Merge pull request #92 from loveloveses/0.8.5

enableBsm for CRV HYBRID
enable bsm for CRV HYBRID
2026-06-16 05:24:58 +08:00 · 2021-08-17 18:12:36 +08:00 · 2021-08-13 12:08:23 +08:00 · 2021-08-13 12:05:54 +08:00 · 2021-08-13 12:00:52 +08:00 · 2021-07-22 12:43:20 +10:00
660 changed files with 31515 additions and 37314 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 venv/
+.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -6,9 +7,10 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode
+.vscode*
 model2.png
 a.out
+.hypothesis

 *.dylib
 *.DSYM
@@ -31,6 +33,7 @@ a.out
 *.vcd
 config.json
 clcache
+compile_commands.json

 persist
 board/obj/
@@ -38,13 +41,15 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
-selfdrive/ui/_ui
+
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
+selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
@@ -55,8 +60,7 @@ notebooks
 xx
 hyperthneed
 panda_jungle
-apks
-openpilot-apks
+provisioning

 .coverage*
 coverage.xml
@@ -67,4 +71,7 @@ pandaextra
 flycheck_*

 cppcheck_report.txt
-comma.sh
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+models/*.thneed
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -0,0 +1,664 @@
+dragonpilot 0.8.5-4
+========================
+* Added multiple toggles.
+* Code clean up.
+* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
+* Better support for VW MPQ (Thanks to @Saber)
+
+dragonpilot 0.8.5-3
+========================
+* Added Jetson support toggle.
+* Added Steering Ratio controller.
+* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
+* Bug fixes.
+
+dragonpilot 0.8.5-2
+========================
+* Added black panda simulation toggle.
+* Added No GPS toggle.
+* Added No Battery Toggle.
+* Bug fixes.
+
+dragonpilot 0.8.5-1
+========================
+* Based on openpilot 0.8.5 devel.
+* 基於 openpilot 0.8.5 devel.
+* Support 1+3t / C2 / Jetson Xavier NX. 
+* 支持 1+3t / C2 / Jetson Xavier NX.
+* No White/Grey Panda Support.
+* 不支持白灰熊.
+
+dragonpilot 0.8.4-3
+========================
+* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
+* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
+* 加回舊 ssh 登錄.
+* Good old ssh key.
+* 修復本田錯誤. (感謝 @loveloveses)
+* Fixed Honda bug. (Thanks to @loveloveses)
+
+dragonpilot 0.8.4-2
+========================
+* 加回可調整加速/跟車設定.
+* Added back Accel/Following Profile.
+* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
+* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
+* 支持 1+3t (需額外安裝手續)
+* Support 1+3t (Require additional install procedure)
+* 支持白/灰熊
+* Support White/Grey Panda.
+
+dragonpilot 0.8.4-1
+========================
+* 基於 openpilot 0.8.4 devel.
+* Based on openpilot 0.8.4 devel.
+
+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.
+* Based on latest openpilot 0.8.0 devel.
+* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
+* Added git error fix. (Thanks to @toyboxZ)
+
+dragonpilot 0.7.10.1
+========================
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
+* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
+* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
+* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
+* Use openpilot v0.8 model. (Thanks to @eisenheim)
+* 加入 0.8 測試版的部分優化。
+* Added optimizations from pre-0.8.
+* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
+* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
+* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
+* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
+* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
+* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
+* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
+* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
+* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
+* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
+* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
+
+dragonpilot 0.7.10.0
+========================
+* 基於最新 openpilot 0.7.10 devel.
+* Based on latest openpilot 0.7.10 devel.
+* 修正 Prius 特定情況下無法操控方向盤的問題。
+* Fixed unable to regain Prius steering control under certain condition.
+* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
+* Updated support of VW MQB. (scripts/vw.sh script required)
+* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
+* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
+* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
+* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
+* 優化 nanovg。(感謝 @piggy 提供)
+* Optomized nanovg. (Thanks to @piggy)
+* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
+* Added complete_setup.sh (Thanks to @深鲸希西)
+* Based on latest openpilot 0.7.10 devel.
+* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
+* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+
+dragonpilot 0.7.8.3
+========================
+* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
+* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
+
+dragonpilot 0.7.8.2
+========================
+* 修正在沒網路的情況下，開機超過五分鐘的問題。
+* Fixed 5+ minutes boot time issue when there is no internet connection.
+* 錯誤回傳改使用 dp 的主機。
+* Used dp server for error reporting.
+* 更新服務改使用 gitee 的 IP 檢查連線狀態。
+* updated service uses gitee IP address instead.
+
+dragonpilot 0.7.8.1
+========================
+* 加入 ko-KR 翻譯。
+* Added ko-KR translation.
+* 加入 Honda Jade 支援。(感謝 @李俊灝)
+* Added Honda Jade support. (Thanks to @lijunhao731)
+* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
+* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
+* gpxd 記錄改自動存成 zip 格式。
+* gpxd now store in zip format.
+* 強制關閉 panda 檢查 DOS 硬體。
+* Force disabled DOS hardware check in panda.
+
+dragonpilot 0.7.8.0
+========================
+* 基於最新 openpilot 0.7.8 devel.
+* Based on latest openpilot 0.7.8 devel.
+* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
+* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
+* 將警示訊息更改為類似於概念 UI 的設計。
+* Alert messages changed to concept UI alike design.
+* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
+* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. 
+
+dragonpilot 0.7.7.3
+========================
+* 修正方向盤監控。
+* Fixed steering monitor timer param.
+* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
+* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
+* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
+* Re-added Dev Mini UI. (Thanks to @Ninjaa)
+* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
+* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
+* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
+* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
+* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
+* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
+* 使用德國的車道寬度估算值。 （感謝 @arne182）
+* Used lane width estimate value from Germany. (Thanks to @arne182)
+
+dragonpilot 0.7.7.2
+========================
+* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
+* Added d_poly offset. (Thanks to @ShaneSmiskol)
+* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
+* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
+* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
+* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
+* 加入 LQR 控制器開關進設定畫面。
+* Added LQR Controller toggle to settings.
+
+dragonpilot 0.7.7.1
+========================
+* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
+* Added C2 quiet fan mode. (Thanks to @dingliangxue)
+* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
+* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
+* 加入回調校介面。(感謝 @Kent)
+* Re-added Dev UI. (Thanks to @Kent)
+* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
+* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) 
+
+dragonpilot 0.7.7.0
+========================
+* 基於最新 openpilot 0.7.7 devel.
+* Based on latest openpilot 0.7.7 devel.
+* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
+* When Manager failed, display IP address. (Thanks to  @dingliangxue)
+* 加回 sr learner 開關。
+* Re-added sr learner toggle.
+* 加回 加速模式 開關。
+* Re-added Accel Profile toggle.
+* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
+* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
+* 介面加入盲點偵測顯示。(感謝 @wabes)
+* Added BSM indicator to UI. (Thanks to @wabes)
+* 加回彎道減速功能。(感謝 @Mojo)
+* re-added Slow On Curve functionality. (Thanks to @Mojo)
+
+dragonpilot 0.7.6.2
+========================
+* 修正無法正確關閉駕駛監控的問題。
+* Fixed unable to properly turn off driver monitor issue.
+
+dragonpilot 0.7.6.1
+========================
+* 基於最新 openpilot 0.7.6.1 devel.
+* Based on latest openpilot 0.7.6.1 devel.
+* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
+* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
+* 完全關閉 steer ratio learner。
+* Completely disabled steer ratio learner.
+* 移除「加速模式」。
+* Removed Accel Profile.
+* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
+* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
+* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
+* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
+
+dragonpilot 0.7.5.4
+========================
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+dragonpilot 0.7.5.3
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+
+dragonpilot 0.7.5.2
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue. 
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+dragonpilot 0.7.5.1
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+dragonpilot 0.7.5.0
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
+
+2020-05-06
+========================
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* 中文版整合進 i18n 版。  
+* 刪除指紋暫存功能。
+* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
+* 新增行駛時關閉畫面功能。
+* 新增倒車時關閉畫面功能。
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* 新增自定義車型。
+
+2020-04-16
+========================
+* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
+* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
+* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
+
+2020-04-13
+========================
+* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
+* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
+* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
+
+2020-04-10
+========================
+* [DEVEL] 更新 panda 至最新的 comma:master 分支。
+* [DEVEL] 移除所有的第三方應用改為自動下載。
+* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+
+2020-03-31
+========================
+* [DEVEL] 更新至 2020-03-31 testing 分支。
+
+2020-03-27
+========================
+* [DEVEL] 更新至最新的 testing 分支:
+  * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+  * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+  * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+  * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+  * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+  * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+  * 加入韓文支持。(感謝 crwusiz 提供)
+  * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+2020-03-22
+========================
+* [DEVEL] 更新至最新的 testing 分支。
+
+2020-03-17
+========================
+* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
+* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+
+2020-03-14
+========================
+* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
+* [DEVEL] 調高 Toyota 扭力容錯值。
+* [DEVEL] 優化讀取 dp 設定值。
+* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [DEVEL] dp 功能加入對 Subaru 車系的支援。
+
+2020-03-06
+========================
+* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [DEVEL] 建立 devel-i18n 取代 devel-en。
+* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
+
+2020-03-04
+========================
+* [DEVEL] 加入顯示駕駛監控畫面。
+* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+2020-02-25
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-21
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-14
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] 修正錯誤。
+
+2020-02-08
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [DEVEL] 加入神盾測速照相自動啟動的開關。
+* [DEVEL] 更新高德地圖至 v4.5.0.600053。
+* [DEVEL] 使用 0.6.6 版的更新系統。
+* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
+
+2020-01-31
+========================
+* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+
+2020-01-29
+========================
+* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+
+2020-01-23
+========================
+* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [DEVEL] 優化 appd。
+
+2020-01-19
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
+* [DEVEL] 調整 appd 和 ALC 邏輯。 
+
+2020-01-14
+========================
+* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+
+2020-01-08
+========================
+* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+2019-12-31
+========================
+* [DEVEL-ZHS] 加回第三方應用。
+
+2019-12-29
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+
+2019-12-18
+========================
+* [DEVEL] 修正自動換道邏輯。
+* [DEVEL] 更新 offroad 翻譯。
+* [DEVEL] 錯誤修正。
+* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+
+2019-12-17
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
+* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
+* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+
+2019-12-10
+========================
+* [DEVEL] 加入位智車機模式。 (Waze Mode)
+
+2019-11-21
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [DEVEL] 調整前車靜止移動偵測參數。
+* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
+
+2019-11-18
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+
+2019-11-18
+========================
+* [DEVEL] 修正 frame 翻譯。
+
+2019-11-15
+========================
+* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+
+2019-11-15
+========================
+* [DEVEL] 修正充電控制。 (感謝 KT 反應)
+* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-12
+========================
+* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
+
+2019-11-12
+========================
+* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
+
+2019-11-11
+========================
+* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [DEVEL] 更新 MiXplorer 至 v6.40.3
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+* [DEVEL] 前車靜止移動偵測加入偵測警示。
+
+2019-11-07
+========================
+* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+
+2019-11-06
+========================
+* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-05
+========================
+* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+
+2019-11-01
+========================
+* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+
+2019-11-01
+========================
+* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
+* [DEVEL] 更新 offroad 為多語言版
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+
+2019-10-29
+========================
+* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
+
+2019-10-28
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+
+2019-10-18
