""

-#: selfdrive/controls/lib/events.py:428
+#: selfdrive/controls/lib/events.py:433
 msgid "STOPPED"
 msgstr ""

-#: selfdrive/controls/lib/events.py:429
+#: selfdrive/controls/lib/events.py:434
 msgid "Press Resume to Move"
 msgstr ""

-#: selfdrive/controls/lib/events.py:440
+#: selfdrive/controls/lib/events.py:445
 msgid "Steer Left to Start Lane Change"
 msgstr ""

-#: selfdrive/controls/lib/events.py:441 selfdrive/controls/lib/events.py:449
-#: selfdrive/controls/lib/events.py:457 selfdrive/controls/lib/events.py:465
-#: selfdrive/controls/lib/events.py:793 selfdrive/controls/lib/events.py:801
-#: selfdrive/controls/lib/events.py:809
+#: selfdrive/controls/lib/events.py:446 selfdrive/controls/lib/events.py:454
+#: selfdrive/controls/lib/events.py:462 selfdrive/controls/lib/events.py:470
+#: selfdrive/controls/lib/events.py:814 selfdrive/controls/lib/events.py:822
+#: selfdrive/controls/lib/events.py:830
 msgid "Monitor Other Vehicles"
 msgstr ""

-#: selfdrive/controls/lib/events.py:448
+#: selfdrive/controls/lib/events.py:453
 msgid "Steer Right to Start Lane Change"
 msgstr ""

-#: selfdrive/controls/lib/events.py:456
+#: selfdrive/controls/lib/events.py:461
 msgid "Car Detected in Blindspot"
 msgstr ""

-#: selfdrive/controls/lib/events.py:464 selfdrive/controls/lib/events.py:808
+#: selfdrive/controls/lib/events.py:469 selfdrive/controls/lib/events.py:829
 msgid "Changing Lane"
 msgstr ""

-#: selfdrive/controls/lib/events.py:473
+#: selfdrive/controls/lib/events.py:478
 msgid "Turn Exceeds Steering Limit"
 msgstr ""

-#: selfdrive/controls/lib/events.py:498
+#: selfdrive/controls/lib/events.py:503
 msgid "Brake Hold Active"
 msgstr ""

-#: selfdrive/controls/lib/events.py:503
+#: selfdrive/controls/lib/events.py:508
 msgid "Park Brake Engaged"
 msgstr ""

-#: selfdrive/controls/lib/events.py:508
+#: selfdrive/controls/lib/events.py:513
 msgid "Pedal Pressed During Attempt"
 msgstr ""

-#: selfdrive/controls/lib/events.py:519
+#: selfdrive/controls/lib/events.py:524
 msgid "Enable Adaptive Cruise"
 msgstr ""

-#: selfdrive/controls/lib/events.py:535 selfdrive/controls/lib/events.py:538
-msgid "Vision Model Output Uncertain"
-msgstr ""
-
-#: selfdrive/controls/lib/events.py:544
+#: selfdrive/controls/lib/events.py:540
 msgid "Attempting Refocus: Camera Focus Invalid"
 msgstr ""

-#: selfdrive/controls/lib/events.py:550
+#: selfdrive/controls/lib/events.py:546
 msgid "Out of Storage Space"
 msgstr ""

-#: selfdrive/controls/lib/events.py:555
+#: selfdrive/controls/lib/events.py:551
 msgid "Speed Too Low"
 msgstr ""

-#: selfdrive/controls/lib/events.py:560 selfdrive/controls/lib/events.py:564
+#: selfdrive/controls/lib/events.py:556 selfdrive/controls/lib/events.py:560
 msgid "NEOS Update Required"
 msgstr ""

-#: selfdrive/controls/lib/events.py:561
+#: selfdrive/controls/lib/events.py:557
 msgid "Please Wait for Update"
 msgstr ""

-#: selfdrive/controls/lib/events.py:569 selfdrive/controls/lib/events.py:573
+#: selfdrive/controls/lib/events.py:565 selfdrive/controls/lib/events.py:569
 msgid "No Data from Device Sensors"
 msgstr ""

-#: selfdrive/controls/lib/events.py:570 selfdrive/controls/lib/events.py:583
-#: selfdrive/controls/lib/events.py:665
+#: selfdrive/controls/lib/events.py:566 selfdrive/controls/lib/events.py:579
+#: selfdrive/controls/lib/events.py:686
 msgid "Reboot your Device"
 msgstr ""

-#: selfdrive/controls/lib/events.py:582 selfdrive/controls/lib/events.py:586
+#: selfdrive/controls/lib/events.py:578 selfdrive/controls/lib/events.py:582
 msgid "Speaker not found"
 msgstr ""

-#: selfdrive/controls/lib/events.py:590
+#: selfdrive/controls/lib/events.py:586
 msgid "Distraction Level Too High"
 msgstr ""

-#: selfdrive/controls/lib/events.py:594
+#: selfdrive/controls/lib/events.py:590
 msgid "System Overheated"
 msgstr ""

-#: selfdrive/controls/lib/events.py:595
+#: selfdrive/controls/lib/events.py:591
 msgid "System overheated"
 msgstr ""

-#: selfdrive/controls/lib/events.py:599 selfdrive/controls/lib/events.py:600
+#: selfdrive/controls/lib/events.py:595 selfdrive/controls/lib/events.py:596
 msgid "Gear not D"
 msgstr ""

-#: selfdrive/controls/lib/events.py:604
+#: selfdrive/controls/lib/events.py:600
 msgid "Calibration Invalid: Reposition Device and Recalibrate"
 msgstr ""

-#: selfdrive/controls/lib/events.py:605
+#: selfdrive/controls/lib/events.py:601
 msgid "Calibration Invalid: Reposition Device & Recalibrate"
 msgstr ""

-#: selfdrive/controls/lib/events.py:609 selfdrive/controls/lib/events.py:611
+#: selfdrive/controls/lib/events.py:605 selfdrive/controls/lib/events.py:607
 msgid "Calibration in Progress"
 msgstr ""

-#: selfdrive/controls/lib/events.py:615
+#: selfdrive/controls/lib/events.py:611
 msgid "Door Open"
 msgstr ""

-#: selfdrive/controls/lib/events.py:616
+#: selfdrive/controls/lib/events.py:612
 msgid "Door open"
 msgstr ""

-#: selfdrive/controls/lib/events.py:620
+#: selfdrive/controls/lib/events.py:616
 msgid "Seatbelt Unlatched"
 msgstr ""

-#: selfdrive/controls/lib/events.py:621
+#: selfdrive/controls/lib/events.py:617
 msgid "Seatbelt unlatched"
 msgstr ""

-#: selfdrive/controls/lib/events.py:625 selfdrive/controls/lib/events.py:626
+#: selfdrive/controls/lib/events.py:621 selfdrive/controls/lib/events.py:622
 msgid "ESP Off"
 msgstr ""

-#: selfdrive/controls/lib/events.py:630 selfdrive/controls/lib/events.py:631
+#: selfdrive/controls/lib/events.py:626 selfdrive/controls/lib/events.py:627
 msgid "Low Battery"
 msgstr ""

-#: selfdrive/controls/lib/events.py:635 selfdrive/controls/lib/events.py:636
+#: selfdrive/controls/lib/events.py:631 selfdrive/controls/lib/events.py:632
 msgid "Communication Issue between Processes"
 msgstr ""

-#: selfdrive/controls/lib/events.py:641 selfdrive/controls/lib/events.py:642
+#: selfdrive/controls/lib/events.py:637 selfdrive/controls/lib/events.py:638
 msgid "Radar Communication Issue"
 msgstr ""

-#: selfdrive/controls/lib/events.py:647 selfdrive/controls/lib/events.py:648
-#: selfdrive/controls/lib/events.py:652 selfdrive/controls/lib/events.py:653
+#: selfdrive/controls/lib/events.py:643 selfdrive/controls/lib/events.py:644
+#: selfdrive/controls/lib/events.py:648 selfdrive/controls/lib/events.py:649
 msgid "Radar Error: Restart the Car"
 msgstr ""

-#: selfdrive/controls/lib/events.py:657 selfdrive/controls/lib/events.py:658
+#: selfdrive/controls/lib/events.py:655 selfdrive/controls/lib/events.py:659
 msgid "Driving model lagging"
 msgstr ""

-#: selfdrive/controls/lib/events.py:662 selfdrive/controls/lib/events.py:668
+#: selfdrive/controls/lib/events.py:663 selfdrive/controls/lib/events.py:664
+#: selfdrive/controls/lib/events.py:673 selfdrive/controls/lib/events.py:674
+msgid "Vision Model Output Uncertain"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:668 selfdrive/controls/lib/events.py:669
+#: selfdrive/controls/lib/events.py:678 selfdrive/controls/lib/events.py:679
+msgid "Device Fell Off Mount"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:683 selfdrive/controls/lib/events.py:689
 msgid "Low Memory: Reboot Your Device"
 msgstr ""

-#: selfdrive/controls/lib/events.py:664
+#: selfdrive/controls/lib/events.py:685
 msgid "RAM Critically Low"
 msgstr ""

-#: selfdrive/controls/lib/events.py:673 selfdrive/controls/lib/events.py:674
+#: selfdrive/controls/lib/events.py:694 selfdrive/controls/lib/events.py:695
 msgid "Controls Failed"
 msgstr ""

-#: selfdrive/controls/lib/events.py:678
+#: selfdrive/controls/lib/events.py:699
 msgid "Controls Mismatch"
 msgstr ""

-#: selfdrive/controls/lib/events.py:682 selfdrive/controls/lib/events.py:684
-#: selfdrive/controls/lib/events.py:688
+#: selfdrive/controls/lib/events.py:703 selfdrive/controls/lib/events.py:705
+#: selfdrive/controls/lib/events.py:709
 msgid "CAN Error: Check Connections"
 msgstr ""

-#: selfdrive/controls/lib/events.py:692 selfdrive/controls/lib/events.py:698
+#: selfdrive/controls/lib/events.py:713 selfdrive/controls/lib/events.py:719
 msgid "LKAS Fault: Restart the Car"
 msgstr ""

-#: selfdrive/controls/lib/events.py:694
+#: selfdrive/controls/lib/events.py:715
 msgid "LKAS Fault: Restart the car to engage"
 msgstr ""

-#: selfdrive/controls/lib/events.py:702 selfdrive/controls/lib/events.py:708
-#: selfdrive/controls/lib/events.py:786
+#: selfdrive/controls/lib/events.py:723 selfdrive/controls/lib/events.py:729
+#: selfdrive/controls/lib/events.py:807
 msgid "Cruise Fault: Restart the Car"
 msgstr ""

-#: selfdrive/controls/lib/events.py:704 selfdrive/controls/lib/events.py:782
+#: selfdrive/controls/lib/events.py:725 selfdrive/controls/lib/events.py:803
 msgid "Cruise Fault: Restart the car to engage"
 msgstr ""

-#: selfdrive/controls/lib/events.py:712
+#: selfdrive/controls/lib/events.py:733
 msgid "Gas Fault: Restart the Car"
 msgstr ""

-#: selfdrive/controls/lib/events.py:713
+#: selfdrive/controls/lib/events.py:734
 msgid "Gas Error: Restart the Car"
 msgstr ""

-#: selfdrive/controls/lib/events.py:717 selfdrive/controls/lib/events.py:718
+#: selfdrive/controls/lib/events.py:738 selfdrive/controls/lib/events.py:739
 msgid "Reverse Gear"
 msgstr ""

-#: selfdrive/controls/lib/events.py:722
+#: selfdrive/controls/lib/events.py:743
 msgid "Cruise Is Off"
 msgstr ""

-#: selfdrive/controls/lib/events.py:726 selfdrive/controls/lib/events.py:727
+#: selfdrive/controls/lib/events.py:747 selfdrive/controls/lib/events.py:748
 msgid "Planner Solution Error"
 msgstr ""

-#: selfdrive/controls/lib/events.py:731 selfdrive/controls/lib/events.py:733
-#: selfdrive/controls/lib/events.py:737
+#: selfdrive/controls/lib/events.py:752 selfdrive/controls/lib/events.py:754
+#: selfdrive/controls/lib/events.py:758
 msgid "Harness Malfunction"
 msgstr ""

-#: selfdrive/controls/lib/events.py:734
+#: selfdrive/controls/lib/events.py:755
 msgid "Please Check Hardware"
 msgstr ""

-#: selfdrive/controls/lib/events.py:742 selfdrive/controls/lib/events.py:751
+#: selfdrive/controls/lib/events.py:763 selfdrive/controls/lib/events.py:772
 msgid "openpilot Canceled"
 msgstr ""

-#: selfdrive/controls/lib/events.py:743
+#: selfdrive/controls/lib/events.py:764
 msgid "No close lead car"
 msgstr ""

-#: selfdrive/controls/lib/events.py:746
+#: selfdrive/controls/lib/events.py:767
 msgid "No Close Lead Car"
 msgstr ""

-#: selfdrive/controls/lib/events.py:752
+#: selfdrive/controls/lib/events.py:773
 msgid "Speed too low"
 msgstr ""

-#: selfdrive/controls/lib/events.py:759 selfdrive/controls/lib/events.py:764
+#: selfdrive/controls/lib/events.py:780 selfdrive/controls/lib/events.py:785
 msgid "Speed Too High"
 msgstr ""

-#: selfdrive/controls/lib/events.py:760
+#: selfdrive/controls/lib/events.py:781
 msgid "Slow down to resume operation"
 msgstr ""

-#: selfdrive/controls/lib/events.py:765
+#: selfdrive/controls/lib/events.py:786
 msgid "Slow down to engage"
 msgstr ""

-#: selfdrive/controls/lib/events.py:772
+#: selfdrive/controls/lib/events.py:793
 msgid "Please connect to Internet"
 msgstr ""

-#: selfdrive/controls/lib/events.py:773
+#: selfdrive/controls/lib/events.py:794
 msgid "An Update Check Is Required to Engage"
 msgstr ""

-#: selfdrive/controls/lib/events.py:776
+#: selfdrive/controls/lib/events.py:797
 msgid "Please Connect to Internet"
 msgstr ""

-#: selfdrive/controls/lib/events.py:792
+#: selfdrive/controls/lib/events.py:813
 msgid "Left ALC will start in 3s"
 msgstr ""

-#: selfdrive/controls/lib/events.py:800
+#: selfdrive/controls/lib/events.py:821
 msgid "Right ALC will start in 3s"
 msgstr ""

-#: selfdrive/controls/lib/events.py:816
+#: selfdrive/controls/lib/events.py:837
 msgid "STEERING REQUIRED: Lane Keeping OFF"
 msgstr ""

-#: selfdrive/controls/lib/events.py:824
+#: selfdrive/controls/lib/events.py:845
 msgid "STEERING REQUIRED: Blinkers ON"
 msgstr ""

