try fix volkswagen PQ message

* Fixed Honda display incorrect brake display. (Thanks to @深鲸希西)
add rec screen button
2026-06-12 17:26:38 +08:00 · 2021-02-16 22:09:53 +08:00 · 2021-01-11 15:52:31 +10:00 · 2021-01-02 23:03:48 +08:00 · 2020-12-24 22:20:13 +10:00 · 2020-12-24 22:11:16 +10:00
225 changed files with 4372 additions and 3483 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -53,6 +53,7 @@ one
 openpilot
 notebooks
 xx
+hyperthneed
 panda_jungle
 apks
 openpilot-apks
@@ -66,3 +67,4 @@ pandaextra
 flycheck_*

 cppcheck_report.txt
+comma.sh
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -1,3 +1,10 @@
+dragonpilot 0.8.1
+========================
+* 基於最新 openpilot 0.8.1 devel.
+* Based on latest openpilot 0.8.1 devel.
+* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
+* Added REC screen button. (Thanks to @toyboxZ)
+
 dragonpilot 0.8.0
 ========================
 * 基於最新 openpilot 0.8.0 devel.
--- a/CHANGELOGS-REL.md
+++ b/CHANGELOGS-REL.md
@@ -1,3 +1,10 @@
+dragonpilot 0.8.1
+========================
+* 基於最新 openpilot 0.8.1 devel.
+* Based on latest openpilot 0.8.1 devel.
+* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
+* Added REC screen button. (Thanks to @toyboxZ)
+
 dragonpilot 0.8.0
 ========================
 * 基於最新 openpilot 0.8.0 devel.
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -1,3 +1,18 @@
+2021-01-11 (0.8.1.0)
+========================
+* 修正 honda 剎車錯誤顯示。(感謝 @深鲸希西 提供)
+* Fixed Honda display incorrect brake display. (Thanks to @深鲸希西)
+
+2021-01-02 (0.8.1.0)
+========================
+* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
+* Added REC screen button. (Thanks to @toyboxZ)
+
+2020-12-23 (0.8.1.0)
+========================
+* 基於最新 openpilot 0.8.1 devel.
+* Based on latest openpilot 0.8.1 devel.
+
 2020-12-07 (0.8.0.0)
 ========================
 * 錯誤修正。
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -2,7 +2,7 @@

 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.

-Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
+Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).

 ## Getting Started

@@ -12,23 +12,19 @@ Most open source development activity is coordinated through our [Discord](https

 ## Testing

-### Local Testing
-
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
-
 ### Automated Testing

-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.
+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

-Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.

 ## Car Ports (openpilot)

 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.
+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).

 ## Pull Requests

@@ -38,12 +34,10 @@ git clone https://github.com/commaai/openpilot.git --recursive
 ```
 Or alternatively, when on the master branch:
 ```
-git submodule init
-git submodule update
+git submodule update --init
 ```
 The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
 Modules that are in seperate repositories include:
-* apks
 * cereal
 * laika
 * opendbc
--- a/4
+++ b/4
@@ -124,7 +124,7 @@ pipeline {
                stage('Replay Tests') {
                  steps {
                    phone_steps("eon2", [
-                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+                      ["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
                    ])
                  }
                }
@@ -132,7 +132,7 @@ pipeline {
                stage('HW + Unit Tests') {
                  steps {
                    phone_steps("eon", [
-                      ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+                      ["build", "SCONS_CACHE=1 scons -j4"],
                      ["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"],
--- a/README.md
+++ b/README.md
@@ -64,27 +64,27 @@ Supported Cars

 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
+| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Acura     | RDX 2020                      | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | 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     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Insight 2019-20               | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Inspire 2018                  | 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 2016-19                 | 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              |
+| Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph              |
+| Hyundai   | Sonata 2020-21                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | ES 2019-20                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
@@ -93,11 +93,12 @@ Supported Cars
 | Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | NX Hybrid 2018                | 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 2020-21                    | 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 2016-18                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
@@ -106,9 +107,9 @@ Supported Cars
 | Toyota    | Corolla Hatchback 2019-20     | 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 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2020-21            | 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    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
@@ -143,7 +144,8 @@ 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 2019-20        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
@@ -162,7 +164,7 @@ Community Maintained Cars and Features
 | 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         |
+| Subaru    | Forester 2019-20              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |

--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,13 @@
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
 Version 0.8.0 (2020-11-30)
 ========================
 * New driving model: fully 3D and improved cut-in detection
--- a/56
+++ b/56
@@ -1,12 +1,10 @@
-import Cython
-import distutils
 import os
 import shutil
 import subprocess
 import sys
+import sysconfig
 import platform
 import numpy as np
-from sysconfig import get_paths

 TICI = os.path.isfile('/TICI')
 Decider('MD5-timestamp')
@@ -19,10 +17,6 @@ AddOption('--asan',
          action='store_true',
          help='turn on ASAN')

-# Rebuild cython extensions if python, distutils, or cython change
-cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
-Export('cython_dependencies')
-
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
@@ -130,10 +124,6 @@ else:
 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path

-#Get the path for Python.h for cython linking
-python_path = get_paths()['include']
-numpy_path = np.get_include()
-
 env = Environment(
  ENV=lenv,
  CCFLAGS=[
@@ -188,30 +178,27 @@ env = Environment(
  CXXFLAGS=["-std=c++1z"] + cxxflags,
  LIBPATH=libpath + [
    "#cereal",
+    "#phonelibs",
+    "#opendbc/can",
    "#selfdrive/boardd",
    "#selfdrive/common",
-    "#phonelibs",
  ],
  CYTHONCFILESUFFIX=".cpp",
-  tools=["default", "cython"]
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "cython", "compilation_db"],
 )

+if GetOption('test'):
+  env.CompilationDatabase('compile_commands.json')
+
 if os.environ.get('SCONS_CACHE'):
  cache_dir = '/tmp/scons_cache'
-
-  if os.getenv('CI'):
-    branch = os.getenv('GIT_BRANCH')
-
-    if QCOM_REPLAY:
-      cache_dir = '/tmp/scons_cache_qcom_replay'
-    elif branch is not None and branch != 'master':
-      cache_dir_branch = '/tmp/scons_cache_' + branch
-      if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
-        shutil.copytree(cache_dir, cache_dir_branch)
-      cache_dir = cache_dir_branch
-  elif TICI:
+  if TICI:
    cache_dir = '/data/scons_cache'

+  if QCOM_REPLAY:
+    cache_dir = '/tmp/scons_cache_qcom_replay'
+
  CacheDir(cache_dir)

 node_interval = 5
@@ -235,22 +222,20 @@ def abspath(x):
    # rpath works elsewhere
    return x[0].path.rsplit("/", 1)[1][:-3]

-#Cython build enviroment
+# Cython build enviroment
+py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
-envCython["CPPPATH"] += [python_path, numpy_path]
+envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]

-python_libs = []
+envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"]=["-bundle", "-undefined", "dynamic_lookup"]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
 elif arch == "aarch64":
-  envCython["LINKFLAGS"]=["-shared"]
-
-  python_libs.append(os.path.basename(python_path))
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(py_include)]
 else:
-  envCython["LINKFLAGS"]=["-pthread", "-shared"]
-
-envCython["LIBS"] = python_libs
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]

 Export('envCython')

@@ -311,3 +296,4 @@ if arch != "Darwin":

 if arch == "x86_64":
  SConscript(['tools/lib/index_log/SConscript'])
+
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -1,6 +1,7 @@
 gen
 node_modules
 package-lock.json
+*.tmp
 *.pyc
 __pycache__
 .*.swp
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'arch', 'zmq', 'cython_dependencies')
+Import('env', 'envCython', 'arch', 'zmq')

 import shutil

@@ -55,11 +55,7 @@ Depends('messaging/bridge.cc', services_h)
 # different target?
 #env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])

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

 if GetOption('test'):
  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -101,6 +101,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    fanMalfunction @91;
    cameraMalfunction @92;

+    startupOneplus @82;
+
    gasUnavailableDEPRECATED @3;
    dataNeededDEPRECATED @16;
    modelCommIssueDEPRECATED @27;
@@ -112,8 +114,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    invalidGiraffeHondaDEPRECATED @49;
    invalidGiraffeToyotaDEPRECATED @60;
    whitePandaUnsupportedDEPRECATED @81;
-    startupGreyPandaDEPRECATED @82;
-    canErrorPersistentDEPRECATED @83;
+    commIssueWarningDEPRECATED @83;
    focusRecoverActiveDEPRECATED @86;
    neosUpdateRequiredDEPRECATED @88;
    modelLagWarningDEPRECATED @93;
@@ -414,6 +415,9 @@ struct CarParams {
  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
  steerControlType @34 :SteerControlType;
  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
+  stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
+  startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -49,6 +49,8 @@ struct InitData {
    neo @1;
    chffrAndroid @2;
    chffrIos @3;
+    tici @4;
+    pc @5;
  }

  struct AndroidBuildInfo {
@@ -629,6 +631,7 @@ struct ModelData {
  frameDropPerc @13 :Float32;
  timestampEof @9 :UInt64;
  modelExecutionTime @14 :Float32;
+  gpuExecutionTime @16 :Float32;
  rawPred @15 :Data;

  path @1 :PathData;
@@ -697,6 +700,7 @@ struct ModelDataV2 {
  frameDropPerc @2 :Float32;
  timestampEof @3 :UInt64;
  modelExecutionTime @15 :Float32;
+  gpuExecutionTime @17 :Float32;
  rawPred @16 :Data;

  position @4 :XYZTData;
@@ -1955,6 +1959,7 @@ struct OrbKeyFrame {
 struct DriverState {
  frameId @0 :UInt32;
  modelExecutionTime @14 :Float32;
+  dspExecutionTime @16 :Float32;
  rawPred @15 :Data;

  descriptorDEPRECATED @1 :List(Float32);
@@ -2155,7 +2160,7 @@ struct DragonConf {
  dpAppHr @6 :Bool;
  dpAppHrManual @7 :Int8;
  dpDashcam @8 :Bool;
-  dpDashcamHoursStored @9 :UInt8;
+  dpDashcamUi @9 :Bool;
  dpAutoShutdown @10 :Bool;
  dpAthenad @11 :Bool;
  dpUploader @12 :Bool;
@@ -2221,4 +2226,4 @@ struct DragonConf {
  dpDischargingAt @72 :UInt8;
  dpIsUpdating @73 :Bool;
  dpTimebombAssist @74 :Bool;
-}
+}
--- a/cereal/messaging/messaging_pyx.pyx
+++ b/cereal/messaging/messaging_pyx.pyx
@@ -7,11 +7,11 @@ from libcpp cimport bool
 from libc cimport errno


-from messaging cimport Context as cppContext
-from messaging cimport SubSocket as cppSubSocket
-from messaging cimport PubSocket as cppPubSocket
-from messaging cimport Poller as cppPoller
-from messaging cimport Message as cppMessage
+from .messaging cimport Context as cppContext
+from .messaging cimport SubSocket as cppSubSocket
+from .messaging cimport PubSocket as cppPubSocket
+from .messaging cimport Poller as cppPoller
+from .messaging cimport Message as cppMessage


 class MessagingError(Exception):
@@ -59,12 +59,12 @@ cdef class Poller:
    cdef int t = timeout

    with nogil:
-        result = self.poller.poll(t)
+      result = self.poller.poll(t)

    for s in result:
-        socket = SubSocket()
-        socket.setPtr(s)
-        sockets.append(socket)
+      socket = SubSocket()
+      socket.setPtr(s)
+      sockets.append(socket)

    return sockets

--- a/cereal/messaging/messaging_pyx_setup.py
+++ b/cereal/messaging/messaging_pyx_setup.py
@@ -1,58 +0,0 @@
-import os
-import subprocess
-import sysconfig
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-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)
-  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)
-
-
-sourcefiles = ['messaging_pyx.pyx']
-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 not TICI:
-  # android
-  extra_compile_args += ["-Wno-deprecated-register"]
-  libraries += ['gnustl_shared']
-
-setup(name='messaging',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "messaging_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-          libraries=libraries,
-          extra_objects=[
-            os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
-          ]
-        ),
-        nthreads=4,
-      ),
-)
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,7 +1,7 @@
 import os
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

-from common.hardware import PC
+from selfdrive.hardware import PC
 if PC:
  PERSIST = os.path.join(BASEDIR, "persist")
 else:
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -26,7 +26,7 @@ confs = [
  {'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']},
+  {'name': 'dp_dashcam_ui', 'default': 0, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  # 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']},
--- a/common/gpio.py
+++ b/common/gpio.py
@@ -1,11 +1,3 @@
-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:
--- a/common/hardware_tici.py
+++ b/common/hardware_tici.py
@@ -1,59 +0,0 @@
-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
@@ -1,6 +1,6 @@
 import gettext
-from common.hardware import EON
-from common.hardware_android import getprop
+from selfdrive.hardware import EON
+from selfdrive.hardware.eon.hardware import getprop

 locale_dir = '/data/openpilot/selfdrive/assets/locales'
 supported_language = ['en-US', 'zh-TW', 'zh-CN', 'ja-JP', 'ko-KR']
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -4,21 +4,31 @@ import os
 import time
 import multiprocessing

-from common.hardware import PC
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from selfdrive.hardware import PC, TICI


 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager

+# driver monitoring
+if TICI:
+  DT_DMON = 0.05
+else:
+  DT_DMON = 0.1
+

 class Priority:
-  MIN_REALTIME = 52 # highest android process priority is 51
-  CTRL_LOW = MIN_REALTIME
-  CTRL_HIGH = MIN_REALTIME + 1
+  # CORE 2
+  # - modeld = 55
+  # - camerad = 54
+  CTRL_LOW = 51 # plannerd & radard
+
+  # CORE 3
+  # - boardd = 55
+  CTRL_HIGH = 53


 def set_realtime_priority(level):
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -1,7 +1,7 @@
 import numpy as np

 import common.transformations.orientation as orient
-from common.hardware import TICI
+from selfdrive.hardware import TICI

 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -14,7 +14,12 @@ function tici_init {
 }

 function two_init {
-  # Restrict Android and other system processes to the first two cores
+  # Wifi scan
+  wpa_cli IFNAME=wlan0 SCAN
+
+  # *** shield cores 2-3 ***
+
+  # android gets two cores
  echo 0-1 > /dev/cpuset/background/cpus
  echo 0-1 > /dev/cpuset/system-background/cpus
  echo 0-1 > /dev/cpuset/foreground/cpus
@@ -24,7 +29,12 @@ function two_init {
  # openpilot gets all the cores
  echo 0-3 > /dev/cpuset/app/cpus

-  # set up governors
+  # mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
+  echo 3 | tee  /sys/class/net/*/queues/*/rps_cpus
+  echo 3 | tee  /sys/class/net/*/queues/*/xps_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
@@ -40,6 +50,8 @@ function two_init {
  # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
  # it seems to gain nothing but a wasted 500mW

+  # *** set up IRQ affinities ***
+
  # 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)
@@ -50,6 +62,24 @@ function two_init {
  [ -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

+  # GPU and camera get cpu 2
+  CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
+  for irq in $CAM_IRQS; do
+    echo 2 > /proc/irq/$irq/smp_affinity_list
+  done
+  echo 2 > /proc/irq/193/smp_affinity_list # GPU
+
+  # give GPU threads RT priority
+  for pid in $(pgrep "kgsl"); do
+    chrt -f -p 52 $pid
+  done
+
+  # the flippening!