+========================
+* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
+* [DEVEL] 修正 allow_gas 功能。
+
+2019-10-18
+========================
+* [DEVEL] 加入彎道減速功能開關。
+* [DEVEL] 強迫使用 dp 版 Panda 韌體。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+
+2019-10-17
+========================
+* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
+* [DEVEL] 修正充電控制讀取預設值的錯誤。
+* [DEVEL] 修正無法顯示更新記錄的錯誤。
+
+2019-10-16
+========================
+* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
+* [DEVEL] 更新高德地圖至 v4.3.0
+* [DEVEL] 刪除 bs (Branch Switcher)
+
+2019-10-14
+========================
+* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [DEVEL] 清除不再使用的 dp params。
+* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
+* [DEVEL] 加入刷新 Panda 韌體按鈕。
+
+2019-10-11
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+
+2019-10-09
+========================
+* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+2019-10-08
+========================
+* [DEVEL] 加回駕駛監控開關。
+* [DEVEL] 加入 bs (branch switcher) 程式。
+
+2019-10-07
+========================
+* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+
+2019-10-05
+========================
+* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 
+
+2019-09-30
+========================
+* [DEVEL] 更新 curvature learner 版本至 v4。
+* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+
+2019-09-27
+========================
+* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [DEVEL] 加入可開關駕駛監控的程式碼。
+* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+
+2019-09-26
+========================
+* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+
+2019-09-24
+========================
+* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+
+2019-09-23
+========================
+* [DEVEL] 優化讀取 params 的次數。
+* [DEVEL] 加入可開關的車道偏移警示。
+* [DEVEL] 修正充電控制邏輯。
+* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+
+2019-09-20
+========================
+* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+
+2019-09-16
+========================
+* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+
+2019-09-13
+========================
+* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
+
+2019-09-09
+========================
+* [DEVEL] 加入 GreyPanda 模式。
+
+2019-08-28
+========================
+* [DEVEL] 加入可調警示音量。
+
+2019-08-27
+========================
+* [DEVEL] 自動關機改為可調時長。
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -0,0 +1,28 @@
+# CONTRIBUTORS
+
+Due to the way we manage the source code, it is not possible to see all the contributors info, hence we create a list here.
+
+If you have contributed to DP project before and your name is not listed here, feel free to send us a PR to update this!
+
+name                                                         | github                                                       | contribution
+------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------
+andy741217                                                   | [andy741217](https://github.com/andy741217)                  | New features, bug fixes
+Arne Schwarck                                                | [arne182](https://github.com/arne182)                        | New features, bug fixes
+berno22                                                      | [berno22](https://github.com/berno22)                        | New car fingerprint
+Bobbydough                                                   | [Bobbydough](https://github.com/bobbydough)                  | Bug fixes
+Curtis Jenkins                                               | [actuallylemoncurd](https://github.com/actuallylemoncurd)    | New Features
+DFyffe                                                       | [donfyffe](https://github.com/donfyffe)                      | New features, bug fixes
+dinglx                                                       | [dingliangxue](https://github.com/dingliangxue)              | New features, bug fixes
+eyezenheim                                                   | [eyezenheim](https://github.com/eyezenheim)                  | Tester
+kegman                                                       | [kegman](https://github.com/kegman)                          | New features, bug fixes
+kumar                                                        | [rav4kumar](https://github.com/rav4kumar)                    | New features, bug fixes
+lijunhao731                                                  | [lijunhao731](https://github.com/lijunhao731)                | New car fingerprint
+lirudy                                                       | [lirudy](https://github.com/lirudy)                          | Bug fixes
+LOVEChen                                                     | [LOVEChen](https://github.com/LOVEChen)                      | Bug fixes
+loveloveses                                                  | [loveloveses](https://github.com/loveloveses)                | Bug fixes, DP wiki main maintainer
+menwenliang                                                  | [menwenliang](https://github.com/menwenliang)                | New features
+Rick Lan                                                     | [efinilan](https://github.com/efinilan)                      | Project lead
+rming                                                        | [Rming](https://github.com/rming)                            | Bug fixes, wiki contributor
+sebastian4k                                                  | [sebastian4k](https://github.com/sebastian4k)                | Bug fixes
+Shane Smiskol                                                | [sshane](https://github.com/sshane)                          | New features, bug fixes
+toyboxZ                                                      | [toyboxZ](https://github.com/toyboxZ)                        | New features, bug fixes
--- a/HOWTO-ONEPLUS.md
+++ b/HOWTO-ONEPLUS.md
@@ -0,0 +1,25 @@
+How to install on Oneplus 3t?
+------
+1. clone dragonpilot to /data/ and make sure it's named openpilot:
+   (手動安裝切換至 dragonpilot 0.8.5 branch)
+```
+cd /data/ && rm -fr openpilot; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.5
+```
+
+2. run command:
+   (在 ssh 畫面下，輸入)
+```
+cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
+```
+
+3. Let it download and complete it update, after a couple of reboot, your screen will then stay in fastboot mode.
+   (等待下載並讓它重新開機，沒錯誤的話會進入 Android 機器人更新畫面，等自動重新開機)
+
+4. In fastboot mode, select use volume button to select to `Recovery mode` then press power button.
+   (在 fastboot 模式，用音量鍵上下選到 Recovery mode 再按下電源鍵)
+
+5. In Recovery mode, tap `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`
+   (在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
+   
+6. You should be able to boot into openpilot, if touch screen is not working, try to reboot again.
+   (你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)
--- a/146
+++ b/146
@@ -1,25 +1,42 @@
 def phone(String ip, String step_label, String cmd) {
-  def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
+
+set -e
+
+export CI=1
+export TEST_DIR=${env.TEST_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+
+source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+fi
+
+ln -snf ${env.TEST_DIR} /data/pythonpath
+
+if [ -f /EON ]; then
+  echo \$\$ > /dev/cpuset/app/tasks || true
+  echo \$PPID > /dev/cpuset/app/tasks || true
+  mkdir -p /dev/shm
+  chmod 777 /dev/shm
+fi