-#: selfdrive/controls/lib/events.py:832 selfdrive/controls/lib/events.py:837
+#: selfdrive/controls/lib/events.py:853 selfdrive/controls/lib/events.py:858
 msgid "Lead Car Is Moving"
 msgstr ""
@@ -0,0 +1,513 @@
+# SOME DESCRIPTIVE TITLE.
+# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
+#
+#, fuzzy
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2020-09-01 16:34+1000\n"
+"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
+"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
+"Language-Team: LANGUAGE <LL@li.org>\n"
+"Language: ko-KR\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+
+#: selfdrive/controls/lib/events.py:151
+msgid "openpilot Unavailable"
+msgstr "오픈파일럿 사용불가"
+
+#: selfdrive/controls/lib/events.py:158 selfdrive/controls/lib/events.py:165
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "핸들을 잡아주세요"
+
+#: selfdrive/controls/lib/events.py:185 selfdrive/controls/lib/events.py:335
+#: selfdrive/controls/lib/events.py:361 selfdrive/controls/lib/events.py:425
+#: selfdrive/controls/lib/events.py:477 selfdrive/controls/lib/events.py:529
+#: selfdrive/controls/lib/events.py:539 selfdrive/controls/lib/events.py:654
+msgid "TAKE CONTROL"
+msgstr "핸들을 잡아주세요"
+
+#: selfdrive/controls/lib/events.py:186
+#, python-format
+msgid "Steer Unavailable Below %d %s"
+msgstr "%d %s 이하에서는 조향제어가 불가합니다"
+
+#: selfdrive/controls/lib/events.py:194
+#, fuzzy, python-format
+msgid "Calibration in Progress: %d%%"
+msgstr "캘리브레이션 진행중: %d%%"
+
+#: selfdrive/controls/lib/events.py:195
+#, python-format
+msgid "Drive Above %d %s"
+msgstr "%d %s 이상의 속도로 주행하세요"
+
+#: selfdrive/controls/lib/events.py:202
+msgid "Poor GPS reception"
+msgstr "GPS 신호 약함"
+
+#: selfdrive/controls/lib/events.py:203
+msgid "If sky is visible, contact support"
+msgstr "환경에 문제가 없을경우 서비스팀에 연락하세요"
+
+#: selfdrive/controls/lib/events.py:203
+msgid "Check GPS antenna placement"
+msgstr "GPS안테나 위치를 점검하세요"
+
+#: selfdrive/controls/lib/events.py:208
+msgid "Cruise Mode Disabled"
+msgstr "크루즈 모드 꺼짐"
+
+#: selfdrive/controls/lib/events.py:210
+msgid "Main Switch Off"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:220
+msgid "DEBUG ALERT"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:228
+msgid "Be ready to take over at any time"
+msgstr "오픈파일럿 사용준비가 되었습니다"
+
+#: selfdrive/controls/lib/events.py:229 selfdrive/controls/lib/events.py:245
+#: selfdrive/controls/lib/events.py:253 selfdrive/controls/lib/events.py:261
+msgid "Always keep hands on wheel and eyes on road"
+msgstr "안전운전을 위해 항상 핸들을 잡고 도로교통 상황을 주시하세요"
+
+#: selfdrive/controls/lib/events.py:236
+msgid "WARNING: White panda is deprecated"
+msgstr "경고: 화이트 판다는 더이상 사용되지 않습니다"
+
+#: selfdrive/controls/lib/events.py:237 selfdrive/controls/lib/events.py:277
+msgid "Upgrade to comma two or black panda"
+msgstr "콤마2나 블랙판다로 업그레이드 하세요"
+
+#: selfdrive/controls/lib/events.py:244
+msgid "WARNING: This branch is not tested"
+msgstr "경고: 이 Branch는 테스트되지 않았습니다"
+
+#: selfdrive/controls/lib/events.py:252
+msgid "Dashcam mode"
+msgstr "대시캠 모드"
+
+#: selfdrive/controls/lib/events.py:260
+msgid "Dashcam mode for unsupported car"
+msgstr "안전운전을 위해 항상 핸들을 잡고 도로교통 상황을 주시하세요"
+
+#: selfdrive/controls/lib/events.py:268
+msgid "Unsupported Giraffe Configuration"
+msgstr "지원되지 않는 지라프 설정"
+
+#: selfdrive/controls/lib/events.py:269
+msgid "Visit comma.ai/tg"
+msgstr "comma.ai/tg 방문하세요"
+
+#: selfdrive/controls/lib/events.py:276
+msgid "White Panda Is No Longer Supported"
+msgstr "화이트판다는 더 이상 지원되지 않습니다"
+
+#: selfdrive/controls/lib/events.py:280
+msgid "White panda is no longer supported"
+msgstr "화이트판다는 더 이상 지원되지 않습니다"
+
+#: selfdrive/controls/lib/events.py:285
+msgid "Stock LKAS is turned on"
+msgstr "차량의 LKAS 기능이 켜져 있습니다"
+
+#: selfdrive/controls/lib/events.py:286
+msgid "Turn off stock LKAS to engage"
+msgstr "오픈파일럿 사용을 위해 LKAS를 끄세요"
+
+#: selfdrive/controls/lib/events.py:295
+msgid "Community Feature Detected"
+msgstr "커뮤니티 기능 감지됨"
+
+#: selfdrive/controls/lib/events.py:296
+msgid "Enable Community Features in Developer Settings"
+msgstr "개발자 설정에서 커뮤니티 기능을 활성화하세요"
+
+#: selfdrive/controls/lib/events.py:303
+msgid "Dashcam Mode"
+msgstr "대시캠 모드"
+
+#: selfdrive/controls/lib/events.py:304
+msgid "Car Unrecognized"
+msgstr "미인식 차량"
+
+#: selfdrive/controls/lib/events.py:311 selfdrive/controls/lib/events.py:319
+#: selfdrive/controls/lib/events.py:327
+msgid "BRAKE!"
+msgstr "브레이크!"
+
+#: selfdrive/controls/lib/events.py:312
+msgid "Stock AEB: Risk of Collision"
+msgstr "순정 AEB: 충돌 위험"
+
+#: selfdrive/controls/lib/events.py:320
+msgid "Stock FCW: Risk of Collision"
+msgstr "순정 FCW: 충돌 위험"
+
+#: selfdrive/controls/lib/events.py:328
+msgid "Risk of Collision"
+msgstr "충돌 위험"
+
+#: selfdrive/controls/lib/events.py:336
+msgid "Lane Departure Detected"
+msgstr "차선이탈이 감지되었습니다"
+
+#: selfdrive/controls/lib/events.py:345
+msgid "openpilot will not brake while gas pressed"
+msgstr "가속중에는 오픈파일럿 브레이크 작동불가"
+
+#: selfdrive/controls/lib/events.py:353
+msgid "Vehicle Parameter Identification Failed"
+msgstr "차량 매개 변수 식별 실패"
+
+#: selfdrive/controls/lib/events.py:362 selfdrive/controls/lib/events.py:530
+#: selfdrive/controls/lib/events.py:533
+msgid "Steering Temporarily Unavailable"
+msgstr "조향제어가 일시적으로 비활성화 되었습니다"
+
+#: selfdrive/controls/lib/events.py:369
+msgid "KEEP EYES ON ROAD: Driver Distracted"
+msgstr "도로상황에 주의를 기울이세요"
+
+#: selfdrive/controls/lib/events.py:377
+msgid "KEEP EYES ON ROAD"
+msgstr "도로상황에 주의하세요"
+
+#: selfdrive/controls/lib/events.py:378
+msgid "Driver Appears Distracted"
+msgstr "전방주시 필요"
+
+#: selfdrive/controls/lib/events.py:385 selfdrive/controls/lib/events.py:409
+msgid "DISENGAGE IMMEDIATELY"
+msgstr "경고: 조향제어가 즉시 해제됩니다"
+
+#: selfdrive/controls/lib/events.py:386
+msgid "Driver Was Distracted"
+msgstr "운전자 전방주시 불안"
+
+#: selfdrive/controls/lib/events.py:393
+msgid "TOUCH STEERING WHEEL: No Face Detected"
+msgstr "핸들을 터치하세요: 모니터링 없음"
+
+#: selfdrive/controls/lib/events.py:401
+msgid "TOUCH STEERING WHEEL"
+msgstr "핸들을 터치하세요"
+
+#: selfdrive/controls/lib/events.py:402
+msgid "Driver Is Unresponsive"
+msgstr "운전자 모니터링 없음"
+
+#: selfdrive/controls/lib/events.py:410
+msgid "Driver Was Unresponsive"
+msgstr "운전자 모니터링 없음"
+
+#: selfdrive/controls/lib/events.py:417
+msgid "CHECK DRIVER FACE VISIBILITY"
+msgstr "운전자 얼굴 확인 중"
+
+#: selfdrive/controls/lib/events.py:418
+msgid "Driver Monitor Model Output Uncertain"
+msgstr "운전자 얼굴 인식이 어렵습니다"
+
+#: selfdrive/controls/lib/events.py:426
+msgid "Resume Driving Manually"
+msgstr "수동으로 재출발 하세요"
+
+#: selfdrive/controls/lib/events.py:433
+msgid "STOPPED"
+msgstr "잠시멈춤"
+
+#: selfdrive/controls/lib/events.py:434
+msgid "Press Resume to Move"
+msgstr "재출발을 위해 RES버튼을 누르세요"
+
+#: selfdrive/controls/lib/events.py:445
+msgid "Steer Left to Start Lane Change"
+msgstr "차선 변경을 위해 핸들을 좌측으로 살짝 돌리세요"
+
+#: selfdrive/controls/lib/events.py:446 selfdrive/controls/lib/events.py:454
+#: selfdrive/controls/lib/events.py:462 selfdrive/controls/lib/events.py:470
+#: selfdrive/controls/lib/events.py:814 selfdrive/controls/lib/events.py:822
+#: selfdrive/controls/lib/events.py:830
+msgid "Monitor Other Vehicles"
+msgstr "다른 차량에 주의하세요"
+
+#: selfdrive/controls/lib/events.py:453
+msgid "Steer Right to Start Lane Change"
+msgstr "차선 변경을 위해 핸들을 우측으로 살짝 돌리세요"
+
+#: selfdrive/controls/lib/events.py:461
+msgid "Car Detected in Blindspot"
+msgstr "측면 차량 접근 중"
+
+#: selfdrive/controls/lib/events.py:469 selfdrive/controls/lib/events.py:829
+msgid "Changing Lane"
+msgstr "차선 변경 중"
+
+#: selfdrive/controls/lib/events.py:478
+msgid "Turn Exceeds Steering Limit"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:503
+msgid "Brake Hold Active"
+msgstr "브레이크 홀드 중"
+
+#: selfdrive/controls/lib/events.py:508
+msgid "Park Brake Engaged"
+msgstr "파킹브레이크 체결 됨"
+
+#: selfdrive/controls/lib/events.py:513
+msgid "Pedal Pressed During Attempt"
+msgstr "시작 중 페달 밟음"
+
+#: selfdrive/controls/lib/events.py:524
+msgid "Enable Adaptive Cruise"
+msgstr "어댑티브 크루즈를 활성화하세요"
+
+#: selfdrive/controls/lib/events.py:540
+msgid "Attempting Refocus: Camera Focus Invalid"
+msgstr "카메라 포커스 조정중: 카메라 포커스 부정확"
+
+#: selfdrive/controls/lib/events.py:546
+msgid "Out of Storage Space"
+msgstr "저장공간 부족"
+
+#: selfdrive/controls/lib/events.py:551
+msgid "Speed Too Low"
+msgstr "차량의 속도 낮음"
+
+#: selfdrive/controls/lib/events.py:556 selfdrive/controls/lib/events.py:560
+msgid "NEOS Update Required"
+msgstr "NEOS 업데이트 필요"
+
+#: selfdrive/controls/lib/events.py:557
+msgid "Please Wait for Update"
+msgstr "업데이트를 위해 기다리세요"
+
+#: selfdrive/controls/lib/events.py:565 selfdrive/controls/lib/events.py:569
+msgid "No Data from Device Sensors"
+msgstr "EON센서로부터 데이터를 받지 못했습니다"
+
+#: selfdrive/controls/lib/events.py:566 selfdrive/controls/lib/events.py:579
+#: selfdrive/controls/lib/events.py:686
+msgid "Reboot your Device"
+msgstr "장치를 재시작 하세요"
+
+#: selfdrive/controls/lib/events.py:578 selfdrive/controls/lib/events.py:582
+msgid "Speaker not found"
+msgstr "스피커를 찾을 수 없습니다"
+
+#: selfdrive/controls/lib/events.py:586
+msgid "Distraction Level Too High"
+msgstr "운전자 전방주시 매우 불안"
+
+#: selfdrive/controls/lib/events.py:590
+msgid "System Overheated"
+msgstr "시스템이 과열되었습니다"
+
+#: selfdrive/controls/lib/events.py:591
+msgid "System overheated"
+msgstr "시스템이 과열되었습니다"
+
+#: selfdrive/controls/lib/events.py:595 selfdrive/controls/lib/events.py:596
+msgid "Gear not D"
+msgstr "기어가 드라이브모드가 아닙니다"
+
+#: selfdrive/controls/lib/events.py:600
+msgid "Calibration Invalid: Reposition Device and Recalibrate"
+msgstr "캘리브레이션 유효하지 않음: 장치 위치 조정 및 재 캘리브레이션"
+
+#: selfdrive/controls/lib/events.py:601
+msgid "Calibration Invalid: Reposition Device & Recalibrate"
+msgstr "캘리브레이션 유효하지 않음: 장치 위치 조정 및 재 캘리브레이션"
+
+#: selfdrive/controls/lib/events.py:605 selfdrive/controls/lib/events.py:607
+msgid "Calibration in Progress"
+msgstr "캘리브레이션 진행 중"
+
+#: selfdrive/controls/lib/events.py:611
+msgid "Door Open"
+msgstr "도어가 열려있습니다"
+
+#: selfdrive/controls/lib/events.py:612
+msgid "Door open"
+msgstr "도어가 열려있습니다"
+
+#: selfdrive/controls/lib/events.py:616
+msgid "Seatbelt Unlatched"
+msgstr "안전벨트를 체결하세요"
+
+#: selfdrive/controls/lib/events.py:617
+msgid "Seatbelt unlatched"
+msgstr "안전벨트를 체결하세요"
+
+#: selfdrive/controls/lib/events.py:621 selfdrive/controls/lib/events.py:622
+msgid "ESP Off"
+msgstr "ESP 꺼짐"
+
+#: selfdrive/controls/lib/events.py:626 selfdrive/controls/lib/events.py:627
+msgid "Low Battery"
+msgstr "배터리 부족"
+
+#: selfdrive/controls/lib/events.py:631 selfdrive/controls/lib/events.py:632
+msgid "Communication Issue between Processes"
+msgstr "프로세스 간 통신 오류가 있습니다"
+
+#: selfdrive/controls/lib/events.py:637 selfdrive/controls/lib/events.py:638
+msgid "Radar Communication Issue"
+msgstr "레이더 오류: 차량을 재시작하세요"
+
+#: selfdrive/controls/lib/events.py:643 selfdrive/controls/lib/events.py:644
+#: selfdrive/controls/lib/events.py:648 selfdrive/controls/lib/events.py:649
+msgid "Radar Error: Restart the Car"
+msgstr "레이더 오류: 차량을 재시작하세요"
+
+#: selfdrive/controls/lib/events.py:655 selfdrive/controls/lib/events.py:659
+msgid "Driving model lagging"
+msgstr "주행 모델 지연"
+
+#: selfdrive/controls/lib/events.py:663 selfdrive/controls/lib/events.py:664
+#: selfdrive/controls/lib/events.py:673 selfdrive/controls/lib/events.py:674
+msgid "Vision Model Output Uncertain"
+msgstr "전방 영상 인식 불안"
+
+#: selfdrive/controls/lib/events.py:668 selfdrive/controls/lib/events.py:669
+#: selfdrive/controls/lib/events.py:678 selfdrive/controls/lib/events.py:679
+msgid "Device Fell Off Mount"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:683 selfdrive/controls/lib/events.py:689
+msgid "Low Memory: Reboot Your Device"
+msgstr "메모리 부족: 장치를 재시작하세요"
+
+#: selfdrive/controls/lib/events.py:685
+msgid "RAM Critically Low"
+msgstr "메모리 부족 심각"
+
+#: selfdrive/controls/lib/events.py:694 selfdrive/controls/lib/events.py:695
+msgid "Controls Failed"
+msgstr "차량제어 불가"
+
+#: selfdrive/controls/lib/events.py:699
+msgid "Controls Mismatch"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:703 selfdrive/controls/lib/events.py:705
+#: selfdrive/controls/lib/events.py:709
+msgid "CAN Error: Check Connections"
+msgstr "CAN 오류: CAN 신호를 확인하세요"
+
+#: selfdrive/controls/lib/events.py:713 selfdrive/controls/lib/events.py:719
+msgid "LKAS Fault: Restart the Car"
+msgstr "LKAS 오류: 차량을 재시작하세요"
+
+#: selfdrive/controls/lib/events.py:715
+msgid "LKAS Fault: Restart the car to engage"
+msgstr "LKAS 오류: 시작을 위해 차량을 재시작하세요"
+
+#: selfdrive/controls/lib/events.py:723 selfdrive/controls/lib/events.py:729
+#: selfdrive/controls/lib/events.py:807
+msgid "Cruise Fault: Restart the Car"
+msgstr "크루즈 오류: 차량을 재시작하세요"
+
+#: selfdrive/controls/lib/events.py:725 selfdrive/controls/lib/events.py:803
+msgid "Cruise Fault: Restart the car to engage"
+msgstr "크루즈 오류: 시작을 위해 차량을 재시작하세요"
+
+#: selfdrive/controls/lib/events.py:733
+msgid "Gas Fault: Restart the Car"
+msgstr "가속페달 오류: 차량을 재시작하세요"
+
+#: selfdrive/controls/lib/events.py:734
+msgid "Gas Error: Restart the Car"
+msgstr "가속페달 오류: 차량을 재시작하세요"
+
+#: selfdrive/controls/lib/events.py:738 selfdrive/controls/lib/events.py:739
+msgid "Reverse Gear"
+msgstr "후진 기어"
+
+#: selfdrive/controls/lib/events.py:743
+msgid "Cruise Is Off"
+msgstr "크루즈 꺼짐"
+
+#: selfdrive/controls/lib/events.py:747 selfdrive/controls/lib/events.py:748
+msgid "Planner Solution Error"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:752 selfdrive/controls/lib/events.py:754
+#: selfdrive/controls/lib/events.py:758
+msgid "Harness Malfunction"
+msgstr "하네스 오작동"
+
+#: selfdrive/controls/lib/events.py:755
+msgid "Please Check Hardware"
+msgstr "장치를 점검하세요"
+
+#: selfdrive/controls/lib/events.py:763 selfdrive/controls/lib/events.py:772
+msgid "openpilot Canceled"
+msgstr "오픈파일럿 시작불가"
+
+#: selfdrive/controls/lib/events.py:764
+msgid "No close lead car"
+msgstr "선행차량이 없습니다"
+
+#: selfdrive/controls/lib/events.py:767
+msgid "No Close Lead Car"
+msgstr "선행차량이 없습니다"
+
+#: selfdrive/controls/lib/events.py:773
+msgid "Speed too low"
+msgstr "선행차량이 없습니다"
+
+#: selfdrive/controls/lib/events.py:780 selfdrive/controls/lib/events.py:785
+msgid "Speed Too High"
+msgstr "속도가 너무 높습니다"
+
+#: selfdrive/controls/lib/events.py:781
+msgid "Slow down to resume operation"
+msgstr "재 작동을 위해 차량의 속도를 낮추세요"
+
+#: selfdrive/controls/lib/events.py:786
+msgid "Slow down to engage"
+msgstr "시작을 위해 차량의 속도를 낮추세요"
+
+#: selfdrive/controls/lib/events.py:793
+msgid "Please connect to Internet"
+msgstr "인터넷에 연결하세요"
+
+#: selfdrive/controls/lib/events.py:794
+msgid "An Update Check Is Required to Engage"
+msgstr "시작을 위해 업데이트를 확인해야 합니다"
+
+#: selfdrive/controls/lib/events.py:797
+msgid "Please Connect to Internet"
+msgstr "인터넷에 연결하세요"
+
+#: selfdrive/controls/lib/events.py:813
+msgid "Left ALC will start in 3s"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:821
+msgid "Right ALC will start in 3s"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:837
+msgid "STEERING REQUIRED: Lane Keeping OFF"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:845
+msgid "STEERING REQUIRED: Blinkers ON"
+msgstr ""
+
+#: selfdrive/controls/lib/events.py:853 selfdrive/controls/lib/events.py:858
+msgid "Lead Car Is Moving"
+msgstr ""
@@ -7,7 +7,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2020-07-14 16:46+1000\n"
+"POT-Creation-Date: 2020-09-01 16:34+1000\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: Rick Lan <ricklan@gmail.com>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -16,488 +16,497 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"

-#: selfdrive/controls/lib/events.py:146
+#: selfdrive/controls/lib/events.py:151
 msgid "openpilot Unavailable"
 msgstr "无法使用 openpilot"

-#: selfdrive/controls/lib/events.py:153 selfdrive/controls/lib/events.py:160
+#: selfdrive/controls/lib/events.py:158 selfdrive/controls/lib/events.py:165
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "即刻接管控制"

-#: selfdrive/controls/lib/events.py:180 selfdrive/controls/lib/events.py:330
-#: selfdrive/controls/lib/events.py:356 selfdrive/controls/lib/events.py:420
-#: selfdrive/controls/lib/events.py:472 selfdrive/controls/lib/events.py:524
-#: selfdrive/controls/lib/events.py:534 selfdrive/controls/lib/events.py:543
+#: selfdrive/controls/lib/events.py:185 selfdrive/controls/lib/events.py:335
+#: selfdrive/controls/lib/events.py:361 selfdrive/controls/lib/events.py:425
+#: selfdrive/controls/lib/events.py:477 selfdrive/controls/lib/events.py:529
+#: selfdrive/controls/lib/events.py:539 selfdrive/controls/lib/events.py:654
 msgid "TAKE CONTROL"
 msgstr "接管控制"

-#: selfdrive/controls/lib/events.py:181
-msgid "Steer Unavailable Below"
-msgstr "横向控制暂时失效，车速低于 "
+#: selfdrive/controls/lib/events.py:186
+#, fuzzy, python-format
+msgid "Steer Unavailable Below %d %s"
+msgstr "横向控制暂时失效，车速低于 %d %s"

-#: selfdrive/controls/lib/events.py:190
-msgid "Drive Above"
-msgstr "车速请高于"
+#: selfdrive/controls/lib/events.py:194
+#, fuzzy, python-format
+msgid "Calibration in Progress: %d%%"
+msgstr "正在校准中：%d%%"

-#: selfdrive/controls/lib/events.py:189
-msgid "Calibration in Progress:"
-msgstr "正在校准中："
+#: selfdrive/controls/lib/events.py:195
+#, fuzzy, python-format
+msgid "Drive Above %d %s"
+msgstr "车速请高于 %d %s"

-#: selfdrive/controls/lib/events.py:197
+#: selfdrive/controls/lib/events.py:202
 msgid "Poor GPS reception"
 msgstr "GPS 讯号不良"

-#: selfdrive/controls/lib/events.py:198
+#: selfdrive/controls/lib/events.py:203
 msgid "If sky is visible, contact support"
 msgstr "如果您不在地下室/隧道，请联系客服"

-#: selfdrive/controls/lib/events.py:198
+#: selfdrive/controls/lib/events.py:203
 msgid "Check GPS antenna placement"
 msgstr "请检查 GPS 天线位置"

