fix dynamicGas profile change does not take effect

Merge branch 'devel-i18n' of https://github.com/dragonpilot-community/dragonpilot into devel-i18n
dragonpilot 0.7.10.1
2026-06-13 05:04:40 +08:00 · 2020-12-13 11:47:04 +08:00 · 2020-12-01 09:25:01 +10:00 · 2020-12-01 09:22:08 +10:00 · 2020-11-30 21:40:50 +10:00 · 2020-11-28 10:54:29 +10:00
439 changed files with 17502 additions and 12560 deletions
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -1,3 +1,57 @@
+dragonpilot 0.7.10.1
+========================
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
+* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
+* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
+* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
+* Use openpilot v0.8 model. (Thanks to @eisenheim)
+* 加入 0.8 測試版的部分優化。
+* Added optimizations from pre-0.8.
+* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
+* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
+* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
+* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
+* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
+* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
+* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
+* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
+* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
+* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
+* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
+
+dragonpilot 0.7.10.0
+========================
+* 基於最新 openpilot 0.7.10 devel.
+* Based on latest openpilot 0.7.10 devel.
+* 修正 Prius 特定情況下無法操控方向盤的問題。
+* Fixed unable to regain Prius steering control under certain condition.
+* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
+* Updated support of VW MQB. (scripts/vw.sh script required)
+* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
+* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
+* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
+* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
+* 優化 nanovg。(感謝 @piggy 提供)
+* Optomized nanovg. (Thanks to @piggy)
+* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
+* Added complete_setup.sh (Thanks to @深鲸希西)
+* Based on latest openpilot 0.7.10 devel.
+* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
+* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+
+dragonpilot 0.7.8.3
+========================
+* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
+* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
+
 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。
--- a/CHANGELOGS-REL.md
+++ b/CHANGELOGS-REL.md
@@ -1,3 +1,47 @@
+dragonpilot 0.7.10.0
+========================
+* 基於最新 openpilot 0.7.10 devel.
+* Based on latest openpilot 0.7.10 devel.
+* 修正 Prius 特定情況下無法操控方向盤的問題。
+* Fixed unable to regain Prius steering control under certain condition.
+* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
+* Updated support of VW MQB. (scripts/vw.sh script required)
+* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
+* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
+* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
+* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
+* 優化 nanovg。(感謝 @piggy 提供)
+* Optomized nanovg. (Thanks to @piggy)
+* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
+* Added complete_setup.sh (Thanks to @深鲸希西)
+* Based on latest openpilot 0.7.10 devel.
+* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
+* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) 
+* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
+* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
+* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
+* Use openpilot v0.8 model. (Thanks to @eisenheim)
+* 加入 0.8 測試版的部分優化。
+* Added optimizations from pre-0.8.
+* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
+* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
+* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
+* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
+* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
+* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
+* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
+* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
+* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
+* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
+* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
+
 dragonpilot 0.7.8
 ========================
 * 基於最新 openpilot 0.7.8 devel.
@@ -24,6 +68,8 @@ dragonpilot 0.7.8
 * 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.
+* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
+* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)

 dragonpilot 0.7.7.0
 ========================
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -1,3 +1,85 @@
+2020-11-28 (0.7.10.0)
+========================
+* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
+* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
+
+2020-11-20 (0.7.10.0)
+========================
+* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
+* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
+
+2020-11-19 (0.7.10.0)
+========================
+* 更新所有 honda/hyunda/toyota 指紋。
+* Updated all honda/hyunda/toyota fingerprints.
+
+2020-11-18 (0.7.10.0)
+========================
+* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
+* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
+* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
+* Use openpilot v0.8 model. (Thanks to @eisenheim)
+* 加入 0.8 測試版的部分優化。
+* Added optimizations from pre-0.8.
+* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
+* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
+* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
+* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
+* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
+* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
+* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
+
+2020-11-05 (0.7.10.0)
+========================
+* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) 
+ 
+2020-11-04 (0.7.10.0)
+========================
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+
+2020-10-30 (0.7.10.0)
+========================
+* 基於最新 openpilot 0.7.10 devel.
+* Based on latest openpilot 0.7.10 devel.
+* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
+* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
+* 新增大陸版 2018 Inspire 指紋。(感謝 @)
+* Added China Camry Hybrid FPv2. (Thanks to @杜子腾) 
+
+2020-10-23 (0.7.9.0)
+========================
+* 加入 Headunit Reloaded Android Auto 斷線偵側。
+* Added Disconnect detection for Headunit Reloaded Android Auto.
+* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
+* Added complete_setup.sh (Thanks to @深鲸希西)
+
+2020-10-21 (0.7.9.0)
+========================
+* 基於最新 openpilot 0.7.9 devel.
+* Based on latest openpilot 0.7.9 devel.
+* 修正 Prius 特定情況下無法操控方向盤的問題。
+* Fixed unable to regain Prius steering control under certain condition.
+* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
+* Updated support of VW MQB. (scripts/vw.sh script required)
+* 加入 HKG mdps/sas 的支援。(需執行 scripts/hkg.sh 腳本)
+* Added support to HKG mdps/sas. (scripts/hkg.sh script required)
+* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
+* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
+* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
+* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
+* 優化 nanovg。(感謝 @piggy 提供)
+* Optomized nanovg. (Thanks to @piggy)
+
+2020-09-25 (0.7.8.0)
+========================
+* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
+* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
+
 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。
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -18,7 +18,7 @@ You can test your changes on your machine by running `run_docker_tests.sh`. This

 ### Automated Testing

-All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
+All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.

 ### Code Style and Linting

@@ -28,7 +28,7 @@ Code is automatically checked for style by Github Actions as part of the automat

 We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.

-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. 

 ## Pull Requests

--- a/16
+++ b/16
@@ -34,6 +34,9 @@ pipeline {
    COMMA_JWT = credentials('athena-test-jwt')
    TEST_DIR = "/data/openpilot"
  }
+  options {
+      timeout(time: 1, unit: 'HOURS')
+  }

  stages {

@@ -58,7 +61,7 @@ pipeline {
      when {
        not {
          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
          }
        }
      }
@@ -70,7 +73,7 @@ pipeline {
        stage('PC tests') {
          agent {
            dockerfile {
-              filename 'Dockerfile.openpilot'
+              filename 'Dockerfile.openpilotci'
              args '--privileged --shm-size=1G --user=root'
            }
          }
@@ -132,6 +135,8 @@ pipeline {
                      ["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 loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
+                      //["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
                      //["test updater", "python installer/updater/test_updater.py"],
                    ])
                  }
@@ -140,6 +145,13 @@ pipeline {
              }
            }
          }
+
+          post {
+            always {
+              cleanWs()
+            }
+          }
+
        }

      }
--- a/README.md
+++ b/README.md
@@ -66,35 +66,35 @@ 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             |
+| Acura     | RDX 2020                      | AcuraWatch        | 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             |
-| Honda     | Civic Sedan/Coupe 2019-20     | Honda Sensing     | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | Civic Sedan/Coupe 2019-20     | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
 | Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | CR-V 2017-20                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | 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 2019-20               | Honda Sensing     | Stock            | 0mph               | 3mph              |
+| Honda     | Insight 2019-20               | All               | 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             |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata 2020                   | All               | Stock            | 0mph               | 0mph              |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
 | Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2016-17                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon 2016-18                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
@@ -102,19 +102,16 @@ Supported Cars
 | Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hybrid 2020-21        | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2017-20                 | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Rav4 2019-20                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |

@@ -143,24 +140,22 @@ Community Maintained Cars and Features
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | 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   | Ioniq Electric 2019-20        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | 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   | Sonata 2019                   | SCC + LKAS        | 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         |
-| Kia       | Optima 2017                   | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
+| Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | 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                  | Propilot          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2019                    | Propilot          | Stock            | 0mph               | 0mph         |
-| Nissan    | X-Trail 2017                  | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2018-19                 | 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         |
@@ -274,8 +269,23 @@ Safety and Testing

 Testing on PC
 ------
+For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes. 
+
+Steps:
+1) Start the CARLA server on first terminal
+```
+bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
+```
+2) Start openpilot on second terminal
+```
+bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
+```
+3) Press 1 to engage openpilot
+
+See the full [README](tools/sim/README.md)
+
+You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.

-Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.

 Community and Contributing
 ------
@@ -300,7 +310,7 @@ Directory Structure
    ├── phonelibs           # Libraries used on NEOS devices
    ├── pyextra             # Libraries used on NEOS devices
    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts, images, and sounds for UI
+        ├── assets          # Fonts, images and sounds for UI
        ├── athena          # Allows communication with the app
        ├── boardd          # Daemon to talk to the board
        ├── camerad         # Driver to capture images from the camera sensors
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,21 @@
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
+Version 0.7.9 (2020-10-09)
+========================
+ * Improved car battery power management
+ * Improved updater robustness
+ * Improved realtime performance
+ * Reduced UI and modeld lags
+ * Increased torque on 2020 Hyundai Sonata and Palisade
+
 Version 0.7.8 (2020-08-19)
 ========================
 * New driver monitoring model: improved face detection and better compatibility with sunglasses
@@ -21,24 +39,24 @@ Version 0.7.7 (2020-07-20)

 Version 0.7.6.1 (2020-06-16)
 ========================
-* Hotfix: update kernel on some comma twos (orders #8570-#8680)
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)

 Version 0.7.6 (2020-06-05)
 ========================
-* White panda is deprecated, upgrade to comma two or black panda
-* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
-* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
-* Huge CPU savings in modeld by using thneed!
-* Lots of code cleanup and refactors
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors

 Version 0.7.5 (2020-05-13)
 ========================
-* Right-Hand Drive support for both driving and driver monitoring!
-* New driving model: improved at sharp turns and lead speed estimation
-* New driver monitoring model: overall improvement on comma two
-* Driver camera preview in settings to improve mounting position
-* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
-* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)

 Version 0.7.4 (2020-03-20)
 ========================
@@ -474,96 +492,96 @@ Version 0.3.4 (2017-07-28)

 Version 0.3.3  (2017-06-28)
 ===========================
-  * Improved model trained on more data
-  * Alpha CR-V support thanks to energee and johnnwvs!
-  * Using the opendbc project for DBC files
-  * Minor performance improvements
-  * UI update thanks to pjlao307
-  * Power off button
-  * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic

 Version 0.3.2  (2017-05-22)
 ===========================
-  * Minor stability bugfixes
-  * Added metrics and rear view mirror disable to settings
-  * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data

 Version 0.3.1  (2017-05-17)
 ===========================
-  * visiond stability bugfix
-  * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing

 Version 0.3.0  (2017-05-12)
 ===========================
-  * Add CarParams struct to improve the abstraction layer
-  * Refactor visiond IPC to support multiple clients
-  * Add raw GPS and beginning support for navigation
-  * Improve model in visiond using crowdsourced data
-  * Add improved system logging to diagnose instability
-  * Rewrite baseui in React Native
-  * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud

 Version 0.2.9  (2017-03-01)
 ===========================
-  * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1

 Version 0.2.8  (2017-02-27)
 ===========================
-  * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71

 Version 0.2.7  (2017-02-08)
 ===========================
-  * Better performance and pictures at night
-  * Fix ptr alignment issue in boardd
-  * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in boardd
+ * Fix brake error light, fix crash if too cold

 Version 0.2.6  (2017-01-31)
 ===========================
-  * Fix bug in visiond model execution
+ * Fix bug in visiond model execution

 Version 0.2.5  (2017-01-30)
 ===========================
-  * Fix race condition in manager
+ * Fix race condition in manager

 Version 0.2.4  (2017-01-27)
 ===========================
-  * OnePlus 3T support
-  * Enable installation as NEOS app
-  * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes

 Version 0.2.3  (2017-01-11)
 ===========================
-  * Reduce space usage by 80%
-  * Add better logging
-  * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI

 Version 0.2.2  (2017-01-10)
 ===========================
-  * Board triggers started signal on CAN messages
-  * Improved autoexposure
-  * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status

 Version 0.2.1  (2016-12-14)
 ===========================
-  * Performance improvements, removal of more numpy
-  * Fix boardd process priority
-  * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix boardd process priority
+ * Make counter timer reset on use of steering wheel

 Version 0.2  (2016-12-12)
 =========================
-  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
-  * controlsd has been refactored
-  * Shipped plant model and testing maneuvers
-  * visiond exits more gracefully now
-  * Hardware encoder in visiond should always init
-  * ui now turns off the screen after 30 seconds
-  * Switch to openpilot release branch for future releases
-  * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC

 Version 0.1  (2016-11-29)
 =========================
-  * Initial release of openpilot
-  * Adaptive cruise control is working
-  * Lane keep assist is working
-  * Support for Acura ILX 2016 with AcuraWatch Plus
-  * Support for Honda Civic 2016 Touring Edition
+ * Initial release of openpilot
+ * Adaptive cruise control is working
+ * Lane keep assist is working
+ * Support for Acura ILX 2016 with AcuraWatch Plus
+ * Support for Honda Civic 2016 Touring Edition
--- a/79
+++ b/79
@@ -6,6 +6,9 @@ import subprocess
 import sys
 import platform

+TICI = os.path.isfile('/TICI')
+Decider('MD5-timestamp')
+
 AddOption('--test',
          action='store_true',
          help='build test files')
@@ -18,13 +21,14 @@ AddOption('--asan',
 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()
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
-if arch == "aarch64" and not os.path.isdir("/system"):
+
+if arch == "aarch64" and TICI:
  arch = "larch64"

-webcam = bool(ARGUMENTS.get("use_webcam", 0))
+USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None

 if arch == "aarch64" or arch == "larch64":
@@ -44,7 +48,6 @@ if arch == "aarch64" or arch == "larch64":

  libpath = [
    "/usr/lib",
-    "/data/data/com.termux/files/usr/lib",
    "/system/vendor/lib64",
    "/system/comma/usr/lib",
    "#phonelibs/nanovg",
@@ -62,11 +65,12 @@ if arch == "aarch64" or arch == "larch64":
  else:
    libpath += [
      "#phonelibs/snpe/aarch64",
-      "#phonelibs/libyuv/lib"
+      "#phonelibs/libyuv/lib",
+      "/system/vendor/lib64"
    ]
    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
-    rpath = ["/system/vendor/lib64"]
+    rpath = []

    if QCOM_REPLAY:
      cflags += ["-DQCOM_REPLAY"]
@@ -105,6 +109,7 @@ else:
    ]

  rpath = [
+    "phonelibs/snpe/x86_64-linux-clang",
    "external/tensorflow/lib",
    "cereal",
    "selfdrive/common"
@@ -131,8 +136,12 @@ env = Environment(
    "-O2",
    "-Wunused",
    "-Werror",
+    "-Wno-unknown-warning-option",
    "-Wno-deprecated-register",
+    "-Wno-register",
    "-Wno-inconsistent-missing-override",
+    "-Wno-c99-designator",
+    "-Wno-reorder-init-list",
  ] + cflags + ccflags_asan,

  CPPPATH=cpppath + [
@@ -143,7 +152,6 @@ env = Environment(
    "#phonelibs/openmax/include",
    "#phonelibs/json11",
    "#phonelibs/curl/include",
-    #"#phonelibs/opencv/include", # use opencv4 instead
    "#phonelibs/libgralloc/include",
    "#phonelibs/android_frameworks_native/include",
    "#phonelibs/android_hardware_libhardware/include",
@@ -156,6 +164,8 @@ env = Environment(
    "#selfdrive/camerad/include",
    "#selfdrive/loggerd/include",
    "#selfdrive/modeld",
+    "#selfdrive/sensord",
+    "#selfdrive/ui",
    "#cereal/messaging",
    "#cereal",
    "#opendbc/can",
@@ -168,7 +178,7 @@ env = Environment(
  RPATH=rpath,

  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++14"] + cxxflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
  LIBPATH=libpath + [
    "#cereal",
    "#selfdrive/common",
@@ -176,6 +186,45 @@ env = Environment(
  ]
 )

+qt_env = None
+if arch in ["x86_64", "Darwin", "larch64"]:
+  qt_env = env.Clone()
+
+  if arch == "Darwin":
+    qt_env['QTDIR'] = "/usr/local/opt/qt"
+    QT_BASE = "/usr/local/opt/qt/"
+    qt_dirs = [
+      QT_BASE + "include/",
+      QT_BASE + "include/QtWidgets",
+      QT_BASE + "include/QtGui",
+      QT_BASE + "include/QtCore",
+      QT_BASE + "include/QtDBus",
+      QT_BASE + "include/QtMultimedia",
+    ]
+    qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
+  else:
+    qt_env['QTDIR'] = "/usr"
+    qt_dirs = [
+      f"/usr/include/{real_arch}-linux-gnu/qt5",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
+    ]
+
+  qt_env.Tool('qt')
+  qt_env['CPPPATH'] += qt_dirs
+  qt_flags = [
+    "-D_REENTRANT",
+    "-DQT_NO_DEBUG",
+    "-DQT_WIDGETS_LIB",
+    "-DQT_GUI_LIB",
+    "-DQT_CORE_LIB"
+  ]
+  qt_env['CXXFLAGS'] += qt_flags
+
 if os.environ.get('SCONS_CACHE'):
  cache_dir = '/tmp/scons_cache'

@@ -214,7 +263,7 @@ def abspath(x):

 # still needed for apks
 zmq = 'zmq'
-Export('env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')
+Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -255,16 +304,18 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])

 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
+SConscript(['selfdrive/clocksd/SConscript'])

-SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])

 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/locationd/models/SConscript'])
+SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])