-  withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
-    sh label: step_label,
-        script: """
-                ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
-echo \$\$ > /dev/cpuset/app/tasks || true
-echo \$PPID > /dev/cpuset/app/tasks || true
-mkdir -p /dev/shm
-chmod 777 /dev/shm
 cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0
+
 EOF"""
+
+    sh script: ssh_cmd, label: step_label
  }
 }

 def phone_steps(String device_type, steps) {
  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 60, unit: 'MINUTES') {
-      phone(device_ip, "kill old processes", "pkill -f comma || true")
+    timeout(time: 150, unit: 'MINUTES') {
      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
      steps.each { item ->
        phone(device_ip, item[0], item[1])
@@ -35,12 +52,12 @@ pipeline {
    TEST_DIR = "/data/openpilot"
  }
  options {
-      timeout(time: 1, unit: 'HOURS')
+      timeout(time: 3, unit: 'HOURS')
  }

  stages {

-    stage('Release Build') {
+    stage('Build release2') {
      agent {
        docker {
          image 'python:3.7.3'
@@ -61,12 +78,11 @@ pipeline {
      when {
        not {
          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
          }
        }
      }

-
      stages {

        /*
@@ -96,6 +112,10 @@ pipeline {
        stage('On-device Tests') {
          agent {
            docker {
+              /*
+              filename 'Dockerfile.ondevice_ci'
+              args "--privileged -v /dev:/dev --shm-size=1G --user=root"
+              */
              image 'python:3.7.3'
              args '--user=root'
            }
@@ -104,19 +124,13 @@ pipeline {
          stages {
            stage('parallel tests') {
              parallel {
-
-                stage('Devel Build') {
-                  environment {
-                    CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
-                  }
+                stage('Devel Tests') {
                  steps {
-                    phone_steps("eon", [
-                      ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
-                      ["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
-                      ["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
+                    phone_steps("eon-build", [
+                      ["build devel", "cd release && DEVEL_TEST=1 ./build_devel.sh"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                      ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
-                      ["test text window build", "cd selfdrive/ui/text && make clean && make"],
                    ])
                  }
                }
@@ -124,7 +138,8 @@ pipeline {
                stage('Replay Tests') {
                  steps {
                    phone_steps("eon2", [
-                      ["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
                    ])
                  }
                }
@@ -132,18 +147,88 @@ pipeline {
                stage('HW + Unit Tests') {
                  steps {
                    phone_steps("eon", [
-                      ["build", "SCONS_CACHE=1 scons -j4"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
-                      //["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
                      //["test updater", "python installer/updater/test_updater.py"],
                    ])
                  }
                }