-#: selfdrive/controls/lib/events.py:203
+#: selfdrive/controls/lib/events.py:208
 msgid "Cruise Mode Disabled"
 msgstr "巡航模式关闭"

-#: selfdrive/controls/lib/events.py:205
+#: selfdrive/controls/lib/events.py:210
 msgid "Main Switch Off"
 msgstr "主开关已关闭"

-#: selfdrive/controls/lib/events.py:215
+#: selfdrive/controls/lib/events.py:220
 msgid "DEBUG ALERT"
 msgstr "除错用警示讯息"

-#: selfdrive/controls/lib/events.py:223
+#: selfdrive/controls/lib/events.py:228
 msgid "Be ready to take over at any time"
 msgstr "请准备好随时接管"

-#: selfdrive/controls/lib/events.py:224 selfdrive/controls/lib/events.py:240
-#: selfdrive/controls/lib/events.py:248 selfdrive/controls/lib/events.py:256
+#: selfdrive/controls/lib/events.py:229 selfdrive/controls/lib/events.py:245
+#: selfdrive/controls/lib/events.py:253 selfdrive/controls/lib/events.py:261
 msgid "Always keep hands on wheel and eyes on road"
 msgstr "将手放在方向盘上并持续监视路况"

-#: selfdrive/controls/lib/events.py:231
+#: selfdrive/controls/lib/events.py:236
 msgid "WARNING: White panda is deprecated"
 msgstr "注意：这个分支未经过测试"

-#: selfdrive/controls/lib/events.py:232 selfdrive/controls/lib/events.py:272
+#: selfdrive/controls/lib/events.py:237 selfdrive/controls/lib/events.py:277
 msgid "Upgrade to comma two or black panda"
 msgstr "请升级至 comma two 或是使用 black panda"

-#: selfdrive/controls/lib/events.py:239
+#: selfdrive/controls/lib/events.py:244
 msgid "WARNING: This branch is not tested"
 msgstr "注意：这个分支未经过测试"

-#: selfdrive/controls/lib/events.py:247
+#: selfdrive/controls/lib/events.py:252
 msgid "Dashcam mode"
 msgstr "行车记录模式"

-#: selfdrive/controls/lib/events.py:255
+#: selfdrive/controls/lib/events.py:260
 msgid "Dashcam mode for unsupported car"
 msgstr "行车记录模式 (尚未支援车种)"

-#: selfdrive/controls/lib/events.py:263
+#: selfdrive/controls/lib/events.py:268
 msgid "Unsupported Giraffe Configuration"
 msgstr "未支援的 Giraffe 设置"

-#: selfdrive/controls/lib/events.py:264
+#: selfdrive/controls/lib/events.py:269
 msgid "Visit comma.ai/tg"
 msgstr "请查阅 comma.ai/tg"

-#: selfdrive/controls/lib/events.py:271
+#: selfdrive/controls/lib/events.py:276
 msgid "White Panda Is No Longer Supported"
 msgstr "不再支持 White Panda"

-#: selfdrive/controls/lib/events.py:275
+#: selfdrive/controls/lib/events.py:280
 msgid "White panda is no longer supported"
 msgstr "不再支持 White panda"

-#: selfdrive/controls/lib/events.py:280
+#: selfdrive/controls/lib/events.py:285
 msgid "Stock LKAS is turned on"
 msgstr "原厂 LKAS 已开启"

-#: selfdrive/controls/lib/events.py:281
+#: selfdrive/controls/lib/events.py:286
 msgid "Turn off stock LKAS to engage"
 msgstr "需关闭原厂 LKAS 才能启用"

-#: selfdrive/controls/lib/events.py:290
+#: selfdrive/controls/lib/events.py:295
 msgid "Community Feature Detected"
 msgstr "检测到社群开发功能"

-#: selfdrive/controls/lib/events.py:291
+#: selfdrive/controls/lib/events.py:296
 msgid "Enable Community Features in Developer Settings"
 msgstr "请至开发人员设定裡启用社群开发功能"

-#: selfdrive/controls/lib/events.py:298
+#: selfdrive/controls/lib/events.py:303
 msgid "Dashcam Mode"
 msgstr "行车记录模式"

-#: selfdrive/controls/lib/events.py:299
+#: selfdrive/controls/lib/events.py:304
 msgid "Car Unrecognized"
 msgstr "无法辨识车款"

-#: selfdrive/controls/lib/events.py:306 selfdrive/controls/lib/events.py:314
-#: selfdrive/controls/lib/events.py:322
+#: selfdrive/controls/lib/events.py:311 selfdrive/controls/lib/events.py:319
+#: selfdrive/controls/lib/events.py:327
 msgid "BRAKE!"
 msgstr "刹车！"

-#: selfdrive/controls/lib/events.py:307
+#: selfdrive/controls/lib/events.py:312
 msgid "Stock AEB: Risk of Collision"
 msgstr "有碰撞的风险"

-#: selfdrive/controls/lib/events.py:315
+#: selfdrive/controls/lib/events.py:320
 msgid "Stock FCW: Risk of Collision"
 msgstr "有碰撞的风险"

-#: selfdrive/controls/lib/events.py:323
+#: selfdrive/controls/lib/events.py:328
 msgid "Risk of Collision"
 msgstr "有碰撞的风险"

-#: selfdrive/controls/lib/events.py:331
+#: selfdrive/controls/lib/events.py:336
 msgid "Lane Departure Detected"
 msgstr "偏离车道"

-#: selfdrive/controls/lib/events.py:340
+#: selfdrive/controls/lib/events.py:345
 msgid "openpilot will not brake while gas pressed"
 msgstr "在您踩着油门的时候 openpilot 将不会刹车"

-#: selfdrive/controls/lib/events.py:348
+#: selfdrive/controls/lib/events.py:353
 msgid "Vehicle Parameter Identification Failed"
 msgstr "车子参数识别失败"

-#: selfdrive/controls/lib/events.py:357 selfdrive/controls/lib/events.py:525
-#: selfdrive/controls/lib/events.py:528
+#: selfdrive/controls/lib/events.py:362 selfdrive/controls/lib/events.py:530
+#: selfdrive/controls/lib/events.py:533
 msgid "Steering Temporarily Unavailable"
 msgstr "横向控制暂时失效"

-#: selfdrive/controls/lib/events.py:364
+#: selfdrive/controls/lib/events.py:369
 msgid "KEEP EYES ON ROAD: Driver Distracted"
 msgstr "注意路况：驾驶分心"

-#: selfdrive/controls/lib/events.py:372
+#: selfdrive/controls/lib/events.py:377
 msgid "KEEP EYES ON ROAD"
 msgstr "注意路况"

-#: selfdrive/controls/lib/events.py:373
+#: selfdrive/controls/lib/events.py:378
 msgid "Driver Appears Distracted"
 msgstr "驾驶分心"

-#: selfdrive/controls/lib/events.py:380 selfdrive/controls/lib/events.py:404
+#: selfdrive/controls/lib/events.py:385 selfdrive/controls/lib/events.py:409
 msgid "DISENGAGE IMMEDIATELY"
 msgstr "立即解除"

-#: selfdrive/controls/lib/events.py:381
+#: selfdrive/controls/lib/events.py:386
 msgid "Driver Was Distracted"
 msgstr "驾驶分心"

-#: selfdrive/controls/lib/events.py:388
+#: selfdrive/controls/lib/events.py:393
 msgid "TOUCH STEERING WHEEL: No Face Detected"
 msgstr "请触碰方向盘：未侦测到驾驶面容"

-#: selfdrive/controls/lib/events.py:396
+#: selfdrive/controls/lib/events.py:401
 msgid "TOUCH STEERING WHEEL"
 msgstr "请触碰方向盘"

-#: selfdrive/controls/lib/events.py:397
+#: selfdrive/controls/lib/events.py:402
 msgid "Driver Is Unresponsive"
 msgstr "驾驶没有反应"

-#: selfdrive/controls/lib/events.py:405
+#: selfdrive/controls/lib/events.py:410
 msgid "Driver Was Unresponsive"
 msgstr "驾驶没有反应"

-#: selfdrive/controls/lib/events.py:412
+#: selfdrive/controls/lib/events.py:417
 msgid "CHECK DRIVER FACE VISIBILITY"
 msgstr "请检查驾驶面部的可见度"

-#: selfdrive/controls/lib/events.py:413
+#: selfdrive/controls/lib/events.py:418
 msgid "Driver Monitor Model Output Uncertain"
 msgstr "驾驶监控模型判断不明确"

-#: selfdrive/controls/lib/events.py:421
+#: selfdrive/controls/lib/events.py:426
 msgid "Resume Driving Manually"
 msgstr "请自行恢復驾驶"

-#: selfdrive/controls/lib/events.py:428
+#: selfdrive/controls/lib/events.py:433
 msgid "STOPPED"
 msgstr "已停止"

-#: selfdrive/controls/lib/events.py:429
+#: selfdrive/controls/lib/events.py:434
 msgid "Press Resume to Move"
 msgstr "请按 RES 继续"

-#: selfdrive/controls/lib/events.py:440
+#: selfdrive/controls/lib/events.py:445
 msgid "Steer Left to Start Lane Change"
 msgstr "请往左打方向盘切换至左车道"

-#: selfdrive/controls/lib/events.py:441 selfdrive/controls/lib/events.py:449
-#: selfdrive/controls/lib/events.py:457 selfdrive/controls/lib/events.py:465
-#: selfdrive/controls/lib/events.py:793 selfdrive/controls/lib/events.py:801
-#: selfdrive/controls/lib/events.py:809
+#: selfdrive/controls/lib/events.py:446 selfdrive/controls/lib/events.py:454
+#: selfdrive/controls/lib/events.py:462 selfdrive/controls/lib/events.py:470
+#: selfdrive/controls/lib/events.py:814 selfdrive/controls/lib/events.py:822
+#: selfdrive/controls/lib/events.py:830
 msgid "Monitor Other Vehicles"
 msgstr "请注意其它车辆"

-#: selfdrive/controls/lib/events.py:448
+#: selfdrive/controls/lib/events.py:453
 msgid "Steer Right to Start Lane Change"
 msgstr "请往右打方向盘切换至右车道"

-#: selfdrive/controls/lib/events.py:456
+#: selfdrive/controls/lib/events.py:461
 msgid "Car Detected in Blindspot"
 msgstr "盲点侦测到车辆"

-#: selfdrive/controls/lib/events.py:464 selfdrive/controls/lib/events.py:808
+#: selfdrive/controls/lib/events.py:469 selfdrive/controls/lib/events.py:829
 msgid "Changing Lane"
 msgstr "切换车道中"

-#: selfdrive/controls/lib/events.py:473
+#: selfdrive/controls/lib/events.py:478
 msgid "Turn Exceeds Steering Limit"
 msgstr "弯道超过横向操控限制"

-#: selfdrive/controls/lib/events.py:498
+#: selfdrive/controls/lib/events.py:503
 msgid "Brake Hold Active"
 msgstr "驻车煞车已启用"

-#: selfdrive/controls/lib/events.py:503
+#: selfdrive/controls/lib/events.py:508
 msgid "Park Brake Engaged"
 msgstr "电子驻车已启动"

-#: selfdrive/controls/lib/events.py:508
+#: selfdrive/controls/lib/events.py:513
 msgid "Pedal Pressed During Attempt"
 msgstr "启用时侦测到驾驶踩踏油门/刹车"

-#: selfdrive/controls/lib/events.py:519
+#: selfdrive/controls/lib/events.py:524
 msgid "Enable Adaptive Cruise"
 msgstr "启用自适应巡航"

-#: selfdrive/controls/lib/events.py:535 selfdrive/controls/lib/events.py:538
-msgid "Vision Model Output Uncertain"
-msgstr "视觉模型判断不明确"
-
-#: selfdrive/controls/lib/events.py:544
+#: selfdrive/controls/lib/events.py:540
 msgid "Attempting Refocus: Camera Focus Invalid"
 msgstr "尝试对焦：相机已失焦"

-#: selfdrive/controls/lib/events.py:550
+#: selfdrive/controls/lib/events.py:546
 msgid "Out of Storage Space"
 msgstr "存储空间不足"

-#: selfdrive/controls/lib/events.py:555
+#: selfdrive/controls/lib/events.py:551
 msgid "Speed Too Low"
 msgstr "车速过慢"

-#: selfdrive/controls/lib/events.py:560 selfdrive/controls/lib/events.py:564
+#: selfdrive/controls/lib/events.py:556 selfdrive/controls/lib/events.py:560
 msgid "NEOS Update Required"
 msgstr "NEOS 需要更新"

-#: selfdrive/controls/lib/events.py:561
+#: selfdrive/controls/lib/events.py:557
 msgid "Please Wait for Update"
 msgstr "更新中请稍候"

-#: selfdrive/controls/lib/events.py:569 selfdrive/controls/lib/events.py:573
+#: selfdrive/controls/lib/events.py:565 selfdrive/controls/lib/events.py:569
 msgid "No Data from Device Sensors"
 msgstr "未收到装置传感器数据"

-#: selfdrive/controls/lib/events.py:570 selfdrive/controls/lib/events.py:583
-#: selfdrive/controls/lib/events.py:665
+#: selfdrive/controls/lib/events.py:566 selfdrive/controls/lib/events.py:579
+#: selfdrive/controls/lib/events.py:686
 msgid "Reboot your Device"
 msgstr "请重启装置"

-#: selfdrive/controls/lib/events.py:582 selfdrive/controls/lib/events.py:586
+#: selfdrive/controls/lib/events.py:578 selfdrive/controls/lib/events.py:582
 msgid "Speaker not found"
 msgstr "找不到音效装置"

-#: selfdrive/controls/lib/events.py:590
+#: selfdrive/controls/lib/events.py:586
 msgid "Distraction Level Too High"
 msgstr "驾驶分心太多次"

-#: selfdrive/controls/lib/events.py:594
+#: selfdrive/controls/lib/events.py:590
 msgid "System Overheated"
 msgstr "系统过热"

-#: selfdrive/controls/lib/events.py:595
+#: selfdrive/controls/lib/events.py:591
 msgid "System overheated"
 msgstr "系统过热"

-#: selfdrive/controls/lib/events.py:599 selfdrive/controls/lib/events.py:600
+#: selfdrive/controls/lib/events.py:595 selfdrive/controls/lib/events.py:596
 msgid "Gear not D"
 msgstr "不在 D 档位"

-#: selfdrive/controls/lib/events.py:604
+#: selfdrive/controls/lib/events.py:600
 msgid "Calibration Invalid: Reposition Device and Recalibrate"
 msgstr "校准无效：请将装置放于新的位置并重新校准"

-#: selfdrive/controls/lib/events.py:605
+#: selfdrive/controls/lib/events.py:601
 msgid "Calibration Invalid: Reposition Device & Recalibrate"
 msgstr "校准无效：请将装置放于新的位置并重新校准"

-#: selfdrive/controls/lib/events.py:609 selfdrive/controls/lib/events.py:611
+#: selfdrive/controls/lib/events.py:605 selfdrive/controls/lib/events.py:607
 msgid "Calibration in Progress"
 msgstr "正在校准中"

-#: selfdrive/controls/lib/events.py:615
+#: selfdrive/controls/lib/events.py:611
 msgid "Door Open"
 msgstr "车门开启"

-#: selfdrive/controls/lib/events.py:616
+#: selfdrive/controls/lib/events.py:612
 msgid "Door open"
 msgstr "车门未关"

-#: selfdrive/controls/lib/events.py:620
+#: selfdrive/controls/lib/events.py:616
 msgid "Seatbelt Unlatched"
 msgstr "安全带未繫"

-#: selfdrive/controls/lib/events.py:621
+#: selfdrive/controls/lib/events.py:617
 msgid "Seatbelt unlatched"
 msgstr "安全带未繫"

-#: selfdrive/controls/lib/events.py:625 selfdrive/controls/lib/events.py:626
+#: selfdrive/controls/lib/events.py:621 selfdrive/controls/lib/events.py:622
 msgid "ESP Off"
 msgstr "ESP 关闭"

-#: selfdrive/controls/lib/events.py:630 selfdrive/controls/lib/events.py:631
+#: selfdrive/controls/lib/events.py:626 selfdrive/controls/lib/events.py:627
 msgid "Low Battery"
 msgstr "电量过低"

-#: selfdrive/controls/lib/events.py:635 selfdrive/controls/lib/events.py:636
+#: selfdrive/controls/lib/events.py:631 selfdrive/controls/lib/events.py:632
 msgid "Communication Issue between Processes"
 msgstr "行程间出现通讯问题"

-#: selfdrive/controls/lib/events.py:641 selfdrive/controls/lib/events.py:642
+#: selfdrive/controls/lib/events.py:637 selfdrive/controls/lib/events.py:638
 msgid "Radar Communication Issue"
 msgstr "雷达通讯出现问题"

-#: selfdrive/controls/lib/events.py:647 selfdrive/controls/lib/events.py:648
-#: selfdrive/controls/lib/events.py:652 selfdrive/controls/lib/events.py:653
+#: selfdrive/controls/lib/events.py:643 selfdrive/controls/lib/events.py:644
+#: selfdrive/controls/lib/events.py:648 selfdrive/controls/lib/events.py:649
 msgid "Radar Error: Restart the Car"
 msgstr "雷达讯号错误：请重新发动车辆"

-#: selfdrive/controls/lib/events.py:657 selfdrive/controls/lib/events.py:658
+#: selfdrive/controls/lib/events.py:655 selfdrive/controls/lib/events.py:659
 msgid "Driving model lagging"
 msgstr "操控模型有延迟"

-#: selfdrive/controls/lib/events.py:662 selfdrive/controls/lib/events.py:668
+#: selfdrive/controls/lib/events.py:663 selfdrive/controls/lib/events.py:664
+#: selfdrive/controls/lib/events.py:673 selfdrive/controls/lib/events.py:674
+msgid "Vision Model Output Uncertain"
+msgstr "视觉模型判断不明确"
+
+#: selfdrive/controls/lib/events.py:668 selfdrive/controls/lib/events.py:669
+#: selfdrive/controls/lib/events.py:678 selfdrive/controls/lib/events.py:679
+msgid "Device Fell Off Mount"
+msgstr "装置掉落侦测"
+
+#: selfdrive/controls/lib/events.py:683 selfdrive/controls/lib/events.py:689
 msgid "Low Memory: Reboot Your Device"
 msgstr "记忆体不足：请重启您的装置"

-#: selfdrive/controls/lib/events.py:664
+#: selfdrive/controls/lib/events.py:685
 msgid "RAM Critically Low"
 msgstr "记忆体严重不足"

-#: selfdrive/controls/lib/events.py:673 selfdrive/controls/lib/events.py:674
+#: selfdrive/controls/lib/events.py:694 selfdrive/controls/lib/events.py:695
 msgid "Controls Failed"
 msgstr "控制发生错误"

-#: selfdrive/controls/lib/events.py:678
+#: selfdrive/controls/lib/events.py:699
 msgid "Controls Mismatch"
 msgstr "控制不匹配"

-#: selfdrive/controls/lib/events.py:682 selfdrive/controls/lib/events.py:684
-#: selfdrive/controls/lib/events.py:688
+#: selfdrive/controls/lib/events.py:703 selfdrive/controls/lib/events.py:705
+#: selfdrive/controls/lib/events.py:709
 msgid "CAN Error: Check Connections"
 msgstr "CAN 讯号错误：请检查线路"