-if arch == "aarch64":
+if arch != "Darwin":
  SConscript(['selfdrive/logcatd/SConscript'])
-  SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/clocksd/SConscript'])
-else:
+
+
+if arch == "x86_64":
  SConscript(['tools/lib/index_log/SConscript'])
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -25,7 +25,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    canError @0;
    steerUnavailable @1;
    brakeUnavailable @2;
-    gasUnavailable @3;
    wrongGear @4;
    doorOpen @5;
    seatbeltNotLatched @6;
@@ -38,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    pedalPressed @13;
    cruiseDisabled @14;
    radarCanError @15;
-    dataNeededDEPRECATED @16;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
@@ -49,29 +47,22 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    pcmDisable @24;
    noTarget @25;
    radarFault @26;
-    modelCommIssueDEPRECATED @27;
    brakeHold @28;
    parkBrake @29;
    manualRestart @30;
    lowSpeedLockout @31;
    plannerError @32;
-    ipasOverrideDEPRECATED @33;
    debugAlert @34;
    steerTempUnavailableMute @35;
    resumeRequired @36;
    preDriverDistracted @37;
    promptDriverDistracted @38;
    driverDistracted @39;
-    geofenceDEPRECATED @40;
-    driverMonitorOnDEPRECATED @41;
-    driverMonitorOffDEPRECATED @42;
    preDriverUnresponsive @43;
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
    belowSteerSpeed @46;
-    calibrationProgressDEPRECATED @47;
    lowBattery @48;
-    invalidGiraffeHondaDEPRECATED @49;
    vehicleModelInvalid @50;
    controlsFailed @51;
    sensorDataInvalid @52;
@@ -104,23 +95,40 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    fcw @79;
    steerSaturated @80;
    whitePandaUnsupported @81;
-    startupWhitePanda @82;
-    canErrorPersistentDEPRECATED @83;
+    startupGreyPanda @82;
    belowEngageSpeed @84;
    noGps @85;
-    focusRecoverActive @86;
    wrongCruiseMode @87;
-    neosUpdateRequired @88;
    modeldLagging @89;
    deviceFalling @90;
+    fanMalfunction @91;
+    cameraMalfunction @92;
+
+    gasUnavailableDEPRECATED @3;
+    dataNeededDEPRECATED @16;
+    modelCommIssueDEPRECATED @27;
+    ipasOverrideDEPRECATED @33;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
+    calibrationProgressDEPRECATED @47;
+    invalidGiraffeHondaDEPRECATED @49;
+    canErrorPersistentDEPRECATED @83;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;

    #dp
-    preLaneChangeLeftALC @91;
-    preLaneChangeRightALC @92;
-    laneChangeALC @93;
-    manualSteeringRequired @94;
-    manualSteeringRequiredBlinkersOn @95;
-    leadCarMoving @96;
+    preLaneChangeLeftALC @94;
+    preLaneChangeRightALC @95;
+    manualSteeringRequired @96;
+    manualSteeringRequiredBlinkersOn @97;
+    leadCarMoving @98;
+
+    # timebomb assist
+    timebombWarn @99;
+    timebombBypassing @100;
+    timebombBypassed @101;
  }
 }

@@ -190,6 +198,7 @@ struct CarState {

  # dp
  lkMode @37 :Bool;
+  stopSteering @38 :Bool; # timebomb - stopSteering

  struct WheelSpeeds {
    # optional wheel speeds
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -186,6 +186,7 @@ struct SensorEventData {
    gyroUncalibrated @12 :SensorVec;
    proximity @13: Float32;
    light @14: Float32;
+    temperature @15: Float32;
  }
  source @8 :SensorSource;

@@ -203,6 +204,8 @@ struct SensorEventData {
    lsm6ds3 @5;   # accelerometer (c2)
    bmp280 @6;    # barometer (c2)
    mmc3416x @7;  # magnetometer (c2)
+    bmx055 @8;
+    rpr0521 @9;
  }
 }

@@ -267,14 +270,15 @@ struct CanData {
 }

 struct ThermalData {
-  cpu0 @0 :UInt16;
-  cpu1 @1 :UInt16;
-  cpu2 @2 :UInt16;
-  cpu3 @3 :UInt16;
-  mem @4 :UInt16;
-  gpu @5 :UInt16;
-  bat @6 :UInt32;
-  pa0 @21 :UInt16;
+  # Deprecated
+  cpu0DEPRECATED @0 :UInt16;
+  cpu1DEPRECATED @1 :UInt16;
+  cpu2DEPRECATED @2 :UInt16;
+  cpu3DEPRECATED @3 :UInt16;
+  memDEPRECATED @4 :UInt16;
+  gpuDEPRECATED @5 :UInt16;
+  batDEPRECATED @6 :UInt32;
+  pa0DEPRECATED @21 :UInt16;

  # not thermal
  freeSpace @7 :Float32;
@@ -286,6 +290,7 @@ struct ThermalData {
  networkType @22 :NetworkType;
  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
  networkStrength @24 :NetworkStrength;
+  carBatteryCapacity @25 :UInt32;  # Estimated remaining car battery capacity in uWh

  fanSpeed @10 :UInt16;
  started @11 :Bool;
@@ -298,6 +303,12 @@ struct ThermalData {
  memUsedPercent @19 :Int8;
  cpuPerc @20 :Int8;

+  cpu @26 :List(Float32);
+  gpu @27 :List(Float32);
+  mem @28 :Float32;
+  bat @29 :Float32;
+  ambient @30 :Float32;
+
  enum ThermalStatus {
    green @0;   # all processes run
    yellow @1;  # critical processes run (kill uploader), engage still allowed
@@ -373,6 +384,8 @@ struct HealthData {
    interruptRateTim3 @17;
    registerDivergent @18;
    interruptRateKlineInit @19;
+    interruptRateClockSource @20;
+    interruptRateTim9 @21;
    # Update max fault type in boardd when adding faults
  }

@@ -558,7 +571,7 @@ struct ControlsState @0x97ff69c53601abf1 {

  enum AlertStatus {
    normal @0;       # low priority alert for user's convenience
-    userPrompt @1;   # mid piority alert that might require user intervention
+    userPrompt @1;   # mid priority alert that might require user intervention
    critical @2;     # high priority alert that needs immediate user intervention
  }

@@ -602,7 +615,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    output @3 :Float32;
    lqrOutput @4 :Float32;
    saturated @5 :Bool;
-   }
+  }
 }

 struct LiveEventData {
@@ -615,6 +628,8 @@ struct ModelData {
  frameAge @12 :UInt32;
  frameDropPerc @13 :Float32;
  timestampEof @9 :UInt64;
+  modelExecutionTime @14 :Float32;
+  rawPred @15 :Data;

  path @1 :PathData;
  leftLane @2 :PathData;
@@ -675,6 +690,56 @@ struct ModelData {
  }
 }

+
+struct ModelDataV2 {
+  frameId @0 :UInt32;
+  frameAge @1 :UInt32;
+  frameDropPerc @2 :Float32;
+  timestampEof @3 :UInt64;
+  modelExecutionTime @15 :Float32;
+  rawPred @16 :Data;
+
+  position @4 :XYZTData;
+  orientation @5 :XYZTData;
+  velocity @6 :XYZTData;
+  orientationRate @7 :XYZTData;
+  laneLines @8 :List(XYZTData);
+  laneLineProbs @9 :List(Float32);
+  laneLineStds @13 :List(Float32);
+  roadEdges @10 :List(XYZTData);
+  roadEdgeStds @14 :List(Float32);
+  leads @11 :List(LeadDataV2);
+
+  meta @12 :MetaData;
+
+  struct XYZTData {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    z @2 :List(Float32);
+    t @3 :List(Float32);
+    xStd @4 :List(Float32);
+    yStd @5 :List(Float32);
+    zStd @6 :List(Float32);
+  }
+
+  struct LeadDataV2 {
+    prob @0 :Float32;
+    t @1 :Float32;
+    xyva @2 :List(Float32);
+    xyvaStd @3 :List(Float32);
+  }
+
+  struct MetaData {
+    engagedProb @0 :Float32;
+    desirePrediction @1 :List(Float32);
+    brakeDisengageProb @2 :Float32;
+    gasDisengageProb @3 :Float32;
+    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+}
+
+
 struct CalibrationFeatures {
  frameId @0 :UInt32;

@@ -695,6 +760,8 @@ struct EncodeIndex {
  segmentId @4 :UInt32;
  # index into camera file in segment in encode order
  segmentIdEncode @5 :UInt32;
+  timestampSof @6 :UInt64;
+  timestampEof @7 :UInt64;

  enum Type {
    bigBoxLossless @0;   # rcamera.mkv
@@ -1887,6 +1954,9 @@ struct OrbKeyFrame {

 struct DriverState {
  frameId @0 :UInt32;
+  modelExecutionTime @14 :Float32;
+  rawPred @15 :Data;
+
  descriptorDEPRECATED @1 :List(Float32);
  stdDEPRECATED @2 :Float32;
  faceOrientation @3 :List(Float32);
@@ -1909,7 +1979,6 @@ struct DMonitoringState {
  isDistracted @2 :Bool;
  awarenessStatus @3 :Float32;
  isRHD @4 :Bool;
-  rhdChecked @5 :Bool;
  posePitchOffset @6 :Float32;
  posePitchValidCount @7 :UInt32;
  poseYawOffset @8 :Float32;
@@ -1920,12 +1989,15 @@ struct DMonitoringState {
  isLowStd @13 :Bool;
  hiStdCount @14 :UInt32;
  isPreview @15 :Bool;
+
+  rhdCheckedDEPRECATED @5 :Bool;
 }

 struct Boot {
  wallTimeNanos @0 :UInt64;
  lastKmsg @1 :Data;
  lastPmsg @2 :Data;
+  launchLog @3 :Text;
 }

 struct LiveParametersData {
@@ -2061,87 +2133,92 @@ struct Event {
    thumbnail @66: Thumbnail;
    carEvents @68: List(Car.CarEvent);
    carParams @69: Car.CarParams;
-    frontFrame @70: FrameData;
+    frontFrame @70: FrameData; # driver facing camera
    dMonitoringState @71: DMonitoringState;
    liveLocationKalman @72 :LiveLocationKalman;
    sentinel @73 :Sentinel;
-    dragonConf @74 :DragonConf;
+    wideFrame @74: FrameData;
+    modelV2 @75 :ModelDataV2;
+    frontEncodeIdx @76 :EncodeIndex; # driver facing camera
+    wideEncodeIdx @77 :EncodeIndex;
+    dragonConf @78 :DragonConf;
  }
 }

-# dp
 struct DragonConf {
-  dpAtl @0 :Bool;
-  dpAppWaze @1 :Bool;
-  dpAppWazeManual @2 :Int8;
-  dpDashcam @3 :Bool;
-  dpDashcamHoursStored @4 :UInt8;
-  dpAutoShutdown @5 :Bool;
-  dpAutoShutdownIn @6 :UInt16;
-  dpAthenad @7 :Bool;
-  dpUploader @8 :Bool;
-  dpUploadOnMobile @9 :Bool;
-  dpUploadOnHotspot @10 :Bool;
-  dpLatCtrl @11 :Bool;
-  dpSteeringLimitAlert @12 :Bool;
-  dpSteeringOnSignal @13 :Bool;
-  dpSignalOffDelay @14 :UInt8;
-  dpAssistedLcMinMph @15 :Float32;
-  dpAutoLc @16 :Bool;
-  dpAutoLcCont @17 :Bool;
-  dpAutoLcMinMph @18 :Float32;
-  dpAutoLcDelay @19 :Float32;
-  dpSlowOnCurve @20 :Bool;
-  dpAllowGas @21 :Bool;
-  dpMaxCtrlSpeed @22 :Float32;
-  dpLeadCarAlert @23 :Bool;
-  dpDynamicFollow @24 :UInt8;
-  dpAccelProfile @25 :UInt8;
-  dpDriverMonitor @26 :Bool;
-  dpSteeringMonitor @27 :Bool;
-  dpSteeringMonitorTimer @28 :UInt8;
-  dpGearCheck @29 :Bool;
-  dpTempMonitor @30 :Bool;
-  dpDrivingUi @31 :Bool;
-  dpUiScreenOffReversing @32 :Bool;
-  dpUiScreenOffDriving @33 :Bool;
-  dpUiSpeed @34 :Bool;
-  dpUiEvent @35 :Bool;
-  dpUiMaxSpeed @36 :Bool;
-  dpUiFace @37 :Bool;
-  dpUiLane @38 :Bool;
-  dpUiPath @39 :Bool;
-  dpUiLead @40 :Bool;
-  dpUiDev @41 :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;
-}
+  dpThermalStarted @0 :Bool;
+  dpThermalOverheat @1 :Bool;
+  dpVw @2 :Bool;
+  dpAtl @3 :Bool;
+  dpAppWaze @4 :Bool;
+  dpAppWazeManual @5 :Int8;
+  dpAppHr @6 :Bool;
+  dpAppHrManual @7 :Int8;
+  dpDashcam @8 :Bool;
+  dpDashcamHoursStored @9 :UInt8;
+  dpAutoShutdown @10 :Bool;
+  dpAthenad @11 :Bool;
+  dpUploader @12 :Bool;
+  dpLatCtrl @13 :Bool;
+  dpSteeringLimitAlert @14 :Bool;
+  dpSteeringOnSignal @15 :Bool;
+  dpSignalOffDelay @16 :UInt8;
+  dpAssistedLcMinMph @17 :Float32;
+  dpAutoLc @18 :Bool;
+  dpAutoLcCont @19 :Bool;
+  dpAutoLcMinMph @20 :Float32;
+  dpAutoLcDelay @21 :Float32;
+  dpSlowOnCurve @22 :Bool;
+  dpAllowGas @23 :Bool;
+  dpMaxCtrlSpeed @24 :Float32;
+  dpLeadCarAlert @25 :Bool;
+  dpDynamicFollow @26 :UInt8;
+  dpAccelProfile @27 :UInt8;
+  dpDriverMonitor @28 :Bool;
+  dpSteeringMonitor @29 :Bool;
+  dpSteeringMonitorTimer @30 :UInt8;
+  dpGearCheck @31 :Bool;
+  dpDrivingUi @32 :Bool;
+  dpUiScreenOffReversing @33 :Bool;
+  dpUiScreenOffDriving @34 :Bool;
+  dpUiSpeed @35 :Bool;
+  dpUiEvent @36 :Bool;
+  dpUiMaxSpeed @37 :Bool;
+  dpUiFace @38 :Bool;
+  dpUiLane @39 :Bool;
+  dpUiPath @40 :Bool;
+  dpUiLead @41 :Bool;
+  dpUiDev @42 :Bool;
+  dpUiDevMini @43 :Bool;
+  dpUiBlinker @44 :Bool;
+  dpUiBrightness @45 :UInt8;
+  dpUiVolumeBoost @46 :Int8;
+  dpAppAutoUpdate @47 :Bool;
+  dpAppExtGps @48 :Bool;
+  dpAppTomtom @49 :Bool;
+  dpAppTomtomAuto @50 :Bool;
+  dpAppTomtomManual @51 :Int8;
+  dpAppAutonavi @52 :Bool;
+  dpAppAutonaviAuto @53 :Bool;
+  dpAppAutonaviManual @54 :Int8;
+  dpAppAegis @55 :Bool;
+  dpAppAegisAuto @56 :Bool;
+  dpAppAegisManual @57 :Int8;
+  dpAppMixplorer @58 :Bool;
+  dpAppMixplorerManual @59 :Int8;
+  dpCarDetected @60 :Text;
+  dpToyotaLdw @61 :Bool;
+  dpToyotaSng @62 :Bool;
+  dpToyotaLowestCruiseOverride @63 :Bool;
+  dpToyotaLowestCruiseOverrideVego @64 :Bool;
+  dpToyotaLowestCruiseOverrideAt @65 :Float32;
+  dpToyotaLowestCruiseOverrideSpeed @66 :Float32;
+  dpIpAddr @67 :Text;
+  dpCameraOffset @68 :Int8;
+  dpLocale @69 :Text;
+  dpChargingCtrl @70 :Bool;
+  dpChargingAt @71 :UInt8;
+  dpDischargingAt @72 :UInt8;
+  dpIsUpdating @73 :Bool;
+  dpTimebombAssist @74 :Bool;
+}
--- a/cereal/messaging/init.py
+++ b/cereal/messaging/init.py
@@ -3,6 +3,8 @@ from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disa
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
 import capnp

+from typing import Optional, List, Union
+
 from cereal import log
 from cereal.services import service_list

@@ -19,7 +21,7 @@ except ImportError:

 context = Context()

-def new_message(service=None, size=None):
+def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
  dat = log.Event.new_message()
  dat.logMonoTime = int(sec_since_boot() * 1e9)
  dat.valid = True
@@ -30,15 +32,15 @@ def new_message(service=None, size=None):
      dat.init(service, size)
  return dat

-def pub_sock(endpoint):
+def pub_sock(endpoint: str) -> PubSocket:
  sock = PubSocket()
  sock.connect(context, endpoint)
  return sock

-def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
  sock = SubSocket()
-  addr = addr.encode('utf8')
-  sock.connect(context, endpoint, addr, conflate)
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate)

  if timeout is not None:
    sock.setTimeout(timeout)
@@ -48,9 +50,9 @@ def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=No
  return sock


-def drain_sock_raw(sock, wait_for_one=False):
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
  """Receive all message currently available on the queue"""
-  ret = []
+  ret: List[bytes] = []
  while 1:
    if wait_for_one and len(ret) == 0:
      dat = sock.receive()
@@ -64,9 +66,9 @@ def drain_sock_raw(sock, wait_for_one=False):

  return ret

-def drain_sock(sock, wait_for_one=False):
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
  """Receive all message currently available on the queue"""
-  ret = []
+  ret: List[capnp.lib.capnp._DynamicStructReader] = []
  while 1:
    if wait_for_one and len(ret) == 0:
      dat = sock.receive()
@@ -83,7 +85,7 @@ def drain_sock(sock, wait_for_one=False):


 # TODO: print when we drop packets?
-def recv_sock(sock, wait=False):
+def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
  """Same as drain sock, but only returns latest message. Consider using conflate instead."""
  dat = None

@@ -103,19 +105,19 @@ def recv_sock(sock, wait=False):

  return dat

-def recv_one(sock):
+def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive()
  if dat is not None:
    dat = log.Event.from_bytes(dat)
  return dat

-def recv_one_or_none(sock):
+def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive(non_blocking=True)
  if dat is not None:
    dat = log.Event.from_bytes(dat)
  return dat