+                /*
+                stage('Power Consumption Tests') {
+                  steps {
+                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+                      timeout(time: 90, unit: 'MINUTES') {
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+                        phone(device_ip, "build", "scons -j4 && sync")
+                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
+                      }
+                    }
+                  }
+                }
+                */
+
+                stage('Tici Build') {
+                  environment {
+                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+                  }
+                  steps {
+                    phone_steps("tici", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
+                    ])
+                  }
+                }
+
+                stage('camerad') {
+                  steps {
+                    phone_steps("eon-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('Tici camerad') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
              }
            }
+
+            stage('Push master-ci') {
+              when {
+                branch 'master'
+              }
+              steps {
+                phone_steps("eon-build", [
+                  ["push devel", "cd release && CI_PUSH='master-ci' ./build_devel.sh"],
+                ])
+              }
+            }
+
          }

          post {
@@ -158,3 +243,4 @@ pipeline {
    }
  }
 }
+
--- a/README.md
+++ b/README.md
@@ -66,7 +66,7 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | 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              |
+| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
@@ -77,42 +77,48 @@ Supported Cars
 | Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019-20               | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Insight 2019-21               | 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              |
+| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Hyundai   | Palisade 2020-21              | 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              |
+| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | NX 2020                       | All               | openpilot        | 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 2020-21                    | 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              |
+| Lexus     | UX Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019            | 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    | Camry Hybrid 2021             | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | C-HR 2017-20                  | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Corolla 2020-21               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-21     | 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 2020-21            | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Mirai 2021	                  | 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              |
+| Toyota    | Prius Prime 2021              | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
@@ -129,6 +135,9 @@ Community Maintained Cars and Features

 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | Q2 2018                       | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
@@ -136,46 +145,67 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Chrysler  | Pacifica Hybrid 2019-21       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
 | GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Elantra 2017-19, 2021         | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | 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         |
-| Hyundai   | Sonata 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Veloster 2019                 | SCC + LKAS        | Stock            | 5mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Forte 2018-2021               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Seltos 2021                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2018-19                 | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| SEAT      | Leon 2014-2020                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia 2015, 2019            | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019-20              | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTE 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTI 2018-19              | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf R 2016-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportsVan 2016           | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |

 <sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-
-Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
+<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.

 Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.

 To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0

+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
 Installation Instructions
 ------

@@ -263,7 +293,7 @@ By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privac
 Safety and Testing
 ----

-* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
 * openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
 * The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
 * panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
@@ -305,10 +335,9 @@ And [follow us on Twitter](https://twitter.com/comma_ai).
 Directory Structure
 ------
    .
-    ├── apk                 # The apk files used for the UI
    ├── cereal              # The messaging spec and libs used for all logs
    ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages auto-updates of openpilot
+    ├── installer/updater   # Manages auto-updates of NEOS
    ├── opendbc             # Files showing how to interpret data from cars
    ├── panda               # Code used to communicate on CAN
    ├── phonelibs           # Libraries used on NEOS devices
@@ -331,8 +360,6 @@ Directory Structure
        ├── test            # Unit tests, system tests and a car simulator
        └── ui              # The UI

-To understand how the services interact, see `cereal/service_list.yaml`.
-
 Licensing
 ------

--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,59 @@
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Retuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
+Version 0.8.2 (2021-02-26)
+========================
+ * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
+ * Use model heading prediction for smoother lateral control
+ * Smarter actuator delay compensation
+ * Improve qcamera resolution for improved video in explorer and connect
+ * Adjust maximum engagement speed to better fit the model's training distribution
+ * New driver monitoring model trained with 3x more diverse data
+ * Improved face detection with masks
+ * More predictable DM alerts when visibility is bad
+ * Rewritten video streaming between openpilot processes
+ * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
+ * Audi A3 2015 and 2017 support thanks to keeleysam!
+ * Nissan Altima 2020 support thanks to avolmensky!
+ * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
+ * Toyota Camry Hybrid 2021 support thanks to alancyau!
+
 Version 0.8.1 (2020-12-21)
 ========================
 * Original EON is deprecated, upgrade to comma two
--- a/262
+++ b/262
@@ -7,16 +7,48 @@ import platform
 import numpy as np

 TICI = os.path.isfile('/TICI')
+JETSON = os.path.isfile('/JETSON')
+
 Decider('MD5-timestamp')

 AddOption('--test',
          action='store_true',
          help='build test files')

+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
 AddOption('--asan',
          action='store_true',
          help='turn on ASAN')

+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--mpc-generate',
+          action='store_true',
+          help='regenerates the mpc sources')
+
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
@@ -25,13 +57,17 @@ if arch == "aarch64" and TICI:
  arch = "larch64"