-#: selfdrive/controls/lib/events.py:692 selfdrive/controls/lib/events.py:698
+#: selfdrive/controls/lib/events.py:713 selfdrive/controls/lib/events.py:719
 msgid "LKAS Fault: Restart the Car"
 msgstr "LKAS 错误：请重新发动车辆"

-#: selfdrive/controls/lib/events.py:694
+#: selfdrive/controls/lib/events.py:715
 msgid "LKAS Fault: Restart the car to engage"
 msgstr "LKAS 错误：请重新发动车辆"

-#: selfdrive/controls/lib/events.py:702 selfdrive/controls/lib/events.py:708
-#: selfdrive/controls/lib/events.py:786
+#: selfdrive/controls/lib/events.py:723 selfdrive/controls/lib/events.py:729
+#: selfdrive/controls/lib/events.py:807
 msgid "Cruise Fault: Restart the Car"
 msgstr "巡航系统错误：请重新发动车辆"

-#: selfdrive/controls/lib/events.py:704 selfdrive/controls/lib/events.py:782
+#: selfdrive/controls/lib/events.py:725 selfdrive/controls/lib/events.py:803
 msgid "Cruise Fault: Restart the car to engage"
 msgstr "巡航系统错误：请重新发动车辆"

-#: selfdrive/controls/lib/events.py:712
+#: selfdrive/controls/lib/events.py:733
 msgid "Gas Fault: Restart the Car"
 msgstr "油门错误：请重新发动车辆"

-#: selfdrive/controls/lib/events.py:713
+#: selfdrive/controls/lib/events.py:734
 msgid "Gas Error: Restart the Car"
 msgstr "油门错误：请重新发动车辆"

-#: selfdrive/controls/lib/events.py:717 selfdrive/controls/lib/events.py:718
+#: selfdrive/controls/lib/events.py:738 selfdrive/controls/lib/events.py:739
 msgid "Reverse Gear"
 msgstr "切换至倒车档"

-#: selfdrive/controls/lib/events.py:722
+#: selfdrive/controls/lib/events.py:743
 msgid "Cruise Is Off"
 msgstr "巡航系统关闭"

-#: selfdrive/controls/lib/events.py:726 selfdrive/controls/lib/events.py:727
+#: selfdrive/controls/lib/events.py:747 selfdrive/controls/lib/events.py:748
 msgid "Planner Solution Error"
 msgstr "Planner Solution 错误"

-#: selfdrive/controls/lib/events.py:731 selfdrive/controls/lib/events.py:733
-#: selfdrive/controls/lib/events.py:737
+#: selfdrive/controls/lib/events.py:752 selfdrive/controls/lib/events.py:754
+#: selfdrive/controls/lib/events.py:758
 msgid "Harness Malfunction"
 msgstr "Harness 故障"

-#: selfdrive/controls/lib/events.py:734
+#: selfdrive/controls/lib/events.py:755
 msgid "Please Check Hardware"
 msgstr "请检查硬体"

-#: selfdrive/controls/lib/events.py:742 selfdrive/controls/lib/events.py:751
+#: selfdrive/controls/lib/events.py:763 selfdrive/controls/lib/events.py:772
 msgid "openpilot Canceled"
 msgstr "openpilot 已取消"

-#: selfdrive/controls/lib/events.py:743
+#: selfdrive/controls/lib/events.py:764
 msgid "No close lead car"
 msgstr "前方没有车辆"

-#: selfdrive/controls/lib/events.py:746
+#: selfdrive/controls/lib/events.py:767
 msgid "No Close Lead Car"
 msgstr "前方没有车辆"

-#: selfdrive/controls/lib/events.py:752
+#: selfdrive/controls/lib/events.py:773
 msgid "Speed too low"
 msgstr "车速过慢"

-#: selfdrive/controls/lib/events.py:759 selfdrive/controls/lib/events.py:764
+#: selfdrive/controls/lib/events.py:780 selfdrive/controls/lib/events.py:785
 msgid "Speed Too High"
 msgstr "车速过快"

-#: selfdrive/controls/lib/events.py:760
+#: selfdrive/controls/lib/events.py:781
 msgid "Slow down to resume operation"
 msgstr "请减速后再启用"

-#: selfdrive/controls/lib/events.py:765
+#: selfdrive/controls/lib/events.py:786
 msgid "Slow down to engage"
 msgstr "请减速后再启用"

-#: selfdrive/controls/lib/events.py:772
+#: selfdrive/controls/lib/events.py:793
 msgid "Please connect to Internet"
 msgstr "请连接网路"

-#: selfdrive/controls/lib/events.py:773
+#: selfdrive/controls/lib/events.py:794
 msgid "An Update Check Is Required to Engage"
 msgstr "需检查更新后才能启用"

-#: selfdrive/controls/lib/events.py:776
+#: selfdrive/controls/lib/events.py:797
 msgid "Please Connect to Internet"
 msgstr "请连接网路"

-#: selfdrive/controls/lib/events.py:792
+#: selfdrive/controls/lib/events.py:813
 msgid "Left ALC will start in 3s"
 msgstr "准备自动切至左车道"

-#: selfdrive/controls/lib/events.py:800
+#: selfdrive/controls/lib/events.py:821
 msgid "Right ALC will start in 3s"
 msgstr "准备自动切至右车道"

-#: selfdrive/controls/lib/events.py:816
+#: selfdrive/controls/lib/events.py:837
 msgid "STEERING REQUIRED: Lane Keeping OFF"
 msgstr "请接管方向盘：车道维持关闭"

-#: selfdrive/controls/lib/events.py:824
+#: selfdrive/controls/lib/events.py:845
 msgid "STEERING REQUIRED: Blinkers ON"
 msgstr "请接管方向盘：方向灯开启"

-#: selfdrive/controls/lib/events.py:832 selfdrive/controls/lib/events.py:837
+#: selfdrive/controls/lib/events.py:853 selfdrive/controls/lib/events.py:858
 msgid "Lead Car Is Moving"
 msgstr "前方车辆车移动中"
@@ -7,7 +7,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2020-07-14 16:46+1000\n"
+"POT-Creation-Date: 2020-09-01 16:34+1000\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: Rick Lan <ricklan@gmail.com>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -16,488 +16,497 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"

-#: selfdrive/controls/lib/events.py:146
+#: selfdrive/controls/lib/events.py:151
 msgid "openpilot Unavailable"
 msgstr "無法使用 openpilot"

-#: selfdrive/controls/lib/events.py:153 selfdrive/controls/lib/events.py:160
+#: selfdrive/controls/lib/events.py:158 selfdrive/controls/lib/events.py:165
 msgid "TAKE CONTROL IMMEDIATELY"
 msgstr "即刻接管控制"

-#: selfdrive/controls/lib/events.py:180 selfdrive/controls/lib/events.py:330
-#: selfdrive/controls/lib/events.py:356 selfdrive/controls/lib/events.py:420
-#: selfdrive/controls/lib/events.py:472 selfdrive/controls/lib/events.py:524
-#: selfdrive/controls/lib/events.py:534 selfdrive/controls/lib/events.py:543
+#: selfdrive/controls/lib/events.py:185 selfdrive/controls/lib/events.py:335
+#: selfdrive/controls/lib/events.py:361 selfdrive/controls/lib/events.py:425
+#: selfdrive/controls/lib/events.py:477 selfdrive/controls/lib/events.py:529
+#: selfdrive/controls/lib/events.py:539 selfdrive/controls/lib/events.py:654
 msgid "TAKE CONTROL"
 msgstr "接管控制"

-#: selfdrive/controls/lib/events.py:181
-msgid "Steer Unavailable Below"
-msgstr "橫向控制暫時失效，車速低於 "
+#: selfdrive/controls/lib/events.py:186
+#, fuzzy, python-format
+msgid "Steer Unavailable Below %d %s"
+msgstr "橫向控制暫時失效，車速低於 %d %s"

-#: selfdrive/controls/lib/events.py:190
-msgid "Drive Above"
-msgstr "車速請高於"
+#: selfdrive/controls/lib/events.py:194
+#, fuzzy, python-format
+msgid "Calibration in Progress: %d%%"
+msgstr "正在校準中：%d%%"

-#: selfdrive/controls/lib/events.py:189
-msgid "Calibration in Progress:"
-msgstr "正在校準中："
+#: selfdrive/controls/lib/events.py:195
+#, fuzzy, python-format
+msgid "Drive Above %d %s"
+msgstr "車速請高於 %d %s"

-#: selfdrive/controls/lib/events.py:197
+#: selfdrive/controls/lib/events.py:202
 msgid "Poor GPS reception"
 msgstr "GPS 訊號不良"

-#: selfdrive/controls/lib/events.py:198
+#: selfdrive/controls/lib/events.py:203
 msgid "If sky is visible, contact support"
 msgstr "如果您不在地下室/隧道，請聯系客服"

-#: selfdrive/controls/lib/events.py:198
+#: selfdrive/controls/lib/events.py:203
 msgid "Check GPS antenna placement"
 msgstr "請檢查 GPS 天線位置"

-#: selfdrive/controls/lib/events.py:203
+#: selfdrive/controls/lib/events.py:208
 msgid "Cruise Mode Disabled"
 msgstr "巡航模式關閉"

-#: selfdrive/controls/lib/events.py:205
+#: selfdrive/controls/lib/events.py:210
 msgid "Main Switch Off"
 msgstr "主開關已關閉"

-#: selfdrive/controls/lib/events.py:215
+#: selfdrive/controls/lib/events.py:220
 msgid "DEBUG ALERT"
 msgstr "除錯用警示訊息"

-#: selfdrive/controls/lib/events.py:223
+#: selfdrive/controls/lib/events.py:228
 msgid "Be ready to take over at any time"
 msgstr "請準備好隨時接管"

-#: selfdrive/controls/lib/events.py:224 selfdrive/controls/lib/events.py:240
-#: selfdrive/controls/lib/events.py:248 selfdrive/controls/lib/events.py:256
+#: selfdrive/controls/lib/events.py:229 selfdrive/controls/lib/events.py:245
+#: selfdrive/controls/lib/events.py:253 selfdrive/controls/lib/events.py:261
 msgid "Always keep hands on wheel and eyes on road"
 msgstr "將手放在方向盤上並持續監視路況"

-#: selfdrive/controls/lib/events.py:231
+#: selfdrive/controls/lib/events.py:236
 msgid "WARNING: White panda is deprecated"
 msgstr "注意：這個分支未經過測試"

-#: selfdrive/controls/lib/events.py:232 selfdrive/controls/lib/events.py:272
+#: selfdrive/controls/lib/events.py:237 selfdrive/controls/lib/events.py:277
 msgid "Upgrade to comma two or black panda"
 msgstr "請升級至 comma two 或是使用 black panda"

-#: selfdrive/controls/lib/events.py:239
+#: selfdrive/controls/lib/events.py:244
 msgid "WARNING: This branch is not tested"
 msgstr "注意：這個分支未經過測試"

-#: selfdrive/controls/lib/events.py:247
+#: selfdrive/controls/lib/events.py:252
 msgid "Dashcam mode"
 msgstr "行車記錄模式"

-#: selfdrive/controls/lib/events.py:255
+#: selfdrive/controls/lib/events.py:260
 msgid "Dashcam mode for unsupported car"
 msgstr "行車記錄模式 (尚未支援車種)"

-#: selfdrive/controls/lib/events.py:263
+#: selfdrive/controls/lib/events.py:268
 msgid "Unsupported Giraffe Configuration"
 msgstr "未支援的 Giraffe 設置"

-#: selfdrive/controls/lib/events.py:264
+#: selfdrive/controls/lib/events.py:269
 msgid "Visit comma.ai/tg"
 msgstr "請查閱 comma.ai/tg"

-#: selfdrive/controls/lib/events.py:271
+#: selfdrive/controls/lib/events.py:276
 msgid "White Panda Is No Longer Supported"
 msgstr "不再支援 White Panda"

-#: selfdrive/controls/lib/events.py:275
+#: selfdrive/controls/lib/events.py:280
 msgid "White panda is no longer supported"
 msgstr "不再支援 White panda"

-#: selfdrive/controls/lib/events.py:280
+#: selfdrive/controls/lib/events.py:285
 msgid "Stock LKAS is turned on"
 msgstr "原廠 LKAS 已開啟"

-#: selfdrive/controls/lib/events.py:281
+#: selfdrive/controls/lib/events.py:286
 msgid "Turn off stock LKAS to engage"
 msgstr "需關閉原廠 LKAS 才能啟用"

-#: selfdrive/controls/lib/events.py:290
+#: selfdrive/controls/lib/events.py:295
 msgid "Community Feature Detected"
 msgstr "檢測到社群開發功能"

-#: selfdrive/controls/lib/events.py:291
+#: selfdrive/controls/lib/events.py:296
 msgid "Enable Community Features in Developer Settings"
 msgstr "請至開發人員設定裡啟用社群開發功能"

-#: selfdrive/controls/lib/events.py:298
+#: selfdrive/controls/lib/events.py:303
 msgid "Dashcam Mode"
 msgstr "行車記錄模式"

-#: selfdrive/controls/lib/events.py:299
+#: selfdrive/controls/lib/events.py:304
 msgid "Car Unrecognized"
 msgstr "無法辨識車款"

-#: selfdrive/controls/lib/events.py:306 selfdrive/controls/lib/events.py:314
-#: selfdrive/controls/lib/events.py:322
+#: selfdrive/controls/lib/events.py:311 selfdrive/controls/lib/events.py:319
+#: selfdrive/controls/lib/events.py:327
 msgid "BRAKE!"
 msgstr "剎車！"

-#: selfdrive/controls/lib/events.py:307
+#: selfdrive/controls/lib/events.py:312
 msgid "Stock AEB: Risk of Collision"
 msgstr "有碰撞的風險"

-#: selfdrive/controls/lib/events.py:315
+#: selfdrive/controls/lib/events.py:320
 msgid "Stock FCW: Risk of Collision"
 msgstr "有碰撞的風險"

-#: selfdrive/controls/lib/events.py:323
+#: selfdrive/controls/lib/events.py:328
 msgid "Risk of Collision"
 msgstr "有碰撞的風險"

-#: selfdrive/controls/lib/events.py:331
+#: selfdrive/controls/lib/events.py:336
 msgid "Lane Departure Detected"
 msgstr "偏離車道"

-#: selfdrive/controls/lib/events.py:340
+#: selfdrive/controls/lib/events.py:345
 msgid "openpilot will not brake while gas pressed"
 msgstr "在您踩著油門的時候 openpilot 將不會剎車"

-#: selfdrive/controls/lib/events.py:348
+#: selfdrive/controls/lib/events.py:353
 msgid "Vehicle Parameter Identification Failed"
 msgstr "車子參數識別失敗"

-#: selfdrive/controls/lib/events.py:357 selfdrive/controls/lib/events.py:525
-#: selfdrive/controls/lib/events.py:528
+#: selfdrive/controls/lib/events.py:362 selfdrive/controls/lib/events.py:530
+#: selfdrive/controls/lib/events.py:533
 msgid "Steering Temporarily Unavailable"
 msgstr "橫向控制暫時失效"

-#: selfdrive/controls/lib/events.py:364
+#: selfdrive/controls/lib/events.py:369
 msgid "KEEP EYES ON ROAD: Driver Distracted"
 msgstr "注意路況：駕駛分心"

-#: selfdrive/controls/lib/events.py:372
+#: selfdrive/controls/lib/events.py:377
 msgid "KEEP EYES ON ROAD"
 msgstr "注意路況"

-#: selfdrive/controls/lib/events.py:373
+#: selfdrive/controls/lib/events.py:378
 msgid "Driver Appears Distracted"
 msgstr "駕駛分心"

-#: selfdrive/controls/lib/events.py:380 selfdrive/controls/lib/events.py:404
+#: selfdrive/controls/lib/events.py:385 selfdrive/controls/lib/events.py:409
 msgid "DISENGAGE IMMEDIATELY"
 msgstr "立即解除"

-#: selfdrive/controls/lib/events.py:381
+#: selfdrive/controls/lib/events.py:386
 msgid "Driver Was Distracted"
 msgstr "駕駛分心"

-#: selfdrive/controls/lib/events.py:388
+#: selfdrive/controls/lib/events.py:393
 msgid "TOUCH STEERING WHEEL: No Face Detected"
 msgstr "請觸碰方向盤：未偵測到駕駛面容"

-#: selfdrive/controls/lib/events.py:396
+#: selfdrive/controls/lib/events.py:401
 msgid "TOUCH STEERING WHEEL"
 msgstr "請觸碰方向盤"

-#: selfdrive/controls/lib/events.py:397
+#: selfdrive/controls/lib/events.py:402
 msgid "Driver Is Unresponsive"
 msgstr "駕駛沒有反應"

-#: selfdrive/controls/lib/events.py:405
+#: selfdrive/controls/lib/events.py:410
 msgid "Driver Was Unresponsive"
 msgstr "駕駛沒有反應"

-#: selfdrive/controls/lib/events.py:412
+#: selfdrive/controls/lib/events.py:417
 msgid "CHECK DRIVER FACE VISIBILITY"
 msgstr "請檢查駕駛面部的可見度"

-#: selfdrive/controls/lib/events.py:413
+#: selfdrive/controls/lib/events.py:418
 msgid "Driver Monitor Model Output Uncertain"
 msgstr "駕駛監控模型判斷不明確"

-#: selfdrive/controls/lib/events.py:421
+#: selfdrive/controls/lib/events.py:426
 msgid "Resume Driving Manually"
 msgstr "請自行恢復駕駛"

-#: selfdrive/controls/lib/events.py:428
+#: selfdrive/controls/lib/events.py:433
 msgid "STOPPED"
 msgstr "已停止"

-#: selfdrive/controls/lib/events.py:429
+#: selfdrive/controls/lib/events.py:434
 msgid "Press Resume to Move"
 msgstr "請按 RES 繼續"

-#: selfdrive/controls/lib/events.py:440
+#: selfdrive/controls/lib/events.py:445
 msgid "Steer Left to Start Lane Change"
 msgstr "請往左打方向盤切換至左車道"

-#: selfdrive/controls/lib/events.py:441 selfdrive/controls/lib/events.py:449
-#: selfdrive/controls/lib/events.py:457 selfdrive/controls/lib/events.py:465
-#: selfdrive/controls/lib/events.py:793 selfdrive/controls/lib/events.py:801
-#: selfdrive/controls/lib/events.py:809
+#: selfdrive/controls/lib/events.py:446 selfdrive/controls/lib/events.py:454
+#: selfdrive/controls/lib/events.py:462 selfdrive/controls/lib/events.py:470
+#: selfdrive/controls/lib/events.py:814 selfdrive/controls/lib/events.py:822
+#: selfdrive/controls/lib/events.py:830
 msgid "Monitor Other Vehicles"
 msgstr "請注意其它車輛"

-#: selfdrive/controls/lib/events.py:448
+#: selfdrive/controls/lib/events.py:453
 msgid "Steer Right to Start Lane Change"
 msgstr "請往右打方向盤切換至右車道"

-#: selfdrive/controls/lib/events.py:456
+#: selfdrive/controls/lib/events.py:461
 msgid "Car Detected in Blindspot"
 msgstr "盲點偵測到車輛"