-def recv_one_retry(sock):
+def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
  """Keep receiving until we get a message"""
  while True:
    dat = sock.receive()
@@ -123,8 +125,8 @@ def recv_one_retry(sock):
      return log.Event.from_bytes(dat)

 class SubMaster():
-  def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
-    self.poller = Poller()
+  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
+               ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
    self.frame = -1
    self.updated = {s: False for s in services}
    self.rcv_time = {s: 0. for s in services}
@@ -133,8 +135,12 @@ class SubMaster():
    self.sock = {}
    self.freq = {}
    self.data = {}
-    self.logMonoTime = {}
    self.valid = {}
+    self.logMonoTime = {}
+
+    self.poller = Poller()
+    self.non_polled_services = [s for s in services if poll is not None and
+                                len(poll) and s not in poll]

    if ignore_alive is not None:
      self.ignore_alive = ignore_alive
@@ -143,30 +149,33 @@ class SubMaster():

    for s in services:
      if addr is not None:
-        self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
+        p = self.poller if s not in self.non_polled_services else None
+        self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
      self.freq[s] = service_list[s].frequency

      try:
        data = new_message(s)
      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
-        # lists
-        data = new_message(s, 0)
+        data = new_message(s, 0) # lists

      self.data[s] = getattr(data, s)
      self.logMonoTime[s] = 0
      self.valid[s] = data.valid

-  def __getitem__(self, s):
+  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
    return self.data[s]

-  def update(self, timeout=1000):
+  def update(self, timeout: int = 1000) -> None:
    msgs = []
    for sock in self.poller.poll(timeout):
      msgs.append(recv_one_or_none(sock))
+
+    # non-blocking receive for non-polled sockets
+    for s in self.non_polled_services:
+      msgs.append(recv_one_or_none(self.sock[s]))
    self.update_msgs(sec_since_boot(), msgs)

-  def update_msgs(self, cur_time, msgs):
-    # TODO: add optional input that specify the service to wait for
+  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
    self.frame += 1
    self.updated = dict.fromkeys(self.updated, False)
    for msg in msgs:
@@ -189,30 +198,28 @@ class SubMaster():
      else:
        self.alive[s] = True

-  def all_alive(self, service_list=None):
+  def all_alive(self, service_list=None) -> bool:
    if service_list is None:  # check all
      service_list = self.alive.keys()
    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)

-  def all_valid(self, service_list=None):
+  def all_valid(self, service_list=None) -> bool:
    if service_list is None:  # check all
      service_list = self.valid.keys()
    return all(self.valid[s] for s in service_list)

-  def all_alive_and_valid(self, service_list=None):
+  def all_alive_and_valid(self, service_list=None) -> bool:
    if service_list is None:  # check all
      service_list = self.alive.keys()
    return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)

-
 class PubMaster():
-  def __init__(self, services):
+  def __init__(self, services: List[str]):
    self.sock = {}
    for s in services:
      self.sock[s] = pub_sock(s)

-  def send(self, s, dat):
-    # accept either bytes or capnp builder
+  def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
    if not isinstance(dat, bytes):
      dat = dat.to_bytes()
    self.sock[s].send(dat)
--- a/cereal/messaging/impl_msgq.cc
+++ b/cereal/messaging/impl_msgq.cc
@@ -15,6 +15,18 @@ void sig_handler(int signal) {
  msgq_do_exit = 1;
 }

+static size_t get_size(std::string endpoint){
+  size_t sz = DEFAULT_SEGMENT_SIZE;
+
+#if !defined(QCOM) && !defined(QCOM2)
+  if (endpoint == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
+    sz *= 10;
+  }
+#endif
+
+  return sz;
+}
+

 MSGQContext::MSGQContext() {
 }
@@ -49,13 +61,12 @@ MSGQMessage::~MSGQMessage() {
  this->close();
 }

-
 int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
  assert(context);
  assert(address == "127.0.0.1");

  q = new msgq_queue_t;
-  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
  if (r != 0){
    return r;
  }
@@ -143,7 +154,7 @@ int MSGQPubSocket::connect(Context *context, std::string endpoint){
  assert(context);

  q = new msgq_queue_t;
-  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
  if (r != 0){
    return r;
  }
--- a/cereal/messaging/messaging.hpp
+++ b/cereal/messaging/messaging.hpp
@@ -6,6 +6,10 @@
 #include <capnp/serialize.h>
 #include "../gen/cpp/log.capnp.h"

+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+
 #define MSG_MULTIPLE_PUBLISHERS 100

 class Context {
@@ -82,11 +86,34 @@ private:
  std::map<std::string, SubMessage *> services_;
 };

+class MessageBuilder : public capnp::MallocMessageBuilder {
+public:
+  MessageBuilder() = default;
+
+  cereal::Event::Builder initEvent(bool valid = true) {
+    cereal::Event::Builder event = initRoot<cereal::Event>();
+    struct timespec t;
+    clock_gettime(CLOCK_BOOTTIME, &t);
+    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
+    event.setLogMonoTime(current_time);
+    event.setValid(valid);
+    return event;
+  }
+
+  kj::ArrayPtr<capnp::byte> toBytes() {
+    heapArray_ = capnp::messageToFlatArray(*this);
+    return heapArray_.asBytes();
+  }
+
+private:
+  kj::Array<capnp::word> heapArray_;
+};
+
 class PubMaster {
 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);
+  int send(const char *name, MessageBuilder &msg);
  ~PubMaster();

 private:
--- a/cereal/messaging/messaging_pyx.pyx
+++ b/cereal/messaging/messaging_pyx.pyx
@@ -140,9 +140,9 @@ cdef class PubSocket:
      else:
        raise MessagingError

-  def send(self, string data):
+  def send(self, bytes data):
    length = len(data)
-    r = self.socket.send(<char*>data.c_str(), length)
+    r = self.socket.send(<char*>data, length)

    if r != length:
      if errno.errno == errno.EADDRINUSE:
--- a/cereal/messaging/messaging_pyx_setup.py
+++ b/cereal/messaging/messaging_pyx_setup.py
@@ -6,6 +6,7 @@ from distutils.core import Extension, setup  # pylint: disable=import-error,no-n
 from Cython.Build import cythonize
 from Cython.Distutils import build_ext

+TICI = os.path.isfile('/TICI')

 def get_ext_filename_without_platform_suffix(filename):
  name, ext = os.path.splitext(filename)
@@ -30,11 +31,11 @@ class BuildExtWithoutPlatformSuffix(build_ext):


 sourcefiles = ['messaging_pyx.pyx']
-extra_compile_args = ["-std=c++14"]
+extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
 libraries = ['zmq']
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg

-if ARCH == "aarch64" and os.path.isdir("/system"):
+if ARCH == "aarch64" and not TICI:
  # android
  extra_compile_args += ["-Wno-deprecated-register"]
  libraries += ['gnustl_shared']
--- a/cereal/messaging/msgq.cc
+++ b/cereal/messaging/msgq.cc
@@ -21,6 +21,8 @@

 #include <stdio.h>

+#include "services.h"
+
 #include "msgq.hpp"

 void sigusr2_handler(int signal) {
@@ -81,11 +83,20 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
  return;
 }

-
+bool service_exists(std::string path){
+  for (const auto& it : services) {
+    if (it.name == path) {
+      return true;
+    }
+  }
+  return false;
+}

 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
  assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
-
+  if (!service_exists(std::string(path))){
+    std::cout << "Warning, " << std::string(path) << " is not in service list." << std::endl;
+  }
  std::signal(SIGUSR2, sigusr2_handler);

  const char * prefix = "/dev/shm/";
@@ -102,15 +113,16 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
  delete[] full_path;

  int rc = ftruncate(fd, size + sizeof(msgq_header_t));
-  if (rc < 0)
+  if (rc < 0){
+    close(fd);
    return -1;
-
+  }
  char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
  close(fd);

-  if (mem == NULL)
+  if (mem == NULL){
    return -1;
-
+  }
  q->mmap_p = mem;

  msgq_header_t *header = (msgq_header_t *)mem;
@@ -418,8 +430,6 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){


 int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
-  assert(timeout >= 0);
-
  int num = 0;

  // Check if messages ready
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -3,10 +3,6 @@
 #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);
@@ -164,9 +160,8 @@ PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
  }
 }

-int PubMaster::send(const char *name, capnp::MessageBuilder &msg) {
-  auto words = capnp::messageToFlatArray(msg);
-  auto bytes = words.asBytes();
+int PubMaster::send(const char *name, MessageBuilder &msg) {
+  auto bytes = msg.toBytes();
  return send(name, bytes.begin(), bytes.size());
 }

--- a/cereal/service_list.yaml
+++ b/cereal/service_list.yaml
@@ -78,6 +78,8 @@ frontFrame: [8072, true, 10.]
 dMonitoringState: [8073, true, 5., 1]
 offroadLayout: [8074, false, 0.]
 wideEncodeIdx: [8075, true, 20.]
+wideFrame: [8076, true, 20.]
+modelV2: [8077, true, 20., 20]

 dragonConf: [8088, false, 2.]

--- a/common/SConscript
+++ b/common/SConscript
@@ -4,3 +4,11 @@ Import('env', 'cython_dependencies')
 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")
+
+# Build cython params module
+env.Command(['params_pyx.so', 'params_pyx.cpp'],
+            cython_dependencies + [
+                'params_pyx_setup.py', 'params_pyx.pyx', 'params_pxd.pxd',
+                '#selfdrive/common/params.cc', '#selfdrive/common/params.h',
+                '#selfdrive/common/util.c', '#selfdrive/common/util.h'],
+            "cd common && python3 params_pyx_setup.py build_ext --inplace")
--- a/common/android.py
+++ b/common/android.py
@@ -1,286 +0,0 @@
-import os
-import binascii
-import itertools
-import re
-import struct
-import subprocess
-import random
-from cereal import log
-
-NetworkType = log.ThermalData.NetworkType
-NetworkStrength = log.ThermalData.NetworkStrength
-
-ANDROID = os.path.isfile('/EON')
-
-def get_sound_card_online():
-  return (os.path.isfile('/proc/asound/card0/state') and
-          open('/proc/asound/card0/state').read().strip() == 'ONLINE')
-
-def getprop(key):
-  if not ANDROID:
-    return ""
-  return subprocess.check_output(["getprop", key], encoding='utf8').strip()
-
-def get_imei(slot):
-  slot = str(slot)
-  if slot not in ("0", "1"):
-    raise ValueError("SIM slot must be 0 or 1")
-
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" , "i32", str(slot)]))
-  if not ret:
-    # allow non android to be identified differently
-    ret = "%015d" % random.randint(0, 1 << 32)
-  return ret
-
-def get_serial():
-  ret = getprop("ro.serialno")
-  if ret == "":
-    ret = "cccccccc"
-  return ret
-
-def get_subscriber_info():
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
-  if ret is None or len(ret) < 8:
-    return ""
-  return ret
-
-def reboot(reason=None):
-  if reason is None:
-    reason_args = ["null"]
-  else:
-    reason_args = ["s16", reason]
-
-  subprocess.check_output([
-    "service", "call", "power", "16",  # IPowerManager.reboot
-    "i32", "0",  # no confirmation,
-    *reason_args,
-    "i32", "1"  # wait
-  ])
-
-def service_call(call):
-  if not ANDROID:
-    return None
-
-  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
-  if 'Parcel' not in ret:
-    return None
-
-  return parse_service_call_bytes(ret)
-
-def parse_service_call_unpack(r, fmt):
-  try:
-    return struct.unpack(fmt, r)[0]
-  except Exception:
-    return None
-
-def parse_service_call_string(r):
-  try:
-    r = r[8:]  # Cut off length field
-    r = r.decode('utf_16_be')
-
-    # All pairs of two characters seem to be swapped. Not sure why
-    result = ""
-    for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
-        result += b + a
-
-    result = result.replace('\x00', '')
-
-    return result
-  except Exception:
-    return None
-
-def parse_service_call_bytes(ret):
-  try:
-    r = b""
-    for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
-      r += binascii.unhexlify(hex_part)
-    return r
-  except Exception:
-    return None
-
-def get_network_type():
-  if not ANDROID:
-    return NetworkType.none
-
-  wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
-  if wifi_check is None:
-    return NetworkType.none
-  elif 'WIFI' in wifi_check:
-    return NetworkType.wifi
-  else:
-    cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
-    # from TelephonyManager.java
-    cell_networks = {
-      0: NetworkType.none,
-      1: NetworkType.cell2G,
-      2: NetworkType.cell2G,
-      3: NetworkType.cell3G,
-      4: NetworkType.cell2G,
-      5: NetworkType.cell3G,
-      6: NetworkType.cell3G,
-      7: NetworkType.cell3G,
-      8: NetworkType.cell3G,
-      9: NetworkType.cell3G,
-      10: NetworkType.cell3G,
-      11: NetworkType.cell2G,
-      12: NetworkType.cell3G,
-      13: NetworkType.cell4G,
-      14: NetworkType.cell4G,
-      15: NetworkType.cell3G,
-      16: NetworkType.cell2G,
-      17: NetworkType.cell3G,
-      18: NetworkType.cell4G,
-      19: NetworkType.cell4G
-    }
-    return cell_networks.get(cell_check, NetworkType.none)
-
-def get_network_strength(network_type):
-  network_strength = NetworkStrength.unknown
-
-  # from SignalStrength.java
-  def get_lte_level(rsrp, rssnr):
-    INT_MAX = 2147483647
-    if rsrp == INT_MAX:
-      lvl_rsrp = NetworkStrength.unknown
-    elif rsrp >= -95:
-      lvl_rsrp = NetworkStrength.great
-    elif rsrp >= -105:
-      lvl_rsrp = NetworkStrength.good
-    elif rsrp >= -115:
-      lvl_rsrp = NetworkStrength.moderate
-    else:
-      lvl_rsrp = NetworkStrength.poor
-    if rssnr == INT_MAX:
-      lvl_rssnr = NetworkStrength.unknown
-    elif rssnr >= 45:
-      lvl_rssnr = NetworkStrength.great
-    elif rssnr >= 10:
-      lvl_rssnr = NetworkStrength.good
-    elif rssnr >= -30:
-      lvl_rssnr = NetworkStrength.moderate
-    else:
-      lvl_rssnr = NetworkStrength.poor
-    return max(lvl_rsrp, lvl_rssnr)
-
-  def get_tdscdma_level(tdscmadbm):
-    lvl = NetworkStrength.unknown
-    if tdscmadbm > -25:
-      lvl = NetworkStrength.unknown
-    elif tdscmadbm >= -49:
-      lvl = NetworkStrength.great
-    elif tdscmadbm >= -73:
-      lvl = NetworkStrength.good
-    elif tdscmadbm >= -97:
-      lvl = NetworkStrength.moderate
-    elif tdscmadbm >= -110:
-      lvl = NetworkStrength.poor
-    return lvl
-
-  def get_gsm_level(asu):
-    if asu <= 2 or asu == 99:
-      lvl = NetworkStrength.unknown
-    elif asu >= 12:
-      lvl = NetworkStrength.great
-    elif asu >= 8:
-      lvl = NetworkStrength.good
-    elif asu >= 5:
-      lvl = NetworkStrength.moderate
-    else:
-      lvl = NetworkStrength.poor
-    return lvl
-
-  def get_evdo_level(evdodbm, evdosnr):
-    lvl_evdodbm = NetworkStrength.unknown
-    lvl_evdosnr = NetworkStrength.unknown
-    if evdodbm >= -65:
-      lvl_evdodbm = NetworkStrength.great
-    elif evdodbm >= -75:
-      lvl_evdodbm = NetworkStrength.good
-    elif evdodbm >= -90:
-      lvl_evdodbm = NetworkStrength.moderate
-    elif evdodbm >= -105:
-      lvl_evdodbm = NetworkStrength.poor
-    if evdosnr >= 7:
-      lvl_evdosnr = NetworkStrength.great
-    elif evdosnr >= 5:
-      lvl_evdosnr = NetworkStrength.good
-    elif evdosnr >= 3:
-      lvl_evdosnr = NetworkStrength.moderate
-    elif evdosnr >= 1:
-      lvl_evdosnr = NetworkStrength.poor
-    return max(lvl_evdodbm, lvl_evdosnr)
-
-  def get_cdma_level(cdmadbm, cdmaecio):
-    lvl_cdmadbm = NetworkStrength.unknown
-    lvl_cdmaecio = NetworkStrength.unknown
-    if cdmadbm >= -75:
-      lvl_cdmadbm = NetworkStrength.great
-    elif cdmadbm >= -85:
-      lvl_cdmadbm = NetworkStrength.good
-    elif cdmadbm >= -95:
-      lvl_cdmadbm = NetworkStrength.moderate
-    elif cdmadbm >= -100:
-      lvl_cdmadbm = NetworkStrength.poor
-    if cdmaecio >= -90:
-      lvl_cdmaecio = NetworkStrength.great
-    elif cdmaecio >= -110:
-      lvl_cdmaecio = NetworkStrength.good
-    elif cdmaecio >= -130:
-      lvl_cdmaecio = NetworkStrength.moderate
-    elif cdmaecio >= -150:
-      lvl_cdmaecio = NetworkStrength.poor
-    return max(lvl_cdmadbm, lvl_cdmaecio)
-
-  if network_type == NetworkType.none:
-    return network_strength
-  if network_type == NetworkType.wifi:
-    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
-    network_strength = NetworkStrength.unknown
-    for line in out.split('\n'):
-      signal_str = "SignalStrength: "
-      if signal_str in line:
-        lvl_idx_start = line.find(signal_str) + len(signal_str)
-        lvl_idx_end = line.find(']', lvl_idx_start)
-        lvl = int(line[lvl_idx_start : lvl_idx_end])
-        if lvl >= -50:
-          network_strength = NetworkStrength.great
-        elif lvl >= -60:
-          network_strength = NetworkStrength.good
-        elif lvl >= -70:
-          network_strength = NetworkStrength.moderate
-        else:
-          network_strength = NetworkStrength.poor
-    return network_strength
-  else:
-    # check cell strength
-    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
-    for line in out.split('\n'):
-      if "mSignalStrength" in line:
-        arr = line.split(' ')
-        ns = 0
-        if ("gsm" in arr[14]):
-          rsrp = int(arr[9])
-          rssnr = int(arr[11])
-          ns = get_lte_level(rsrp, rssnr)
-          if ns == NetworkStrength.unknown:
-            tdscmadbm = int(arr[13])
-            ns = get_tdscdma_level(tdscmadbm)
-            if ns == NetworkStrength.unknown:
-              asu = int(arr[1])
-              ns = get_gsm_level(asu)
-        else:
-          cdmadbm = int(arr[3])
-          cdmaecio = int(arr[4])
-          evdodbm = int(arr[5])
-          evdosnr = int(arr[7])
-          lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
-          lvl_edmo = get_evdo_level(evdodbm, evdosnr)
-          if lvl_edmo == NetworkStrength.unknown:
-            ns = lvl_cdma
-          elif lvl_cdma == NetworkStrength.unknown:
-            ns = lvl_edmo
-          else:
-            ns = min(lvl_cdma, lvl_edmo)
-        network_strength = max(network_strength, ns)
-
-    return network_strength
--- a/common/apk.py
+++ b/common/apk.py
@@ -31,9 +31,17 @@ def start_offroad():
  system("am start -n ai.comma.plus.offroad/.MainActivity")

 def set_package_permissions():
-  pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
-  pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
-  pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
+  try:
+    output = subprocess.check_output(['dumpsys', 'package', 'ai.comma.plus.offroad'], encoding="utf-8")
+    given_permissions = output.split("runtime permissions")[1]
+  except Exception:
+    given_permissions = ""
+
+  wanted_permissions = ["ACCESS_FINE_LOCATION", "READ_PHONE_STATE", "READ_EXTERNAL_STORAGE"]
+  for permission in wanted_permissions:
+    if permission not in given_permissions:
+      pm_grant("ai.comma.plus.offroad", "android.permission."+permission)
+
  appops_set("ai.comma.plus.offroad", "SU", "allow")
  appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")