 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
+
+USE_MIPI = os.getenv("USE_MIPI") is not None
+if arch == "aarch64" and JETSON:
+  arch = "jarch64"
+
+lenv = {
+  "PATH": os.environ['PATH'],
+}

 if arch == "aarch64" or arch == "larch64":
-  lenv = {
-    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
-    "PATH": os.environ['PATH'],
-  }
+  lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'

  if arch == "aarch64":
    # android
@@ -43,6 +79,7 @@ if arch == "aarch64" or arch == "larch64":
  ]

  libpath = [
+    "/usr/local/lib",
    "/usr/lib",
    "/system/vendor/lib64",
    "/system/comma/usr/lib",
@@ -55,6 +92,9 @@ if arch == "aarch64" or arch == "larch64":
      "#phonelibs/libyuv/larch64/lib",
      "/usr/lib/aarch64-linux-gnu"
    ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    rpath = ["/usr/local/lib"]
@@ -67,46 +107,53 @@ if arch == "aarch64" or arch == "larch64":
    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
    rpath = []
-
-    if QCOM_REPLAY:
-      cflags += ["-DQCOM_REPLAY"]
-      cxxflags += ["-DQCOM_REPLAY"]
-
 else:
  cflags = []
  cxxflags = []
+  cpppath = []
+  rpath = []

-  lenv = {
-    "PATH": "#external/bin:" + os.environ['PATH'],
-  }
-  cpppath = [
-    "#external/tensorflow/include",
-  ]
-
-  if arch == "Darwin":
+  if arch == "jarch64":
    libpath = [
-      "#phonelibs/libyuv/mac/lib",
-      "#cereal",
+      "#phonelibs/libyuv/larch64/lib",
      "#selfdrive/common",
+      "/usr/lib",
      "/usr/local/lib",
+    ]
+    cflags = ["-DXNX", "-march=armv8.2-a"]
+    cxxflags = ["-DXNX", "-march=armv8.2-a"]
+    rpath += ["/usr/local/lib"]
+  elif arch == "Darwin":
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
+    libpath = [
+      f"#phonelibs/libyuv/{yuv_dir}/lib",
+      "/usr/local/lib",
+      "/opt/homebrew/lib",
+      "/usr/local/opt/openssl/lib",
+      "/opt/homebrew/opt/openssl/lib",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
    cflags += ["-DGL_SILENCE_DEPRECATION"]
    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      "/opt/homebrew/include",
+      "/usr/local/opt/openssl/include",
+      "/opt/homebrew/opt/openssl/include"
+    ]
  else:
    libpath = [
      "#phonelibs/snpe/x86_64-linux-clang",
      "#phonelibs/libyuv/x64/lib",
-      "#external/tensorflow/lib",
+      "#phonelibs/mapbox-gl-native-qt/x86_64",
      "#cereal",
      "#selfdrive/common",
      "/usr/lib",
      "/usr/local/lib",
    ]

-  rpath = [
-    "phonelibs/snpe/x86_64-linux-clang",
-    "external/tensorflow/lib",
+  if arch != "jarch64":
+    rpath += ["phonelibs/snpe/x86_64-linux-clang"]
+  rpath += [
    "cereal",
    "selfdrive/common"
  ]
@@ -115,11 +162,18 @@ else:
  rpath = [os.path.join(os.getcwd(), x) for x in rpath]

 if GetOption('asan'):
-  ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags_asan = ["-fsanitize=address"]
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
 else:
-  ccflags_asan = []
-  ldflags_asan = []
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed"]

 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path
@@ -138,11 +192,11 @@ env = Environment(
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
-  ] + cflags + ccflags_asan,
+  ] + cflags + ccflags,

  CPPPATH=cpppath + [
    "#",
-    "#selfdrive",
+    "#phonelibs/catch2/include",
    "#phonelibs/bzip2",
    "#phonelibs/libyuv/include",
    "#phonelibs/openmax/include",
@@ -154,23 +208,19 @@ env = Environment(
    "#phonelibs/android_system_core/include",
    "#phonelibs/linux/include",
    "#phonelibs/snpe/include",
+    "#phonelibs/mapbox-gl-native-qt/include",
    "#phonelibs/nanovg",
-    "#selfdrive/boardd",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#selfdrive/sensord",
-    "#selfdrive/ui",
-    "#cereal/messaging",
+    "#phonelibs/qrcode",
+    "#phonelibs",
    "#cereal",
+    "#cereal/messaging",
+    "#cereal/visionipc",
    "#opendbc/can",
  ],

  CC='clang',
  CXX='clang++',
-  LINKFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags,

  RPATH=rpath,

@@ -188,18 +238,13 @@ env = Environment(
  tools=["default", "cython", "compilation_db"],
 )

-if GetOption('test'):
+if GetOption('compile_db'):
  env.CompilationDatabase('compile_commands.json')

-if os.environ.get('SCONS_CACHE'):
-  cache_dir = '/tmp/scons_cache'
-  if TICI:
-    cache_dir = '/data/scons_cache'
-
-  if QCOM_REPLAY:
-    cache_dir = '/tmp/scons_cache_qcom_replay'
-
-  CacheDir(cache_dir)
+# Setup cache dir
+cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)

 node_interval = 5
 node_count = 0
@@ -239,9 +284,76 @@ else:

 Export('envCython')

-# still needed for apks
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]
+
+qt_libs = []
+if arch == "Darwin":
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
+  else:
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+elif arch == "aarch64":
+  qt_env['QTDIR'] = "/system/comma/usr"
+  qt_dirs = [
+    f"/system/comma/usr/include/qt",
+  ]
+  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/{real_arch}-linux-gnu/qt5",
+    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64" or arch == "jarch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB"
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
 zmq = 'zmq'
-Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -251,26 +363,55 @@ if SHARED:
 else:
  cereal = [File('#cereal/libcereal.a')]
  messaging = [File('#cereal/libmessaging.a')]
+  visionipc = [File('#cereal/libvisionipc.a')]
+
 Export('cereal', 'messaging')

 SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
+Import('_common', '_gpucommon', '_gpu_libs')

 if SHARED:
-  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
+  common, gpucommon = abspath(common), abspath(gpucommon)
 else:
  common = [_common, 'json11']
-  visionipc = _visionipc
  gpucommon = [_gpucommon] + _gpu_libs

-Export('common', 'visionipc', 'gpucommon')
+Export('common', 'gpucommon', 'visionipc')

+# Build rednose library and ekf models
+
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+  },
+}
+
+if arch != "aarch64":
+  rednose_config['to_build'].update({
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+  })
+
+Export('rednose_config')
+SConscript(['rednose/SConscript'])
+
+# Build openpilot
+
+SConscript(['cereal/SConscript'])
+SConscript(['panda/board/SConscript'])
 SConscript(['opendbc/can/SConscript'])

+SConscript(['phonelibs/SConscript'])
+
 SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
-SConscript(['phonelibs/SConscript'])

 SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
@@ -287,13 +428,12 @@ SConscript(['selfdrive/clocksd/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])

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

 if arch != "Darwin":
  SConscript(['selfdrive/logcatd/SConscript'])

-if arch == "x86_64":
-  SConscript(['tools/lib/index_log/SConscript'])
-
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -6,10 +6,16 @@ package-lock.json
 __pycache__
 .*.swp
 .*.swo
-libcereal*.a
+*.os
+*.o
+*.a
+
+test_runner
+
 libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
 libcereal_shared.*
 .mypy_cache/
+catch2/
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -6,30 +6,28 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 messaging_dir = Dir('messaging')

-# TODO: remove src-prefix and cereal from command string. can we set working directory?
+# Build cereal
+
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.capnp']
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
-            ['car.capnp', 'log.capnp'],
+env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
+            schema_files,
            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")

 if shutil.which('capnpc-java'):
  env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
-              ['car.capnp', 'log.capnp'],
+              schema_files,
              f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")

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

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

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

 messaging_objects = env.SharedObject([
  'messaging/messaging.cc',
@@ -52,10 +50,35 @@ if arch == "aarch64":
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)

-# different target?
-#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
-
 envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])

+
+# Build Vision IPC
+vipc_sources = [
+  'visionipc/ipc.cc',
+  'visionipc/visionipc_server.cc',
+  'visionipc/visionipc_client.cc',
+  'visionipc/visionbuf.cc',
+]
+
+if arch in ["aarch64", "larch64"]:
+  vipc_sources += ['visionipc/visionbuf_ion.cc']
+else:
+  vipc_sources += ['visionipc/visionbuf_cl.cc']
+
+vipc_objects = env.SharedObject(vipc_sources)
+vipc = env.Library('visionipc', vipc_objects)
+
+
+libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
+if arch == "aarch64":
+  libs += ["adreno_utils"]
+if arch == "Darwin":
+  del libs[libs.index('OpenCL')]
+  envCython['FRAMEWORKS'] += ['OpenCL']
+envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
+
+
 if GetOption('test'):
  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
+  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
--- a/cereal/_SConstruct
+++ b/cereal/_SConstruct
@@ -0,0 +1,73 @@
+import os
+import platform
+import subprocess
+import sysconfig
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+cereal_dir = Dir('.')
+messaging_dir = Dir('./messaging')
+
+cpppath = [
+  cereal_dir,
+  messaging_dir,
+  '/usr/lib/include',
+  '/opt/homebrew/include',
+  sysconfig.get_paths()['include'],
+]
+
+libpath = [
+  '/opt/homebrew/lib',
+]
+
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++1z",
+  CPPPATH=cpppath,
+  LIBPATH=libpath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+Export('env', 'arch')
+
+envCython = env.Clone(LIBS=[])
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(sysconfig.get_paths()['include'])]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+
+SConscript(['SConscript'])
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -11,6 +11,8 @@ $Java.outerClassname("Car");

 struct CarEvent @0x9b1657f34caf3ad3 {
  name @0 :EventName;
+
+  # event types
  enable @1 :Bool;
  noEntry @2 :Bool;
  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
@@ -21,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  permanent @8 :Bool; # alerts presented regardless of openpilot state