+  LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
+
+  # disable bluetooth
+  service call bluetooth_manager 8
+
  # Check for NEOS update
  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
    if [ -f "$DIR/scripts/continue.sh" ]; then
@@ -81,9 +111,6 @@ function two_init {
 }

 function launch {
-  # Wifi scan
-  wpa_cli IFNAME=wlan0 SCAN
-
  # Remove orphaned git lock if it exists on boot
  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock

@@ -129,9 +156,7 @@ function launch {
  # comma two init
  if [ -f /EON ]; then
    two_init
-  fi
-
-  if [ -f /TICI ]; then
+  elif [ -f /TICI ]; then
    tici_init
  fi

--- a/models/supercombo.dlc
+++ b/models/supercombo.dlc
--- a/opendbc/.gitignore
+++ b/opendbc/.gitignore
@@ -1,6 +1,7 @@
 .mypy_cache/
 *.pyc
 *.os
+*.o
 *.tmp
 *.dylib
 .*.swp
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "acura_ilx_2016_can.dbc starts here"
+CM_ "acura_ilx_2016_can.dbc starts here";



--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "acura_rdx_2018_can.dbc starts here"
+CM_ "acura_rdx_2018_can.dbc starts here";



--- a/opendbc/acura_rdx_2020_can_generated.dbc
+++ b/opendbc/acura_rdx_2020_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _bosch_2020.dbc starts here"
+CM_ "Imported file _bosch_2020.dbc starts here";
 VERSION ""


@@ -375,7 +375,7 @@ 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"
+CM_ "acura_rdx_2020_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
--- a/opendbc/can/SConscript
+++ b/opendbc/can/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'cereal', 'cython_dependencies')
+Import('env', 'envCython', 'cereal')

 import os
 from opendbc.can.process_dbc import process
@@ -13,10 +13,10 @@ for x in sorted(os.listdir('../')):
    dbc = env.Command(out_fn, in_fn, compile_dbc)
    dbcs.append(dbc)

-
 libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])

 # Build packer and parser
-env.Command(['packer_pyx.so', 'packer_pyx.cpp', 'parser_pyx.so', 'parser_pyx.cpp'],
-            cython_dependencies + [libdbc, cereal, 'common_pyx_setup.py', 'common.pxd', 'packer_pyx.pyx', 'parser_pyx.pyx', 'packer.cc', 'parser.cc'],
-            "cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
+lenv = envCython.Clone()
+lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
+lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
+lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
--- a/opendbc/can/common_pyx_setup.py
+++ b/opendbc/can/common_pyx_setup.py
@@ -1,94 +0,0 @@
-import os
-import subprocess
-import sysconfig
-import platform
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-from Cython.Build import cythonize
-from Cython.Distutils import build_ext
-
-
-ANNOTATE = os.getenv('ANNOTATE') is not None
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
-
-
-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)
-
-
-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"]
-
-if platform.system() == "Darwin":
-  libdbc = "libdbc.dylib"
-else:
-  libdbc = "libdbc.so"
-
-extra_link_args = [os.path.join(BASEDIR, 'opendbc', 'can', libdbc)]
-include_dirs = [
-  BASEDIR,
-  os.path.join(BASEDIR, 'phonelibs'),
-]
-
-# Build CAN Parser
-
-setup(name='CAN parser',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "parser_pyx",
-          language="c++",
-          sources=['parser_pyx.pyx'],
-          extra_compile_args=extra_compile_args,
-          include_dirs=include_dirs,
-          extra_link_args=extra_link_args,
-        ),
-        nthreads=4,
-        annotate=ANNOTATE
-      ),
-)
-
-if platform.system() == "Darwin":
-  os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib parser_pyx.so")
-
-
-# Build CAN Packer
-
-setup(name='CAN packer',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "packer_pyx",
-          language="c++",
-          sources=['packer_pyx.pyx'],
-          extra_compile_args=extra_compile_args,
-          include_dirs=include_dirs,
-          extra_link_args=extra_link_args,
-        ),
-        nthreads=4,
-        annotate=ANNOTATE
-      ),
-)
-
-if platform.system() == "Darwin":
-  os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib packer_pyx.so")
--- a/opendbc/can/packer_pyx.pyx
+++ b/opendbc/can/packer_pyx.pyx
@@ -8,8 +8,8 @@ from libcpp.string cimport string
 from libcpp cimport bool
 from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY

-from common cimport CANPacker as cpp_CANPacker
-from common cimport dbc_lookup, SignalPackValue, DBC
+from .common cimport CANPacker as cpp_CANPacker
+from .common cimport dbc_lookup, SignalPackValue, DBC


 cdef class CANPacker:
@@ -22,8 +22,8 @@ cdef class CANPacker:
  def __init__(self, dbc_name):
    self.dbc = dbc_lookup(dbc_name)
    if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
-      
+      raise RuntimeError(f"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):
--- a/opendbc/can/parser_pyx.pyx
+++ b/opendbc/can/parser_pyx.pyx
@@ -8,8 +8,8 @@ from libc.stdint cimport uint32_t, uint64_t, uint16_t
 from libcpp.map cimport map
 from libcpp cimport bool

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

 import os
 import numbers
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""


@@ -379,7 +379,7 @@ 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_ "honda_accord_lx15t_2018_can.dbc starts here"
+CM_ "honda_accord_lx15t_2018_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""


@@ -379,7 +379,7 @@ 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_ "honda_accord_s2t_2018_can.dbc starts here"
+CM_ "honda_accord_s2t_2018_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""


@@ -379,7 +379,7 @@ 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_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
+CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
--- a/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
+++ b/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""


@@ -379,7 +379,7 @@ 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_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here"
+CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here";


 BO_ 316 GAS_PEDAL_2: 8 XXX
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "honda_civic_touring_2016_can.dbc starts here"
+CM_ "honda_civic_touring_2016_can.dbc starts here";



--- a/opendbc/honda_crv_ex_2017_body_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_body_generated.dbc
@@ -1,6 +1,6 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";

-CM_ "honda_crv_ex_2017_body.dbc starts here"
+CM_ "honda_crv_ex_2017_body.dbc starts here";
 BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX
 SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""


@@ -379,7 +379,7 @@ 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_ "honda_crv_ex_2017_can.dbc starts here"
+CM_ "honda_crv_ex_2017_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
--- a/opendbc/honda_crv_executive_2016_can_generated.dbc
+++ b/opendbc/honda_crv_executive_2016_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "honda_crv_executive_2016_can.dbc starts here"
+CM_ "honda_crv_executive_2016_can.dbc starts here";



--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""


@@ -379,7 +379,7 @@ 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_ "honda_crv_hybrid_2019_can.dbc starts here"
+CM_ "honda_crv_hybrid_2019_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "honda_crv_touring_2016_can.dbc starts here"
+CM_ "honda_crv_touring_2016_can.dbc starts here";



--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "honda_fit_ex_2018_can.dbc starts here"
+CM_ "honda_fit_ex_2018_can.dbc starts here";



--- a/opendbc/honda_hrv_touring_2019_can_generated.dbc
+++ b/opendbc/honda_hrv_touring_2019_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "honda_hrv_touring_2019_can.dbc starts here"
+CM_ "honda_hrv_touring_2019_can.dbc starts here";



--- a/opendbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _bosch_2018.dbc starts here"
+CM_ "Imported file _bosch_2018.dbc starts here";
 VERSION ""


@@ -379,7 +379,7 @@ 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_ "honda_insight_ex_2019_can.dbc starts here"
+CM_ "honda_insight_ex_2019_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "honda_odyssey_exl_2018.dbc starts here"
+CM_ "honda_odyssey_exl_2018.dbc starts here";



--- a/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
+++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"
+CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here";



--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "honda_pilot_touring_2017_can.dbc starts here"
+CM_ "honda_pilot_touring_2017_can.dbc starts here";



--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 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 _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "honda_ridgeline_black_edition_2017_can.dbc starts here"
+CM_ "honda_ridgeline_black_edition_2017_can.dbc starts here";



--- a/opendbc/hyundai_kia_generic.dbc
+++ b/opendbc/hyundai_kia_generic.dbc
@@ -1233,8 +1233,8 @@ BO_ 544 ESP12: 8 ESC
 SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
 SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
 SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
- SG_ ESP12_AliveCounter : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
- SG_ ESP12_Checksum : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+ SG_ ESP12_Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+ SG_ ESP12_AliveCounter : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU

 BO_ 1307 CLU16: 8 CLU
 SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  TPMS
--- a/opendbc/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_ct200h_2018_pt.dbc starts here"
+CM_ "lexus_ct200h_2018_pt.dbc starts here";



--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_is_2018_pt.dbc starts here"
+CM_ "lexus_is_2018_pt.dbc starts here";



--- a/opendbc/lexus_nx300_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300_2018_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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"
+CM_ "lexus_nx300_2018_pt.dbc starts here";



--- a/opendbc/lexus_nx300h_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300h_2018_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_nx300h_2018_pt.dbc starts here"
+CM_ "lexus_nx300h_2018_pt.dbc starts here";



--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_rx_350_2016_pt.dbc starts here"
+CM_ "lexus_rx_350_2016_pt.dbc starts here";



--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_rx_hybrid_2017_pt.dbc starts here"
+CM_ "lexus_rx_hybrid_2017_pt.dbc starts here";



--- a/opendbc/subaru_forester_2017_generated.dbc
+++ b/opendbc/subaru_forester_2017_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
 VERSION ""


@@ -240,7 +240,7 @@ CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
 VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
 VAL_ 1745 Units 0 "Metric" 1 "Imperial";

-CM_ "subaru_forester_2017.dbc starts here"
+CM_ "subaru_forester_2017.dbc starts here";


 BO_ 355 ES_DashStatus: 8 XXX
--- a/opendbc/subaru_global_2017_generated.dbc
+++ b/opendbc/subaru_global_2017_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _subaru_global.dbc starts here"
+CM_ "Imported file _subaru_global.dbc starts here";
 VERSION ""


@@ -244,7 +244,7 @@ CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
 CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
 CM_ SG_ 1677 Units "AU/EU: 1 = imperial, 3 = metric US: 3 = imperial, 4 = metric";

-CM_ "subaru_global_2017.dbc starts here"
+CM_ "subaru_global_2017.dbc starts here";


 BO_ 72 Transmission: 8 XXX