--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,10 +1,8 @@
 import os
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

-from common.android import ANDROID
-if ANDROID:
-  PERSIST = "/persist"
-  PARAMS = "/data/params"
-else:
+from common.hardware import PC
+if PC:
  PERSIST = os.path.join(BASEDIR, "persist")
-  PARAMS = os.path.join(BASEDIR, "persist", "params")
+else:
+  PERSIST = "/persist"
--- a/common/clock.pyx
+++ b/common/clock.pyx
@@ -1,3 +1,4 @@
+# cython: language_level = 3
 from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t

 IF UNAME_SYSNAME == "Darwin":
--- a/common/common_pyx_setup.py
+++ b/common/common_pyx_setup.py
@@ -4,9 +4,9 @@ from Cython.Build import cythonize
 from common.cython_hacks import BuildExtWithoutPlatformSuffix

 sourcefiles = ['clock.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++1z"]

-setup(name='Common',
+setup(name='common',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
        Extension(
@@ -14,7 +14,7 @@ setup(name='Common',
          language="c++",
          sources=sourcefiles,
          extra_compile_args=extra_compile_args,
-        )
+        ),
+        nthreads=4,
      ),
-      nthreads=4,
 )
--- a/common/dp_common.py
+++ b/common/dp_common.py
@@ -2,7 +2,11 @@
 import subprocess
 from cereal import car
 from common.params import Params
+from common.realtime import sec_since_boot
+import os
 params = Params()
+PARAM_PATH = "/data/params/d/"
+LAST_MODIFIED = PARAM_PATH + "dp_last_modified"

 def is_online():
  try:
@@ -10,9 +14,9 @@ def is_online():
  except ProcessLookupError:
    return False

-def common_controller_ctrl(enabled, dragon_lat_ctrl, dragon_enable_steering_on_signal, blinker_on, steer_req):
+def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
  if enabled:
-    if (dragon_enable_steering_on_signal and blinker_on) or not dragon_lat_ctrl:
+    if (dragonconf.dpSteeringOnSignal and blinker_on) or not dragonconf.dpLatCtrl:
      steer_req = 0 if isinstance(steer_req, int) else False
  return steer_req

@@ -40,3 +44,37 @@ def common_interface_get_params_lqr(ret):
    ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
    ret.lateralTuning.lqr.dcGain = 0.002237852961363602
  return ret
+
+
+def get_last_modified(delay, old_check, old_modified):
+  new_check = sec_since_boot()
+  if old_check is None or new_check - old_check >= delay:
+    return new_check, os.stat(LAST_MODIFIED).st_mtime
+  else:
+    return old_check, old_modified
+
+def param_get_if_updated(param, type, old_val, old_modified):
+  try:
+    modified = os.stat(PARAM_PATH + param).st_mtime
+  except OSError:
+    return old_val, old_modified
+  if old_modified != modified:
+    new_val = param_get(param, type, old_val)
+    new_modified = modified
+  else:
+    new_val = old_val
+    new_modified = old_modified
+  return new_val, new_modified
+
+def param_get(param_name, type, default):
+  try:
+    val = params.get(param_name, encoding='utf8').rstrip('\x00')
+    if type == 'bool':
+      val = val == '1'
+    elif type == 'int':
+      val = int(val)
+    elif type == 'float':
+      val = float(val)
+  except (TypeError, ValueError):
+    val = default
+  return val
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -3,25 +3,39 @@ import os
 import json
 import time
 from math import floor
-from common.android import getprop

+'''
+* type: Bool, Int8, UInt8, UInt16, Float32
+* conf_type: param, struct
+* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
+* update_once: True, False (the param will only load up once.)
+'''
 confs = [
+  # thermald data
+  {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+  {'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+
+  # car specific
+  {'name': 'dp_vw', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
+
  {'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
-  # waze
+  # full screen apps
  {'name': 'dp_app_waze', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_app_waze_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_waze', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_hr', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_hr_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_hr', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # dashcam related
  {'name': 'dp_dashcam', 'default': 0, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_dashcam_hours_stored', 'default': 24, 'type': 'UInt8', 'min': 1, 'max': 255, 'depends': [{'name': 'dp_dashcam', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # auto shutdown related
+  # auto shutdown
  {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 1, 'max': 65535, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 1, 'max': 65535, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
  # service
  {'name': 'dp_logger', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_athenad', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_uploader', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'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_upload_on_mobile', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param']},
+  {'name': 'dp_upload_on_hotspot', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param']},
  {'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']},
@@ -42,27 +56,30 @@ confs = [
  {'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_dynamic_follow_multiplier', 'default': 1., 'type': 'Float32', 'min': 0.85, 'max': 1.2, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
+  {'name': 'dp_dynamic_follow_min_tr', 'default': 0.9, 'type': 'Float32', 'min': 0.85, 'max': 1.6, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
+  {'name': 'dp_dynamic_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  # safety
  {'name': 'dp_driver_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_steering_monitor', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_steering_monitor_timer', 'default': 70, 'type': 'UInt8', 'min': 70, 'max': 360, 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}, {'name': 'dp_steering_monitor', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  # UIs
  {'name': 'dp_driving_ui', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_screen_off_reversing', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_screen_off_driving', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_speed', '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_event', '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_max_speed', '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_face', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_driver_monitor', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'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_screen_off_driving', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_speed', '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]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_event', '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]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_max_speed', '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]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_driver_monitor', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'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]}, {'name': 'dp_app_hr', '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]}, {'name': 'dp_app_hr', '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]}, {'name': 'dp_app_hr', '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_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]}, {'name': 'dp_app_hr', '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']},
  # Apps
@@ -79,17 +96,22 @@ confs = [
  {'name': 'dp_app_aegis_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_app_mixplorer', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_app_mixplorer_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_mixplorer', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # toyota
-  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'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': 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']},
-  {'name': 'dp_car_detected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_car_detected', 'default': '', 'type': 'Text', 'conf_type': ['param', 'struct']},
+  # toyota
+  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param']},
+  {'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_lowest_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'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_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
+  # hyundai
+  {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # honda
+  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  #misc
  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
  {'name': 'dp_full_speed_fan', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -97,7 +119,7 @@ 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': getprop("persist.sys.locale").rstrip('\n'), 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_locale', 'default': 'en-US', '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']},
@@ -108,10 +130,7 @@ confs = [
  {'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']},
-  {'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+  {'name': 'dp_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
 ]

 def get_definition(name):
@@ -182,7 +201,7 @@ function to append new keys to params.py
 def init_params_keys(keys, type):
  for conf in confs:
    if 'param' in conf['conf_type']:
-      keys[conf['name']] = type
+      keys[conf['name'].encode('utf-8')] = type
  return keys

 '''
@@ -217,22 +236,13 @@ def get_support_car_list():
 function to init param value.
 should add this into manager.py
 '''
-def init_params_vals(params, put_nonblocking):
+def init_params_vals(params):
  for conf in confs:
    if 'param' in conf['conf_type']:
      if conf['name'] == 'dp_car_list':
        params.put(conf['name'], get_support_car_list())
      elif params.get(conf['name']) is None:
-        print('name: %s' % conf['name'])
-        print('to_param_val: %s' % to_param_val(conf['name'], conf['default']))
        params.put(conf['name'], to_param_val(conf['name'], conf['default']))

-'''
-function to conditionally update params
-should add this after init_params_vals 
-'''
-def update_params_vals(params):
-  pass
-
 if __name__ == "__main__":
  gen_log_struct()
--- a/common/dp_time.py
+++ b/common/dp_time.py
@@ -0,0 +1,8 @@
+#!/usr/bin/env python3.7
+
+# delay of reading last modified
+LAST_MODIFIED_DYNAMIC_FOLLOW = 3.
+LAST_MODIFIED_THERMALD = 10.
+LAST_MODIFIED_SYSTEMD = 1.
+LAST_MODIFIED_LANE_PLANNER = 3.
+LAST_MODIFIED_UPLOADER = 10.
--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
  ffibuilder = FFI()
  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
  ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
  os.environ['CFLAGS'] = cflags
  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)

--- a/common/gpio.py
+++ b/common/gpio.py
@@ -0,0 +1,22 @@
+GPIO_HUB_RST_N = 30
+GPIO_UBLOX_RST_N = 32
+GPIO_UBLOX_SAFEBOOT_N = 33
+GPIO_UBLOX_PWR_EN = 34
+GPIO_STM_RST_N = 124
+GPIO_STM_BOOT0 = 134
+
+
+def gpio_init(pin, output):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
+      f.write(b"out" if output else b"in")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} direction: {e}")
+
+
+def gpio_set(pin, high):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
+      f.write(b"1" if high else b"0")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
--- a/common/hardware.py
+++ b/common/hardware.py
@@ -0,0 +1,57 @@
+import os
+import random
+from typing import cast
+
+from cereal import log
+from common.hardware_android import Android
+from common.hardware_tici import Tici
+from common.hardware_base import HardwareBase
+
+EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')
+PC = not (EON or TICI)
+ANDROID = EON
+
+
+NetworkType = log.ThermalData.NetworkType
+NetworkStrength = log.ThermalData.NetworkStrength
+
+
+class Pc(HardwareBase):
+  def get_sound_card_online(self):
+    return True
+
+  def get_imei(self, slot):
+    return "%015d" % random.randint(0, 1 << 32)
+
+  def get_serial(self):
+    return "cccccccc"
+
+  def get_subscriber_info(self):
+    return ""
+
+  def reboot(self, reason=None):
+    print("REBOOT!")
+
+  def get_network_type(self):
+    return NetworkType.wifi
+
+  def get_sim_info(self):
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
+
+  def get_network_strength(self, network_type):
+    return NetworkStrength.unknown
+
+
+if EON:
+  HARDWARE = cast(HardwareBase, Android())
+elif TICI:
+  HARDWARE = cast(HardwareBase, Tici())
+else:
+  HARDWARE = cast(HardwareBase, Pc())
--- a/common/hardware_android.py
+++ b/common/hardware_android.py
@@ -0,0 +1,302 @@
+import binascii
+import itertools
+import os
+import re
+import struct
+import subprocess
+
+from cereal import log
+from common.hardware_base import HardwareBase
+
+NetworkType = log.ThermalData.NetworkType
+NetworkStrength = log.ThermalData.NetworkStrength
+
+
+def service_call(call):
+  try:
+    ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
+    if 'Parcel' not in ret:
+      return None
+    return parse_service_call_bytes(ret)
+  except subprocess.CalledProcessError:
+    return None
+
+
+def parse_service_call_unpack(r, fmt):
+  try:
+    return struct.unpack(fmt, r)[0]
+  except Exception:
+    return None
+
+
+def parse_service_call_string(r):
+  try:
+    r = r[8:]  # Cut off length field
+    r = r.decode('utf_16_be')
+
+    # All pairs of two characters seem to be swapped. Not sure why
+    result = ""
+    for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
+        result += b + a
+
+    result = result.replace('\x00', '')
+
+    return result
+  except Exception:
+    return None
+
+
+def parse_service_call_bytes(ret):
+  try:
+    r = b""
+    for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
+      r += binascii.unhexlify(hex_part)
+    return r
+  except Exception:
+    return None
+
+
+def getprop(key):
+  return subprocess.check_output(["getprop", key], encoding='utf8').strip()
+
+
+class Android(HardwareBase):
+  def get_sound_card_online(self):
+    return (os.path.isfile('/proc/asound/card0/state') and
+            open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+
+  def get_imei(self, slot):
+    slot = str(slot)
+    if slot not in ("0", "1"):
+      raise ValueError("SIM slot must be 0 or 1")
+
+    return parse_service_call_string(service_call(["iphonesubinfo", "3", "i32", str(slot)]))
+
+  def get_serial(self):
+    ret = getprop("ro.serialno")
+    if ret == "":
+      ret = "cccccccc"
+    return ret
+
+  def get_subscriber_info(self):
+    ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
+    if ret is None or len(ret) < 8:
+      return ""
+    return ret
+
+  def reboot(self, reason=None):
+    # e.g. reason="recovery" to go into recover mode
+    if reason is None:
+      reason_args = ["null"]
+    else:
+      reason_args = ["s16", reason]
+
+    subprocess.check_output([
+      "service", "call", "power", "16",  # IPowerManager.reboot
+      "i32", "0",  # no confirmation,
+      *reason_args,
+      "i32", "1"  # wait
+    ])
+
+  def get_sim_info(self):
+    # Used for athena
+    # TODO: build using methods from this class
+    sim_state = getprop("gsm.sim.state").split(",")
+    network_type = getprop("gsm.network.type").split(',')
+    mcc_mnc = getprop("gsm.sim.operator.numeric") or None
+
+    sim_id = parse_service_call_string(service_call(['iphonesubinfo', '11']))
+    cell_data_state = parse_service_call_unpack(service_call(['phone', '46']), ">q")
+    cell_data_connected = (cell_data_state == 2)
+
+    return {
+      'sim_id': sim_id,
+      'mcc_mnc': mcc_mnc,
+      'network_type': network_type,
+      'sim_state': sim_state,
+      'data_connected': cell_data_connected
+    }
+
+  def get_network_type(self):
+    wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
+    if wifi_check is None:
+      return NetworkType.none
+    elif 'WIFI' in wifi_check:
+      return NetworkType.wifi
+    else:
+      cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
+      # from TelephonyManager.java
+      cell_networks = {
+        0: NetworkType.none,
+        1: NetworkType.cell2G,
+        2: NetworkType.cell2G,
+        3: NetworkType.cell3G,
+        4: NetworkType.cell2G,
+        5: NetworkType.cell3G,
+        6: NetworkType.cell3G,
+        7: NetworkType.cell3G,
+        8: NetworkType.cell3G,
+        9: NetworkType.cell3G,
+        10: NetworkType.cell3G,
+        11: NetworkType.cell2G,
+        12: NetworkType.cell3G,
+        13: NetworkType.cell4G,
+        14: NetworkType.cell4G,
+        15: NetworkType.cell3G,
+        16: NetworkType.cell2G,
+        17: NetworkType.cell3G,
+        18: NetworkType.cell4G,
+        19: NetworkType.cell4G
+      }
+      return cell_networks.get(cell_check, NetworkType.none)
+
+  def get_network_strength(self, network_type):
+    network_strength = NetworkStrength.unknown
+
+    # from SignalStrength.java
+    def get_lte_level(rsrp, rssnr):
+      INT_MAX = 2147483647
+      if rsrp == INT_MAX:
+        lvl_rsrp = NetworkStrength.unknown
+      elif rsrp >= -95:
+        lvl_rsrp = NetworkStrength.great
+      elif rsrp >= -105:
+        lvl_rsrp = NetworkStrength.good
+      elif rsrp >= -115:
+        lvl_rsrp = NetworkStrength.moderate
+      else:
+        lvl_rsrp = NetworkStrength.poor
+      if rssnr == INT_MAX:
+        lvl_rssnr = NetworkStrength.unknown
+      elif rssnr >= 45:
+        lvl_rssnr = NetworkStrength.great
+      elif rssnr >= 10:
+        lvl_rssnr = NetworkStrength.good
+      elif rssnr >= -30:
+        lvl_rssnr = NetworkStrength.moderate
+      else:
+        lvl_rssnr = NetworkStrength.poor
+      return max(lvl_rsrp, lvl_rssnr)
+
+    def get_tdscdma_level(tdscmadbm):
+      lvl = NetworkStrength.unknown
+      if tdscmadbm > -25:
+        lvl = NetworkStrength.unknown
+      elif tdscmadbm >= -49:
+        lvl = NetworkStrength.great
+      elif tdscmadbm >= -73:
+        lvl = NetworkStrength.good
+      elif tdscmadbm >= -97:
+        lvl = NetworkStrength.moderate
+      elif tdscmadbm >= -110:
+        lvl = NetworkStrength.poor
+      return lvl
+
+    def get_gsm_level(asu):
+      if asu <= 2 or asu == 99:
+        lvl = NetworkStrength.unknown
+      elif asu >= 12:
+        lvl = NetworkStrength.great
+      elif asu >= 8:
+        lvl = NetworkStrength.good
+      elif asu >= 5:
+        lvl = NetworkStrength.moderate
+      else:
+        lvl = NetworkStrength.poor
+      return lvl
+
+    def get_evdo_level(evdodbm, evdosnr):
+      lvl_evdodbm = NetworkStrength.unknown
+      lvl_evdosnr = NetworkStrength.unknown
+      if evdodbm >= -65:
+        lvl_evdodbm = NetworkStrength.great
+      elif evdodbm >= -75:
+        lvl_evdodbm = NetworkStrength.good
+      elif evdodbm >= -90:
+        lvl_evdodbm = NetworkStrength.moderate
+      elif evdodbm >= -105:
+        lvl_evdodbm = NetworkStrength.poor
+      if evdosnr >= 7:
+        lvl_evdosnr = NetworkStrength.great
+      elif evdosnr >= 5:
+        lvl_evdosnr = NetworkStrength.good
+      elif evdosnr >= 3:
+        lvl_evdosnr = NetworkStrength.moderate
+      elif evdosnr >= 1:
+        lvl_evdosnr = NetworkStrength.poor
+      return max(lvl_evdodbm, lvl_evdosnr)
+
+    def get_cdma_level(cdmadbm, cdmaecio):
+      lvl_cdmadbm = NetworkStrength.unknown
+      lvl_cdmaecio = NetworkStrength.unknown
+      if cdmadbm >= -75:
+        lvl_cdmadbm = NetworkStrength.great
+      elif cdmadbm >= -85:
+        lvl_cdmadbm = NetworkStrength.good
+      elif cdmadbm >= -95:
+        lvl_cdmadbm = NetworkStrength.moderate
+      elif cdmadbm >= -100:
+        lvl_cdmadbm = NetworkStrength.poor
+      if cdmaecio >= -90:
+        lvl_cdmaecio = NetworkStrength.great
+      elif cdmaecio >= -110:
+        lvl_cdmaecio = NetworkStrength.good
+      elif cdmaecio >= -130:
+        lvl_cdmaecio = NetworkStrength.moderate
+      elif cdmaecio >= -150:
+        lvl_cdmaecio = NetworkStrength.poor
+      return max(lvl_cdmadbm, lvl_cdmaecio)
+
+    if network_type == NetworkType.none:
+      return network_strength
+    if network_type == NetworkType.wifi:
+      out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
+      network_strength = NetworkStrength.unknown
+      for line in out.split('\n'):
+        signal_str = "SignalStrength: "
+        if signal_str in line:
+          lvl_idx_start = line.find(signal_str) + len(signal_str)
+          lvl_idx_end = line.find(']', lvl_idx_start)
+          lvl = int(line[lvl_idx_start : lvl_idx_end])
+          if lvl >= -50:
+            network_strength = NetworkStrength.great
+          elif lvl >= -60:
+            network_strength = NetworkStrength.good
+          elif lvl >= -70:
+            network_strength = NetworkStrength.moderate
+          else:
+            network_strength = NetworkStrength.poor
+      return network_strength
+    else:
+      # check cell strength
+      out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
+      for line in out.split('\n'):
+        if "mSignalStrength" in line:
+          arr = line.split(' ')
+          ns = 0
+          if ("gsm" in arr[14]):
+            rsrp = int(arr[9])
+            rssnr = int(arr[11])
+            ns = get_lte_level(rsrp, rssnr)
+            if ns == NetworkStrength.unknown:
+              tdscmadbm = int(arr[13])
+              ns = get_tdscdma_level(tdscmadbm)
+              if ns == NetworkStrength.unknown:
+                asu = int(arr[1])
+                ns = get_gsm_level(asu)
+          else:
+            cdmadbm = int(arr[3])
+            cdmaecio = int(arr[4])
+            evdodbm = int(arr[5])
+            evdosnr = int(arr[7])
+            lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
+            lvl_edmo = get_evdo_level(evdodbm, evdosnr)
+            if lvl_edmo == NetworkStrength.unknown:
+              ns = lvl_cdma
+            elif lvl_cdma == NetworkStrength.unknown:
+              ns = lvl_edmo
+            else:
+              ns = min(lvl_cdma, lvl_edmo)
+          network_strength = max(network_strength, ns)
+
+      return network_strength
--- a/common/hardware_base.py
+++ b/common/hardware_base.py
@@ -0,0 +1,41 @@
+from abc import abstractmethod
+
+
+class HardwareBase:
+  @staticmethod
+  def get_cmdline():
+    with open('/proc/cmdline') as f:
+      cmdline = f.read()
+    return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}
+
+  @abstractmethod
+  def get_sound_card_online(self):
+    pass
+
+  @abstractmethod
+  def get_imei(self, slot):
+    pass
+
+  @abstractmethod
+  def get_serial(self):
+    pass
+
+  @abstractmethod
+  def get_subscriber_info(self):
+    pass
+
+  @abstractmethod
+  def reboot(self, reason=None):
+    pass
+
+  @abstractmethod
+  def get_network_type(self):
+    pass
+
+  @abstractmethod
+  def get_sim_info(self):
+    pass
+
+  @abstractmethod
+  def get_network_strength(self, network_type):
+    pass
--- a/common/hardware_tici.py
+++ b/common/hardware_tici.py
@@ -0,0 +1,59 @@
+import serial
+
+from common.hardware_base import HardwareBase
+from cereal import log
+import subprocess
+
+
+NetworkType = log.ThermalData.NetworkType
+NetworkStrength = log.ThermalData.NetworkStrength
+
+
+def run_at_command(cmd, timeout=0.1):
+  with serial.Serial("/dev/ttyUSB2", timeout=timeout) as ser:
+    ser.write(cmd + b"\r\n")
+    ser.readline()  # Modem echos request
+    return ser.readline().decode().rstrip()
+
+
+class Tici(HardwareBase):
+  def get_sound_card_online(self):
+    return True
+
+  def get_imei(self, slot):
+    if slot != 0:
+      return ""
+
+    for _ in range(10):
+      try:
+        imei = run_at_command(b"AT+CGSN")
+        if len(imei) == 15:
+          return imei
+      except serial.SerialException:
+        pass
+
+    raise RuntimeError("Error getting IMEI")
+
+  def get_serial(self):
+    return self.get_cmdline()['androidboot.serialno']
+
+  def get_subscriber_info(self):
+    return ""
+
+  def reboot(self, reason=None):
+    subprocess.check_output(["sudo", "reboot"])
+
+  def get_network_type(self):
+    return NetworkType.wifi
+
+  def get_sim_info(self):
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
+
+  def get_network_strength(self, network_type):
+    return NetworkStrength.unknown
--- a/common/i18n.py
+++ b/common/i18n.py
@@ -1,12 +1,14 @@
 import gettext
-from common import android
+from common.hardware import EON
+from common.hardware_android import getprop