-#: selfdrive/controls/lib/events.py:464 selfdrive/controls/lib/events.py:808
+#: selfdrive/controls/lib/events.py:469 selfdrive/controls/lib/events.py:829
 msgid "Changing Lane"
 msgstr "切換車道中"

-#: selfdrive/controls/lib/events.py:473
+#: selfdrive/controls/lib/events.py:478
 msgid "Turn Exceeds Steering Limit"
 msgstr "彎道超過橫向操控限制"

-#: selfdrive/controls/lib/events.py:498
+#: selfdrive/controls/lib/events.py:503
 msgid "Brake Hold Active"
 msgstr "駐車煞車已啟用"

-#: selfdrive/controls/lib/events.py:503
+#: selfdrive/controls/lib/events.py:508
 msgid "Park Brake Engaged"
 msgstr "電子駐車已啟動"

-#: selfdrive/controls/lib/events.py:508
+#: selfdrive/controls/lib/events.py:513
 msgid "Pedal Pressed During Attempt"
 msgstr "啟用時偵測到駕駛踩踏油門/剎車"

-#: selfdrive/controls/lib/events.py:519
+#: selfdrive/controls/lib/events.py:524
 msgid "Enable Adaptive Cruise"
 msgstr "啟用主動定速巡航"

-#: selfdrive/controls/lib/events.py:535 selfdrive/controls/lib/events.py:538
-msgid "Vision Model Output Uncertain"
-msgstr "視覺模型判斷不明確"
-
-#: selfdrive/controls/lib/events.py:544
+#: selfdrive/controls/lib/events.py:540
 msgid "Attempting Refocus: Camera Focus Invalid"
 msgstr "嘗試對焦：相機已失焦"

-#: selfdrive/controls/lib/events.py:550
+#: selfdrive/controls/lib/events.py:546
 msgid "Out of Storage Space"
 msgstr "儲存空間不足"

-#: selfdrive/controls/lib/events.py:555
+#: selfdrive/controls/lib/events.py:551
 msgid "Speed Too Low"
 msgstr "車速過慢"

-#: selfdrive/controls/lib/events.py:560 selfdrive/controls/lib/events.py:564
+#: selfdrive/controls/lib/events.py:556 selfdrive/controls/lib/events.py:560
 msgid "NEOS Update Required"
 msgstr "NEOS 需要更新"

-#: selfdrive/controls/lib/events.py:561
+#: selfdrive/controls/lib/events.py:557
 msgid "Please Wait for Update"
 msgstr "更新中請稍候"

-#: selfdrive/controls/lib/events.py:569 selfdrive/controls/lib/events.py:573
+#: selfdrive/controls/lib/events.py:565 selfdrive/controls/lib/events.py:569
 msgid "No Data from Device Sensors"
 msgstr "未收到裝置傳感器數據"

-#: selfdrive/controls/lib/events.py:570 selfdrive/controls/lib/events.py:583
-#: selfdrive/controls/lib/events.py:665
+#: selfdrive/controls/lib/events.py:566 selfdrive/controls/lib/events.py:579
+#: selfdrive/controls/lib/events.py:686
 msgid "Reboot your Device"
 msgstr "請重啟裝置"

-#: selfdrive/controls/lib/events.py:582 selfdrive/controls/lib/events.py:586
+#: selfdrive/controls/lib/events.py:578 selfdrive/controls/lib/events.py:582
 msgid "Speaker not found"
 msgstr "找不到音效裝置"

-#: selfdrive/controls/lib/events.py:590
+#: selfdrive/controls/lib/events.py:586
 msgid "Distraction Level Too High"
 msgstr "駕駛分心太多次"

-#: selfdrive/controls/lib/events.py:594
+#: selfdrive/controls/lib/events.py:590
 msgid "System Overheated"
 msgstr "系統過熱"

-#: selfdrive/controls/lib/events.py:595
+#: selfdrive/controls/lib/events.py:591
 msgid "System overheated"
 msgstr "系統過熱"

-#: selfdrive/controls/lib/events.py:599 selfdrive/controls/lib/events.py:600
+#: selfdrive/controls/lib/events.py:595 selfdrive/controls/lib/events.py:596
 msgid "Gear not D"
 msgstr "不在 D 檔位"

-#: selfdrive/controls/lib/events.py:604
+#: selfdrive/controls/lib/events.py:600
 msgid "Calibration Invalid: Reposition Device and Recalibrate"
 msgstr "校準無效：請將裝置放於新的位置並重新校準"

-#: selfdrive/controls/lib/events.py:605
+#: selfdrive/controls/lib/events.py:601
 msgid "Calibration Invalid: Reposition Device & Recalibrate"
 msgstr "校準無效：請將裝置放於新的位置並重新校準"

-#: selfdrive/controls/lib/events.py:609 selfdrive/controls/lib/events.py:611
+#: selfdrive/controls/lib/events.py:605 selfdrive/controls/lib/events.py:607
 msgid "Calibration in Progress"
 msgstr "正在校準中"

-#: selfdrive/controls/lib/events.py:615
+#: selfdrive/controls/lib/events.py:611
 msgid "Door Open"
 msgstr "車門開啟"

-#: selfdrive/controls/lib/events.py:616
+#: selfdrive/controls/lib/events.py:612
 msgid "Door open"
 msgstr "車門未關"

-#: selfdrive/controls/lib/events.py:620
+#: selfdrive/controls/lib/events.py:616
 msgid "Seatbelt Unlatched"
 msgstr "安全帶未繫"

-#: selfdrive/controls/lib/events.py:621
+#: selfdrive/controls/lib/events.py:617
 msgid "Seatbelt unlatched"
 msgstr "安全帶未繫"

-#: selfdrive/controls/lib/events.py:625 selfdrive/controls/lib/events.py:626
+#: selfdrive/controls/lib/events.py:621 selfdrive/controls/lib/events.py:622
 msgid "ESP Off"
 msgstr "ESP 關閉"

-#: selfdrive/controls/lib/events.py:630 selfdrive/controls/lib/events.py:631
+#: selfdrive/controls/lib/events.py:626 selfdrive/controls/lib/events.py:627
 msgid "Low Battery"
 msgstr "電量過低"

-#: selfdrive/controls/lib/events.py:635 selfdrive/controls/lib/events.py:636
+#: selfdrive/controls/lib/events.py:631 selfdrive/controls/lib/events.py:632
 msgid "Communication Issue between Processes"
 msgstr "行程間出現通訊問題"

-#: selfdrive/controls/lib/events.py:641 selfdrive/controls/lib/events.py:642
+#: selfdrive/controls/lib/events.py:637 selfdrive/controls/lib/events.py:638
 msgid "Radar Communication Issue"
 msgstr "雷達通訊出現問題"

-#: selfdrive/controls/lib/events.py:647 selfdrive/controls/lib/events.py:648
-#: selfdrive/controls/lib/events.py:652 selfdrive/controls/lib/events.py:653
+#: selfdrive/controls/lib/events.py:643 selfdrive/controls/lib/events.py:644
+#: selfdrive/controls/lib/events.py:648 selfdrive/controls/lib/events.py:649
 msgid "Radar Error: Restart the Car"
 msgstr "雷達訊號錯誤：請重新發動車輛"

-#: selfdrive/controls/lib/events.py:657 selfdrive/controls/lib/events.py:658
+#: selfdrive/controls/lib/events.py:655 selfdrive/controls/lib/events.py:659
 msgid "Driving model lagging"
 msgstr "操控模型有延遲"

-#: selfdrive/controls/lib/events.py:662 selfdrive/controls/lib/events.py:668
+#: selfdrive/controls/lib/events.py:663 selfdrive/controls/lib/events.py:664
+#: selfdrive/controls/lib/events.py:673 selfdrive/controls/lib/events.py:674
+msgid "Vision Model Output Uncertain"
+msgstr "視覺模型判斷不明確"
+
+#: selfdrive/controls/lib/events.py:668 selfdrive/controls/lib/events.py:669
+#: selfdrive/controls/lib/events.py:678 selfdrive/controls/lib/events.py:679
+msgid "Device Fell Off Mount"
+msgstr "裝置掉落偵測"
+
+#: selfdrive/controls/lib/events.py:683 selfdrive/controls/lib/events.py:689
 msgid "Low Memory: Reboot Your Device"
 msgstr "記憶體不足：請重啟您的裝置"

-#: selfdrive/controls/lib/events.py:664
+#: selfdrive/controls/lib/events.py:685
 msgid "RAM Critically Low"
 msgstr "記憶體嚴重不足"

-#: selfdrive/controls/lib/events.py:673 selfdrive/controls/lib/events.py:674
+#: selfdrive/controls/lib/events.py:694 selfdrive/controls/lib/events.py:695
 msgid "Controls Failed"
 msgstr "控制發生錯誤"

-#: selfdrive/controls/lib/events.py:678
+#: selfdrive/controls/lib/events.py:699
 msgid "Controls Mismatch"
 msgstr "控制不匹配"

-#: selfdrive/controls/lib/events.py:682 selfdrive/controls/lib/events.py:684
-#: selfdrive/controls/lib/events.py:688
+#: selfdrive/controls/lib/events.py:703 selfdrive/controls/lib/events.py:705
+#: selfdrive/controls/lib/events.py:709
 msgid "CAN Error: Check Connections"
 msgstr "CAN 訊號錯誤：請檢查線路"

-#: selfdrive/controls/lib/events.py:692 selfdrive/controls/lib/events.py:698
+#: selfdrive/controls/lib/events.py:713 selfdrive/controls/lib/events.py:719
 msgid "LKAS Fault: Restart the Car"
 msgstr "LKAS 錯誤：請重新發動車輛"

-#: selfdrive/controls/lib/events.py:694
+#: selfdrive/controls/lib/events.py:715
 msgid "LKAS Fault: Restart the car to engage"
 msgstr "LKAS 錯誤：請重新發動車輛"

-#: selfdrive/controls/lib/events.py:702 selfdrive/controls/lib/events.py:708
-#: selfdrive/controls/lib/events.py:786
+#: selfdrive/controls/lib/events.py:723 selfdrive/controls/lib/events.py:729
+#: selfdrive/controls/lib/events.py:807
 msgid "Cruise Fault: Restart the Car"
 msgstr "巡航系統錯誤：請重新發動車輛"

-#: selfdrive/controls/lib/events.py:704 selfdrive/controls/lib/events.py:782
+#: selfdrive/controls/lib/events.py:725 selfdrive/controls/lib/events.py:803
 msgid "Cruise Fault: Restart the car to engage"
 msgstr "巡航系統錯誤：請重新發動車輛"

-#: selfdrive/controls/lib/events.py:712
+#: selfdrive/controls/lib/events.py:733
 msgid "Gas Fault: Restart the Car"
 msgstr "油門錯誤：請重新發動車輛"

-#: selfdrive/controls/lib/events.py:713
+#: selfdrive/controls/lib/events.py:734
 msgid "Gas Error: Restart the Car"
 msgstr "油門錯誤：請重新發動車輛"

-#: selfdrive/controls/lib/events.py:717 selfdrive/controls/lib/events.py:718
+#: selfdrive/controls/lib/events.py:738 selfdrive/controls/lib/events.py:739
 msgid "Reverse Gear"
 msgstr "切換至倒車檔"

-#: selfdrive/controls/lib/events.py:722
+#: selfdrive/controls/lib/events.py:743
 msgid "Cruise Is Off"
 msgstr "巡航系統關閉"

-#: selfdrive/controls/lib/events.py:726 selfdrive/controls/lib/events.py:727
+#: selfdrive/controls/lib/events.py:747 selfdrive/controls/lib/events.py:748
 msgid "Planner Solution Error"
 msgstr "Planner Solution 錯誤"

-#: selfdrive/controls/lib/events.py:731 selfdrive/controls/lib/events.py:733
-#: selfdrive/controls/lib/events.py:737
+#: selfdrive/controls/lib/events.py:752 selfdrive/controls/lib/events.py:754
+#: selfdrive/controls/lib/events.py:758
 msgid "Harness Malfunction"
 msgstr "Harness 故障"

-#: selfdrive/controls/lib/events.py:734
+#: selfdrive/controls/lib/events.py:755
 msgid "Please Check Hardware"
 msgstr "請檢查硬體"

-#: selfdrive/controls/lib/events.py:742 selfdrive/controls/lib/events.py:751
+#: selfdrive/controls/lib/events.py:763 selfdrive/controls/lib/events.py:772
 msgid "openpilot Canceled"
 msgstr "openpilot 已取消"

-#: selfdrive/controls/lib/events.py:743
+#: selfdrive/controls/lib/events.py:764
 msgid "No close lead car"
 msgstr "前方沒有車輛"

-#: selfdrive/controls/lib/events.py:746
+#: selfdrive/controls/lib/events.py:767
 msgid "No Close Lead Car"
 msgstr "前方沒有車輛"

-#: selfdrive/controls/lib/events.py:752
+#: selfdrive/controls/lib/events.py:773
 msgid "Speed too low"
 msgstr "車速過慢"

-#: selfdrive/controls/lib/events.py:759 selfdrive/controls/lib/events.py:764
+#: selfdrive/controls/lib/events.py:780 selfdrive/controls/lib/events.py:785
 msgid "Speed Too High"
 msgstr "車速過快"

-#: selfdrive/controls/lib/events.py:760
+#: selfdrive/controls/lib/events.py:781
 msgid "Slow down to resume operation"
 msgstr "請減速後再啟用"

-#: selfdrive/controls/lib/events.py:765
+#: selfdrive/controls/lib/events.py:786
 msgid "Slow down to engage"
 msgstr "請減速後再啟用"

-#: selfdrive/controls/lib/events.py:772
+#: selfdrive/controls/lib/events.py:793
 msgid "Please connect to Internet"
 msgstr "請連接網路"

-#: selfdrive/controls/lib/events.py:773
+#: selfdrive/controls/lib/events.py:794
 msgid "An Update Check Is Required to Engage"
 msgstr "需檢查更新後才能啟用"

-#: selfdrive/controls/lib/events.py:776
+#: selfdrive/controls/lib/events.py:797
 msgid "Please Connect to Internet"
 msgstr "請連接網路"

-#: selfdrive/controls/lib/events.py:792
+#: selfdrive/controls/lib/events.py:813
 msgid "Left ALC will start in 3s"
 msgstr "準備自動切至左車道"

-#: selfdrive/controls/lib/events.py:800
+#: selfdrive/controls/lib/events.py:821
 msgid "Right ALC will start in 3s"
 msgstr "準備自動切至右車道"

-#: selfdrive/controls/lib/events.py:816
+#: selfdrive/controls/lib/events.py:837
 msgid "STEERING REQUIRED: Lane Keeping OFF"
 msgstr "請接管方向盤：車道維持關閉"

-#: selfdrive/controls/lib/events.py:824
+#: selfdrive/controls/lib/events.py:845
 msgid "STEERING REQUIRED: Blinkers ON"
 msgstr "請接管方向盤：方向燈開啟"

-#: selfdrive/controls/lib/events.py:832 selfdrive/controls/lib/events.py:837
+#: selfdrive/controls/lib/events.py:853 selfdrive/controls/lib/events.py:858
 msgid "Lead Car Is Moving"
 msgstr "前方車輛車移動中"
@@ -1,15 +1,12 @@
-Import('env', 'common', 'cereal', 'messaging')
-
+Import('env', 'common', 'cereal', 'messaging', 'cython_dependencies')
 # dp - Add read dp_disable_relay value
 if FindFile('dp_disable_relay', '/data/params/d') != None:
  with open('/data/params/d/dp_disable_relay') as f:
    if (int(f.read())) == 1:
      env.Append(CCFLAGS='-DDisableRelay')
-
-env.Program('boardd.cc', LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
+env.Program('boardd', ['boardd.cc', 'panda.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])

-env.Command(['boardd_api_impl.so'],
-  ['libcan_list_to_can_capnp.a', 'boardd_api_impl.pyx', 'boardd_setup.py'],
-  "cd selfdrive/boardd && python3 boardd_setup.py build_ext --inplace")
-
+env.Command(['boardd_api_impl.so', 'boardd_api_impl.cpp'],
+            cython_dependencies + ['libcan_list_to_can_capnp.a', 'boardd_api_impl.pyx', 'boardd_setup.py'],
+            "cd selfdrive/boardd && python3 boardd_setup.py build_ext --inplace")
@@ -1,15 +1,8 @@
-import subprocess
 from distutils.core import Extension, setup
-
 from Cython.Build import cythonize

 from common.cython_hacks import BuildExtWithoutPlatformSuffix
-from common.basedir import BASEDIR
-import os