--- a/opendbc/subaru_outback_2015_generated.dbc
+++ b/opendbc/subaru_outback_2015_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
 VERSION ""


@@ -240,7 +240,7 @@ CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
 VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
 VAL_ 1745 Units 0 "Metric" 1 "Imperial";

-CM_ "subaru_outback_2015.dbc starts here"
+CM_ "subaru_outback_2015.dbc starts here";


 BO_ 358 ES_DashStatus: 8 XXX
--- a/opendbc/subaru_outback_2019_generated.dbc
+++ b/opendbc/subaru_outback_2019_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
+CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
 VERSION ""


@@ -240,7 +240,7 @@ CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
 VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
 VAL_ 1745 Units 0 "Metric" 1 "Imperial";

-CM_ "subaru_outback_2019.dbc starts here"
+CM_ "subaru_outback_2019.dbc starts here";


 BO_ 358 ES_DashStatus: 8 XXX
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_ "toyota_avalon_2017_pt.dbc starts here"
+CM_ "toyota_avalon_2017_pt.dbc starts here";



--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_ "toyota_camry_hybrid_2018_pt.dbc starts here"
+CM_ "toyota_camry_hybrid_2018_pt.dbc starts here";



--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_ "toyota_corolla_2017_pt.dbc starts here"
+CM_ "toyota_corolla_2017_pt.dbc starts here";



--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_ "toyota_highlander_2017_pt.dbc starts here"
+CM_ "toyota_highlander_2017_pt.dbc starts here";



--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_ "toyota_highlander_hybrid_2018_pt.dbc starts here"
+CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here";



--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
 BO_ 1014 BSM: 8 XXX
 SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
@@ -18,7 +18,7 @@ CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along
 CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -26,10 +26,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -47,8 +47,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -337,7 +342,7 @@ 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 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";
@@ -345,7 +350,7 @@ 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_ 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";
@@ -379,7 +384,7 @@ 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_ "toyota_nodsu_hybrid_pt.dbc starts here"
+CM_ "toyota_nodsu_hybrid_pt.dbc starts here";



--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
 BO_ 1014 BSM: 8 XXX
 SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
@@ -18,7 +18,7 @@ CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along
 CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -26,10 +26,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -47,8 +47,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -337,7 +342,7 @@ 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 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";
@@ -345,7 +350,7 @@ 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_ 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";
@@ -379,7 +384,7 @@ 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_ "toyota_nodsu_pt.dbc starts here"
+CM_ "toyota_nodsu_pt.dbc starts here";



--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -132,9 +137,6 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
- SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" 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
@@ -323,7 +325,7 @@ 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 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";
@@ -331,7 +333,7 @@ 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_ 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";
@@ -365,7 +367,7 @@ 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_ "toyota_prius_2017_pt.dbc starts here"
+CM_ "toyota_prius_2017_pt.dbc starts here";



--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_ "toyota_rav4_2017_pt.dbc starts here"
+CM_ "toyota_rav4_2017_pt.dbc starts here";



--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_ "toyota_rav4_hybrid_2017_pt.dbc starts here"
+CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here";



--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+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
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ SET_ME_X00_1 : 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";
+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
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the

 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX

-CM_ "Imported file _toyota_2017.dbc starts here"
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+
+CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""


@@ -320,7 +325,7 @@ 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 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";
@@ -328,7 +333,7 @@ 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_ 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";
@@ -362,7 +367,7 @@ 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_ "toyota_sienna_xle_2018_pt.dbc starts here"
+CM_ "toyota_sienna_xle_2018_pt.dbc starts here";



--- a/opendbc/vw_golf_mk4.dbc
+++ b/opendbc/vw_golf_mk4.dbc
@@ -615,27 +615,26 @@ 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_ 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_ 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_ 904 GRA: 3 XXX
 SG_ Checksumme_GRA_alt : 16|8@1+ (1,0) [0|0] "" XXX
--- a/panda/board/boards/uno.h
+++ b/panda/board/boards/uno.h
@@ -56,7 +56,12 @@ void uno_set_gps_load_switch(bool enabled) {
 }

 void uno_set_bootkick(bool enabled){
-  set_gpio_output(GPIOB, 14, !enabled);
+  if(enabled){
+    set_gpio_output(GPIOB, 14, false);
+  } else {
+    // We want the pin to be floating, not forced high!
+    set_gpio_mode(GPIOB, 14, MODE_INPUT);
+  }
 }

 void uno_bootkick(void) {
--- a/panda/board/safety/safety_nissan.h
+++ b/panda/board/safety/safety_nissan.h
@@ -11,19 +11,27 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {

 const int NISSAN_DEG_TO_CAN = 100;

-const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x280, 2, 8}};
+const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x20b, 1, 6}, {0x280, 2, 8}};

+// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
 AddrCheckStruct nissan_rx_checks[] = {
-  {.msg = {{0x2, 0, 5, .expected_timestep = 10000U}}},  // STEER_ANGLE_SENSOR (100Hz)
-  {.msg = {{0x285, 0, 8, .expected_timestep = 20000U}}}, // WHEEL_SPEEDS_REAR (50Hz)
-  {.msg = {{0x30f, 2, 3, .expected_timestep = 100000U}}}, // CRUISE_STATE (10Hz)
+  {.msg = {{0x2, 0, 5, .expected_timestep = 10000U},
+           {0x2, 1, 5, .expected_timestep = 10000U}}},  // STEER_ANGLE_SENSOR (100Hz)
+  {.msg = {{0x285, 0, 8, .expected_timestep = 20000U},
+           {0x285, 1, 8, .expected_timestep = 20000U}}}, // WHEEL_SPEEDS_REAR (50Hz)
+  {.msg = {{0x30f, 2, 3, .expected_timestep = 100000U},
+           {0x30f, 1, 3, .expected_timestep = 100000U}}}, // CRUISE_STATE (10Hz)
  {.msg = {{0x15c, 0, 8, .expected_timestep = 20000U},
+           {0x15c, 1, 8, .expected_timestep = 20000U},
           {0x239, 0, 8, .expected_timestep = 20000U}}}, // GAS_PEDAL (100Hz / 50Hz)
  {.msg = {{0x454, 0, 8, .expected_timestep = 100000U},
+           {0x454, 1, 8, .expected_timestep = 100000U},
           {0x1cc, 0, 4, .expected_timestep = 10000U}}}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
 };
 const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);

+// EPS Location. false = V-CAN, true = C-CAN
+bool nissan_alt_eps = false;

 static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

@@ -34,7 +42,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    int bus = GET_BUS(to_push);
    int addr = GET_ADDR(to_push);

-    if (bus == 0) {
+    if (((bus == 0) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps))) {
      if (addr == 0x2) {
        // Current steering angle
        // Factor -0.1, little endian
@@ -73,7 +81,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    }

    // Handle cruise enabled
-    if ((bus == 2) && (addr == 0x30f)) {
+    if ((addr == 0x30f) && (((bus == 2) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps)))) {
      bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;

      if (cruise_engaged && !cruise_engaged_prev) {
@@ -182,8 +190,14 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  return bus_fwd;
 }

+static void nissan_init(int16_t param) {
+  controls_allowed = 0;
+  nissan_alt_eps = param ? 1 : 0;
+  relay_malfunction_reset();
+}
+
 const safety_hooks nissan_hooks = {
-  .init = nooutput_init,
+  .init = nissan_init,
  .rx = nissan_rx_hook,
  .tx = nissan_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
--- a/phonelibs/opencl/include/CL/cl_ext_qcom.h
+++ b/phonelibs/opencl/include/CL/cl_ext_qcom.h
@@ -0,0 +1,255 @@
+/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc.  All Rights Reserved.
+ * Qualcomm Technologies Proprietary and Confidential.
+ */
+
+#ifndef __OPENCL_CL_EXT_QCOM_H
+#define __OPENCL_CL_EXT_QCOM_H
+
+// Needed by cl_khr_egl_event extension 
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+#include <CL/cl_ext.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************
+ * cl_qcom_create_buffer_from_image *
+ ************************************/
+
+#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM         0x40C0
+#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM       0x40C1
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateBufferFromImageQCOM(cl_mem       image,
+                            cl_mem_flags flags,
+                            cl_int      *errcode_ret);
+
+
+/************************************
+ * cl_qcom_limited_printf extension *
+ ************************************/
+
+/* Builtin printf function buffer size in bytes. */
+#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM           0x1049
+
+
+/*************************************
+ * cl_qcom_extended_images extension *
+ *************************************/
+
+#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM      0x40AA
+#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM   0x40AB
+#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM  0x40AC
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM   0x40AD
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM  0x40AE
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM   0x40AF
+
+/*************************************
+ * cl_qcom_perf_hint extension *
+ *************************************/
+
+typedef cl_uint                                     cl_perf_hint;
+
+#define CL_CONTEXT_PERF_HINT_QCOM                   0x40C2
+
+/*cl_perf_hint*/
+#define CL_PERF_HINT_HIGH_QCOM                      0x40C3
+#define CL_PERF_HINT_NORMAL_QCOM                    0x40C4
+#define CL_PERF_HINT_LOW_QCOM                       0x40C5
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetPerfHintQCOM(cl_context    context,
+                  cl_perf_hint  perf_hint);
+
+// This extension is published at Khronos, so its definitions are made in cl_ext.h.
+// This duplication is for backward compatibility.
+
+#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
+
+/*********************************
+* cl_qcom_android_native_buffer_host_ptr extension
+*********************************/
+
+#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM                  0x40C6
+
+
+typedef struct _cl_mem_android_native_buffer_host_ptr
+{
+    // Type of external memory allocation.