-is_android = android.ANDROID
 locale_dir = '/data/openpilot/selfdrive/assets/locales'
 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 get_locale():
+  return getprop("persist.sys.locale") if EON else 'en-US'

 def events():
-  i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[locale])
+  i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
  i18n.install()
  return i18n.gettext
--- a/common/kalman/simple_kalman_impl.pxd
+++ b/common/kalman/simple_kalman_impl.pxd
@@ -1,3 +1,5 @@
+# cython: language_level = 3
+
 cdef class KF1D:
  cdef public:
    double x0_0
@@ -13,4 +15,4 @@ cdef class KF1D:
    double A_K_0
    double A_K_1
    double A_K_2
-    double A_K_3
+    double A_K_3
--- a/common/kalman/simple_kalman_setup.py
+++ b/common/kalman/simple_kalman_setup.py
@@ -6,4 +6,5 @@ from common.cython_hacks import BuildExtWithoutPlatformSuffix

 setup(name='Simple Kalman Implementation',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
+      ext_modules=cythonize(Extension("simple_kalman_impl",
+                                      ["simple_kalman_impl.pyx"])))
--- a/common/params.py
+++ b/common/params.py
@@ -1,415 +1,4 @@
-#!/usr/bin/env python3
-"""ROS has a parameter server, we have files.
-
-The parameter store is a persistent key value store, implemented as a directory with a writer lock.
-On Android, we store params under params_dir = /data/params. The writer lock is a file
-"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
-"<params_dir>/d".
-
-Each key, value pair is stored as a file with named <key> with contents <value>, located in
-  <params_dir>/d/<key>
-
-Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
-Readers who want a consistent snapshot of multiple keys should take the lock.
-
-Writers should take the lock before modifying anything. Writers should also leave the DB in a
-consistent state after a crash. The implementation below does this by copying all params to a temp
-directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
-before deleting the old <params_dir>/<d> directory.
-
-Writers that only modify a single key can simply take the lock, then swap the corresponding value
-file in place without messing with <params_dir>/d.
-"""
-import time
-import os
-import errno
-import shutil
-import fcntl
-import tempfile
-import threading
-from enum import Enum
-from common.basedir import PARAMS
-from common.dp_conf import init_params_keys
-
-
-def mkdirs_exists_ok(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-
-class TxType(Enum):
-  PERSISTENT = 1
-  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3
-
-
-class UnknownKeyName(Exception):
-  pass
-
-
-keys = {
-  "AccessToken": [TxType.CLEAR_ON_MANAGER_START],
-  "AthenadPid": [TxType.PERSISTENT],
-  "CalibrationParams": [TxType.PERSISTENT],
-  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CommunityFeaturesToggle": [TxType.PERSISTENT],
-  "CompletedTrainingVersion": [TxType.PERSISTENT],
-  "ControlsParams": [TxType.PERSISTENT],
-  "DisablePowerDown": [TxType.PERSISTENT],
-  "DisableUpdates": [TxType.PERSISTENT],
-  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  "DongleId": [TxType.PERSISTENT],
-  "GitBranch": [TxType.PERSISTENT],
-  "GitCommit": [TxType.PERSISTENT],
-  "GitRemote": [TxType.PERSISTENT],
-  "GithubSshKeys": [TxType.PERSISTENT],
-  "HasAcceptedTerms": [TxType.PERSISTENT],
-  "HasCompletedSetup": [TxType.PERSISTENT],
-  "IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
-  "IsLdwEnabled": [TxType.PERSISTENT],
-  "IsGeofenceEnabled": [TxType.PERSISTENT],
-  "IsMetric": [TxType.PERSISTENT],
-  "IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
-  "IsRHD": [TxType.PERSISTENT],
-  "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUploadRawEnabled": [TxType.PERSISTENT],
-  "LastAthenaPingTime": [TxType.PERSISTENT],
-  "LastUpdateTime": [TxType.PERSISTENT],
-  "LastUpdateException": [TxType.PERSISTENT],
-  "LimitSetSpeed": [TxType.PERSISTENT],
-  "LimitSetSpeedNeural": [TxType.PERSISTENT],
-  "LiveParameters": [TxType.PERSISTENT],
-  "LongitudinalControl": [TxType.PERSISTENT],
-  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  "LaneChangeEnabled": [TxType.PERSISTENT],
-  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Passive": [TxType.PERSISTENT],
-  "RecordFront": [TxType.PERSISTENT],
-  "ReleaseNotes": [TxType.PERSISTENT],
-  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  "SpeedLimitOffset": [TxType.PERSISTENT],
-  "SubscriberInfo": [TxType.PERSISTENT],
-  "TermsVersion": [TxType.PERSISTENT],
-  "TrainingVersion": [TxType.PERSISTENT],
-  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  "UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
-  "Version": [TxType.PERSISTENT],
-  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "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])
-
-def fsync_dir(path):
-  fd = os.open(path, os.O_RDONLY)
-  try:
-    os.fsync(fd)
-  finally:
-    os.close(fd)
-
-
-class FileLock():
-  def __init__(self, path, create):
-    self._path = path
-    self._create = create
-    self._fd = None
-
-  def acquire(self):
-    self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
-    fcntl.flock(self._fd, fcntl.LOCK_EX)
-
-  def release(self):
-    if self._fd is not None:
-      os.close(self._fd)
-      self._fd = None
-
-
-class DBAccessor():
-  def __init__(self, path):
-    self._path = path
-    self._vals = None
-
-  def keys(self):
-    self._check_entered()
-    return self._vals.keys()
-
-  def get(self, key):
-    self._check_entered()
-
-    if self._vals is None:
-      return None
-
-    try:
-      return self._vals[key]
-    except KeyError:
-      return None
-
-  def _get_lock(self, create):
-    lock = FileLock(os.path.join(self._path, ".lock"), create)
-    lock.acquire()
-    return lock
-
-  def _read_values_locked(self):
-    """Callers should hold a lock while calling this method."""
-    vals = {}
-    try:
-      data_path = self._data_path()
-      keys = os.listdir(data_path)
-      for key in keys:
-        with open(os.path.join(data_path, key), "rb") as f:
-          vals[key] = f.read()
-    except (OSError, IOError) as e:
-      # Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
-      # inconsistent state. Either way, return empty.
-      if e.errno == errno.ENOENT:
-        return {}
-
-    return vals
-
-  def _data_path(self):
-    return os.path.join(self._path, "d")
-
-  def _check_entered(self):
-    if self._vals is None:
-      raise Exception("Must call __enter__ before using DB")
-
-
-class DBReader(DBAccessor):
-  def __enter__(self):
-    try:
-      lock = self._get_lock(False)
-    except OSError as e:
-      # Do not create lock if it does not exist.
-      if e.errno == errno.ENOENT:
-        self._vals = {}
-        return self
-
-    try:
-      # Read everything.
-      self._vals = self._read_values_locked()
-      return self
-    finally:
-      lock.release()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    pass
-
-
-class DBWriter(DBAccessor):
-  def __init__(self, path):
-    super(DBWriter, self).__init__(path)
-    self._lock = None
-    self._prev_umask = None
-
-  def put(self, key, value):
-    self._vals[key] = value
-
-  def delete(self, key):
-    self._vals.pop(key, None)
-
-  def __enter__(self):
-    mkdirs_exists_ok(self._path)
-
-    # Make sure we can write and that permissions are correct.
-    self._prev_umask = os.umask(0)
-
-    try:
-      os.chmod(self._path, 0o777)
-      self._lock = self._get_lock(True)
-      self._vals = self._read_values_locked()
-    except Exception:
-      os.umask(self._prev_umask)
-      self._prev_umask = None
-      raise
-
-    return self
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self._check_entered()
-
-    try:
-      # data_path refers to the externally used path to the params. It is a symlink.
-      # old_data_path is the path currently pointed to by data_path.
-      # tempdir_path is a path where the new params will go, which the new data path will point to.
-      # new_data_path is a temporary symlink that will atomically overwrite data_path.
-      #
-      # The current situation is:
-      #   data_path -> old_data_path
-      # We're going to write params data to tempdir_path
-      #   tempdir_path -> params data
-      # Then point new_data_path to tempdir_path
-      #   new_data_path -> tempdir_path
-      # Then atomically overwrite data_path with new_data_path
-      #   data_path -> tempdir_path
-      old_data_path = None
-      new_data_path = None
-      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
-
-      try:
-        # Write back all keys.
-        os.chmod(tempdir_path, 0o777)
-        for k, v in self._vals.items():
-          with open(os.path.join(tempdir_path, k), "wb") as f:
-            f.write(v)
-            f.flush()
-            os.fsync(f.fileno())
-        fsync_dir(tempdir_path)
-
-        data_path = self._data_path()
-        try:
-          old_data_path = os.path.join(self._path, os.readlink(data_path))
-        except (OSError, IOError):
-          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
-          #                 copies to be left behind, but we still want to overwrite.
-          pass
-
-        new_data_path = "{}.link".format(tempdir_path)
-        os.symlink(os.path.basename(tempdir_path), new_data_path)
-        os.rename(new_data_path, data_path)
-        fsync_dir(self._path)
-      finally:
-        # If the rename worked, we can delete the old data. Otherwise delete the new one.
-        success = new_data_path is not None and os.path.exists(data_path) and (
-          os.readlink(data_path) == os.path.basename(tempdir_path))
-
-        if success:
-          if old_data_path is not None:
-            shutil.rmtree(old_data_path)
-        else:
-          shutil.rmtree(tempdir_path)
-
-        # Regardless of what happened above, there should be no link at new_data_path.
-        if new_data_path is not None and os.path.islink(new_data_path):
-          os.remove(new_data_path)
-    finally:
-      os.umask(self._prev_umask)
-      self._prev_umask = None
-
-      # Always release the lock.
-      self._lock.release()
-      self._lock = None
-
-
-def read_db(params_path, key):
-  path = "%s/d/%s" % (params_path, key)
-  try:
-    with open(path, "rb") as f:
-      return f.read()
-  except IOError:
-    return None
-
-
-def write_db(params_path, key, value):
-  if isinstance(value, str):
-    value = value.encode('utf8')
-
-  prev_umask = os.umask(0)
-  lock = FileLock(params_path + "/.lock", True)
-  lock.acquire()
-
-  try:
-    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.name, path)
-    fsync_dir(os.path.dirname(path))
-  finally:
-    os.umask(prev_umask)
-    lock.release()
-
-
-class Params():
-  def __init__(self, db=PARAMS):
-    self.db = db
-
-    # create the database if it doesn't exist...
-    if not os.path.exists(self.db + "/d"):
-      with self.transaction(write=True):
-        pass
-
-  def clear_all(self):
-    shutil.rmtree(self.db, ignore_errors=True)
-    with self.transaction(write=True):
-      pass
-
-  def transaction(self, write=False):
-    if write:
-      return DBWriter(self.db)
-    else:
-      return DBReader(self.db)
-
-  def _clear_keys_with_type(self, tx_type):
-    with self.transaction(write=True) as txn:
-      for key in keys:
-        if tx_type in keys[key]:
-          txn.delete(key)
-
-  def manager_start(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
-
-  def panda_disconnect(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
-
-  def delete(self, key):
-    with self.transaction(write=True) as txn:
-      txn.delete(key)
-
-  def get(self, key, block=False, encoding=None):
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    while 1:
-      ret = read_db(self.db, key)
-      if not block or ret is not None:
-        break
-      # is polling really the best we can do?
-      time.sleep(0.05)
-
-    if ret is not None and encoding is not None:
-      ret = ret.decode(encoding)
-
-    return ret
-
-  def put(self, key, dat):
-    """
-    Warning: This function blocks until the param is written to disk!
-    In very rare cases this can take over a second, and your code will hang.
-
-    Use the put_nonblocking helper function in time sensitive code, but
-    in general try to avoid writing params as much as possible.
-    """
-
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    write_db(self.db, key, dat)
-
-
-def put_nonblocking(key, val):
-  def f(key, val):
-    params = Params()
-    params.put(key, val)
-
-  t = threading.Thread(target=f, args=(key, val))
-  t.start()
-  return t
+from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+assert Params
+assert UnknownKeyName
+assert put_nonblocking
--- a/common/params_pxd.pxd
+++ b/common/params_pxd.pxd
@@ -0,0 +1,16 @@
+from libcpp.string cimport string
+from libcpp cimport bool
+
+cdef extern from "selfdrive/common/params.cc":
+  pass
+
+cdef extern from "selfdrive/common/util.c":
+  pass
+
+cdef extern from "selfdrive/common/params.h":
+  cdef cppclass Params:
+    Params(bool)
+    Params(string)
+    string get(string, bool) nogil
+    int delete_db_value(string)
+    int write_db_value(string, string)
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -0,0 +1,163 @@
+# distutils: language = c++
+# cython: language_level = 3
+from libcpp cimport bool
+from libcpp.string cimport string
+from params_pxd cimport Params as c_Params
+from common.dp_conf import init_params_keys
+
+import os
+import threading
+from common.basedir import BASEDIR
+
+cdef enum TxType:
+  PERSISTENT = 1
+  CLEAR_ON_MANAGER_START = 2
+  CLEAR_ON_PANDA_DISCONNECT = 3
+
+keys = {
+  b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
+  b"AthenadPid": [TxType.PERSISTENT],
+  b"CalibrationParams": [TxType.PERSISTENT],
+  b"CarBatteryCapacity": [TxType.PERSISTENT],
+  b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  b"CommunityFeaturesToggle": [TxType.PERSISTENT],
+  b"CompletedTrainingVersion": [TxType.PERSISTENT],
+  b"DisablePowerDown": [TxType.PERSISTENT],
+  b"DisableUpdates": [TxType.PERSISTENT],
+  b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
+  b"DongleId": [TxType.PERSISTENT],
+  b"GitBranch": [TxType.PERSISTENT],
+  b"GitCommit": [TxType.PERSISTENT],
+  b"GitRemote": [TxType.PERSISTENT],
+  b"GithubSshKeys": [TxType.PERSISTENT],
+  b"HasAcceptedTerms": [TxType.PERSISTENT],
+  b"HasCompletedSetup": [TxType.PERSISTENT],
+  b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
+  b"IsLdwEnabled": [TxType.PERSISTENT],
+  b"IsMetric": [TxType.PERSISTENT],
+  b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
+  b"IsRHD": [TxType.PERSISTENT],
+  b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
+  b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
+  b"IsUploadRawEnabled": [TxType.PERSISTENT],
+  b"LastAthenaPingTime": [TxType.PERSISTENT],
+  b"LastUpdateTime": [TxType.PERSISTENT],
+  b"LastUpdateException": [TxType.PERSISTENT],
+  b"LiveParameters": [TxType.PERSISTENT],
+  b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
+  b"LaneChangeEnabled": [TxType.PERSISTENT],
+  b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  b"Passive": [TxType.PERSISTENT],
+  b"RecordFront": [TxType.PERSISTENT],
+  b"ReleaseNotes": [TxType.PERSISTENT],
+  b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  b"SubscriberInfo": [TxType.PERSISTENT],
+  b"TermsVersion": [TxType.PERSISTENT],
+  b"TrainingVersion": [TxType.PERSISTENT],
+  b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
+  b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
+  b"Version": [TxType.PERSISTENT],
+  b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
+  b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
+  b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
+  b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
+  b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
+  b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
+}
+
+keys = init_params_keys(keys, [TxType.PERSISTENT])
+
+def ensure_bytes(v):
+  if isinstance(v, str):
+    return v.encode()
+  else:
+    return v
+
+
+class UnknownKeyName(Exception):
+  pass
+
+cdef class Params:
+  cdef c_Params* p
+
+  def __cinit__(self, d=None, bool persistent_params=False):
+    if d is None:
+      self.p = new c_Params(persistent_params)
+    else:
+      self.p = new c_Params(<string>d.encode())
+
+  def __dealloc__(self):
+    del self.p
+
+  def clear_all(self, tx_type=None):
+    for key in keys:
+      if tx_type is None or tx_type in keys[key]:
+        self.delete(key)
+
+  def manager_start(self):
+    self.clear_all(TxType.CLEAR_ON_MANAGER_START)
+
+  def panda_disconnect(self):
+    self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
+
+  def get(self, key, block=False, encoding=None):
+    key = ensure_bytes(key)
+
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    cdef string k = key
+    cdef bool b = block
+
+    cdef string val
+    with nogil:
+      val = self.p.get(k, b)
+
+    if val == b"":
+      if block:
+        # If we got no value while running in blocked mode
+        # it means we got an interrupt while waiting
+        raise KeyboardInterrupt
+      else:
+        return None
+
+    if encoding is not None:
+      return val.decode(encoding)
+    else:
+      return val
+
+  def put(self, key, dat):
+    """
+    Warning: This function blocks until the param is written to disk!
+    In very rare cases this can take over a second, and your code will hang.
+    Use the put_nonblocking helper function in time sensitive code, but
+    in general try to avoid writing params as much as possible.
+    """
+    key = ensure_bytes(key)
+    dat = ensure_bytes(dat)
+
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    self.p.write_db_value(key, dat)
+
+  def delete(self, key):
+    key = ensure_bytes(key)
+    self.p.delete_db_value(key)
+
+
+def put_nonblocking(key, val, d=None):
+  def f(key, val):
+    params = Params(d)
+    params.put(key, val)
+
+  t = threading.Thread(target=f, args=(key, val))
+  t.start()
+  return t
--- a/common/params_pyx_setup.py
+++ b/common/params_pyx_setup.py
@@ -0,0 +1,33 @@
+import os
+import subprocess
+from distutils.core import Extension, setup
+from Cython.Build import cythonize
+
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+from common.basedir import BASEDIR
+from common.hardware import TICI
+
+ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
+
+sourcefiles = ['params_pyx.pyx']
+extra_compile_args = ["-std=c++11"]
+
+if ARCH == "aarch64":
+  if TICI:
+    extra_compile_args += ["-DQCOM2"]
+  else:
+    extra_compile_args += ["-DQCOM"]
+
+
+setup(name='common',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "params_pyx",
+          language="c++",
+          sources=sourcefiles,
+          include_dirs=[BASEDIR, os.path.join(BASEDIR, 'selfdrive')],
+          extra_compile_args=extra_compile_args
+        )
+      )
+)
--- a/common/profiler.py
+++ b/common/profiler.py
@@ -36,10 +36,10 @@ class Profiler():
    if not self.enabled:
      return
    self.iter += 1
-    print("******* Profiling *******")
+    print("******* Profiling %d *******" % self.iter)
    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
      if n in self.cp_ignored:
-        print("%30s: %9.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
      else:
-        print("%30s: %9.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -1,12 +1,10 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
+import gc
 import os
 import time
-import platform
-import subprocess
 import multiprocessing
-from cffi import FFI