-PHONELIBS = os.path.join(BASEDIR, 'phonelibs')
-
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 libraries = ['can_list_to_can_capnp', 'capnp', 'kj']

 setup(name='Boardd API Implementation',
@@ -0,0 +1,322 @@
+#include <stdexcept>
+#include <cassert>
+#include <iostream>
+
+#include "common/swaglog.h"
+
+#include "panda.h"
+
+Panda::Panda(){
+  int err;
+
+  err = pthread_mutex_init(&usb_lock, NULL);
+  if (err != 0) { goto fail; }
+
+  // init libusb
+  err = libusb_init(&ctx);
+  if (err != 0) { goto fail; }
+
+#if LIBUSB_API_VERSION >= 0x01000106
+  libusb_set_option(ctx, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
+#else
+  libusb_set_debug(ctx, 3);
+#endif
+
+  dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
+  if (dev_handle == NULL) { goto fail; }
+
+  if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
+    libusb_detach_kernel_driver(dev_handle, 0);
+  }
+
+  err = libusb_set_configuration(dev_handle, 1);
+  if (err != 0) { goto fail; }
+
+  err = libusb_claim_interface(dev_handle, 0);
+  if (err != 0) { goto fail; }
+
+  hw_type = get_hw_type();
+  is_pigeon =
+    (hw_type == cereal::HealthData::HwType::GREY_PANDA) ||
+    (hw_type == cereal::HealthData::HwType::BLACK_PANDA) ||
+    (hw_type == cereal::HealthData::HwType::UNO);
+  has_rtc = (hw_type == cereal::HealthData::HwType::UNO);
+
+  return;
+
+fail:
+  cleanup();
+  throw std::runtime_error("Error connecting to panda");
+}
+
+Panda::~Panda(){
+  pthread_mutex_lock(&usb_lock);
+  cleanup();
+  connected = false;
+  pthread_mutex_unlock(&usb_lock);
+}
+
+void Panda::cleanup(){
+  if (dev_handle){
+    libusb_release_interface(dev_handle, 0);
+    libusb_close(dev_handle);
+  }
+
+  if (ctx) {
+    libusb_exit(ctx);
+  }
+}
+
+void Panda::handle_usb_issue(int err, const char func[]) {
+  LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
+  if (err == LIBUSB_ERROR_NO_DEVICE) {
+    LOGE("lost connection");
+    connected = false;
+  }
+  // TODO: check other errors, is simply retrying okay?
+}
+
+int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
+  int err;
+  const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
+
+  pthread_mutex_lock(&usb_lock);
+  do {
+    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
+    if (err < 0) handle_usb_issue(err, __func__);
+  } while (err < 0 && connected);
+
+  pthread_mutex_unlock(&usb_lock);
+
+  return err;
+}
+
+int Panda::usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
+  int err;
+  const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
+
+  pthread_mutex_lock(&usb_lock);
+  do {
+    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
+    if (err < 0) handle_usb_issue(err, __func__);
+  } while (err < 0 && connected);
+  pthread_mutex_unlock(&usb_lock);
+
+  return err;
+}
+
+int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  int err;
+  int transferred = 0;
+
+  pthread_mutex_lock(&usb_lock);
+  do {
+    // Try sending can messages. If the receive buffer on the panda is full it will NAK
+    // and libusb will try again. After 5ms, it will time out. We will drop the messages.
+    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
+
+    if (err == LIBUSB_ERROR_TIMEOUT) {
+      LOGW("Transmit buffer full");
+      break;
+    } else if (err != 0 || length != transferred) {
+      handle_usb_issue(err, __func__);
+    }
+  } while(err != 0 && connected);
+
+  pthread_mutex_unlock(&usb_lock);
+  return transferred;
+}
+
+int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  int err;
+  int transferred = 0;
+
+  pthread_mutex_lock(&usb_lock);
+
+  do {
+    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
+
+    if (err == LIBUSB_ERROR_TIMEOUT) {
+      break; // timeout is okay to exit, recv still happened
+    } else if (err == LIBUSB_ERROR_OVERFLOW) {
+      LOGE_100("overflow got 0x%x", transferred);
+    } else if (err != 0) {
+      handle_usb_issue(err, __func__);
+    }
+
+  } while(err != 0 && connected);
+
+  pthread_mutex_unlock(&usb_lock);
+
+  return transferred;
+}
+
+void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param){
+  usb_write(0xdc, (uint16_t)safety_model, safety_param);
+}
+
+void Panda::set_unsafe_mode(){
+  usb_write(0xdf, 9, 0);
+}
+
+cereal::HealthData::HwType Panda::get_hw_type() {
+  unsigned char hw_query[1] = {0};
+
+  usb_read(0xc1, 0, 0, hw_query, 1);
+  return (cereal::HealthData::HwType)(hw_query[0]);
+}
+
+void Panda::set_rtc(struct tm sys_time){
+  // tm struct has year defined as years since 1900
+  usb_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
+  usb_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
+  usb_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
+  // usb_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
+  usb_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
+  usb_write(0xa6, (uint16_t)sys_time.tm_min, 0);
+  usb_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
+}
+
+struct tm Panda::get_rtc(){
+  struct __attribute__((packed)) timestamp_t {
+    uint16_t year; // Starts at 0
+    uint8_t month;
+    uint8_t day;
+    uint8_t weekday;
+    uint8_t hour;
+    uint8_t minute;
+    uint8_t second;
+  } rtc_time = {0};
+
+  usb_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
+
+  struct tm new_time = { 0 };
+  new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
+  new_time.tm_mon  = rtc_time.month - 1;
+  new_time.tm_mday = rtc_time.day;
+  new_time.tm_hour = rtc_time.hour;
+  new_time.tm_min  = rtc_time.minute;
+  new_time.tm_sec  = rtc_time.second;
+
+  return new_time;
+}
+
+void Panda::set_fan_speed(uint16_t fan_speed){
+  usb_write(0xb1, fan_speed, 0);
+}
+
+uint16_t Panda::get_fan_speed(){
+  uint16_t fan_speed_rpm = 0;
+  usb_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm));
+  return fan_speed_rpm;
+}
+
+void Panda::set_ir_pwr(uint16_t ir_pwr) {
+  usb_write(0xb0, ir_pwr, 0);
+}
+
+health_t Panda::get_health(){
+  health_t health {0};
+  usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
+  return health;
+}
+
+void Panda::set_loopback(bool loopback){
+  usb_write(0xe5, loopback, 0);
+}
+
+const char* Panda::get_firmware_version(){
+  const char* fw_sig_buf = new char[128]();
+
+  int read_1 = usb_read(0xd3, 0, 0, (unsigned char*)fw_sig_buf, 64);
+  int read_2 = usb_read(0xd4, 0, 0, (unsigned char*)fw_sig_buf + 64, 64);
+
+  if ((read_1 == 64) && (read_2 == 64)) {
+    return fw_sig_buf;
+  }
+
+  delete[] fw_sig_buf;
+  return NULL;
+}
+
+const char* Panda::get_serial(){
+  const char* serial_buf = new char[16]();
+
+  int err = usb_read(0xd0, 0, 0, (unsigned char*)serial_buf, 16);
+
+  if (err >= 0) {
+    return serial_buf;
+  }
+
+  delete[] serial_buf;
+  return NULL;
+
+}
+
+void Panda::set_power_saving(bool power_saving){
+  usb_write(0xe7, power_saving, 0);
+}
+
+void Panda::set_usb_power_mode(cereal::HealthData::UsbPowerMode power_mode){
+  usb_write(0xe6, (uint16_t)power_mode, 0);
+}
+
+void Panda::send_heartbeat(){
+  usb_write(0xf3, 1, 0);
+}
+
+void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list){
+  int msg_count = can_data_list.size();
+
+  uint32_t *send = new uint32_t[msg_count*0x10]();
+
+  for (int i = 0; i < msg_count; i++) {
+    auto cmsg = can_data_list[i];
+    if (cmsg.getAddress() >= 0x800) { // extended
+      send[i*4] = (cmsg.getAddress() << 3) | 5;
+    } else { // normal
+      send[i*4] = (cmsg.getAddress() << 21) | 1;
+    }
+    auto can_data = cmsg.getDat();
+    assert(can_data.size() <= 8);
+    send[i*4+1] = can_data.size() | (cmsg.getSrc() << 4);
+    memcpy(&send[i*4+2], can_data.begin(), can_data.size());
+  }
+
+  usb_bulk_write(3, (unsigned char*)send, msg_count*0x10, 5);
+
+  delete[] send;
+}
+
+int Panda::can_receive(cereal::Event::Builder &event){
+  uint32_t data[RECV_SIZE/4];
+  int recv = usb_bulk_read(0x81, (unsigned char*)data, RECV_SIZE);
+
+  // return if length is 0
+  if (recv <= 0) {
+    return 0;
+  } else if (recv == RECV_SIZE) {
+    LOGW("Receive buffer full");
+  }
+
+  size_t num_msg = recv / 0x10;
+  auto canData = event.initCan(num_msg);
+
+  // populate message
+  for (int i = 0; i < num_msg; i++) {
+    if (data[i*4] & 4) {
+      // extended
+      canData[i].setAddress(data[i*4] >> 3);
+      //printf("got extended: %x\n", data[i*4] >> 3);
+    } else {
+      // normal
+      canData[i].setAddress(data[i*4] >> 21);
+    }
+    canData[i].setBusTime(data[i*4+1] >> 16);
+    int len = data[i*4+1]&0xF;
+    canData[i].setDat(kj::arrayPtr((uint8_t*)&data[i*4+2], len));
+    canData[i].setSrc((data[i*4+1] >> 4) & 0xff);
+  }
+
+  return recv;
+}
@@ -0,0 +1,79 @@
+#pragma once
+
+#include <ctime>
+#include <cstdint>
+#include <pthread.h>
+
+#include <libusb-1.0/libusb.h>
+
+#include "cereal/gen/cpp/car.capnp.h"
+#include "cereal/gen/cpp/log.capnp.h"
+
+// double the FIFO size
+#define RECV_SIZE (0x1000)
+#define TIMEOUT 0
+
+// copied from panda/board/main.c
+struct __attribute__((packed)) health_t {
+  uint32_t uptime;
+  uint32_t voltage;
+  uint32_t current;
+  uint32_t can_rx_errs;
+  uint32_t can_send_errs;
+  uint32_t can_fwd_errs;
+  uint32_t gmlan_send_errs;
+  uint32_t faults;
+  uint8_t ignition_line;
+  uint8_t ignition_can;
+  uint8_t controls_allowed;
+  uint8_t gas_interceptor_detected;
+  uint8_t car_harness_status;
+  uint8_t usb_power_mode;
+  uint8_t safety_model;
+  uint8_t fault_status;
+  uint8_t power_save_enabled;
+};
+
+class Panda {
+ private:
+  libusb_context *ctx = NULL;
+  libusb_device_handle *dev_handle = NULL;
+  pthread_mutex_t usb_lock;
+  void handle_usb_issue(int err, const char func[]);
+  void cleanup();
+
+ public:
+  Panda();
+  ~Panda();
+
+  bool connected = true;
+  cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
+  bool is_pigeon = false;
+  bool has_rtc = false;
+
+  // HW communication
+  int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT);
+  int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT);
+  int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+
+  // Panda functionality
+  cereal::HealthData::HwType get_hw_type();
+  void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
+  void set_unsafe_mode();
+  void set_rtc(struct tm sys_time);
+  struct tm get_rtc();
+  void set_fan_speed(uint16_t fan_speed);
+  uint16_t get_fan_speed();
+  void set_ir_pwr(uint16_t ir_pwr);
+  health_t get_health();
+  void set_loopback(bool loopback);
+  const char* get_firmware_version();
+  const char* get_serial();
+  void set_power_saving(bool power_saving);
+  void set_usb_power_mode(cereal::HealthData::UsbPowerMode power_mode);
+  void send_heartbeat();
+  void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
+  int can_receive(cereal::Event::Builder &event);
+
+};
@@ -94,8 +94,6 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
 };

 void cameras_init(DualCameraState *s) {
-  memset(s, 0, sizeof(*s));
-
  camera_init(&s->rear, CAMERA_ID_IMX298, 20);
  s->rear.transform = (mat3){{
    1.0,  0.0, 0.0,
@@ -12,7 +12,6 @@
 #include <cutils/properties.h>

 #include <pthread.h>
-#include <czmq.h>
 #include <capnp/serialize.h>
 #include "msmb_isp.h"
 #include "msmb_ispif.h"
@@ -108,8 +107,6 @@ static void camera_release_buffer(void* cookie, int buf_idx) {
 static void camera_init(CameraState *s, int camera_id, int camera_num,
                        uint32_t pixel_clock, uint32_t line_length_pclk,
                        unsigned int max_gain, unsigned int fps) {
-  memset(s, 0, sizeof(*s));
-
  s->camera_num = camera_num;
  s->camera_id = camera_id;

@@ -125,9 +122,9 @@ static void camera_init(CameraState *s, int camera_id, int camera_num,

  s->self_recover = 0;

-  zsock_t *ops_sock = zsock_new_push(">inproc://cameraops");
-  assert(ops_sock);
-  s->ops_sock = zsock_resolve(ops_sock);
+  s->ops_sock = zsock_new_push(">inproc://cameraops");
+  assert(s->ops_sock);
+  s->ops_sock_handle = zsock_resolve(s->ops_sock);

  tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame",
    camera_release_buffer, s);
@@ -262,8 +259,6 @@ static int imx179_s5k3p8sp_apply_exposure(CameraState *s, int gain, int integ_li
 }

 void cameras_init(DualCameraState *s) {
-  memset(s, 0, sizeof(*s));
-
  char project_name[1024] = {0};
  property_get("ro.boot.project_name", project_name, "");

@@ -397,7 +392,9 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {

  if (err == 0) {
    s->cur_exposure_frac = exposure_frac;
+    pthread_mutex_lock(&s->frame_info_lock);
    s->cur_gain_frac = gain_frac;
+    pthread_mutex_unlock(&s->frame_info_lock);
  }

  //LOGD("set exposure: %f %f - %d", exposure_frac, gain_frac, err);
@@ -414,16 +411,20 @@ static void do_autoexposure(CameraState *s, float grey_frac) {
    const unsigned int exposure_time_min = 16;
    const unsigned int exposure_time_max = frame_length - 11; // copied from set_exposure()

+    float cur_gain_frac = s->cur_gain_frac;
    float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.05);
-    if (s->cur_gain_frac > 0.125 && exposure_factor < 1) {
-      s->cur_gain_frac *= exposure_factor;
+    if (cur_gain_frac > 0.125 && exposure_factor < 1) {
+      cur_gain_frac *= exposure_factor;
    } else if (s->cur_integ_lines * exposure_factor <= exposure_time_max && s->cur_integ_lines * exposure_factor >= exposure_time_min) { // adjust exposure time first
      s->cur_exposure_frac *= exposure_factor;
-    } else if (s->cur_gain_frac * exposure_factor <= gain_frac_max && s->cur_gain_frac * exposure_factor >= gain_frac_min) {
-      s->cur_gain_frac *= exposure_factor;
+    } else if (cur_gain_frac * exposure_factor <= gain_frac_max && cur_gain_frac * exposure_factor >= gain_frac_min) {
+      cur_gain_frac *= exposure_factor;
    }
+    pthread_mutex_lock(&s->frame_info_lock);
+    s->cur_gain_frac = cur_gain_frac;
+    pthread_mutex_unlock(&s->frame_info_lock);

-    set_exposure(s, s->cur_exposure_frac, s->cur_gain_frac);
+    set_exposure(s, s->cur_exposure_frac, cur_gain_frac);

  } else { // keep the old for others
    float new_exposure = s->cur_exposure_frac;
@@ -448,7 +449,7 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
    .grey_frac = grey_frac,
  };

-  zmq_send(s->ops_sock, &msg, sizeof(msg), ZMQ_DONTWAIT);
+  zmq_send(s->ops_sock_handle, &msg, sizeof(msg), ZMQ_DONTWAIT);
 }

 static uint8_t* get_eeprom(int eeprom_fd, size_t *out_len) {
@@ -1795,15 +1796,16 @@ static void do_autofocus(CameraState *s) {
  const int dac_up = s->device == DEVICE_LP3? LP3_AF_DAC_UP:OP3T_AF_DAC_UP;
  const int dac_down = s->device == DEVICE_LP3? LP3_AF_DAC_DOWN:OP3T_AF_DAC_DOWN;

+  float lens_true_pos = s->lens_true_pos;
  if (!isnan(err))  {
    // learn lens_true_pos
-    s->lens_true_pos -= err*focus_kp;
+    lens_true_pos -= err*focus_kp;
  }

  // stay off the walls
-  s->lens_true_pos = clamp(s->lens_true_pos, dac_down, dac_up);
-
-  int target = clamp(s->lens_true_pos - sag, dac_down, dac_up);
+  lens_true_pos = clamp(lens_true_pos, dac_down, dac_up);
+  int target = clamp(lens_true_pos - sag, dac_down, dac_up);
+  s->lens_true_pos = lens_true_pos;

  /*char debug[4096];
  char *pdebug = debug;
@@ -1956,6 +1958,8 @@ static void camera_close(CameraState *s) {
  }

  free(s->eeprom);
+
+  zsock_destroy(&s->ops_sock);
 }


@@ -1,9 +1,10 @@
-#ifndef CAMERA_H
-#define CAMERA_H
+#pragma once

 #include <stdint.h>
 #include <stdbool.h>
 #include <pthread.h>
+#include <czmq.h>
+#include <atomic>
 #include "messaging.hpp"

 #include "msmb_isp.h"
@@ -61,7 +62,8 @@ typedef struct CameraState {

  int device;

-  void* ops_sock;
+  void* ops_sock_handle;
+  zsock_t * ops_sock;

  uint32_t pixel_clock;
  uint32_t line_length_pclk;
@@ -94,7 +96,7 @@ typedef struct CameraState {
  int cur_frame_length;
  int cur_integ_lines;

-  float digital_gain;
+  std::atomic<float> digital_gain;

  StreamState ss[3];

@@ -111,9 +113,9 @@ typedef struct CameraState {
  uint16_t cur_lens_pos;
  uint64_t last_sag_ts;
  float last_sag_acc_z;
-  float lens_true_pos;
+  std::atomic<float> lens_true_pos;

-  int self_recover; // af recovery counter, neg is patience, pos is active
+  std::atomic<int> self_recover; // af recovery counter, neg is patience, pos is active

  int fps;

@@ -142,5 +144,3 @@ int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size
 #ifdef __cplusplus
 }  // extern "C"
 #endif
-
-#endif
@@ -332,6 +332,7 @@ void* frontview_thread(void *arg) {
    //double t2 = millis_since_boot();
    //LOGD("front process: %.2fms", t2-t1);
  }
+  clReleaseCommandQueue(q);

  return NULL;
 }
@@ -345,6 +346,11 @@ void* processing_thread(void *arg) {
  err = set_realtime_priority(51);
  LOG("setpriority returns %d", err);

+#if defined(QCOM) && !defined(QCOM_REPLAY)
+  std::unique_ptr<uint8_t[]> rgb_roi_buf = std::make_unique<uint8_t[]>((s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y)*3);
+  std::unique_ptr<int16_t[]> conv_result = std::make_unique<int16_t[]>((s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y));
+#endif
+
  // init cl stuff
 #ifdef __APPLE__
  cl_command_queue q = clCreateCommandQueue(s->context, s->device_id, 0, &err);
@@ -416,13 +422,12 @@ void* processing_thread(void *arg) {
    /*double t10 = millis_since_boot();*/

    // cache rgb roi and write to cl
-    uint8_t *rgb_roi_buf = new uint8_t[(s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y)*3];
    int roi_id = cnt % ((ROI_X_MAX-ROI_X_MIN+1)*(ROI_Y_MAX-ROI_Y_MIN+1)); // rolling roi
    int roi_x_offset = roi_id % (ROI_X_MAX-ROI_X_MIN+1);
    int roi_y_offset = roi_id / (ROI_X_MAX-ROI_X_MIN+1);

    for (int r=0;r<(s->rgb_height/NUM_SEGMENTS_Y);r++) {
-      memcpy(rgb_roi_buf + r * (s->rgb_width/NUM_SEGMENTS_X) * 3,
+      memcpy(rgb_roi_buf.get() + r * (s->rgb_width/NUM_SEGMENTS_X) * 3,
              (uint8_t *) s->rgb_bufs[rgb_idx].addr + \
                (ROI_Y_MIN + roi_y_offset) * s->rgb_height/NUM_SEGMENTS_Y * FULL_STRIDE_X * 3 + \
                (ROI_X_MIN + roi_x_offset) * s->rgb_width/NUM_SEGMENTS_X * 3 + r * FULL_STRIDE_X * 3,
@@ -430,7 +435,7 @@ void* processing_thread(void *arg) {
    }

    err = clEnqueueWriteBuffer (q, s->rgb_conv_roi_cl, true, 0,
-        s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), rgb_roi_buf, 0, 0, 0);
+        s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), rgb_roi_buf.get(), 0, 0, 0);
    assert(err == 0);

    /*double t11 = millis_since_boot();
@@ -453,48 +458,45 @@ void* processing_thread(void *arg) {
    clWaitForEvents(1, &conv_event);
    clReleaseEvent(conv_event);

-    int16_t *conv_result = new int16_t[(s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y)];
    err = clEnqueueReadBuffer(q, s->rgb_conv_result_cl, true, 0,
-       s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * sizeof(int16_t), conv_result, 0, 0, 0);
+       s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * sizeof(int16_t), conv_result.get(), 0, 0, 0);
    assert(err == 0);

    /*t11 = millis_since_boot();
    printf("conv time: %f ms\n", t11 - t10);
    t10 = millis_since_boot();*/