+    // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
+    cl_mem_ext_host_ptr  ext_host_ptr;
+
+    // Virtual pointer to the android native buffer
+    void*                anb_ptr;
+
+} cl_mem_android_native_buffer_host_ptr;
+
+#endif   //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
+
+/***********************************
+* cl_img_egl_image extension *
+************************************/
+typedef void* CLeglImageIMG;
+typedef void* CLeglDisplayIMG;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromEGLImageIMG(cl_context      context,
+                        cl_mem_flags     flags,
+                        CLeglImageIMG    image,
+                        CLeglDisplayIMG  display,
+                        cl_int           *errcode_ret);
+
+
+/*********************************
+* cl_qcom_other_image extension
+*********************************/
+
+// Extended flag for creating/querying QCOM non-standard images
+#define CL_MEM_OTHER_IMAGE_QCOM                             (1<<25)
+
+// cl_channel_type
+#define CL_QCOM_UNORM_MIPI10                                0x4159
+#define CL_QCOM_UNORM_MIPI12                                0x415A
+#define CL_QCOM_UNSIGNED_MIPI10                             0x415B
+#define CL_QCOM_UNSIGNED_MIPI12                             0x415C
+#define CL_QCOM_UNORM_INT10                                 0x415D
+#define CL_QCOM_UNORM_INT12                                 0x415E
+#define CL_QCOM_UNSIGNED_INT16                              0x415F
+
+// cl_channel_order
+// Dedicate 0x4130-0x415F range for QCOM extended image formats
+// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
+#define CL_QCOM_BAYER                                       0x414E
+
+#define CL_QCOM_NV12                                        0x4133
+#define CL_QCOM_NV12_Y                                      0x4134
+#define CL_QCOM_NV12_UV                                     0x4135
+
+#define CL_QCOM_TILED_NV12                                  0x4136
+#define CL_QCOM_TILED_NV12_Y                                0x4137
+#define CL_QCOM_TILED_NV12_UV                               0x4138
+
+#define CL_QCOM_P010                                        0x413C
+#define CL_QCOM_P010_Y                                      0x413D
+#define CL_QCOM_P010_UV                                     0x413E
+
+#define CL_QCOM_TILED_P010                                  0x413F
+#define CL_QCOM_TILED_P010_Y                                0x4140
+#define CL_QCOM_TILED_P010_UV                               0x4141
+
+
+#define CL_QCOM_TP10                                        0x4145
+#define CL_QCOM_TP10_Y                                      0x4146
+#define CL_QCOM_TP10_UV                                     0x4147
+
+#define CL_QCOM_TILED_TP10                                  0x4148
+#define CL_QCOM_TILED_TP10_Y                                0x4149
+#define CL_QCOM_TILED_TP10_UV                               0x414A
+
+/*********************************
+* cl_qcom_compressed_image extension
+*********************************/
+
+// Extended flag for creating/querying QCOM non-planar compressed images
+#define CL_MEM_COMPRESSED_IMAGE_QCOM                        (1<<27)
+
+// Extended image format
+// cl_channel_order
+#define CL_QCOM_COMPRESSED_RGBA                             0x4130
+#define CL_QCOM_COMPRESSED_RGBx                             0x4131
+
+#define CL_QCOM_COMPRESSED_NV12_Y                           0x413A
+#define CL_QCOM_COMPRESSED_NV12_UV                          0x413B
+
+#define CL_QCOM_COMPRESSED_P010                             0x4142
+#define CL_QCOM_COMPRESSED_P010_Y                           0x4143
+#define CL_QCOM_COMPRESSED_P010_UV                          0x4144
+
+#define CL_QCOM_COMPRESSED_TP10                             0x414B
+#define CL_QCOM_COMPRESSED_TP10_Y                           0x414C
+#define CL_QCOM_COMPRESSED_TP10_UV                          0x414D
+
+#define CL_QCOM_COMPRESSED_NV12_4R                          0x414F
+#define CL_QCOM_COMPRESSED_NV12_4R_Y                        0x4150
+#define CL_QCOM_COMPRESSED_NV12_4R_UV                       0x4151
+/*********************************
+* cl_qcom_compressed_yuv_image_read extension
+*********************************/
+
+// Extended flag for creating/querying QCOM compressed images
+#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM                    (1<<28)
+
+// Extended image format
+#define CL_QCOM_COMPRESSED_NV12                             0x10C4
+
+// Extended flag for setting ION buffer allocation type
+#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM                 0x40CD
+#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM       0x40CE
+
+/*********************************
+* cl_qcom_accelerated_image_ops
+*********************************/
+#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM                         0x4110
+#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM                       0x4111
+#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM                    0x4112
+#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM                    0x4113
+#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM         0x4114
+#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM         0x4115
+
+//Extended flag for specifying weight image type
+#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM                          (1<<0)
+
+// Box Filter
+typedef struct _cl_box_filter_size_qcom
+{
+    // Width of box filter on X direction.
+    float box_filter_width;
+
+    // Height of box filter on Y direction.
+    float box_filter_height;
+} cl_box_filter_size_qcom;
+
+// HOF Weight Image Desc
+typedef struct _cl_weight_desc_qcom
+{
+    /** Coordinate of the "center" point of the weight image,
+        based on the weight image's top-left corner as the origin. */
+    size_t        center_coord_x;
+    size_t        center_coord_y;
+    cl_bitfield   flags;
+} cl_weight_desc_qcom;
+
+typedef struct _cl_weight_image_desc_qcom
+{
+    cl_image_desc           image_desc;
+    cl_weight_desc_qcom     weight_desc;
+} cl_weight_image_desc_qcom;
+
+/*************************************
+ * cl_qcom_protected_context extension *
+ *************************************/
+
+#define CL_CONTEXT_PROTECTED_QCOM                    0x40C7
+#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM           0x40C8
+
+/*************************************
+ * cl_qcom_priority_hint extension *
+ *************************************/
+#define CL_PRIORITY_HINT_NONE_QCOM                   0
+typedef cl_uint                                     cl_priority_hint;
+
+#define CL_CONTEXT_PRIORITY_HINT_QCOM               0x40C9
+
+/*cl_priority_hint*/
+#define CL_PRIORITY_HINT_HIGH_QCOM                  0x40CA
+#define CL_PRIORITY_HINT_NORMAL_QCOM                0x40CB
+#define CL_PRIORITY_HINT_LOW_QCOM                   0x40CC
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_EXT_QCOM_H */
--- a/rednose/helpers/feature_handler.py
+++ b/rednose/helpers/feature_handler.py
@@ -153,6 +153,6 @@ def generate_orient_error_jac(K):


 if __name__ == "__main__":
-  # TODO: get K from argparse
+  K = int(sys.argv[1].split("_")[-1])
  generated_dir = sys.argv[2]
-  FeatureHandler.generate_code(generated_dir)
+  FeatureHandler.generate_code(generated_dir, K=K)
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -20,11 +20,11 @@ from websocket import ABNF, WebSocketTimeoutException, create_connection

 import cereal.messaging as messaging
 from cereal.services import service_list
-from common.hardware import HARDWARE
 from common.api import Api
 from common.basedir import PERSIST
 from common.params import Params
 from common.realtime import sec_since_boot
+from selfdrive.hardware import HARDWARE
 from selfdrive.loggerd.config import ROOT
 from selfdrive.swaglog import cloudlog

@@ -221,6 +221,11 @@ def getSimInfo():
  return HARDWARE.get_sim_info()


+@dispatcher.add_method
+def getNetworkType():
+  return HARDWARE.get_network_type()
+
+
@dispatcher.add_method
 def takeSnapshot():
  from selfdrive.camerad.snapshot.snapshot import snapshot, jpeg_write
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -476,6 +476,7 @@ void pigeon_thread() {

  // ubloxRaw = 8042
  PubMaster pm({"ubloxRaw"});
+  bool ignition_last = false;

 #ifdef QCOM2
  Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
@@ -483,8 +484,6 @@ void pigeon_thread() {
  Pigeon * pigeon = Pigeon::connect(panda);
 #endif

-  pigeon->init();
-
  // dp
  #ifdef DisableRelay
  panda->set_safety_model(cereal::CarParams::SafetyModel::TOYOTA);
@@ -494,13 +493,23 @@ void pigeon_thread() {
    std::string recv = pigeon->receive();
    if (recv.length() > 0) {
      if (recv[0] == (char)0x00){
-        LOGW("received invalid ublox message, resetting panda GPS");
-        pigeon->init();
+        if (ignition) {
+          LOGW("received invalid ublox message while onroad, resetting panda GPS");
+          pigeon->init();
+        }
      } else {
        pigeon_publish_raw(pm, recv);
      }
    }

+    // init pigeon on rising ignition edge
+    // since it was turned off in low power mode
+    if(ignition && !ignition_last) {
+      pigeon->init();
+    }
+
+    ignition_last = ignition;
+
    // 10ms - 100 Hz
    usleep(10*1000);
  }
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -9,18 +9,30 @@

 #include "panda.h"

+#ifdef QCOM2
+bool is_legacy_panda_reset() {
+  FILE *file = fopen("/persist/LEGACY_PANDA_RESET", "r");
+  if(file) {
+    fclose(file);
+  }
+  return (file != NULL);
+}
+#endif
+
 void panda_set_power(bool power){
 #ifdef QCOM2
  int err = 0;
+  bool is_legacy = is_legacy_panda_reset();
+
  err += gpio_init(GPIO_STM_RST_N, true);
  err += gpio_init(GPIO_STM_BOOT0, true);

-  err += gpio_set(GPIO_STM_RST_N, false);
+  err += gpio_set(GPIO_STM_RST_N, is_legacy ? false : true);
  err += gpio_set(GPIO_STM_BOOT0, false);

  usleep(100*1000); // 100 ms

-  err += gpio_set(GPIO_STM_RST_N, power);
+  err += gpio_set(GPIO_STM_RST_N, is_legacy ? power : (!power));
  assert(err == 0);
 #endif
 }
--- a/selfdrive/camerad/SConscript
+++ b/selfdrive/camerad/SConscript
@@ -34,7 +34,7 @@ env.SharedLibrary('snapshot/visionipc',
 env.Program('camerad', [
    'main.cc',
    'cameras/camera_common.cc',
-    'transforms/rgb_to_yuv.c',
+    'transforms/rgb_to_yuv.cc',
    'imgproc/utils.cc',
    cameras,
  ], LIBS=libs)
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -41,9 +41,9 @@ static cl_program build_debayer_program(cl_device_id device_id, cl_context conte
           b->rgb_width, b->rgb_height, b->rgb_stride,
           ci->bayer_flip, ci->hdr);
 #ifdef QCOM2
-  return CLU_LOAD_FROM_FILE(context, device_id, "cameras/real_debayer.cl", args);
+  return cl_program_from_file(context, device_id, "cameras/real_debayer.cl", args);
 #else
-  return CLU_LOAD_FROM_FILE(context, device_id, "cameras/debayer.cl", args);
+  return cl_program_from_file(context, device_id, "cameras/debayer.cl", args);
 #endif
 }

@@ -53,7 +53,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
  camera_state = s;
  frame_buf_count = frame_cnt;
  frame_size = ci->frame_height * ci->frame_stride;
- 
+
  camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
  camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
  for (int i = 0; i < frame_buf_count; i++) {
@@ -103,23 +103,20 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
    yuv_bufs[i].v = yuv_bufs[i].u + (yuv_width / 2 * yuv_height / 2);
  }

-  int err;
  if (ci->bayer) {
    cl_program prg_debayer = build_debayer_program(device_id, context, ci, this);
-    krnl_debayer = clCreateKernel(prg_debayer, "debayer10", &err);
-    assert(err == 0);
-    assert(clReleaseProgram(prg_debayer) == 0);
+    krnl_debayer = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
+    CL_CHECK(clReleaseProgram(prg_debayer));
  }

  rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, yuv_width, yuv_height, rgb_stride);

 #ifdef __APPLE__
-  q = clCreateCommandQueue(context, device_id, 0, &err);
+  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
 #else
  const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  q = clCreateCommandQueueWithProperties(context, device_id, props, &err);
+  q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
 #endif
-  assert(err == 0);
 }

 CameraBuf::~CameraBuf() {
@@ -132,8 +129,12 @@ CameraBuf::~CameraBuf() {
  for (int i = 0; i < YUV_COUNT; i++) {
    visionbuf_free(&yuv_ion[i]);
  }
-  clReleaseKernel(krnl_debayer);
-  clReleaseCommandQueue(q);
+  rgb_to_yuv_destroy(&rgb_to_yuv_state);
+
+  if (krnl_debayer) {
+    CL_CHECK(clReleaseKernel(krnl_debayer));
+  }
+  CL_CHECK(clReleaseCommandQueue(q));
 }

 bool CameraBuf::acquire() {
@@ -156,32 +157,34 @@ bool CameraBuf::acquire() {
  cl_event debayer_event;
  cl_mem camrabuf_cl = camera_bufs[buf_idx].buf_cl;
  if (camera_state->ci.bayer) {
-    assert(clSetKernelArg(krnl_debayer, 0, sizeof(cl_mem), &camrabuf_cl) == 0);
-    assert(clSetKernelArg(krnl_debayer, 1, sizeof(cl_mem), &cur_rgb_buf->buf_cl) == 0);
+    CL_CHECK(clSetKernelArg(krnl_debayer, 0, sizeof(cl_mem), &camrabuf_cl));
+    CL_CHECK(clSetKernelArg(krnl_debayer, 1, sizeof(cl_mem), &cur_rgb_buf->buf_cl));
 #ifdef QCOM2
-    assert(clSetKernelArg(krnl_debayer, 2, camera_state->debayer_cl_localMemSize, 0) == 0);
-    assert(clEnqueueNDRangeKernel(q, krnl_debayer, 2, NULL,
-                                  camera_state->debayer_cl_globalWorkSize, camera_state->debayer_cl_localWorkSize,
-                                  0, 0, &debayer_event) == 0);
+    constexpr int localMemSize = (DEBAYER_LOCAL_WORKSIZE + 2 * (3 / 2)) * (DEBAYER_LOCAL_WORKSIZE + 2 * (3 / 2)) * sizeof(float);
+    const size_t globalWorkSize[] = {size_t(camera_state->ci.frame_width), size_t(camera_state->ci.frame_height)};
+    const size_t localWorkSize[] = {DEBAYER_LOCAL_WORKSIZE, DEBAYER_LOCAL_WORKSIZE};
+    CL_CHECK(clSetKernelArg(krnl_debayer, 2, localMemSize, 0));
+    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_debayer, 2, NULL, globalWorkSize, localWorkSize,
+                                    0, 0, &debayer_event));
 #else
    float digital_gain = camera_state->digital_gain;
    if ((int)digital_gain == 0) {
      digital_gain = 1.0;
    }
-    assert(clSetKernelArg(krnl_debayer, 2, sizeof(float), &digital_gain) == 0);
+    CL_CHECK(clSetKernelArg(krnl_debayer, 2, sizeof(float), &digital_gain));
    const size_t debayer_work_size = rgb_height;  // doesn't divide evenly, is this okay?