-from common.android import ANDROID
+from common.hardware import PC
 from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error


@@ -17,37 +15,26 @@ DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager


-ffi = FFI()
-ffi.cdef("long syscall(long number, ...);")
-libc = ffi.dlopen(None)
-
-def _get_tid():
-  if platform.machine() == "x86_64":
-    NR_gettid = 186
-  elif platform.machine() == "aarch64":
-    NR_gettid = 178
-  else:
-    raise NotImplementedError
-
-  return libc.syscall(NR_gettid)
+class Priority:
+  MIN_REALTIME = 52 # highest android process priority is 51
+  CTRL_LOW = MIN_REALTIME
+  CTRL_HIGH = MIN_REALTIME + 1


 def set_realtime_priority(level):
-  if os.getuid() != 0:
-    print("not setting priority, not root")
-    return
+  if not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))

-  return subprocess.call(['chrt', '-f', '-p', str(level), str(_get_tid())])

 def set_core_affinity(core):
-  if os.getuid() != 0:
-    print("not setting affinity, not root")
-    return
+  if not PC:
+    os.sched_setaffinity(0, [core,])

-  if ANDROID:
-    return subprocess.call(['taskset', '-p', str(core), str(_get_tid())])
-  else:
-    return -1
+
+def config_realtime_process(core, priority):
+  gc.disable()
+  set_realtime_priority(priority)
+  set_core_affinity(core)


 class Ratekeeper():
--- a/common/text_window.py
+++ b/common/text_window.py
@@ -5,7 +5,7 @@ import subprocess
 from common.basedir import BASEDIR


-class TextWindow():
+class TextWindow:
  def __init__(self, s, noop=False):
    # text window is only implemented for android currently
    self.text_proc = None
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -1,29 +1,67 @@
 import numpy as np
-import common.transformations.orientation as orient

-FULL_FRAME_SIZE = (1164, 874)
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
-eon_focal_length = FOCAL = 910.0
+import common.transformations.orientation as orient
+from common.hardware import TICI
+
+## -- hardcoded hardware params --
+eon_f_focal_length = 910.0
+eon_d_focal_length = 860.0
+leon_d_focal_length = 650.0
+tici_f_focal_length = 2648.0
+tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
+
+eon_f_frame_size = (1164, 874)
+eon_d_frame_size = (1152, 864)
+leon_d_frame_size = (816, 612)
+tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)

 # aka 'K' aka camera_frame_from_view_frame
-eon_intrinsics = np.array([
-  [FOCAL,   0.,   W/2.],
-  [  0.,  FOCAL,  H/2.],
-  [  0.,    0.,     1.]])
-
+eon_fcam_intrinsics = np.array([
+  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
+  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
+  [0.0,  0.0,                                          1.0]])
+eon_intrinsics = eon_fcam_intrinsics # xx

 leon_dcam_intrinsics = np.array([
-  [650,   0,   816//2],
-  [  0,  650,  612//2],
-  [  0,    0,     1]])
+  [leon_d_focal_length,  0.0,  float(leon_d_frame_size[0])/2],
+  [0.0,  leon_d_focal_length,  float(leon_d_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])

 eon_dcam_intrinsics = np.array([
-  [860,   0,   1152//2],
-  [  0,  860,  864//2],
-  [  0,    0,     1]])
+  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
+  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
+  [0.0,  0.0,                                          1.0]])
+
+tici_fcam_intrinsics = np.array([
+  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
+  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])
+
+tici_dcam_intrinsics = np.array([
+  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
+  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])
+
+tici_ecam_intrinsics = tici_dcam_intrinsics

 # aka 'K_inv' aka view_frame_from_camera_frame
-eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
+eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
+eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
+
+tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
+tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
+
+
+if not TICI:
+  FULL_FRAME_SIZE = eon_f_frame_size
+  FOCAL = eon_f_focal_length
+  fcam_intrinsics = eon_fcam_intrinsics
+else:
+  FULL_FRAME_SIZE = tici_f_frame_size
+  FOCAL = tici_f_focal_length
+  fcam_intrinsics = tici_fcam_intrinsics
+
+W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]


 # device/mesh : x->forward, y-> right, z->down
@@ -69,9 +107,9 @@ def vp_from_ke(m):
  return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])


-def vp_from_rpy(rpy):
+def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(eon_intrinsics, e)
+  ke = np.dot(intrinsics, e)
  return vp_from_ke(ke)


@@ -81,7 +119,7 @@ def roll_from_ke(m):
                    -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))


-def normalize(img_pts, intrinsics=eon_intrinsics):
+def normalize(img_pts, intrinsics=fcam_intrinsics):
  # normalizes image coordinates
  # accepts single pt or array of pts
  intrinsics_inv = np.linalg.inv(intrinsics)
@@ -94,7 +132,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
  return img_pts_normalized[:, :2].reshape(input_shape)


-def denormalize(img_pts, intrinsics=eon_intrinsics):
+def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
  # denormalizes image coordinates
  # accepts single pt or array of pts
  img_pts = np.array(img_pts)
@@ -102,9 +140,9 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
  img_pts = np.atleast_2d(img_pts)
  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
  img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:, 0] > W] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] > H] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
  return img_pts_denormalized[:, :2].reshape(input_shape)

@@ -137,18 +175,10 @@ def img_from_device(pt_device):
  return pt_img.reshape(input_shape)[:, :2]


-def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
+def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  calib_frame_from_ground = np.dot(eon_intrinsics,
-                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
+  calib_frame_from_ground = np.dot(intrinsics,
+                                   get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
  return camera_frame_from_calib_frame
-
-
-def pretransform_from_calib(calib):
-  roll, pitch, yaw, height = calib
-  view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
-  camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
-  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
-  return np.linalg.inv(camera_frame_from_calib_frame)
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,34 +1,33 @@
 import numpy as np

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

 # segnet
-
 SEGNET_SIZE = (512, 384)

-segnet_frame_from_camera_frame = np.array([
-  [float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0],    0.,          ],
-  [     0.,          float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
-
+def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
+  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
+                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
+segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx

 # model
-
 MODEL_INPUT_SIZE = (320, 160)
 MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0]/2.
+MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
 MODEL_CY = 21.

-model_zoom = 1.25
+model_fl = 728.0
 model_height = 1.22

 # canonical model transform
-model_intrinsics = np.array(
-  [[ eon_focal_length / model_zoom,    0. ,  MODEL_CX],
-   [   0. ,  eon_focal_length / model_zoom,  MODEL_CY],
-   [   0. ,                            0. ,   1.]])
+model_intrinsics = np.array([
+  [model_fl,  0.0,  MODEL_CX],
+  [0.0,  model_fl,  MODEL_CY],
+  [0.0,  0.0,            1.0]])


 # MED model
@@ -36,64 +35,76 @@ MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
 MEDMODEL_CY = 47.6

-medmodel_zoom = 1.
-medmodel_intrinsics = np.array(
-  [[ eon_focal_length / medmodel_zoom,    0. ,  0.5 * MEDMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+medmodel_fl = 910.0
+medmodel_intrinsics = np.array([
+  [medmodel_fl,  0.0,  0.5 * MEDMODEL_INPUT_SIZE[0]],
+  [0.0,  medmodel_fl,                   MEDMODEL_CY],
+  [0.0,  0.0,                                   1.0]])
+

 # CAL model
 CALMODEL_INPUT_SIZE = (512, 256)
 CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
 CALMODEL_CY = 47.6

-calmodel_zoom = 1.5
-calmodel_intrinsics = np.array(
-  [[ eon_focal_length / calmodel_zoom,    0. ,  0.5 * CALMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / calmodel_zoom,  CALMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+calmodel_fl = 606.7
+calmodel_intrinsics = np.array([
+  [calmodel_fl,  0.0,  0.5 * CALMODEL_INPUT_SIZE[0]],
+  [0.0,  calmodel_fl,                   CALMODEL_CY],
+  [0.0,  0.0,                                   1.0]])


 # BIG model
-
 BIGMODEL_INPUT_SIZE = (1024, 512)
 BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)

-bigmodel_zoom = 1.
-bigmodel_intrinsics = np.array(
-  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  256+MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+bigmodel_fl = 910.0
+bigmodel_intrinsics = np.array([
+  [bigmodel_fl,  0.0,  0.5 * BIGMODEL_INPUT_SIZE[0]],
+  [0.0,  bigmodel_fl,             256 + MEDMODEL_CY],
+  [0.0,  0.0,                                   1.0]])
+
+
+# SBIG model (big model with the size of small model)
+SBIGMODEL_INPUT_SIZE = (512, 256)
+SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2)
+
+sbigmodel_fl = 455.0
+sbigmodel_intrinsics = np.array([
+  [sbigmodel_fl,  0.0,  0.5 * SBIGMODEL_INPUT_SIZE[0]],
+  [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
+  [0.0,  0.0,                                     1.0]])

 model_frame_from_road_frame = np.dot(model_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
+                                     get_view_frame_from_road_frame(0, 0, 0, model_height))

 bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
+                                        get_view_frame_from_road_frame(0, 0, 0, model_height))

 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
+                                        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))
+                                         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))

+
 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, 0],
-      [0, 0, 1],
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 0],
+    [0, 0, 1],
  ]))

  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, height - model_height],
-      [0, 0, 1],
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, height - model_height],
+    [0, 0, 1],
  ]))

  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
@@ -104,13 +115,14 @@ def get_model_height_transform(camera_frame_from_road_frame, height):

 # camera_frame_from_model_frame aka 'warp matrix'
 # was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
  vp = vp_from_ke(camera_frame_from_road_frame)

+  model_zoom = camera_fl / model_fl
  model_camera_from_model_frame = np.array([
-    [model_zoom,         0., vp[0] - MODEL_CX * model_zoom],
-    [        0., model_zoom, vp[1] - MODEL_CY * model_zoom],
-    [        0.,         0.,                            1.],
+    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
+    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
+    [0.0,  0.0,                                   1.0],
  ])

  # This function is super slow, so skip it if height is very close to canonical
--- a/common/transformations/setup.py
+++ b/common/transformations/setup.py
@@ -1,42 +1,20 @@
-import os
 import numpy
-import sysconfig

 from Cython.Build import cythonize
-from Cython.Distutils import build_ext
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
-
+from common.cython_hacks import BuildExtWithoutPlatformSuffix

 setup(
  name='Cython transformations wrapper',
  cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
  ext_modules=cythonize(
-  Extension(
-    "transformations",
-    sources=["transformations.pyx"],
-    language="c++",
-    extra_compile_args=["-std=c++14"],
-    include_dirs=[numpy.get_include()],
+    Extension(
+      "transformations",
+      sources=["transformations.pyx"],
+      language="c++",
+      extra_compile_args=["-std=c++1z", "-Wno-cpp"],
+      include_dirs=[numpy.get_include()],
+    ),
+    nthreads=4,
  )
-))
+)
--- a/common/transformations/transformations.pxd
+++ b/common/transformations/transformations.pxd
@@ -1,3 +1,4 @@
+#cython: language_level=3
 from libcpp cimport bool

 cdef extern from "orientation.cc":
--- a/common/transformations/transformations.pyx
+++ b/common/transformations/transformations.pyx
@@ -26,7 +26,7 @@ cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
        [m(2, 0), m(2, 1), m(2, 2)],
    ])

-cdef Matrix3 numpy2matrix (np.ndarray[double, ndim=2, mode="fortran"] m):
+cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
    assert m.shape[0] == 3
    assert m.shape[1] == 3
    return Matrix3(<double*>m.data)
--- a/dragonpilot/cjk-fonts/installer.sh
+++ b/dragonpilot/cjk-fonts/installer.sh
@@ -36,6 +36,14 @@
 update_font=0
 remove_old_font=0