-    get_lapmap_one(conv_result, &s->lapres[roi_id], s->rgb_width/NUM_SEGMENTS_X, s->rgb_height/NUM_SEGMENTS_Y);
+    get_lapmap_one(conv_result.get(), &s->lapres[roi_id], s->rgb_width/NUM_SEGMENTS_X, s->rgb_height/NUM_SEGMENTS_Y);

    /*t11 = millis_since_boot();
    printf("pool time: %f ms\n", t11 - t10);
    t10 = millis_since_boot();*/

-    delete [] rgb_roi_buf;
-    delete [] conv_result;
-
    /*t11 = millis_since_boot();
    printf("process time: %f ms\n ----- \n", t11 - t10);
    t10 = millis_since_boot();*/

    // setup self recover
+    const float lens_true_pos = s->cameras.rear.lens_true_pos;
    if (is_blur(&s->lapres[0]) &&
-       (s->cameras.rear.lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_DOWN:OP3T_AF_DAC_DOWN)+1 ||
-        s->cameras.rear.lens_true_pos > (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_UP:OP3T_AF_DAC_UP)-1) &&
+       (lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_DOWN:OP3T_AF_DAC_DOWN)+1 ||
+        lens_true_pos > (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_UP:OP3T_AF_DAC_UP)-1) &&
       s->cameras.rear.self_recover < 2) {
      // truly stuck, needs help
      s->cameras.rear.self_recover -= 1;
      if (s->cameras.rear.self_recover < -FOCUS_RECOVER_PATIENCE) {
        LOGW("rear camera bad state detected. attempting recovery from %.1f, recover state is %d",
-                                      s->cameras.rear.lens_true_pos, s->cameras.rear.self_recover);
-        s->cameras.rear.self_recover = FOCUS_RECOVER_STEPS + ((s->cameras.rear.lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M:OP3T_AF_DAC_M))?1:0); // parity determined by which end is stuck at
+                                      lens_true_pos, s->cameras.rear.self_recover.load());
+        s->cameras.rear.self_recover = FOCUS_RECOVER_STEPS + ((lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M:OP3T_AF_DAC_M))?1:0); // parity determined by which end is stuck at
      }
-    } else if ((s->cameras.rear.lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M - LP3_AF_DAC_3SIG:OP3T_AF_DAC_M - OP3T_AF_DAC_3SIG) ||
-               s->cameras.rear.lens_true_pos > (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M + LP3_AF_DAC_3SIG:OP3T_AF_DAC_M + OP3T_AF_DAC_3SIG)) &&
+    } else if ((lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M - LP3_AF_DAC_3SIG:OP3T_AF_DAC_M - OP3T_AF_DAC_3SIG) ||
+               lens_true_pos > (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M + LP3_AF_DAC_3SIG:OP3T_AF_DAC_M + OP3T_AF_DAC_3SIG)) &&
              s->cameras.rear.self_recover < 2) {
      // in suboptimal position with high prob, but may still recover by itself
      s->cameras.rear.self_recover -= 1;
      if (s->cameras.rear.self_recover < -(FOCUS_RECOVER_PATIENCE*3)) {
-        LOGW("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", s->cameras.rear.lens_true_pos, s->cameras.rear.self_recover);
-        s->cameras.rear.self_recover = FOCUS_RECOVER_STEPS/2 + ((s->cameras.rear.lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M:OP3T_AF_DAC_M))?1:0);
+        LOGW("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, s->cameras.rear.self_recover.load());
+        s->cameras.rear.self_recover = FOCUS_RECOVER_STEPS/2 + ((lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M:OP3T_AF_DAC_M))?1:0);
      }
    } else if (s->cameras.rear.self_recover < 0) {
      s->cameras.rear.self_recover += 1; // reset if fine
@@ -504,7 +506,9 @@ void* processing_thread(void *arg) {

    double t2 = millis_since_boot();

+#ifndef QCOM2
    uint8_t *bgr_ptr = (uint8_t*)s->rgb_bufs[rgb_idx].addr;
+#endif

    double yt1 = millis_since_boot();

@@ -668,6 +672,7 @@ void* processing_thread(void *arg) {
    LOGD("queued: %.2fms, yuv: %.2f, | processing: %.3fms", (t2-t1), (yt2-yt1), (t5-t1));
  }

+  clReleaseCommandQueue(q);
  return NULL;
 }

@@ -1173,25 +1178,33 @@ void free_buffers(VisionState *s) {
  // free bufs
  for (int i=0; i<FRAME_BUF_COUNT; i++) {
    visionbuf_free(&s->camera_bufs[i]);
+    visionbuf_free(&s->front_camera_bufs[i]);
    visionbuf_free(&s->focus_bufs[i]);
    visionbuf_free(&s->stats_bufs[i]);
  }

-  for (int i=0; i<FRAME_BUF_COUNT; i++) {
-   visionbuf_free(&s->front_camera_bufs[i]);
-  }
-
  for (int i=0; i<UI_BUF_COUNT; i++) {
    visionbuf_free(&s->rgb_bufs[i]);
-  }
-
-  for (int i=0; i<UI_BUF_COUNT; i++) {
    visionbuf_free(&s->rgb_front_bufs[i]);
  }

  for (int i=0; i<YUV_COUNT; i++) {
    visionbuf_free(&s->yuv_ion[i]);
+    visionbuf_free(&s->yuv_front_ion[i]);
  }
+
+  clReleaseMemObject(s->rgb_conv_roi_cl);
+  clReleaseMemObject(s->rgb_conv_result_cl);
+  clReleaseMemObject(s->rgb_conv_filter_cl);
+
+  clReleaseProgram(s->prg_debayer_rear);
+  clReleaseProgram(s->prg_debayer_front);
+  clReleaseKernel(s->krnl_debayer_rear);
+  clReleaseKernel(s->krnl_debayer_front);
+  
+  clReleaseProgram(s->prg_rgb_laplacian);
+  clReleaseKernel(s->krnl_rgb_laplacian);
+  
 }

 void party(VisionState *s) {
@@ -1255,7 +1268,7 @@ int main(int argc, char *argv[]) {
  signal(SIGINT, (sighandler_t)set_do_exit);
  signal(SIGTERM, (sighandler_t)set_do_exit);

-  VisionState state = {0};
+  VisionState state = {};
  VisionState *s = &state;

  clu_init();
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import os
-import json
 import signal
 import subprocess
 import time
@@ -8,9 +7,7 @@ from PIL import Image
 from common.basedir import BASEDIR
 from common.params import Params
 from selfdrive.camerad.snapshot.visionipc import VisionIPC
-
-with open(BASEDIR + "/selfdrive/controls/lib/alerts_offroad.json") as json_file:
-   OFFROAD_ALERTS = json.load(json_file)
+from selfdrive.controls.lib.alertmanager import set_offroad_alert


 def jpeg_write(fn, dat):
@@ -26,7 +23,7 @@ def snapshot():
    return None

  params.put("IsTakingSnapshot", "1")
-  params.put("Offroad_IsTakingSnapshot", json.dumps(OFFROAD_ALERTS["Offroad_IsTakingSnapshot"]))
+  set_offroad_alert("Offroad_IsTakingSnapshot", True)
  time.sleep(2.0)  # Give thermald time to read the param, or if just started give camerad time to start

  # Check if camerad is already started
@@ -64,7 +61,7 @@ def snapshot():
  proc.communicate()

  params.put("IsTakingSnapshot", "0")
-  params.delete("Offroad_IsTakingSnapshot")
+  set_offroad_alert("Offroad_IsTakingSnapshot", False)
  return ret


@@ -40,8 +40,8 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
  return tire_stiffness_front, tire_stiffness_rear


-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
-  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
+def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None):
+  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}


 def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
@@ -30,6 +30,13 @@ def get_startup_event(car_recognized, controller_available):
  return event


+def get_one_can(logcan):
+  while True:
+    can = messaging.recv_one_retry(logcan)
+    if len(can.can) > 0:
+      return can
+
+
 def load_interfaces(brand_names):
  ret = {}
  for brand_name in brand_names:
@@ -117,7 +124,7 @@ def fingerprint(logcan, sendcan, has_relay):
  done = False

  while not done:
-    a = messaging.get_one_can(logcan)
+    a = get_one_can(logcan)

    for can in a.can:
      # need to independently try to fingerprint both bus 0 and 1 to work
@@ -12,7 +12,6 @@ class CarController():
    self.prev_frame = -1
    self.hud_count = 0
    self.car_fingerprint = CP.carFingerprint
-    self.alert_active = False
    self.gone_fast_yet = False
    self.steer_rate_limited = False

@@ -103,6 +103,13 @@ class CarState(CarStateBase):
      ("WHEEL_SPEEDS", 50),
      ("STEERING", 100),
      ("ACC_2", 50),
+      ("GEAR", 50),
+      ("ACCEL_GAS_134", 50),
+      ("DASHBOARD", 15),
+      ("STEERING_LEVERS", 10),
+      ("SEATBELT_STATUS", 2),
+      ("DOORS", 1),
+      ("TRACTION_BUTTON", 1),
    ]

    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@@ -115,6 +122,10 @@ class CarState(CarStateBase):
      ("CAR_MODEL", "LKAS_HUD", -1),
      ("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
    ]
-    checks = []
+    checks = [
+      ("LKAS_COMMAND", 100),
+      ("LKAS_HEARTBIT", 10),
+      ("LKAS_HUD", 4),
+    ]

    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
@@ -14,8 +14,6 @@ class CarInterface(CarInterfaceBase):
  def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
    if fingerprint is None:
      fingerprint = gen_empty_fingerprint()
-    if car_fw is None:
-      car_fw = []

    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "chrysler"
@@ -78,8 +76,6 @@ class CarInterface(CarInterfaceBase):
    # speeds
    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False

-    ret.buttonEvents = []
-
    # events
    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
                                       gas_resume_speed=2.)
@@ -1,16 +1,15 @@
 #!/usr/bin/env python3
-import os
 from opendbc.can.parser import CANParser
 from cereal import car
 from selfdrive.car.interfaces import RadarInterfaceBase
+from selfdrive.car.chrysler.values import DBC

 RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2))  # c_ messages 706,...,724
 RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages
 LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
 NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)

-def _create_radar_can_parser():
-  dbc_f = 'chrysler_pacifica_2017_hybrid_private_fusion.dbc'
+def _create_radar_can_parser(car_fingerprint):
  msg_n = len(RADAR_MSGS_C)
  # list of [(signal name, message name or number, initial values), (...)]
  # [('RADAR_STATE', 1024, 0),
@@ -37,7 +36,7 @@ def _create_radar_can_parser():
               [20]*msg_n +  # 20Hz (0.05s)
               [20]*msg_n))  # 20Hz (0.05s)

-  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)

 def _address_to_track(address):
  if address in RADAR_MSGS_C:
@@ -49,7 +48,7 @@ def _address_to_track(address):
 class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
    super().__init__(CP)
-    self.rcp = _create_radar_can_parser()
+    self.rcp = _create_radar_can_parser(CP.carFingerprint)
    self.updated_messages = set()
    self.trigger_msg = LAST_MSG

@@ -4,7 +4,6 @@ from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu

-
 class SteerLimitParams:
  STEER_MAX = 261         # 262 faults
  STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
@@ -82,32 +81,18 @@ FINGERPRINTS = {


 DBC = {
-  CAR.PACIFICA_2017_HYBRID: dbc_dict(
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2018: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2020: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2018_HYBRID: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2019_HYBRID: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.JEEP_CHEROKEE: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.JEEP_CHEROKEE_2019: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
+  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
 }

 STEER_THRESHOLD = 120


 ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [0x292],   # lkas cmd
+  Ecu.fwdCamera: [0x292],  # lkas cmd
 }
@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 3.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "ford"
    ret.safetyModel = car.CarParams.SafetyModel.ford
@@ -8,14 +8,13 @@ from selfdrive.car.interfaces import RadarInterfaceBase
 RADAR_MSGS = list(range(0x500, 0x540))

 def _create_radar_can_parser(car_fingerprint):
-  dbc_f = DBC[car_fingerprint]['radar']
  msg_n = len(RADAR_MSGS)
  signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
                     RADAR_MSGS * 3,
                     [0] * msg_n + [0] * msg_n + [0] * msg_n))
  checks = list(zip(RADAR_MSGS, [20]*msg_n))

-  return CANParser(dbc_f, signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)

 class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
@@ -17,14 +17,14 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 4.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "gm"
-    ret.safetyModel = car.CarParams.SafetyModel.gm  # default to gm
+    ret.safetyModel = car.CarParams.SafetyModel.gm
    ret.enableCruise = False  # stock cruise control is kept off
    ret.lateralTuning.init('pid')

-    # GM port is considered a community feature, since it disables AEB;
+    # GM port is a community feature
    # TODO: make a port that uses a car harness and it only intercepts the camera
    ret.communityFeature = True

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 from __future__ import print_function
 import math
-import time
 from cereal import car
 from opendbc.can.parser import CANParser
 from selfdrive.car.gm.values import DBC, CAR, CanBus
@@ -17,30 +16,28 @@ NUM_SLOTS = 20
 LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS

 def create_radar_can_parser(car_fingerprint):
-
-  dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
-    # C1A-ARS3-A by Continental
-    radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
-    signals = list(zip(['FLRRNumValidTargets',
-                   'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
-                   'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
-                   'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
-                  ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
-                  ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
-                  ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
-                  [RADAR_HEADER_MSG] * 7 + radar_targets * 6,
-                  [0] * 7 +
-                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
-                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
-                  [0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
-
-    checks = []
-
-    return CANParser(dbc_f, signals, checks, CanBus.OBSTACLE)
-  else:
+  if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
    return None

+  # C1A-ARS3-A by Continental
+  radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
+  signals = list(zip(['FLRRNumValidTargets',
+                 'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
+                 'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
+                 'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
+                ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
+                ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
+                ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
+                [RADAR_HEADER_MSG] * 7 + radar_targets * 6,
+                [0] * 7 +
+                [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                [0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
+
+  checks = []
+
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
+
 class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
    super().__init__(CP)
@@ -53,8 +50,7 @@ class RadarInterface(RadarInterfaceBase):

  def update(self, can_strings):
    if self.rcp is None:
-      time.sleep(self.radar_ts)   # nothing to do
-      return car.RadarData.new_message()
+      return super().update(None)

    vls = self.rcp.update_strings(can_strings)
    self.updated_messages.update(vls)
@@ -107,7 +107,7 @@ def get_can_signals(CP):
    signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
  elif CP.carFingerprint == CAR.ODYSSEY_CHN:
    signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
-  elif CP.carFingerprint == CAR.HRV:
+  elif CP.carFingerprint in [CAR.HRV, CAR.JADE]:
    signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1),
                ("WHEELS_MOVING", "STANDSTILL", 1)]
  else:
@@ -132,11 +132,10 @@ def get_can_signals(CP):
    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
                ("MAIN_ON", "SCM_BUTTONS", 0),
                ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
-  elif CP.carFingerprint == CAR.HRV:
+  elif CP.carFingerprint in [CAR.HRV, CAR.JADE]:
    signals += [("CAR_GAS", "GAS_PEDAL", 0),
                ("MAIN_ON", "SCM_BUTTONS", 0),
                ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
-
  elif CP.carFingerprint == CAR.ODYSSEY:
    signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
                ("EPB_STATE", "EPB_STATUS", 0)]
@@ -175,7 +174,7 @@ class CarState(CarStateBase):
    #dp
    self.lkMode = True

-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, cp_body):
    ret = car.CarState.new_message()

    # car params
@@ -194,7 +193,7 @@ class CarState(CarStateBase):
    elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
      ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
      ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN'])
-    elif self.CP.carFingerprint == CAR.HRV:
+    elif self.CP.carFingerprint in [CAR.HRV, CAR.JADE]:
      ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN'])
    else:
      ret.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
@@ -261,7 +260,7 @@ class CarState(CarStateBase):

    self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
    # crv doesn't include cruise control
-    if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.HRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
+    if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.HRV, CAR.JADE, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
      ret.gas = self.pedal_gas / 256.
    else:
      ret.gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS'] / 256.
@@ -333,6 +332,12 @@ class CarState(CarStateBase):
      self.stock_hud = cp_cam.vl["ACC_HUD"]
      self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]

+    if self.CP.carFingerprint in (CAR.CRV_5G, ):
+      # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
+      # more info here: https://github.com/commaai/openpilot/pull/1867
+      ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]['BSM_ALERT'] == 1
+      ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]['BSM_ALERT'] == 1
+
    return ret

  @staticmethod
@@ -365,3 +370,17 @@ class CarState(CarStateBase):

    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)
+
+  @staticmethod
+  def get_body_can_parser(CP):
+    signals = []
+    checks = []
+
+    if CP.carFingerprint == CAR.CRV_5G:
+      signals += [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
+                  ("BSM_ALERT", "BSM_STATUS_LEFT", 0)]
+
+      bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
+      return CANParser(DBC[CP.carFingerprint]['body'], signals, checks, bus_body)
+
+    return None
@@ -84,7 +84,7 @@ class CarInterface(CarInterfaceBase):
      self.compute_gb = compute_gb_honda

  @staticmethod
-  def compute_gb(accel, speed):
+  def compute_gb(accel, speed): # pylint: disable=method-hidden
    raise NotImplementedError

  @staticmethod
@@ -191,9 +191,9 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 1.
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
+      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.54, 0.36]
+      ret.longitudinalTuning.kiV = [0.18, 0.12]

    elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
      stop_and_go = True
@@ -308,6 +308,20 @@ class CarInterface(CarInterfaceBase):
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.18, 0.12]

+    elif candidate == CAR.JADE:
+      stop_and_go = False
+      ret.mass = 1557. + STD_CARGO_KG
+      ret.wheelbase = 2.76
+      ret.centerToFront = ret.wheelbase * 0.41
+      ret.steerRatio = 15.2
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
+      ret.longitudinalTuning.kpBP = [0., 5., 35.]
+      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
+      ret.longitudinalTuning.kiBP = [0., 35.]
+      ret.longitudinalTuning.kiV = [0.18, 0.12]
+
    elif candidate == CAR.ACURA_RDX:
      stop_and_go = False
      ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
@@ -431,12 +445,14 @@ class CarInterface(CarInterfaceBase):
    # ******************* do can recv *******************
    self.cp.update_strings(can_strings)
    self.cp_cam.update_strings(can_strings)
+    if self.cp_body:
+      self.cp_body.update_strings(can_strings)

-    ret = self.CS.update(self.cp, self.cp_cam)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
    # dp
    self.dragonconf = dragonconf
    ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
-    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
+    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
    ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
    # FIXME: read sendcan for brakelights
    brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1
@@ -1,12 +1,10 @@
 #!/usr/bin/env python3
-import os
-import time
 from cereal import car
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import RadarInterfaceBase
+from selfdrive.car.honda.values import DBC

-def _create_nidec_can_parser():
-  dbc_f = 'acura_ilx_2016_nidec.dbc'
+def _create_nidec_can_parser(car_fingerprint):
  radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
  signals = list(zip(['RADAR_STATE'] +
                ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
@@ -14,8 +12,7 @@ def _create_nidec_can_parser():
                [0x400] + radar_messages[1:] * 4,
                [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
  checks = list(zip([0x445], [20]))
-  fn = os.path.splitext(dbc_f)[0].encode('utf8')
-  return CANParser(fn, signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)


 class RadarInterface(RadarInterfaceBase):
@@ -30,7 +27,10 @@ class RadarInterface(RadarInterfaceBase):
    self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar

    # Nidec
-    self.rcp = _create_nidec_can_parser()
+    if self.radar_off_can:
+      self.rcp = None
+    else:
+      self.rcp = _create_nidec_can_parser(CP.carFingerprint)
    self.trigger_msg = 0x445
    self.updated_messages = set()

@@ -38,9 +38,7 @@ class RadarInterface(RadarInterfaceBase):
    # in Bosch radar and we are only steering for now, so sleep 0.05s to keep
    # radard at 20Hz and return no points
    if self.radar_off_can:
-      if 'NO_RADAR_SLEEP' not in os.environ:
-        time.sleep(self.radar_ts)
-      return car.RadarData.new_message()
+      return super().update(None)

    vls = self.rcp.update_strings(can_strings)
    self.updated_messages.update(vls)
@@ -37,6 +37,7 @@ class CAR:
  CRV_HYBRID = "HONDA CR-V 2019 HYBRID"
  FIT = "HONDA FIT 2018 EX"
  HRV = "HONDA HRV 2019 TOURING"
+  JADE = "HONDA JADE 2017"
  ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
  ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
  ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
@@ -107,6 +108,9 @@ FINGERPRINTS = {
  CAR.HRV: [{
    57: 3, 145: 8, 228: 5, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 423: 2, 426: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 474: 8, 490: 8, 493: 3, 506: 8, 538: 5, 578: 2, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 882: 2, 884: 7, 892: 8, 929: 8, 985: 3, 1030: 5, 1033: 5, 1108: 8, 1137: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1618: 5
  }],
+  CAR.JADE: [{
+    57: 3, 145: 8, 228: 5, 304: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 487: 4, 490: 8, 506: 8, 507: 1, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 923: 2, 929: 4, 1057: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8
+  }],
  # 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
  CAR.ODYSSEY: [{
    57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
@@ -906,10 +910,23 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'36161-TXM-A050\x00\x00',
+      b'36161-TXM-A060\x00\x00',
    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-TXM-A230\x00\x00',
    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TXM-A040\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TWA-A910\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TXM-A020\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TXM-A020\x00\x00',
+    ],
  },
  CAR.HRV: {
    (Ecu.gateway, 0x18daeff1, None): [b'38897-T7A-A010\x00\x00'],
@@ -930,11 +947,12 @@ DBC = {
  CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
  CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_can_generated', None),
  CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
+  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
  CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
  CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
  CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
  CAR.HRV: dbc_dict('honda_hrv_touring_2019_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.JADE: dbc_dict('honda_hrv_touring_2019_can_generated', 'acura_ilx_2016_nidec'),
  CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
  CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
  CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
@@ -958,6 +976,7 @@ STEER_THRESHOLD = {
  CAR.CRV_HYBRID: 1200,
  CAR.FIT: 1200,
  CAR.HRV: 1200,
+  CAR.JADE: 1200,
  CAR.ODYSSEY: 1200,
  CAR.ODYSSEY_CHN: 1200,
  CAR.PILOT: 1200,
@@ -981,6 +1000,7 @@ SPEED_FACTOR = {
  CAR.CRV_HYBRID: 1.025,
  CAR.FIT: 1.,
  CAR.HRV: 1.025,
+  CAR.JADE: 1.025,
  CAR.ODYSSEY: 1.,
  CAR.ODYSSEY_CHN: 1.,
  CAR.PILOT: 1.,
@@ -995,4 +1015,4 @@ ECU_FINGERPRINT = {
  Ecu.fwdCamera: [0xE4, 0x194],   # steer torque cmd
 }

-HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT]
+HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT])
@@ -44,8 +44,7 @@ class CarState(CarStateBase):
    ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.

    if ret.cruiseState.enabled:
-      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
+      speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
      ret.cruiseState.speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
    else:
      ret.cruiseState.speed = 0
@@ -285,7 +284,7 @@ class CarState(CarStateBase):

    signals = [
      # sig_name, sig_address, default
-      ("CF_Lkas_Bca_R", "LKAS11", 0),
+      ("CF_Lkas_LdwsActivemode", "LKAS11", 0),
      ("CF_Lkas_LdwsSysState", "LKAS11", 0),
      ("CF_Lkas_SysWarning", "LKAS11", 0),
      ("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
@@ -302,6 +301,8 @@ class CarState(CarStateBase):
      ("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
    ]

-    checks = []
+    checks = [
+      ("LKAS11", 100)
+    ]

    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
@@ -20,7 +20,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
  values["CF_Lkas_Chksum"] = 0

  if car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
-    values["CF_Lkas_Bca_R"] = int(left_lane) + (int(right_lane) << 1)
+    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
    values["CF_Lkas_LdwsOpt_USM"] = 2

    # FcwOpt_USM 5 = Orange blinking car + lanes
@@ -40,9 +40,9 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
  elif car_fingerprint == CAR.HYUNDAI_GENESIS:
    # This field is actually LdwsActivemode
    # Genesis and Optima fault when forwarding while engaged
-    values["CF_Lkas_Bca_R"] = 2
+    values["CF_Lkas_LdwsActivemode"] = 2
  elif car_fingerprint == CAR.KIA_OPTIMA:
-    values["CF_Lkas_Bca_R"] = 0
+    values["CF_Lkas_LdwsActivemode"] = 0

  dat = packer.make_can_msg("LKAS11", 0, values)[2]

@@ -84,6 +84,13 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
      ret.minSteerSpeed = 60 * CV.KPH_TO_MS
+    elif candidate == CAR.GENESIS_G70: 
+      ret.lateralTuning.pid.kf = 0.00005 
+      ret.mass = 1640. + STD_CARGO_KG 
+      ret.wheelbase = 2.84 
+      ret.steerRatio = 16.5 
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
    elif candidate == CAR.GENESIS_G80:
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 2060. + STD_CARGO_KG
@@ -113,10 +120,10 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.KONA:
-      ret.lateralTuning.pid.kf = 0.00006
+      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 1275. + STD_CARGO_KG
      ret.wheelbase = 2.7
-      ret.steerRatio = 13.73  # Spec
+      ret.steerRatio = 13.73 * 1.15  # Spec
      tire_stiffness_factor = 0.385
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
@@ -145,12 +152,21 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.5
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.VELOSTER:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 3558. * CV.LB_TO_KG
+      ret.wheelbase = 2.80
+      ret.steerRatio = 13.75 * 1.15
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]  

    # dp
    ret = common_interface_get_params_lqr(ret)

    # these cars require a special panda safety mode due to missing counters and checksums in the messages
-    if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]:
+    if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019, 
+                     CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70]:
      ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy

    ret.centerToFront = ret.wheelbase * 0.4
@@ -178,9 +194,6 @@ class CarInterface(CarInterfaceBase):
    ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid

-    # TODO: button presses
-    ret.buttonEvents = []
-
    events = self.create_common_events(ret)
    #TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event

@@ -1,6 +1,4 @@
 #!/usr/bin/env python3
-import os
-import time
 from cereal import car
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import RadarInterfaceBase
@@ -33,10 +31,7 @@ class RadarInterface(RadarInterfaceBase):

  def update(self, can_strings):
    if self.radar_off_can:
-      if 'NO_RADAR_SLEEP' not in os.environ:
-        time.sleep(0.05)  # radard runs on RI updates
-
-      return car.RadarData.new_message()
+      return super().update(None)

    vls = self.rcp.update_strings(can_strings)
    self.updated_messages.update(vls)
@@ -17,6 +17,7 @@ class SteerLimitParams:
 class CAR:
  ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
  ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
+  GENESIS_G70 = "GENESIS G70 2018"
  GENESIS_G80 = "GENESIS G80 2017"
  GENESIS_G90 = "GENESIS G90 2017"
  HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
@@ -27,13 +28,13 @@ class CAR:
  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
  KIA_STINGER = "KIA STINGER GT2 2018"
-  KONA = "HYUNDAI KONA 2019"
+  KONA = "HYUNDAI KONA 2020"
  KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
  SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
-  SANTA_FE_1 = "HYUNDAI SANTA FE has no scc"
  SONATA = "HYUNDAI SONATA 2020"
  SONATA_2019 = "HYUNDAI SONATA 2019"
  PALISADE = "HYUNDAI PALISADE 2020"
+  VELOSTER = "HYUNDAI VELOSTER 2019"


 class Buttons:
@@ -85,20 +86,18 @@ FINGERPRINTS = {
  CAR.SONATA_2019: [
    {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
  ],
-  CAR.KIA_OPTIMA: [
-    {
-      64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1952: 8, 1960: 8, 1988: 8, 1996: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-    },
-    {
-      64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1491: 8, 1492: 8
-    },
-  ],
+  CAR.KIA_OPTIMA: [{
+      64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 640: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1492: 8, 1530: 8, 1532: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
  CAR.KIA_SORENTO: [{
    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
  }],
  CAR.KIA_STINGER: [{
    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
  }],
+  CAR.GENESIS_G70: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832:8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173:8, 1184: 8, 1186: 2, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1419:8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
+  }],
  CAR.GENESIS_G80: [{
    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
  },
@@ -119,9 +118,9 @@ FINGERPRINTS = {
  },
  {
    68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
-  }],  
+  }],
  CAR.KONA: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 909: 8, 916: 8, 1040: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 2004: 8, 2009: 8, 2012: 8
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832 : 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1193: 8, 1265: 4,1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8
  }],
  CAR.KONA_EV: [{
    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
@@ -136,14 +135,20 @@ FINGERPRINTS = {
    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
  }],
  CAR.PALISADE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 2000: 8, 2005: 8, 2008: 8
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
  }],
+  CAR.VELOSTER: [{
+    64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1181: 5, 1186: 2, 1191: 2, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1378: 4, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1872: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }]
 }

 ECU_FINGERPRINT = {
  Ecu.fwdCamera: [832, 1156, 1191, 1342]
 }

+# Don't use these fingerprints for fingerprinting, they are still used for ECU detection
+IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA]
+
 FW_VERSIONS = {
  CAR.SONATA: {
    (Ecu.fwdRadar, 0x7d0, None): [
@@ -181,7 +186,10 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00',],
    (Ecu.eps, 0x7d4, None): [b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5420 4C4VL104'],
    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822'],
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0'],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+    ],
  },
  CAR.KIA_OPTIMA_H: {
    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',],
@@ -190,16 +198,58 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',],
    (Ecu.transmission, 0x7e1, None): [b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",],
  },
-  CAR.PALISADE: {
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         \xf1\xa01.04',],
+  CAR.PALISADE: {    
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         \xf1\xa01.04',
+      b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         \xf1\xa01.04',
+    ],
    (Ecu.esp, 0x7d1, None): [
      b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
      b'\xf1\x00LX ESC \v 102\x19\x05\a 58910-S8330\xf1\xa01.02',
+      b'\xf1\x00LX ESC \v 103\x19\t\x10 58910-S8360\xf1\xa01.03',
    ],
    (Ecu.engine, 0x7e0, None): [b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',],
    (Ecu.eps, 0x7d4, None): [b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',],
-    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.03 99211-S8100 190125',],
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87LDKVBN424201KF26\xba\xaa\x9a\xa9\x99\x99\x89\x98\x89\x99\xa8\x99\x88\x99\x98\x89\x88\x99\xa8\x89v\x7f\xf7\xffwf_\xffq\xa6\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.03 99211-S8100 190125',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.05 99211-S8100 190909',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87LDKVBN424201KF26\xba\xaa\x9a\xa9\x99\x99\x89\x98\x89\x99\xa8\x99\x88\x99\x98\x89\x88\x99\xa8\x89v\x7f\xf7\xffwf_\xffq\xa6\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+      b'\xf1\x87LDLVBN560098KF26\x86fff\x87vgfg\x88\x96xfw\x86gfw\x86g\x95\xf6\xffeU_\xff\x92c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+    ],
+  },
+  CAR.VELOSTER: {
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JS__ SCC H-CUP      1.00 1.02 95650-J3200         ', ],
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x00\x00\x00\x00\x00\x00\x00', ],
+    (Ecu.engine, 0x7e0, None): [b'\x01TJS-JNU06F200H0A', ],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', ],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00JS  LKAS AT USA LHD 1.00 1.02 95740-J3000 K32', ],
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80', ],
+  },
+  CAR.GENESIS_G70: {
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         \xf1\xa01.02', ],
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x00\x00\x00\x00\x00\x00\x00', ],
+    (Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106', ],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920', ],
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
+  },
+  CAR.KONA: {
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         \xf1\xa01.00', ],
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00\xf1\xa01.05', ],
+    (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ],
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', ],
+  },
+  CAR.KIA_OPTIMA: {
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         '],
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
+    (Ecu.engine, 0x7e0, None): [b'\x01TJFAJNU06F201H03'],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409'],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31'],
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
  }
 }

@@ -210,21 +260,22 @@ CHECKSUM = {

 FEATURES = {
  # which message has the gear
-  "use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30],
-  "use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019],
-  "use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ],
+  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
+  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_2019, CAR.VELOSTER]),
+  "use_elect_gears": set([CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),

  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": [CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE],
+  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),

-  "use_bsm": [CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80, CAR.GENESIS_G90],
+  "use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA]),
 }

-EV_HYBRID = [CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]
+EV_HYBRID = set([CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV])

 DBC = {
  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
+  CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
  CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
@@ -241,6 +292,7 @@ DBC = {
  CAR.SONATA: dbc_dict('hyundai_kia_generic', None),
  CAR.SONATA_2019: dbc_dict('hyundai_kia_generic', None),
  CAR.PALISADE: dbc_dict('hyundai_kia_generic', None),
+  CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
 }

 STEER_THRESHOLD = 150
@@ -27,6 +27,7 @@ class CarInterfaceBase():
      self.CS = CarState(CP)
      self.cp = self.CS.get_can_parser(CP)
      self.cp_cam = self.CS.get_cam_can_parser(CP)
+      self.cp_body = self.CS.get_body_can_parser(CP)

    self.CC = None
    if CarController is not None:
@@ -43,7 +44,7 @@ class CarInterfaceBase():
    raise NotImplementedError

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
    raise NotImplementedError

  # returns a set of default params to avoid repetition in car specific params
@@ -149,13 +150,12 @@ class RadarInterfaceBase():
    self.pts = {}
    self.delay = 0
    self.radar_ts = CP.radarTimeStep
+    self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ

  def update(self, can_strings):
    ret = car.RadarData.new_message()
-
-    if 'NO_RADAR_SLEEP' not in os.environ:
+    if not self.no_radar_sleep:
      time.sleep(self.radar_ts)  # radard runs on RI updates
-
    return ret

 class CarStateBase:
@@ -188,3 +188,7 @@ class CarStateBase:
  @staticmethod
  def get_cam_can_parser(CP):
    return None
+
+  @staticmethod
+  def get_body_can_parser(CP):
+    return None
@@ -162,8 +162,8 @@ class CarState(CarStateBase):

  @staticmethod
  def get_cam_can_parser(CP):
-    signals = [ ]
-    checks = [ ]
+    signals = []
+    checks = []

    if CP.carFingerprint == CAR.CX5:
      signals += [
@@ -16,7 +16,7 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 4.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)

    ret.carName = "mazda"
@@ -78,9 +78,6 @@ class CarInterface(CarInterfaceBase):
    ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid

-    # TODO: button presses
-    ret.buttonEvents = []
-
    # events
    events = self.create_common_events(ret)

@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
    return accel

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "mock"
    ret.safetyModel = car.CarParams.SafetyModel.noOutput
@@ -2,7 +2,7 @@ from cereal import car
 from common.numpy_fast import clip, interp
 from selfdrive.car.nissan import nissancan
 from opendbc.can.packer import CANPacker
-from selfdrive.car.nissan.values import CAR
+from selfdrive.car.nissan.values import CAR, STEER_THRESHOLD
 from common.dp_common import common_controller_ctrl

 # Steer angle limits
@@ -58,7 +58,11 @@ class CarController():
      else:
        # Scale max torque based on how much torque the driver is applying to the wheel
        self.lkas_max_torque = max(
-            0, LKAS_MAX_TORQUE - 0.4 * abs(CS.out.steeringTorque))
+          # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
+          LKAS_MAX_TORQUE * 0.5,
+          # Start scaling torque at STEER_THRESHOLD
+          LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - STEER_THRESHOLD)
+        )

    else:
      apply_angle = CS.out.steeringAngle
@@ -1,4 +1,5 @@
 import copy
+from collections import deque
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
@@ -6,12 +7,14 @@ from selfdrive.config import Conversions as CV
 from opendbc.can.parser import CANParser
 from selfdrive.car.nissan.values import CAR, DBC, STEER_THRESHOLD

+TORQUE_SAMPLES = 12

 class CarState(CarStateBase):
  def __init__(self, CP):
    super().__init__(CP)
    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])

+    self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
    self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]

  def update(self, cp, cp_adas, cp_cam):
@@ -60,7 +63,9 @@ class CarState(CarStateBase):
      ret.cruiseState.speed = speed * conversion

    ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    self.steeringTorqueSamples.append(ret.steeringTorque)
+    # Filtering driver torque to prevent steeringPressed false positives
+    ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > STEER_THRESHOLD)

    ret.steeringAngle = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]

@@ -15,7 +15,7 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 4.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):

    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "nissan"
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Rick Lan	05a127a38e	fix hash	2020-11-10 16:38:47 +10:00
Rick Lan	580a5f5265	update ota/recovery url	2020-11-10 12:40:06 +10:00
Rick Lan	099e257c0f	Merge branch 'devel-i18n' into 0.7.8-i18n	2020-09-23 12:17:29 +10:00
Rick Lan	6426e62171	dragonpilot 0.7.8.2 ======================== * Fixed 5+ minutes boot time issue when there is no internet connection. * Used dp server for error reporting. * updated service uses gitee IP address instead.	2020-09-23 12:15:50 +10:00
Rick Lan	d8c8f2bd65	dragonpilot 0.7.8 ======================== * Based on latest openpilot 0.7.8 devel. * Added "Reset DP Settings" button. (Thanks to @LOVEChen) * Alert messages changed to concept UI alike design. * Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. * Added ko-KR translation. * Added Honda Jade support. (Thanks to @lijunhao731) * Fixed ui.cc memory out of bound issue. (Thanks to @piggy) * gpxd now store in zip format. * Force disabled DOS hardware check in panda.	2020-09-22 10:03:53 +10:00
Rick Lan	657e180ba3	dragonpilot 0.7.8.1 ======================== * Added ko-KR translation. * Added Honda Jade support. (Thanks to @lijunhao731) * Fixed ui.cc memory out of bound issue. (Thanks to @piggy) * gpxd now store in zip format. * Force disabled DOS hardware check in panda.	2020-09-21 13:38:49 +10:00
Rick Lan	27e12ccad7	dragonpilot 0.7.8.0 ======================== * Based on latest openpilot 0.7.8 devel. * Added "Reset DP Settings" button. (Thanks to @LOVEChen) * Alert messages changed to concept UI alike design. * Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.	2020-08-31 12:42:57 +10:00
Rick Lan	899f68dabf	dragonpilot 0.7.7.3 ======================== * Fixed steering monitor timer param. * Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough) * Re-added Dev Mini UI. (Thanks to @Ninjaa) * Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim) * Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough) * Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1) * Used lane width estimate value from Germany. (Thanks to @arne182)	2020-08-21 11:51:42 +10:00