-    assert(clEnqueueNDRangeKernel(q, krnl_debayer, 1, NULL,
-                                  &debayer_work_size, NULL, 0, 0, &debayer_event) == 0);
+    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_debayer, 1, NULL,
+                                    &debayer_work_size, NULL, 0, 0, &debayer_event));
 #endif
  } else {
    assert(cur_rgb_buf->len >= frame_size);
    assert(rgb_stride == camera_state->ci.frame_stride);
-    assert(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0,
-                               cur_rgb_buf->len, 0, 0, &debayer_event) == 0);
+    CL_CHECK(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0,
+                               cur_rgb_buf->len, 0, 0, &debayer_event));
  }

  clWaitForEvents(1, &debayer_event);
-  clReleaseEvent(debayer_event);
+  CL_CHECK(clReleaseEvent(debayer_event));

  tbuffer_release(&camera_tb, buf_idx);
  visionbuf_sync(cur_rgb_buf, VISIONBUF_SYNC_FROM_DEVICE);
@@ -195,11 +198,12 @@ bool CameraBuf::acquire() {
  pool_acquire(&yuv_pool, cur_yuv_idx);
  pool_push(&yuv_pool, cur_yuv_idx);

+  tbuffer_dispatch(&ui_tb, cur_rgb_idx);
+
  return true;
 }

 void CameraBuf::release() {
-  tbuffer_dispatch(&ui_tb, cur_rgb_idx);
  pool_release(&yuv_pool, cur_yuv_idx);
 }

@@ -294,8 +298,9 @@ void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
    row_pointer[0] = row;
    jpeg_write_scanlines(&cinfo, row_pointer, 1);
  }
-  free(row);
  jpeg_finish_compress(&cinfo);
+  jpeg_destroy_compress(&cinfo);
+  free(row);

  MessageBuilder msg;
  auto thumbnaild = msg.initEvent().initThumbnail();
@@ -306,6 +311,7 @@ void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
  if (s->pm != NULL) {
    s->pm->send("thumbnail", msg);
  }
+  free(thumbnail_buffer);
 }

 void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
@@ -347,10 +353,8 @@ void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, in
 extern volatile sig_atomic_t do_exit;

 void *processing_thread(MultiCameraState *cameras, const char *tname,
-                        CameraState *cs, int priority, process_thread_cb callback) {
+                          CameraState *cs, process_thread_cb callback) {
  set_thread_name(tname);
-  int err = set_realtime_priority(priority);
-  LOG("%s start! setpriority returns %d", tname, err);

  for (int cnt = 0; !do_exit; cnt++) {
    if (!cs->buf.acquire()) continue;
@@ -363,65 +367,53 @@ void *processing_thread(MultiCameraState *cameras, const char *tname,
 }

 std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
-                                 CameraState *cs, int priority, process_thread_cb callback) {
-  return std::thread(processing_thread, cameras, tname, cs, priority, callback);
+                                 CameraState *cs, process_thread_cb callback) {
+  return std::thread(processing_thread, cameras, tname, cs, callback);
 }

 void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
  const CameraBuf *b = &c->buf;

-  static int meteringbox_xmin = 0, meteringbox_xmax = 0;
-  static int meteringbox_ymin = 0, meteringbox_ymax = 0;
+  static int x_min = 0, x_max = 0, y_min = 0, y_max = 0;
  static const bool rhd_front = Params().read_db_bool("IsRHD");

-  sm->update(0);
-  if (sm->updated("driverState")) {
-    auto state = (*sm)["driverState"].getDriverState();
-    float face_prob = state.getFaceProb();
-    float face_position[2];
-    face_position[0] = state.getFacePosition()[0];
-    face_position[1] = state.getFacePosition()[1];
-
-    // set front camera metering target
-    if (face_prob > 0.4) {
-      int x_offset = rhd_front ? 0:b->rgb_width - 0.5 * b->rgb_height;
-      meteringbox_xmin = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) - 72;
-      meteringbox_xmax = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) + 72;
-      meteringbox_ymin = (face_position[1] + 0.5) * (b->rgb_height) - 72;
-      meteringbox_ymax = (face_position[1] + 0.5) * (b->rgb_height) + 72;
-    } else { // use default setting if no face
-      meteringbox_ymin = b->rgb_height * 1 / 3;
-      meteringbox_ymax = b->rgb_height * 1;
-      meteringbox_xmin = rhd_front ? 0:b->rgb_width * 3 / 5;
-      meteringbox_xmax = rhd_front ? b->rgb_width * 2 / 5:b->rgb_width;
-    }
-  }
-
  // auto exposure
  if (cnt % 3 == 0) {
-    // use driver face crop for AE
-    int x_start, x_end, y_start, y_end;
-    int skip = 1;
+    if (sm->update(0) > 0 && sm->updated("driverState")) {
+      auto state = (*sm)["driverState"].getDriverState();
+      // set front camera metering target
+      if (state.getFaceProb() > 0.4) {
+        auto face_position = state.getFacePosition();
+        int x_offset = rhd_front ? 0 : b->rgb_width - (0.5 * b->rgb_height);
+        x_offset += (face_position[0] * (rhd_front ? -1.0 : 1.0) + 0.5) * (0.5 * b->rgb_height);
+        const int y_offset = (face_position[1] + 0.5) * b->rgb_height;

-    if (meteringbox_xmax > 0) {
-      x_start = std::max(0, meteringbox_xmin);
-      x_end = std::min(b->rgb_width - 1, meteringbox_xmax);
-      y_start = std::max(0, meteringbox_ymin);
-      y_end = std::min(b->rgb_height - 1, meteringbox_ymax);
-    } else {
-      y_start = b->rgb_height * 1 / 3;
-      y_end = b->rgb_height * 1;
-      x_start = rhd_front ? 0 : b->rgb_width * 3 / 5;
-      x_end = rhd_front ? b->rgb_width * 2 / 5 : b->rgb_width;
+        x_min = std::max(0, x_offset - 72);
+        x_max = std::min(b->rgb_width - 1, x_offset + 72);
+        y_min = std::max(0, y_offset - 72);
+        y_max = std::min(b->rgb_height - 1, y_offset + 72);
+      } else {  // use default setting if no face
+        x_min = x_max = y_min = y_max = 0;
+      }
+    }
+
+    int skip = 1;
+    // use driver face crop for AE
+    if (x_max == 0) {
+      // default setting
+      x_min = rhd_front ? 0 : b->rgb_width * 3 / 5;
+      x_max = rhd_front ? b->rgb_width * 2 / 5 : b->rgb_width;
+      y_min = b->rgb_height / 3;
+      y_max = b->rgb_height;
    }
 #ifdef QCOM2
-    x_start = 96;
-    x_end = 1832;
-    y_start = 242;
-    y_end = 1148;
+    x_min = 96;
+    x_max = 1832;
+    y_min = 242;
+    y_max = 1148;
    skip = 4;
 #endif
-    set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x_start, x_end, 2, y_start, y_end, skip);
+    set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x_min, x_max, 2, y_min, y_max, skip);
  }

  MessageBuilder msg;
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -138,5 +138,5 @@ void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, i
 void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr);
 void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
-                                    CameraState *cs, int priority, process_thread_cb callback);
+                                    CameraState *cs, process_thread_cb callback);
 void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);
--- a/selfdrive/camerad/cameras/camera_frame_stream.cc
+++ b/selfdrive/camerad/cameras/camera_frame_stream.cc
@@ -119,11 +119,14 @@ void cameras_close(MultiCameraState *s) {

 // called by processing_thread
 void camera_process_rear(MultiCameraState *s, CameraState *c, int cnt) {
-  // empty
+  if (cnt % 100 == 3) {
+    const CameraBuf *b = &c->buf;
+    create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
+  }
 }

 void cameras_run(MultiCameraState *s) {
-  std::thread t = start_process_thread(s, "processing", &s->rear, 51, camera_process_rear);
+  std::thread t = start_process_thread(s, "processing", &s->rear, camera_process_rear);
  set_thread_name("frame_streaming");
  run_frame_stream(s);
  cameras_close(s);
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -248,7 +248,7 @@ cl_program build_conv_program(cl_device_id device_id, cl_context context, int im
          "-DFILTER_SIZE=%d -DHALF_FILTER_SIZE=%d -DTWICE_HALF_FILTER_SIZE=%d -DHALF_FILTER_SIZE_IMAGE_W=%d",
          image_w, image_h, 1,
          filter_size, filter_size/2, (filter_size/2)*2, (filter_size/2)*image_w);
-  return CLU_LOAD_FROM_FILE(context, device_id, "imgproc/conv.cl", args);
+  return cl_program_from_file(context, device_id, "imgproc/conv.cl", args);
 }

 void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
@@ -333,39 +333,26 @@ void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
  s->front.device = s->device;

  s->sm_front = new SubMaster({"driverState"});
-  s->sm_rear = new SubMaster({"sensorEvents"});
  s->pm = new PubMaster({"frame", "frontFrame", "thumbnail"});

-  int err;
-  const int rgb_width = s->rear.buf.rgb_width;
-  const int rgb_height = s->rear.buf.rgb_height;
  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
    // TODO: make lengths correct
    s->focus_bufs[i] = visionbuf_allocate(0xb80);
    s->stats_bufs[i] = visionbuf_allocate(0xb80);
  }
-  s->prg_rgb_laplacian = build_conv_program(device_id, ctx, rgb_width/NUM_SEGMENTS_X, rgb_height/NUM_SEGMENTS_Y, 3);
-  s->krnl_rgb_laplacian = clCreateKernel(s->prg_rgb_laplacian, "rgb2gray_conv2d", &err);
-  assert(err == 0);
+  const int width = s->rear.buf.rgb_width/NUM_SEGMENTS_X;
+  const int height = s->rear.buf.rgb_height/NUM_SEGMENTS_Y;
+  s->prg_rgb_laplacian = build_conv_program(device_id, ctx, width, height, 3);
+  s->krnl_rgb_laplacian = CL_CHECK_ERR(clCreateKernel(s->prg_rgb_laplacian, "rgb2gray_conv2d", &err));
  // TODO: Removed CL_MEM_SVM_FINE_GRAIN_BUFFER, confirm it doesn't matter
-  s->rgb_conv_roi_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE,
-      rgb_width/NUM_SEGMENTS_X * rgb_height/NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), NULL, NULL);
-  s->rgb_conv_result_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE,
-      rgb_width/NUM_SEGMENTS_X * rgb_height/NUM_SEGMENTS_Y * sizeof(int16_t), NULL, NULL);
-  s->rgb_conv_filter_cl = clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
-      9 * sizeof(int16_t), (void*)&lapl_conv_krnl, NULL);
-  s->conv_cl_localMemSize = ( CONV_LOCAL_WORKSIZE + 2 * (3 / 2) ) * ( CONV_LOCAL_WORKSIZE + 2 * (3 / 2) );
-  s->conv_cl_localMemSize *= 3 * sizeof(uint8_t);
-  s->conv_cl_globalWorkSize[0] = rgb_width/NUM_SEGMENTS_X;
-  s->conv_cl_globalWorkSize[1] = rgb_height/NUM_SEGMENTS_Y;
-  s->conv_cl_localWorkSize[0] = CONV_LOCAL_WORKSIZE;
-  s->conv_cl_localWorkSize[1] = CONV_LOCAL_WORKSIZE;
+  s->rgb_conv_roi_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE,
+      width * height * 3 * sizeof(uint8_t), NULL, &err));
+  s->rgb_conv_result_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE,
+      width * height * sizeof(int16_t), NULL, &err));
+  s->rgb_conv_filter_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
+      9 * sizeof(int16_t), (void*)&lapl_conv_krnl, &err));