+# temp fix for lib change
+if [ ! -f "/system/comma/usr/lib/libcapnp-0.6.1.so" ]; then
+    mount -o remount,rw /system
+    ln -sf /system/comma/usr/lib/libcapnp.so /system/comma/usr/lib/libcapnp-0.6.1.so
+    ln -sf /system/comma/usr/lib/libkj.so /system/comma/usr/lib/libkj-0.6.1.so
+    mount -o remount,r /system
+fi
+
 # check regular font
 if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
    update_font=1
--- a/installer/updater/Makefile
+++ b/installer/updater/Makefile
@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
             -Werror=format-extra-args

 CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)

 CURL_FLAGS = -I$(PHONELIBS)/curl/include
 CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
@@ -34,6 +34,7 @@ all: updater
 OBJS = opensans_regular.ttf.o \
 			 opensans_semibold.ttf.o \
 			 opensans_bold.ttf.o \
+       ../../selfdrive/common/util.o \
       ../../selfdrive/common/touch.o \
       ../../selfdrive/common/framebuffer.o \
       $(PHONELIBS)/json11/json11.o \
--- a/installer/updater/update.json
+++ b/installer/updater/update.json
@@ -1,7 +1,7 @@
 {
-  "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"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
+  "ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
+  "recovery_len": 15926572,
+  "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
 }
--- a/installer/updater/update_kernel.json
+++ b/installer/updater/update_kernel.json
@@ -1,7 +0,0 @@
-{
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a-kernel.zip",
-  "ota_hash": "3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
-  "recovery_len": 15861036,
-  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
-}
--- a/installer/updater/updater
+++ b/installer/updater/updater
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -231,6 +231,8 @@ struct Updater {
                          &fb_w, &fb_h);
    assert(fb);

+    framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
+
    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
    assert(vg);

--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -8,6 +8,78 @@ source "$BASEDIR/launch_env.sh"

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

+function tici_init {
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
+}
+
+function two_init {
+  # Restrict Android and other system processes to the first two cores
+  echo 0-1 > /dev/cpuset/background/cpus
+  echo 0-1 > /dev/cpuset/system-background/cpus
+  echo 0-1 > /dev/cpuset/foreground/cpus
+  echo 0-1 > /dev/cpuset/foreground/boost/cpus
+  echo 0-1 > /dev/cpuset/android/cpus
+
+  # openpilot gets all the cores
+  echo 0-3 > /dev/cpuset/app/cpus
+
+  # set up governors
+  # +50mW offroad, +500mW onroad for 30% more RAM bandwidth
+  echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
+  echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
+  echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
+
+  # unclear if these help, but they don't seem to hurt
+  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
+  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
+
+  # GPU
+  echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
+
+  # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
+  # it seems to gain nothing but a wasted 500mW
+
+  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
+  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
+  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
+  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
+  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
+
+  # USB traffic needs realtime handling on cpu 3
+  [ -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
+
+  # Check for NEOS update
+  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
+      # 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"
+  fi
+
+  # One-time fix for a subset of OP3T with gyro orientation offsets.
+  # Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
+  # Performed exactly once. The old registry is preserved just-in-case, and
+  # doubles as a flag denoting we've already done the reset.
+  if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
+    echo "Performing OP3T sensor registry reset"
+    mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
+      rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
+      echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
+      sleep 5  # Give Android sensor subsystem a moment to recover
+  fi
+}
+
 function launch {
  # Wifi scan
  wpa_cli IFNAME=wlan0 SCAN
@@ -54,56 +126,13 @@ function launch {
 #    fi
  fi

-  # Android and other system processes are not permitted to run on CPU 3
-  # NEOS installed app processes can run anywhere
-  echo 0-2 > /dev/cpuset/background/cpus
-  echo 0-2 > /dev/cpuset/system-background/cpus
-  [ -d "/dev/cpuset/foreground/boost/cpus" ] && echo 0-2 > /dev/cpuset/foreground/boost/cpus  # Not present in < NEOS 15
-  echo 0-2 > /dev/cpuset/foreground/cpus
-  echo 0-2 > /dev/cpuset/android/cpus
-  echo 0-3 > /dev/cpuset/app/cpus
-
-  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
-  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
-  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
-  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
-  # USB traffic needs realtime handling on cpu 3
-  [ -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
-
-
-  # Check for NEOS update
-  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
-      # 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 [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
-      "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
-    fi
+  # comma two init
+  if [ -f /EON ]; then
+    two_init
  fi

-  # One-time fix for a subset of OP3T with gyro orientation offsets.
-  # Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
-  # Performed exactly once. The old registry is preserved just-in-case, and
-  # doubles as a flag denoting we've already done the reset.
-  # TODO: we should really grow per-platform detect and setup routines
-  if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
-    echo "Performing OP3T sensor registry reset"
-    mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
-      rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
-      echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
-      sleep 5  # Give Android sensor subsystem a moment to recover
+  if [ -f /TICI ]; then
+    tici_init
  fi

  # handle pythonpath
@@ -114,6 +143,9 @@ function launch {
    /data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
  fi

+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
+
  # start manager
  cd selfdrive
  ./manager.py
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="14"
+  export REQUIRED_NEOS_VERSION="15-1"
 fi

 if [ -z "$PASSIVE" ]; then
--- a/models/supercombo.dlc
+++ b/models/supercombo.dlc
--- a/opendbc/acura_rdx_2020_can_generated.dbc
+++ b/opendbc/acura_rdx_2020_can_generated.dbc
@@ -0,0 +1,433 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2020.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
+CM_ "acura_rdx_2020_can.dbc starts here"
+
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/can/common.cc
+++ b/opendbc/can/common.cc
@@ -126,7 +126,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
      crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
      break;
    case 0x117: // ACC_10 Automatic Cruise Control
-      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
+      crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
      break;
    case 0x120: // TSK_06 Drivetrain Coordinator
      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
--- a/opendbc/can/common_pyx_setup.py
+++ b/opendbc/can/common_pyx_setup.py
@@ -34,7 +34,7 @@ class BuildExtWithoutPlatformSuffix(build_ext):
    return get_ext_filename_without_platform_suffix(filename)


-extra_compile_args = ["-std=c++14"]
+extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 if ARCH == "aarch64":
  extra_compile_args += ["-Wno-deprecated-register"]
--- a/opendbc/can/packer_pyx.pyx
+++ b/opendbc/can/packer_pyx.pyx
@@ -20,9 +20,11 @@ cdef class CANPacker:
    map[int, int] address_to_size

  def __init__(self, dbc_name):
-    self.packer = new cpp_CANPacker(dbc_name)
    self.dbc = dbc_lookup(dbc_name)
-
+    if not self.dbc:
+      raise RuntimeError("Can't lookup" + dbc_name)
+      
+    self.packer = new cpp_CANPacker(dbc_name)
    num_msgs = self.dbc[0].num_msgs
    for i in range(num_msgs):
      msg = self.dbc[0].msgs[i]
@@ -37,7 +39,7 @@ cdef class CANPacker:

    for name, value in values.iteritems():
      n = name.encode('utf8')
-      names.append(n) # TODO: find better way to keep reference to temp string arround
+      names.append(n) # TODO: find better way to keep reference to temp string around

      spv.name = n
      spv.value = value
--- a/opendbc/can/parser.cc
+++ b/opendbc/can/parser.cc
@@ -187,7 +187,7 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Rea
        continue;
      }

-      if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen
+      if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
      uint8_t dat[8] = {0};
      memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());

--- a/opendbc/can/parser.py
+++ b/opendbc/can/parser.py
@@ -1,2 +1,2 @@
-from opendbc.can.parser_pyx import CANParser  # pylint: disable=no-name-in-module, import-error
-assert CANParser
+from opendbc.can.parser_pyx import CANParser, CANDefine  # pylint: disable=no-name-in-module, import-error
+assert CANParser, CANDefine
--- a/opendbc/can/parser_pyx.pyx
+++ b/opendbc/can/parser_pyx.pyx
@@ -17,7 +17,6 @@ from collections import defaultdict

 cdef int CAN_INVALID_CNT = 5

-
 cdef class CANParser:
  cdef:
    cpp_CANParser *can
@@ -37,10 +36,11 @@ cdef class CANParser:
  def __init__(self, dbc_name, signals, checks=None, bus=0):
    if checks is None:
      checks = []
-
    self.can_valid = True
    self.dbc_name = dbc_name
    self.dbc = dbc_lookup(dbc_name)
+    if not self.dbc:
+      raise RuntimeError("Can't lookup" + dbc_name)
    self.vl = {}
    self.ts = {}

@@ -110,7 +110,7 @@ cdef class CANParser:


    for cv in can_values:
-      # Cast char * directly to unicde
+      # Cast char * directly to unicode
      name = <unicode>self.address_to_msg_name[cv.address].c_str()
      cv_name = <unicode>cv.name

@@ -148,7 +148,9 @@ cdef class CANDefine():
  def __init__(self, dbc_name):
    self.dbc_name = dbc_name
    self.dbc = dbc_lookup(dbc_name)
-
+    if not self.dbc:
+      raise RuntimeError("Can't lookup" + dbc_name)
+      
    num_vals = self.dbc[0].num_vals

    address_to_msg_name = {}
--- a/opendbc/can/process_dbc.py
+++ b/opendbc/can/process_dbc.py
@@ -81,7 +81,7 @@ def process(in_fn, out_fn):
          if sig.start_bit % 8 != checksum_start_bit:
            sys.exit("%s: CHECKSUM starts at wrong bit" % dbc_msg_name)
          if little_endian != sig.is_little_endian:
-            sys.exit("%s: CHECKSUM has wrong endianess" % dbc_msg_name)
+            sys.exit("%s: CHECKSUM has wrong endianness" % dbc_msg_name)
        # counter rules
        if sig.name == "COUNTER":
          if counter_size is not None and sig.size != counter_size:
@@ -90,7 +90,7 @@ def process(in_fn, out_fn):
            print(counter_start_bit, sig.start_bit)
            sys.exit("%s: COUNTER starts at wrong bit" % dbc_msg_name)
          if little_endian != sig.is_little_endian:
-            sys.exit("%s: COUNTER has wrong endianess" % dbc_msg_name)
+            sys.exit("%s: COUNTER has wrong endianness" % dbc_msg_name)
      # pedal rules
      if address in [0x200, 0x201]:
        if sig.name == "COUNTER_PEDAL" and sig.size != 4:
--- a/opendbc/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc
@@ -409,7 +409,7 @@ CM_ SG_ 571 CHECKSUM "standard checksum";
 CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning.";
 CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
 CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
-CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
+CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unsure what it is, but smoother";
 CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal";
 CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
 CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
--- a/opendbc/gm_global_a_object.dbc
+++ b/opendbc/gm_global_a_object.dbc
@@ -37,7 +37,7 @@ BU_: K109_FCM B233B_LRR NEO VIS_FO VIS2_FO K124_ASCM Vector__XXX EOCM_F_FO EOCM2
 VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ;
 VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected" 1 "New object" 0 "No object" ;
-VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
+VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currently stopped" 1 "Has never moved," 0 "Unknown" ;
 VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ;
 VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ;
 VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ;
--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -388,7 +388,7 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
+
 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
 SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
@@ -405,6 +405,11 @@ BO_ 432 STANDSTILL: 7 VSA
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

+BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS
+ SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 892 CRUISE_PARAMS: 8 PCM
 SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
@@ -413,13 +418,15 @@ BO_ 892 CRUISE_PARAMS: 8 PCM
 BO_ 927 RADAR_HUD: 8 RADAR
 SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
 SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
 SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
 SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
 SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
 SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

--- a/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
+++ b/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
@@ -400,6 +400,11 @@ BO_ 432 STANDSTILL: 7 VSA
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

+BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS
+ SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 892 CRUISE_PARAMS: 8 PCM
 SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -405,13 +405,15 @@ BO_ 432 STANDSTILL: 7 VSA
 BO_ 927 RADAR_HUD: 8 RADAR
 SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
 SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
 SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
 SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
 SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
 SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

--- a/opendbc/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/lexus_is300h_2017_pt_generated.dbc
+++ b/opendbc/lexus_is300h_2017_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/lexus_nx300_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300_2018_pt_generated.dbc
@@ -0,0 +1,404 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 353 DSU_SPEED: 7 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_nx300_2018_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
--- a/opendbc/lexus_nx300h_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300h_2018_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/lexus_nxt_2015_pt_generated.dbc
+++ b/opendbc/lexus_nxt_2015_pt_generated.dbc
@@ -310,7 +310,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -375,7 +375,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.88,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -328,7 +328,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -328,7 +328,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
@@ -424,6 +424,14 @@ BO_ 956 GEAR_PACKET: 8 XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
 SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX

+BO_ 1653 Date_Time: 8 XXX
+ SG_ Year : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ Month : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Day : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ Hour : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Minute : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ Second : 63|8@0+ (1,0) [0|255] "" XXX
+
 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -314,7 +314,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
--- a/opendbc/vw_golf_mk4.dbc
+++ b/opendbc/vw_golf_mk4.dbc
@@ -615,26 +615,27 @@ BO_ 1504 Klima_1: 8 XXX
 SG_ Fahrerwunsch_Zuheizer : 1|1@1+ (1,0) [0|0] "" XXX
 SG_ Drehzahlanhebung : 0|1@1+ (1,0) [0|0] "" XXX

-BO_ 906 GRA_neu: 4 XXX
- SG_ Tiptronik_Bedienteilfehler : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_GRA_neu_1_2 : 29|2@1+ (1,0) [0|0] "" XXX
- SG_ Limiter_ein : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Zeitlueckenverstellung : 26|2@1+ (1,0) [0|0] "" XXX
- SG_ Tiptronic_Tip_Up__4_1_ : 25|1@1+ (1,0) [0|0] "" XXX
- SG_ Tiptronic_Tip_Down__4_1_ : 24|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler__GRA_neu_ : 20|4@1+ (1,0) [0|15] "" XXX
- SG_ Sender_Codierung__4_1_ : 18|2@1+ (1,0) [0|0] "" XXX
- SG_ Wiederaufnahme : 17|1@1+ (1,0) [0|0] "" XXX
- SG_ Setzen : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_Neu_frei_1 : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Bedienteil_Fehler : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Lang_Tip_up : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Lang_Tip_down : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Kurz_Tip_up : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Kurz_Tip_down : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Abbrechen : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Hauptschalter : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Checksumme_GRA_Neu : 0|8@1+ (1,0) [0|0] "" XXX
+BO_ 906 GRA_Neu: 4 XXX
+ SG_ GRA_Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ GRA_Hauptschalt : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Abbrechen : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Down_kurz : 10|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Up_kurz : 11|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Down_lang : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Up_lang : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Fehler_Bed : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Kodierinfo : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Neu_Setzen : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Recall : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Sender : 18|2@1+ (1,0) [0|3] "" XXX
+ SG_ GRA_Neu_Zaehler : 20|4@1+ (1,0) [0|15] "" XXX
+ SG_ GRA_Tip_Down : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Tip_Up : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Zeitluecke : 26|2@1+ (1,0) [0|3] "" XXX
+ SG_ GRA_Sta_Limiter : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Typ_Hauptschalt : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Sportschalter : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ GRA_Fehler_Tip : 31|1@1+ (1,0) [0|1] "" XXX

 BO_ 904 GRA: 3 XXX
 SG_ Checksumme_GRA_alt : 16|8@1+ (1,0) [0|0] "" XXX
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
--- a/panda/init.py
+++ b/panda/init.py
@@ -1,3 +1,3 @@
 # flake8: noqa
 # pylint: skip-file
-from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
+from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
--- a/panda/board/Makefile
+++ b/panda/board/Makefile
@@ -3,6 +3,11 @@ CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror

 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
 CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+dp_vw := $(shell cat /data/params/d/dp_vw)
+$(info dp_vw is ${dp_vw})
+ifeq ($(dp_vw), 1)
+  CFLAGS += -Dvw
+endif
 STARTUP_FILE = startup_stm32f413xx

 include build.mk
--- a/panda/board/board.h
+++ b/panda/board/board.h
@@ -9,6 +9,7 @@
 #ifdef PANDA
  #include "drivers/fan.h"
  #include "drivers/rtc.h"
+  #include "drivers/clock_source.h"
  #include "boards/white.h"
  #include "boards/grey.h"
  #include "boards/black.h"
@@ -23,11 +24,7 @@ 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
+    if(!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)){
      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))){
@@ -57,22 +54,10 @@ void detect_board_type(void) {

 // ///// Configuration detection ///// //
 bool has_external_debug_serial = 0;
-bool is_entering_bootmode = 0;

 void detect_configuration(void) {
  // detect if external serial debugging is present
  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
-
-  #ifdef PANDA
-    if(hw_type == HW_TYPE_WHITE_PANDA) {
-      // check if the ESP is trying to put me in boot mode
-      is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
-    } else {
-      is_entering_bootmode = 0;
-    }
-  #else
-    is_entering_bootmode = 0;
-  #endif
 }