-  for (int i=0; i<ARRAYSIZE(s->lapres); i++) {s->lapres[i] = 16160;}
-
-  const size_t size = (rgb_width/NUM_SEGMENTS_X)*(rgb_height/NUM_SEGMENTS_Y);
-  s->rgb_roi_buf = std::make_unique<uint8_t[]>(size*3);
-  s->conv_result = std::make_unique<int16_t[]>(size);
+  std::fill_n(s->lapres, std::size(s->lapres), 16160);
 }

 static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
@@ -1792,26 +1779,39 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
  s->focus_err = max_focus*1.0;
 }

-static void do_autofocus(CameraState *s) {
+static std::optional<float> get_accel_z(SubMaster *sm) {
+  if (sm->update(0) > 0) {
+    for (auto event : (*sm)["sensorEvents"].getSensorEvents()) {
+      if (event.which() == cereal::SensorEventData::ACCELERATION) {
+        if (auto v = event.getAcceleration().getV(); v.size() >= 3) 
+          return -v[2];
+        break;
+      }
+    }
+  }
+  return std::nullopt;
+}
+
+static void do_autofocus(CameraState *s, SubMaster *sm) {
  // params for focus PI controller
-  const float focus_kp = 0.005;
-
-  float err = s->focus_err;
-  float sag = (s->last_sag_acc_z/9.8) * 128;
-
  const int dac_up = s->device == DEVICE_LP3? LP3_AF_DAC_UP:OP3T_AF_DAC_UP;
  const int dac_down = s->device == DEVICE_LP3? LP3_AF_DAC_DOWN:OP3T_AF_DAC_DOWN;

-  float lens_true_pos = s->lens_true_pos;
-  if (!isnan(err))  {
+  float lens_true_pos = s->lens_true_pos.load();
+  if (!isnan(s->focus_err)) {
    // learn lens_true_pos
-    lens_true_pos -= err*focus_kp;
+    const float focus_kp = 0.005;
+    lens_true_pos -= s->focus_err*focus_kp;
  }

+  if (auto accel_z = get_accel_z(sm)) {
+    s->last_sag_acc_z = *accel_z;
+  }
+  const float sag = (s->last_sag_acc_z / 9.8) * 128;
  // stay off the walls
  lens_true_pos = std::clamp(lens_true_pos, float(dac_down), float(dac_up));
  int target = std::clamp(lens_true_pos - sag, float(dac_down), float(dac_up));
-  s->lens_true_pos = lens_true_pos;
+  s->lens_true_pos.store(lens_true_pos);

  /*char debug[4096];
  char *pdebug = debug;
@@ -2024,12 +2024,12 @@ static void* ops_thread(void* arg) {
  CameraExpInfo front_op;

  set_thread_name("camera_settings");
-
+  SubMaster sm({"sensorEvents"});
  while(!do_exit) {
    rear_op = rear_exp.load();
    if (rear_op.op_id != rear_op_id_last) {
      do_autoexposure(&s->rear, rear_op.grey_frac);
-      do_autofocus(&s->rear);
+      do_autofocus(&s->rear, &sm);
      rear_op_id_last = rear_op.op_id;
    }

@@ -2045,6 +2045,66 @@ static void* ops_thread(void* arg) {
  return NULL;
 }

+static void update_lapmap(MultiCameraState *s, const CameraBuf *b, const int cnt) {
+  const size_t width = b->rgb_width / NUM_SEGMENTS_X;
+  const size_t height = b->rgb_height / NUM_SEGMENTS_Y;
+  static std::unique_ptr<uint8_t[]> rgb_roi_buf = std::make_unique<uint8_t[]>(width * height * 3);
+  static std::unique_ptr<int16_t[]> conv_result = std::make_unique<int16_t[]>(width * height);
+
+  // sharpness scores
+  const int roi_id = cnt % std::size(s->lapres);  // rolling roi
+  const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1);
+  const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1);
+
+  const uint8_t *rgb_addr_offset = (uint8_t *)b->cur_rgb_buf->addr + y_offset * height * FULL_STRIDE_X * 3 + x_offset * width * 3;
+  for (int i = 0; i < height; ++i) {
+    memcpy(rgb_roi_buf.get() + i * width * 3, rgb_addr_offset + i * FULL_STRIDE_X * 3, width * 3);
+  }
+
+  constexpr int conv_cl_localMemSize = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t));
+  CL_CHECK(clEnqueueWriteBuffer(b->q, s->rgb_conv_roi_cl, true, 0, width * height * 3 * sizeof(uint8_t), rgb_roi_buf.get(), 0, 0, 0));
+  CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 0, sizeof(cl_mem), (void *)&s->rgb_conv_roi_cl));
+  CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 1, sizeof(cl_mem), (void *)&s->rgb_conv_result_cl));
+  CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 2, sizeof(cl_mem), (void *)&s->rgb_conv_filter_cl));
+  CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 3, conv_cl_localMemSize, 0));
+  cl_event conv_event;
+  CL_CHECK(clEnqueueNDRangeKernel(b->q, s->krnl_rgb_laplacian, 2, NULL,
+                                  (size_t[]){width, height}, (size_t[]){CONV_LOCAL_WORKSIZE, CONV_LOCAL_WORKSIZE}, 0, 0, &conv_event));
+  clWaitForEvents(1, &conv_event);
+  CL_CHECK(clReleaseEvent(conv_event));
+
+  CL_CHECK(clEnqueueReadBuffer(b->q, s->rgb_conv_result_cl, true, 0,
+                               width * height * sizeof(int16_t), conv_result.get(), 0, 0, 0));
+
+  s->lapres[roi_id] = get_lapmap_one(conv_result.get(), width, height);
+}
+
+static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t lapres_size) {
+  const int dac_down = c->device == DEVICE_LP3 ? LP3_AF_DAC_DOWN : OP3T_AF_DAC_DOWN;
+  const int dac_up = c->device == DEVICE_LP3 ? LP3_AF_DAC_UP : OP3T_AF_DAC_UP;
+  const int dac_m = c->device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M;
+  const int dac_3sig = c->device == DEVICE_LP3 ? LP3_AF_DAC_3SIG : OP3T_AF_DAC_3SIG;
+
+  const float lens_true_pos = c->lens_true_pos.load();
+  int self_recover = c->self_recover.load();
+  if (self_recover < 2 && (lens_true_pos < (dac_down + 1) || lens_true_pos > (dac_up - 1)) && is_blur(lapres, lapres_size)) {
+    // truly stuck, needs help
+    if (--self_recover < -FOCUS_RECOVER_PATIENCE) {
+      LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover);
+      // parity determined by which end is stuck at
+      self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < dac_m ? 1 : 0);
+    }
+  } else if (self_recover < 2 && (lens_true_pos < (dac_m - dac_3sig) || lens_true_pos > (dac_m + dac_3sig))) {
+    // in suboptimal position with high prob, but may still recover by itself
+    if (--self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) {
+      self_recover = FOCUS_RECOVER_STEPS / 2 + (lens_true_pos < dac_m ? 1 : 0);
+    }
+  } else if (self_recover < 0) {
+    self_recover += 1;  // reset if fine
+  }
+  c->self_recover.store(self_recover);
+}
+
 void camera_process_front(MultiCameraState *s, CameraState *c, int cnt) {
  common_camera_process_front(s->sm_front, s->pm, c, cnt);
 }
@@ -2052,116 +2112,30 @@ void camera_process_front(MultiCameraState *s, CameraState *c, int cnt) {
 // called by processing_thread
 void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
  const CameraBuf *b = &c->buf;
-  // cache rgb roi and write to cl
+  update_lapmap(s, b, cnt);
+  setup_self_recover(c, &s->lapres[0], std::size(s->lapres));

-  // gz compensation
-  s->sm_rear->update(0);
-  if (s->sm_rear->updated("sensorEvents")) {
-    float vals[3] = {0.0};
-    bool got_accel = false;
-    auto sensor_events = (*(s->sm_rear))["sensorEvents"].getSensorEvents();
-    for (auto sensor_event : sensor_events) {
-      if (sensor_event.which() == cereal::SensorEventData::ACCELERATION) {
-        auto v = sensor_event.getAcceleration().getV();
-        if (v.size() < 3) {
-          continue;
-        }
-        for (int j = 0; j < 3; j++) {
-          vals[j] = v[j];
-        }
-        got_accel = true;
-        break;
-      }
-    }
-    uint64_t ts = nanos_since_boot();
-    if (got_accel && ts - s->rear.last_sag_ts > 10000000) { // 10 ms
-      s->rear.last_sag_ts = ts;
-      s->rear.last_sag_acc_z = -vals[2];
-    }
-  }
-
-  // sharpness scores
-  int roi_id = cnt % ARRAYSIZE(s->lapres);  // rolling roi
-  int roi_x_offset = roi_id % (ROI_X_MAX-ROI_X_MIN+1);
-  int roi_y_offset = roi_id / (ROI_X_MAX-ROI_X_MIN+1);
-
-  for (int r=0;r<(b->rgb_height/NUM_SEGMENTS_Y);r++) {
-    memcpy(s->rgb_roi_buf.get() + r * (b->rgb_width/NUM_SEGMENTS_X) * 3,
-            (uint8_t *) b->cur_rgb_buf->addr + \
-              (ROI_Y_MIN + roi_y_offset) * b->rgb_height/NUM_SEGMENTS_Y * FULL_STRIDE_X * 3 + \
-              (ROI_X_MIN + roi_x_offset) * b->rgb_width/NUM_SEGMENTS_X * 3 + r * FULL_STRIDE_X * 3,
-            b->rgb_width/NUM_SEGMENTS_X * 3);
-  }
-
-  assert(clEnqueueWriteBuffer(b->q, s->rgb_conv_roi_cl, true, 0,
-                              b->rgb_width / NUM_SEGMENTS_X * b->rgb_height / NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), s->rgb_roi_buf.get(), 0, 0, 0) == 0);
-  assert(clSetKernelArg(s->krnl_rgb_laplacian, 0, sizeof(cl_mem), (void *)&s->rgb_conv_roi_cl) == 0);
-  assert(clSetKernelArg(s->krnl_rgb_laplacian, 1, sizeof(cl_mem), (void *)&s->rgb_conv_result_cl) == 0);
-  assert(clSetKernelArg(s->krnl_rgb_laplacian, 2, sizeof(cl_mem), (void *)&s->rgb_conv_filter_cl) == 0);
-  assert(clSetKernelArg(s->krnl_rgb_laplacian, 3, s->conv_cl_localMemSize, 0) == 0);
-  cl_event conv_event;
-  assert(clEnqueueNDRangeKernel(b->q, s->krnl_rgb_laplacian, 2, NULL,
-                                s->conv_cl_globalWorkSize, s->conv_cl_localWorkSize, 0, 0, &conv_event) == 0);
-  clWaitForEvents(1, &conv_event);
-  clReleaseEvent(conv_event);
-
-  assert(clEnqueueReadBuffer(b->q, s->rgb_conv_result_cl, true, 0,
-                             b->rgb_width / NUM_SEGMENTS_X * b->rgb_height / NUM_SEGMENTS_Y * sizeof(int16_t), s->conv_result.get(), 0, 0, 0) == 0);
-
-  get_lapmap_one(s->conv_result.get(), &s->lapres[roi_id], b->rgb_width / NUM_SEGMENTS_X, b->rgb_height / NUM_SEGMENTS_Y);
-
-  // setup self recover
-  const float lens_true_pos = s->rear.lens_true_pos;
-  std::atomic<int>& self_recover = s->rear.self_recover;
-  if (is_blur(&s->lapres[0]) &&
-      (lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_DOWN : OP3T_AF_DAC_DOWN) + 1 ||
-       lens_true_pos > (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_UP : OP3T_AF_DAC_UP) - 1) &&
-      self_recover < 2) {
-    // truly stuck, needs help
-    self_recover -= 1;
-    if (self_recover < -FOCUS_RECOVER_PATIENCE) {
-      LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d",
-           lens_true_pos, self_recover.load());
-      self_recover = FOCUS_RECOVER_STEPS + ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M)) ? 1 : 0);  // parity determined by which end is stuck at
-    }
-  } else if ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M - LP3_AF_DAC_3SIG : OP3T_AF_DAC_M - OP3T_AF_DAC_3SIG) ||
-              lens_true_pos > (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M + LP3_AF_DAC_3SIG : OP3T_AF_DAC_M + OP3T_AF_DAC_3SIG)) &&
-             self_recover < 2) {
-    // in suboptimal position with high prob, but may still recover by itself
-    self_recover -= 1;
-    if (self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) {
-      self_recover = FOCUS_RECOVER_STEPS / 2 + ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M)) ? 1 : 0);
-    }
-  } else if (self_recover < 0) {
-    self_recover += 1;  // reset if fine
-  }
-
-  {
-    MessageBuilder msg;
-    auto framed = msg.initEvent().initFrame();
-    fill_frame_data(framed, b->cur_frame_data, cnt);
-    if (env_send_rear) {
-      fill_frame_image(framed, (uint8_t*)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
-    }
-    framed.setFocusVal(kj::ArrayPtr<const int16_t>(&s->rear.focus[0], NUM_FOCUS));
-    framed.setFocusConf(kj::ArrayPtr<const uint8_t>(&s->rear.confidence[0], NUM_FOCUS));
-    framed.setSharpnessScore(kj::ArrayPtr<const uint16_t>(&s->lapres[0], ARRAYSIZE(s->lapres)));
-    framed.setRecoverState(self_recover);
-    framed.setTransform(kj::ArrayPtr<const float>(&b->yuv_transform.v[0], 9));
-    s->pm->send("frame", msg);
+  MessageBuilder msg;
+  auto framed = msg.initEvent().initFrame();
+  fill_frame_data(framed, b->cur_frame_data, cnt);
+  if (env_send_rear) {
+    fill_frame_image(framed, (uint8_t *)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
  }
+  framed.setFocusVal(s->rear.focus);
+  framed.setFocusConf(s->rear.confidence);
+  framed.setRecoverState(s->rear.self_recover);
+  framed.setSharpnessScore(s->lapres);
+  framed.setTransform(b->yuv_transform.v);
+  s->pm->send("frame", msg);

  if (cnt % 100 == 3) {
-    create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
+    create_thumbnail(s, c, (uint8_t *)b->cur_rgb_buf->addr);
  }

-  const int exposure_x = 290;
-  const int exposure_y = 322;
-  const int exposure_width = 560;
-  const int exposure_height = 314;
-  const int skip = 1;
  if (cnt % 3 == 0) {
-    set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
+    const int x = 290, y = 322, width = 560, height = 314;
+    const int skip = 1;
+    set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x, x + width, skip, y, y + height, skip);
  }
 }

@@ -2173,8 +2147,8 @@ void cameras_run(MultiCameraState *s) {
                       ops_thread, s);
  assert(err == 0);
  std::vector<std::thread> threads;
-  threads.push_back(start_process_thread(s, "processing", &s->rear, 51, camera_process_frame));
-  threads.push_back(start_process_thread(s, "frontview", &s->front, 51, camera_process_front));
+  threads.push_back(start_process_thread(s, "processing", &s->rear, camera_process_frame));
+  threads.push_back(start_process_thread(s, "frontview", &s->front, camera_process_front));

  CameraState* cameras[2] = {&s->rear, &s->front};

@@ -2288,13 +2262,12 @@ void cameras_close(MultiCameraState *s) {
    visionbuf_free(&s->focus_bufs[i]);
    visionbuf_free(&s->stats_bufs[i]);
  }
-  clReleaseMemObject(s->rgb_conv_roi_cl);
-  clReleaseMemObject(s->rgb_conv_result_cl);
-  clReleaseMemObject(s->rgb_conv_filter_cl);
+  CL_CHECK(clReleaseMemObject(s->rgb_conv_roi_cl));
+  CL_CHECK(clReleaseMemObject(s->rgb_conv_result_cl));
+  CL_CHECK(clReleaseMemObject(s->rgb_conv_filter_cl));

-  clReleaseProgram(s->prg_rgb_laplacian);
-  clReleaseKernel(s->krnl_rgb_laplacian);
+  CL_CHECK(clReleaseKernel(s->krnl_rgb_laplacian));
+  CL_CHECK(clReleaseProgram(s->prg_rgb_laplacian));
  delete s->sm_front;
-  delete s->sm_rear;
  delete s->pm;
 }
--- a/selfdrive/camerad/cameras/camera_qcom.h
+++ b/selfdrive/camerad/cameras/camera_qcom.h
@@ -102,8 +102,7 @@ typedef struct CameraState {

  uint16_t cur_step_pos;
  uint16_t cur_lens_pos;
-  uint64_t last_sag_ts;
-  float last_sag_acc_z;
+  std::atomic<float> last_sag_acc_z;
  std::atomic<float> lens_true_pos;

  std::atomic<int> self_recover; // af recovery counter, neg is patience, pos is active
@@ -132,18 +131,10 @@ typedef struct MultiCameraState {
  cl_program prg_rgb_laplacian;
  cl_kernel krnl_rgb_laplacian;

-  std::unique_ptr<uint8_t[]> rgb_roi_buf;
-  std::unique_ptr<int16_t[]> conv_result;
-
-  int conv_cl_localMemSize;
-  size_t conv_cl_globalWorkSize[2];
-  size_t conv_cl_localWorkSize[2];
-
  CameraState rear;
  CameraState front;

  SubMaster *sm_front;
-  SubMaster *sm_rear;
  PubMaster *pm;

 } MultiCameraState;
--- a/selfdrive/camerad/imgproc/utils.cc
+++ b/selfdrive/camerad/imgproc/utils.cc
@@ -1,43 +1,36 @@
 #include "utils.h"
 #include <stdio.h>
 #include <algorithm>
-
+#include <cmath>
 // calculate score based on laplacians in one area
-void get_lapmap_one(int16_t *lap, uint16_t *res, int x_pitch, int y_pitch) {
-  int size = x_pitch * y_pitch;
+uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch) {
+  const int size = x_pitch * y_pitch;
  // avg and max of roi
-  float fsum = 0;
-  int16_t mean, max;
-  max = 0;
-
-  for (int i = 0; i < size; i++) {
-    int x_offset = i % x_pitch;
-    int y_offset = i / x_pitch;
-    fsum += lap[x_offset + y_offset*x_pitch];
-    max = std::max(lap[x_offset + y_offset*x_pitch], max);
+  int16_t max = 0;
+  int sum = 0;
+  for (int i = 0; i < size; ++i) {
+    const int16_t v = lap[i % x_pitch + (i / x_pitch) * x_pitch];
+    sum += v;
+    if (v > max) max = v;
  }

-  mean = fsum / size;
+  const int16_t mean = sum / size;

  // var of roi
-  float fvar = 0;
-  for (int i = 0; i < size; i++) {
-    int x_offset = i % x_pitch;
-    int y_offset = i / x_pitch;
-    fvar += (float)((lap[x_offset + y_offset*x_pitch] - mean) * (lap[x_offset + y_offset*x_pitch] - mean));
+  int var = 0;
+  for (int i = 0; i < size; ++i) {
+    var += std::pow(lap[i % x_pitch + (i / x_pitch) * x_pitch] - mean, 2);
  }

-  fvar = fvar / size;
-
-  *res = std::min(5 * fvar + max, (float)65535);
+  const float fvar = (float)var / size;
+  return std::min(5 * fvar + max, (float)65535);
 }

-bool is_blur(uint16_t *lapmap) {
-  int n_roi = (ROI_X_MAX - ROI_X_MIN + 1) * (ROI_Y_MAX - ROI_Y_MIN + 1);
+bool is_blur(const uint16_t *lapmap, const size_t size) {
  float bad_sum = 0;
-  for (int i = 0; i < n_roi; i++) {
-    if (*(lapmap + i) < LM_THRESH) {
-      bad_sum += 1/(float)n_roi;
+  for (int i = 0; i < size; i++) {
+    if (lapmap[i] < LM_THRESH) {
+      bad_sum += 1 / (float)size;
    }
  }
  return (bad_sum > LM_PREC_THRESH);
--- a/selfdrive/camerad/imgproc/utils.h
+++ b/selfdrive/camerad/imgproc/utils.h
@@ -1,8 +1,7 @@
-#ifndef IMGPROC_UTILS
-#define IMGPROC_UTILS
+#pragma once

 #include <stdint.h>
-
+#include <stddef.h>
 #define NUM_SEGMENTS_X 8
 #define NUM_SEGMENTS_Y 6

@@ -24,7 +23,5 @@ const int16_t lapl_conv_krnl[9] = {0, 1, 0,
                                  1, -4, 1,
                                  0, 1, 0};

-void get_lapmap_one(int16_t *lap, uint16_t *res, int x_pitch, int y_pitch);
-bool is_blur(uint16_t *lapmap);
-
-#endif
+uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch);
+bool is_blur(const uint16_t *lapmap, const size_t size);
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -304,14 +304,14 @@ void* visionserver_thread(void* arg) {
 void party(cl_device_id device_id, cl_context context) {
  VisionState state = {};
  VisionState *s = &state;
-  
+
  cameras_init(&s->cameras, device_id, context);
  cameras_open(&s->cameras);

  std::thread server_thread(visionserver_thread, s);
-  
+
  // priority for cameras
-  int err = set_realtime_priority(51);
+  int err = set_realtime_priority(53);
  LOG("setpriority returns %d", err);

  cameras_run(&s->cameras);
@@ -319,8 +319,12 @@ void party(cl_device_id device_id, cl_context context) {
  server_thread.join();
 }

+#ifdef QCOM
+#include "CL/cl_ext_qcom.h"
+#endif
+
 int main(int argc, char *argv[]) {
-  set_realtime_priority(51);
+  set_realtime_priority(53);
 #if defined(QCOM)
  set_core_affinity(2);
 #elif defined(QCOM2)
@@ -330,13 +334,17 @@ int main(int argc, char *argv[]) {
  signal(SIGINT, (sighandler_t)set_do_exit);
  signal(SIGTERM, (sighandler_t)set_do_exit);

-  int err;
-  clu_init();
  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  cl_context context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
-  assert(err == 0);
+
+   // TODO: do this for QCOM2 too
+#if defined(QCOM)
+  const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
+  cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
+#else
+  cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+#endif

  party(device_id, context);

-  clReleaseContext(context);
+  CL_CHECK(clReleaseContext(context));
 }
--- a/selfdrive/camerad/transforms/rgb_to_yuv.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv.cc
@@ -6,7 +6,6 @@
 #include "rgb_to_yuv.h"

 void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
-  int err = 0;
  memset(s, 0, sizeof(*s));
  printf("width %d, height %d, rgb_stride %d\n", width, height, rgb_stride);
  assert(width % 2 == 0);
@@ -21,34 +20,26 @@ void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, i
 #endif
           "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
           width, height, width/ 2, height / 2, rgb_stride, width * height);
-  cl_program prg = CLU_LOAD_FROM_FILE(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
+  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);

-  s->rgb_to_yuv_krnl = clCreateKernel(prg, "rgb_to_yuv", &err);
-  assert(err == 0);
+  s->rgb_to_yuv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
  // done with this
-  err = clReleaseProgram(prg);
-  assert(err == 0);
+  CL_CHECK(clReleaseProgram(prg));
 }

 void rgb_to_yuv_destroy(RGBToYUVState* s) {
-  int err = 0;
-  err = clReleaseKernel(s->rgb_to_yuv_krnl);
-  assert(err == 0);
+  CL_CHECK(clReleaseKernel(s->rgb_to_yuv_krnl));
 }

 void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
-  int err = 0;
-  err = clSetKernelArg(s->rgb_to_yuv_krnl, 0, sizeof(cl_mem), &rgb_cl);
-  assert(err == 0);
-  err = clSetKernelArg(s->rgb_to_yuv_krnl, 1, sizeof(cl_mem), &yuv_cl);
-  assert(err == 0);
+  CL_CHECK(clSetKernelArg(s->rgb_to_yuv_krnl, 0, sizeof(cl_mem), &rgb_cl));
+  CL_CHECK(clSetKernelArg(s->rgb_to_yuv_krnl, 1, sizeof(cl_mem), &yuv_cl));
  const size_t work_size[2] = {
    (size_t)(s->width + (s->width % 4 == 0 ? 0 : (4 - s->width % 4))) / 4,
    (size_t)(s->height + (s->height % 4 == 0 ? 0 : (4 - s->height % 4))) / 4
  };
  cl_event event;
-  err = clEnqueueNDRangeKernel(q, s->rgb_to_yuv_krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event);
-  assert(err == 0);
-  clWaitForEvents(1, &event);
-  clReleaseEvent(event);
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->rgb_to_yuv_krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
+  CL_CHECK(clWaitForEvents(1, &event));
+  CL_CHECK(clReleaseEvent(event));
 }
--- a/selfdrive/camerad/transforms/rgb_to_yuv.h
+++ b/selfdrive/camerad/transforms/rgb_to_yuv.h
@@ -1,5 +1,4 @@
-#ifndef RGB_TO_YUV_H
-#define RGB_TO_YUV_H
+#pragma once

 #include <inttypes.h>
 #include <stdbool.h>
@@ -10,10 +9,6 @@
 #include <CL/cl.h>
 #endif

-#ifdef __cplusplus
-extern "C" {
-#endif
-
 typedef struct {
  int width, height;
  cl_kernel rgb_to_yuv_krnl;