 // ///// Board functions ///// //
--- a/panda/board/board_declarations.h
+++ b/panda/board/board_declarations.h
@@ -1,10 +1,10 @@
 // ******************** Prototypes ********************
 typedef void (*board_init)(void);
-typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
-typedef void (*board_enable_can_transcievers)(bool enabled);
+typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
+typedef void (*board_enable_can_transceivers)(bool enabled);
 typedef void (*board_set_led)(uint8_t color, bool enabled);
 typedef void (*board_set_usb_power_mode)(uint8_t mode);
-typedef void (*board_set_esp_gps_mode)(uint8_t mode);
+typedef void (*board_set_gps_mode)(uint8_t mode);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef void (*board_usb_power_mode_tick)(uint32_t uptime);
 typedef bool (*board_check_ignition)(void);
@@ -12,16 +12,18 @@ typedef uint32_t (*board_read_current)(void);
 typedef void (*board_set_ir_power)(uint8_t percentage);
 typedef void (*board_set_fan_power)(uint8_t percentage);
 typedef void (*board_set_phone_power)(bool enabled);
+typedef void (*board_set_clock_source_mode)(uint8_t mode);
+typedef void (*board_set_siren)(bool enabled);

 struct board {
  const char *board_type;
  const harness_configuration *harness_config;
  board_init init;
-  board_enable_can_transciever enable_can_transciever;
-  board_enable_can_transcievers enable_can_transcievers;
+  board_enable_can_transceiver enable_can_transceiver;
+  board_enable_can_transceivers enable_can_transceivers;
  board_set_led set_led;
  board_set_usb_power_mode set_usb_power_mode;
-  board_set_esp_gps_mode set_esp_gps_mode;
+  board_set_gps_mode set_gps_mode;
  board_set_can_mode set_can_mode;
  board_usb_power_mode_tick usb_power_mode_tick;
  board_check_ignition check_ignition;
@@ -29,6 +31,8 @@ struct board {
  board_set_ir_power set_ir_power;
  board_set_fan_power set_fan_power;
  board_set_phone_power set_phone_power;
+  board_set_clock_source_mode set_clock_source_mode;
+  board_set_siren set_siren;
 };

 // ******************* Definitions ********************
@@ -52,10 +56,10 @@ struct board {
 #define USB_POWER_CDP 2U
 #define USB_POWER_DCP 3U

-// ESP modes
-#define ESP_GPS_DISABLED 0U
-#define ESP_GPS_ENABLED 1U
-#define ESP_GPS_BOOTMODE 2U
+// GPS modes
+#define GPS_DISABLED 0U
+#define GPS_ENABLED 1U
+#define GPS_BOOTMODE 2U

 // CAN modes
 #define CAN_MODE_NORMAL 0U
@@ -72,4 +76,4 @@ bool board_has_gmlan(void);
 bool board_has_obd(void);
 bool board_has_lin(void);
 bool board_has_rtc(void);
-bool board_has_relay(void);
+bool board_has_relay(void);
--- a/panda/board/boards/black.h
+++ b/panda/board/boards/black.h
@@ -2,8 +2,8 @@
 // Black Panda + Harness //
 // ///////////////////// //

-void black_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
+void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver){
    case 1U:
      set_gpio_output(GPIOC, 1, !enabled);
      break;
@@ -17,18 +17,18 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
      set_gpio_output(GPIOB, 10, !enabled);
      break;
    default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
      break;
  }
 }

-void black_enable_can_transcievers(bool enabled) {
+void black_enable_can_transceivers(bool enabled) {
  for(uint8_t i=1U; i<=4U; i++){
    // Leave main CAN always on for CAN-based ignition detection
    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
-      black_enable_can_transciever(i, true);
+      black_enable_can_transceiver(i, true);
    } else {
-      black_enable_can_transciever(i, enabled);
+      black_enable_can_transceiver(i, enabled);
    }
  }
 }
@@ -77,24 +77,24 @@ void black_set_usb_power_mode(uint8_t mode) {
  }
 }

-void black_set_esp_gps_mode(uint8_t mode) {
+void black_set_gps_mode(uint8_t mode) {
  switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
      // GPS OFF
      set_gpio_output(GPIOC, 14, 0);
      set_gpio_output(GPIOC, 5, 0);
      break;
-    case ESP_GPS_ENABLED:
+    case GPS_ENABLED:
      // GPS ON
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 1);
      break;
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 0);
      break;
    default:
-      puts("Invalid ESP/GPS mode\n");
+      puts("Invalid GPS mode\n");
      break;
  }
 }
@@ -154,6 +154,14 @@ void black_set_phone_power(bool enabled){
  UNUSED(enabled);
 }

+void black_set_clock_source_mode(uint8_t mode){
+  UNUSED(mode);
+}
+
+void black_set_siren(bool enabled){
+  UNUSED(enabled);
+}
+
 void black_init(void) {
  common_init_gpio();

@@ -167,7 +175,7 @@ void black_init(void) {
  set_gpio_mode(GPIOC, 3, MODE_ANALOG);

  // Set default state of GPS
-  current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+  current_board->set_gps_mode(GPS_ENABLED);

  // C10: OBD_SBU1_RELAY (harness relay driving output)
  // C11: OBD_SBU2_RELAY (harness relay driving output)
@@ -190,8 +198,8 @@ void black_init(void) {
  // Initialize harness
  harness_init();

-  // Enable CAN transcievers
-  black_enable_can_transcievers(true);
+  // Enable CAN transceivers
+  black_enable_can_transceivers(true);

  // Disable LEDs
  black_set_led(LED_RED, false);
@@ -228,16 +236,18 @@ const board board_black = {
  .board_type = "Black",
  .harness_config = &black_harness_config,
  .init = black_init,
-  .enable_can_transciever = black_enable_can_transciever,
-  .enable_can_transcievers = black_enable_can_transcievers,
+  .enable_can_transceiver = black_enable_can_transceiver,
+  .enable_can_transceivers = black_enable_can_transceivers,
  .set_led = black_set_led,
  .set_usb_power_mode = black_set_usb_power_mode,
-  .set_esp_gps_mode = black_set_esp_gps_mode,
+  .set_gps_mode = black_set_gps_mode,
  .set_can_mode = black_set_can_mode,
  .usb_power_mode_tick = black_usb_power_mode_tick,
  .check_ignition = black_check_ignition,
  .read_current = black_read_current,
  .set_fan_power = black_set_fan_power,
  .set_ir_power = black_set_ir_power,
-  .set_phone_power = black_set_phone_power
+  .set_phone_power = black_set_phone_power,
+  .set_clock_source_mode = black_set_clock_source_mode,
+  .set_siren = black_set_siren
 };
--- a/panda/board/boards/common.h
+++ b/panda/board/boards/common.h
@@ -23,7 +23,7 @@ void common_init_gpio(void){
  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;

-  // A9,A10: USART 1 for talking to the ESP / GPS
+  // A9,A10: USART 1 for talking to the GPS
  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);

@@ -65,7 +65,7 @@ void peripherals_init(void){
  RCC->APB1ENR |= RCC_APB1ENR_PWREN;   // for RTC config
  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  // clock source timer
  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
@@ -81,4 +81,4 @@ bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
  bool ret = get_gpio_input(GPIO, pin);
  set_gpio_pullup(GPIO, pin, PULL_NONE);
  return ret;
-}
+}
--- a/panda/board/boards/dos.h
+++ b/panda/board/boards/dos.h
@@ -2,8 +2,8 @@
 // Dos + Harness //
 // ///////////// //

-void dos_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
+void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver){
    case 1U:
      set_gpio_output(GPIOC, 1, !enabled);
      break;
@@ -17,18 +17,18 @@ void dos_enable_can_transciever(uint8_t transciever, bool enabled) {
      set_gpio_output(GPIOB, 10, !enabled);
      break;
    default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
      break;
  }
 }

-void dos_enable_can_transcievers(bool enabled) {
+void dos_enable_can_transceivers(bool enabled) {
  for(uint8_t i=1U; i<=4U; i++){
    // Leave main CAN always on for CAN-based ignition detection
    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
-      uno_enable_can_transciever(i, true);
+      uno_enable_can_transceiver(i, true);
    } else {
-      uno_enable_can_transciever(i, enabled);
+      uno_enable_can_transceiver(i, enabled);
    }
  }
 }
@@ -54,20 +54,18 @@ void dos_set_gps_load_switch(bool enabled) {
 }

 void dos_set_bootkick(bool enabled){
-  UNUSED(enabled);
+  set_gpio_output(GPIOC, 4, !enabled);
 }

-void dos_bootkick(void) {}
-
 void dos_set_phone_power(bool enabled){
  UNUSED(enabled);
 }

 void dos_set_usb_power_mode(uint8_t mode) {
-  UNUSED(mode);
+  dos_set_bootkick(mode == USB_POWER_CDP);
 }

-void dos_set_esp_gps_mode(uint8_t mode) {
+void dos_set_gps_mode(uint8_t mode) {
  UNUSED(mode);
 }

@@ -101,11 +99,6 @@ void dos_set_can_mode(uint8_t mode){

 void dos_usb_power_mode_tick(uint32_t uptime){
  UNUSED(uptime);
-  if(bootkick_timer != 0U){
-    bootkick_timer--;
-  } else {
-    dos_set_bootkick(false);
-  }
 }

 bool dos_check_ignition(void){
@@ -132,6 +125,14 @@ uint32_t dos_read_current(void){
  return 0U;
 }

+void dos_set_clock_source_mode(uint8_t mode){
+  clock_source_init(mode);
+}
+
+void dos_set_siren(bool enabled){
+  set_gpio_output(GPIOC, 12, enabled);
+}
+
 void dos_init(void) {
  common_init_gpio();

@@ -171,8 +172,8 @@ void dos_init(void) {
  // Initialize RTC
  rtc_init();

-  // Enable CAN transcievers
-  dos_enable_can_transcievers(true);
+  // Enable CAN transceivers
+  dos_enable_can_transceivers(true);

  // Disable LEDs
  dos_set_led(LED_RED, false);
@@ -189,6 +190,9 @@ void dos_init(void) {

  // init multiplexer
  can_set_obd(car_harness_status, false);
+
+  // Init clock source as internal free running
+  dos_set_clock_source_mode(CLOCK_SOURCE_MODE_FREE_RUNNING);
 }

 const harness_configuration dos_harness_config = {
@@ -209,16 +213,18 @@ const board board_dos = {
  .board_type = "Dos",
  .harness_config = &dos_harness_config,
  .init = dos_init,
-  .enable_can_transciever = dos_enable_can_transciever,
-  .enable_can_transcievers = dos_enable_can_transcievers,
+  .enable_can_transceiver = dos_enable_can_transceiver,
+  .enable_can_transceivers = dos_enable_can_transceivers,
  .set_led = dos_set_led,
  .set_usb_power_mode = dos_set_usb_power_mode,
-  .set_esp_gps_mode = dos_set_esp_gps_mode,
+  .set_gps_mode = dos_set_gps_mode,
  .set_can_mode = dos_set_can_mode,
  .usb_power_mode_tick = dos_usb_power_mode_tick,
  .check_ignition = dos_check_ignition,
  .read_current = dos_read_current,
  .set_fan_power = dos_set_fan_power,
  .set_ir_power = dos_set_ir_power,
-  .set_phone_power = dos_set_phone_power
+  .set_phone_power = dos_set_phone_power,
+  .set_clock_source_mode = dos_set_clock_source_mode,
+  .set_siren = dos_set_siren
 };
--- a/panda/board/boards/grey.h
+++ b/panda/board/boards/grey.h
@@ -8,22 +8,22 @@ void grey_init(void) {
  white_grey_common_init();

  // Set default state of GPS
-  current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+  current_board->set_gps_mode(GPS_ENABLED);
 }

-void grey_set_esp_gps_mode(uint8_t mode) {
+void grey_set_gps_mode(uint8_t mode) {
  switch (mode) {
-    case ESP_GPS_DISABLED:
+    case GPS_DISABLED:
      // GPS OFF
      set_gpio_output(GPIOC, 14, 0);
      set_gpio_output(GPIOC, 5, 0);
      break;
-    case ESP_GPS_ENABLED:
+    case GPS_ENABLED:
      // GPS ON
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 1);
      break;
-    case ESP_GPS_BOOTMODE:
+    case GPS_BOOTMODE:
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 0);
      break;
@@ -37,16 +37,18 @@ const board board_grey = {
  .board_type = "Grey",
  .harness_config = &white_harness_config,
  .init = grey_init,
-  .enable_can_transciever = white_enable_can_transciever,
-  .enable_can_transcievers = white_enable_can_transcievers,
+  .enable_can_transceiver = white_enable_can_transceiver,
+  .enable_can_transceivers = white_enable_can_transceivers,
  .set_led = white_set_led,
  .set_usb_power_mode = white_set_usb_power_mode,
-  .set_esp_gps_mode = grey_set_esp_gps_mode,
+  .set_gps_mode = grey_set_gps_mode,
  .set_can_mode = white_set_can_mode,
  .usb_power_mode_tick = white_usb_power_mode_tick,
  .check_ignition = white_check_ignition,
  .read_current = white_read_current,
  .set_fan_power = white_set_fan_power,
  .set_ir_power = white_set_ir_power,
-  .set_phone_power = white_set_phone_power
-};
+  .set_phone_power = white_set_phone_power,
+  .set_clock_source_mode = white_set_clock_source_mode,
+  .set_siren = white_set_siren
+};
--- a/panda/board/boards/pedal.h
+++ b/panda/board/boards/pedal.h
@@ -2,19 +2,19 @@
 // Pedal //
 // ///// //

-void pedal_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
+void pedal_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver){
    case 1:
      set_gpio_output(GPIOB, 3, !enabled);
      break;
    default:
-      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
      break;
  }
 }

-void pedal_enable_can_transcievers(bool enabled) {
-  pedal_enable_can_transciever(1U, enabled);
+void pedal_enable_can_transceivers(bool enabled) {
+  pedal_enable_can_transceiver(1U, enabled);
 }

 void pedal_set_led(uint8_t color, bool enabled) {
@@ -35,7 +35,7 @@ void pedal_set_usb_power_mode(uint8_t mode){
  puts("Trying to set USB power mode on pedal. This is not supported.\n");
 }

-void pedal_set_esp_gps_mode(uint8_t mode) {
+void pedal_set_gps_mode(uint8_t mode) {
  UNUSED(mode);
  puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
 }
@@ -77,6 +77,14 @@ void pedal_set_phone_power(bool enabled){
  UNUSED(enabled);
 }

+void pedal_set_clock_source_mode(uint8_t mode){
+  UNUSED(mode);
+}
+
+void pedal_set_siren(bool enabled){
+  UNUSED(enabled);
+}
+
 void pedal_init(void) {
  common_init_gpio();

@@ -86,8 +94,8 @@ void pedal_init(void) {
  // DAC outputs on A4 and A5
  //   apparently they don't need GPIO setup

-  // Enable transciever
-  pedal_enable_can_transcievers(true);
+  // Enable transceiver
+  pedal_enable_can_transceivers(true);

  // Disable LEDs
  pedal_set_led(LED_RED, false);
@@ -102,16 +110,18 @@ const board board_pedal = {
  .board_type = "Pedal",
  .harness_config = &pedal_harness_config,
  .init = pedal_init,
-  .enable_can_transciever = pedal_enable_can_transciever,
-  .enable_can_transcievers = pedal_enable_can_transcievers,
+  .enable_can_transceiver = pedal_enable_can_transceiver,
+  .enable_can_transceivers = pedal_enable_can_transceivers,
  .set_led = pedal_set_led,
  .set_usb_power_mode = pedal_set_usb_power_mode,
-  .set_esp_gps_mode = pedal_set_esp_gps_mode,
+  .set_gps_mode = pedal_set_gps_mode,
  .set_can_mode = pedal_set_can_mode,
  .usb_power_mode_tick = pedal_usb_power_mode_tick,
  .check_ignition = pedal_check_ignition,
  .read_current = pedal_read_current,
  .set_fan_power = pedal_set_fan_power,
  .set_ir_power = pedal_set_ir_power,
-  .set_phone_power = pedal_set_phone_power
-};
+  .set_phone_power = pedal_set_phone_power,
+  .set_clock_source_mode = pedal_set_clock_source_mode,
+  .set_siren = pedal_set_siren
+};
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
toyboxZ	3a95f1e6f6	fix dynamicGas profile change does not take effect	2020-12-13 11:47:04 +08:00
Rick Lan	51f934cc13	Merge branch 'devel-i18n' of https://github.com/dragonpilot-community/dragonpilot into devel-i18n	2020-12-01 09:25:01 +10:00
Rick Lan	108da3b04d	dragonpilot 0.7.10.1 ======================== * HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe) * HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) * Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217) * Use openpilot v0.8 model. (Thanks to @eisenheim) * Added optimizations from pre-0.8. * Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369) * Fixed issue with white/grey panda support for VW (Thanks to @lirudy) * GENESIS_G70 Optimisation (Thanks to @sebastian4k) * HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe) * Added Dynamic Gas Lite. (Thanks to @toyboxZ) * Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) * Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)	2020-12-01 09:22:08 +10:00
Rick Lan	10d5cbd69b	attempt to fix lead_distance bug	2020-11-30 21:40:50 +10:00
dragonpilot	501f08c879	Merge pull request #71 from toyboxZ2/devel-i18n use vEgo override cruise speed for toyota at min speed	2020-11-28 10:54:29 +10:00
dragonpilot	a6bde72e7e	Merge pull request #70 from menwenliang/devel-i18n Devel i18n	2020-11-28 10:29:50 +10:00
sadmen	2694a36829	modify bug	2020-11-27 20:04:42 +08:00
toyboxZ2	bbbccead30	use vEgo override cruise speed for toyota at min speed	2020-11-26 23:52:28 +08:00
menwenliang	b499ada25e	去除部分打印和恢复原有部分dp参数	2020-11-26 16:15:45 +08:00
menwenliang	b48364fa14	add better reset	2020-11-26 13:06:29 +08:00
dragonpilot	7265f321b9	Merge pull request #68 from toyboxZ2/devel-i18n add ShaneSmiskol's DynamicGas feature	2020-11-21 18:49:31 +10:00
Comma Device	71946e8e0e	add ShaneSmiskol's DynamicGas feature	2020-11-21 15:19:34 +08:00
Rick Lan	a8f732edb4	dragonpilot 0.7.10	2020-11-04 09:18:42 +10:00
Adeeb Shihadeh	8369e11417	fix driver camera AE and grey panda deprecation (#2426 )	2020-10-27 17:06:48 -07:00
Vehicle Researcher	26bccbdcc8	openpilot v0.7.10 release	2020-10-21 06:33:00 -07:00
Adeeb Shihadeh	db336329c5	fix not going onroad on clean dashcam install (#2280 )	2020-10-06 11:11:04 +02:00
Adeeb Shihadeh	7a7f343978	Fix calibration invalid alert on startup	2020-10-05 22:08:03 -07:00
Vehicle Researcher	49d82d6ac1	openpilot v0.7.9 release	2020-10-02 01:45:44 +00:00
Vehicle Researcher	0aa4867be4	openpilot v0.7.8 release	2020-08-13 00:37:05 +00:00