@@ -24,9 +19,3 @@ void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, i
 void rgb_to_yuv_destroy(RGBToYUVState* s);

 void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // RGB_TO_YUV_H
--- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
@@ -41,9 +41,8 @@ static inline double millis_since_boot() {
 }

 void cl_init(cl_device_id &device_id, cl_context &context) {
-  int err;
  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
+  context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 }


@@ -102,7 +101,6 @@ bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int
 int main(int argc, char** argv) {
  srand(1337);

-  clu_init();
  cl_device_id device_id;
  cl_context context;
  cl_init(device_id, context)	;
@@ -137,13 +135,13 @@ int main(int argc, char** argv) {
  rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, width, height, width * 3);

  int frame_yuv_buf_size = width * height * 3 / 2;
-  cl_mem yuv_cl = clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err);
+  cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err));
  uint8_t *frame_yuv_buf = new uint8_t[frame_yuv_buf_size];
  uint8_t *frame_yuv_ptr_y = frame_yuv_buf;
  uint8_t *frame_yuv_ptr_u = frame_yuv_buf + (width * height);
  uint8_t *frame_yuv_ptr_v = frame_yuv_ptr_u + ((width/2) * (height/2));

-  cl_mem rgb_cl = clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err);
+  cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err));
  int mismatched = 0;
  int counter = 0;
  srand (time(NULL));
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -5,15 +5,16 @@ from selfdrive.version import comma_remote, tested_branch
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
+from selfdrive.hardware import EON
 from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint

+from cereal import car, log
 from common.dp_common import is_online
 import threading
 import selfdrive.crash as crash

-from cereal import car
 EventName = car.CarEvent.EventName


@@ -24,6 +25,8 @@ def get_startup_event(car_recognized, controller_available):
    event = EventName.startupNoCar
  elif car_recognized and not controller_available:
    event = EventName.startupNoControl
+  # elif EON and "letv" not in open("/proc/cmdline").read():
+  #   event = EventName.startupOneplus
  return event


@@ -82,7 +85,7 @@ def only_toyota_left(candidate_cars):


 # **** for use live only ****
-def fingerprint(logcan, sendcan):
+def fingerprint(logcan, sendcan, has_relay):
  params = Params()
  car_selected = params.get('dp_car_selected', encoding='utf8')
  car_detected = params.get('dp_car_detected', encoding='utf8')
@@ -96,7 +99,7 @@ def fingerprint(logcan, sendcan):
    fixed_fingerprint = car_selected
  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)

-  if not fixed_fingerprint and not skip_fw_query:
+  if has_relay and not fixed_fingerprint and not skip_fw_query:
    # Vin query only reliably works thorugh OBDII
    bus = 1

@@ -178,8 +181,8 @@ def fingerprint(logcan, sendcan):
  return car_fingerprint, finger, vin, car_fw, source


-def get_car(logcan, sendcan):
-  candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan)
+def get_car(logcan, sendcan, has_relay=False):
+  candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan, has_relay)

  if candidate is None:
    cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
@@ -190,7 +193,7 @@ def get_car(logcan, sendcan):
    x.start()

  CarInterface, CarController, CarState = interfaces[candidate]
-  car_params = CarInterface.get_params(candidate, fingerprints, car_fw)
+  car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
  car_params.carVin = vin
  car_params.carFw = car_fw
  car_params.fingerprintSource = source
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.chrysler.values import CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

@@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 3.0

  @staticmethod
-  def get_params(candidate, fingerprint=None, car_fw=None):
+  def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
    if fingerprint is None:
      fingerprint = gen_empty_fingerprint()

@@ -56,7 +56,8 @@ class CarInterface(CarInterfaceBase):
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)

-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
+    print("ECU Camera Simulated: {0}".format(ret.enableCamera))

    return ret

--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -91,3 +91,7 @@ DBC = {
 }

 STEER_THRESHOLD = 120
+
+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [0x292],  # lkas cmd
+}
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -2,8 +2,8 @@
 from cereal import car
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
-from selfdrive.car.ford.values import MAX_ANGLE
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

@@ -14,8 +14,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 3.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "ford"
    ret.safetyModel = car.CarParams.SafetyModel.ford
    ret.dashcamOnly = True
@@ -47,7 +47,7 @@ class CarInterface(CarInterfaceBase):

    ret.steerControlType = car.CarParams.SteerControlType.angle

-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)

    return ret
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -15,6 +15,10 @@ FINGERPRINTS = {
  }],
 }

+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [970, 973, 984]
+}
+
 DBC = {
  CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
 }
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -35,14 +35,12 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
  return packer.make_can_msg("ASCMGasRegenCmd", bus, values)

 def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
-
-  if apply_brake == 0:
-    mode = 0x1
-  else:
+  mode = 0x1
+  if apply_brake > 0:
    mode = 0xa
+    if at_full_stop:
+      mode = 0xd

-  if at_full_stop:
-    mode = 0xd
    # TODO: this is to have GM bringing the car to complete stop,
    # but currently it conflicts with OP controls, so turned off.
    #elif near_stop:
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.gm.values import CAR, CruiseButtons, \
-                                    AccState
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
+  AccState, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

@@ -17,8 +17,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 4.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "gm"
    ret.safetyModel = car.CarParams.SafetyModel.gm
    ret.enableCruise = False  # stock cruise control is kept off
@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
    # Presence of a camera on the object bus is ok.
    # Have to go to read_only if ASCM is online (ACC-enabled cars),
    # or camera is on powertrain bus (LKA cars without ACC).
-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
    ret.openpilotLongitudinalControl = ret.enableCamera
    tire_stiffness_factor = 0.444  # not optimized yet

--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -70,6 +70,10 @@ FINGERPRINTS = {

 STEER_THRESHOLD = 1.0

+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [384, 715]  # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+}
+
 DBC = {
  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -179,38 +179,39 @@ class CarController():
    # Send steering command.
    idx = frame % 4
    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
-      lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
+      lkas_active, CS.CP.carFingerprint, idx, CS.CP.isPandaBlack, CS.CP.openpilotLongitudinalControl))

    # Send dashboard UI commands.
    if not dragonconf.dpAtl and (frame % 10) == 0:
      idx = (frame//10) % 4
-      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.openpilotLongitudinalControl, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.isPandaBlack, CS.CP.openpilotLongitudinalControl, CS.stock_hud))

    if not CS.CP.openpilotLongitudinalControl:
      if (frame % 2) == 0:
        idx = frame // 2
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx, CS.CP.isPandaBlack))
      if dragonconf.dpAtl:
        pass
      # If using stock ACC, spam cancel command to kill gas when OP disengages.
      elif not dragonconf.dpAllowGas and pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
      elif CS.out.cruiseState.standstill:
        if CS.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
          rough_lead_speed = self.rough_speed(CS.lead_distance)
          if CS.lead_distance > (self.stopped_lead_distance + 15.0) or rough_lead_speed > 0.1:
            self.stopped_lead_distance = 0.0
            can_sends.append(
-              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
+              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
        elif CS.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
          if CS.hud_lead == 1:
            can_sends.append(
-              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
+              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
        else:
-          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
+          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
      else:
        self.stopped_lead_distance = CS.lead_distance
        self.prev_lead_distance = CS.lead_distance
+
    else:
      # Send gas and brake commands.
      if (frame % 2) == 0:
@@ -224,7 +225,7 @@ class CarController():
            apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
            pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
            can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
-              pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.stock_brake))
+                                                         pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack, CS.stock_brake))
            self.apply_brake_last = apply_brake

            if CS.CP.enableGasInterceptor:
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
toyboxZ	ce48b03678	try fix volkswagen PQ message	2021-02-16 22:09:53 +08:00
Rick Lan	446fb5f857	* Fixed Honda display incorrect brake display. (Thanks to @深鲸希西)	2021-01-11 15:52:31 +10:00
toyboxZ	e55185a7bb	add rec screen button	2021-01-02 23:03:48 +08:00
Rick Lan	4bf7baabe6	removed g70 off from ignore fingerprint	2020-12-24 22:20:13 +10:00
Rick Lan	91ade81972	dragonpilot 0.8.1.0	2020-12-24 22:11:16 +10:00
Vehicle Researcher	22a4193109	openpilot v0.8.1 release	2020-12-18 10:57:05 +00:00
Adeeb Shihadeh	29d9e1ce69	Fix commIssue due to frame drop and power draw (#2689 ) Co-authored-by: robbederks <robbe.derks@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com>	2020-12-04 10:41:00 +01:00