  enum EventName @0xbaa8c5d505f727de {
-    # TODO: copy from error list
    canError @0;
    steerUnavailable @1;
    brakeUnavailable @2;
@@ -36,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    buttonEnable @12;
    pedalPressed @13;
    cruiseDisabled @14;
-    radarCanError @15;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
@@ -52,8 +52,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    manualRestart @30;
    lowSpeedLockout @31;
    plannerError @32;
-    debugAlert @34;
-    steerTempUnavailableMute @35;
+    joystickDebug @34;
+    steerTempUnavailableUserOverride @35;
    resumeRequired @36;
    preDriverDistracted @37;
    promptDriverDistracted @38;
@@ -64,7 +64,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    belowSteerSpeed @46;
    lowBattery @48;
    vehicleModelInvalid @50;
-    controlsFailed @51;
+    accFaulted @51;
    sensorDataInvalid @52;
    commIssue @53;
    tooDistracted @54;
@@ -73,13 +73,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preLaneChangeLeft @57;
    preLaneChangeRight @58;
    laneChange @59;
-    internetConnectivityNeeded @61;
    communityFeatureDisallowed @62;
    lowMemory @63;
    stockAeb @64;
    ldw @65;
    carUnrecognized @66;
-    radarCommIssue @67;
    driverMonitorLowAcc @68;
    invalidLkasSetting @69;
    speedTooHigh @70;
@@ -91,6 +89,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startupNoCar @76;
    startupNoControl @77;
    startupMaster @78;
+    startupFuzzyFingerprint @97;
+    startupNoFw @104;
    fcw @79;
    steerSaturated @80;
    belowEngageSpeed @84;
@@ -100,9 +100,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    deviceFalling @90;
    fanMalfunction @91;
    cameraMalfunction @92;
+    gpsMalfunction @94;
+    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;

-    startupOneplus @82;
-
+    radarCanErrorDEPRECATED @15;
+    radarCommIssueDEPRECATED @67;
    gasUnavailableDEPRECATED @3;
    dataNeededDEPRECATED @16;
    modelCommIssueDEPRECATED @27;
@@ -113,11 +122,25 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    calibrationProgressDEPRECATED @47;
    invalidGiraffeHondaDEPRECATED @49;
    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
    whitePandaUnsupportedDEPRECATED @81;
    commIssueWarningDEPRECATED @83;
    focusRecoverActiveDEPRECATED @86;
    neosUpdateRequiredDEPRECATED @88;
    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
+
+    #dp
+    preLaneChangeLeftALC @105;
+    preLaneChangeRightALC @106;
+    manualSteeringRequired @107;
+    manualSteeringRequiredBlinkersOn @108;
+    leadCarMoving @109;
+
+    # timebomb assist
+    timebombWarn @110;
+    timebombBypassing @111;
+    timebombBypassed @112;
  }
 }

@@ -125,7 +148,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s

 struct CarState {
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
  events @13 :List(CarEvent);

  # car speed
@@ -143,11 +165,10 @@ struct CarState {
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
-  brakeLights @19 :Bool;

  # steering wheel
-  steeringAngle @7 :Float32;       # deg
-  steeringRate @15 :Float32;       # deg/s
+  steeringAngleDeg @7 :Float32;
+  steeringRateDeg @15 :Float32;
  steeringTorque @8 :Float32;      # TODO: standardize units
  steeringTorqueEps @27 :Float32;  # TODO: standardize units
  steeringPressed @9 :Bool;        # if the user is using the steering wheel
@@ -185,6 +206,10 @@ struct CarState {
  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
  rightBlindspot @34 :Bool; # Is there something blocking the right lane change

+  # dp
+  lkMode @37 :Bool;
+  stopSteering @38 :Bool; # timebomb - stopSteering
+
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
@@ -235,6 +260,9 @@ struct CarState {
      gapAdjustCruise @11;
    }
  }
+
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLights @19 :Bool;
 }

 # ******* radar state @ 20hz *******
@@ -278,10 +306,6 @@ struct CarControl {
  enabled @0 :Bool;
  active @7 :Bool;

-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-
  actuators @6 :Actuators;

  cruiseControl @4 :CruiseControl;
@@ -293,7 +317,7 @@ struct CarControl {
    brake @1: Float32;
    # range from -1.0 - 1.0
    steer @2: Float32;
-    steerAngle @3: Float32;
+    steeringAngleDeg @3: Float32;
  }

  struct CruiseControl {
@@ -329,8 +353,6 @@ struct CarControl {
    }

    enum AudibleAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
      none @0;
      chimeEngage @1;
      chimeDisengage @2;
@@ -342,6 +364,10 @@ struct CarControl {
      chimeWarning2Repeat @8;
    }
  }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
 }

 # ****** car param ******
@@ -349,15 +375,19 @@ struct CarControl {
 struct CarParams {
  carName @0 :Text;
  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;

  enableGasInterceptor @2 :Bool;
  enableCruise @3 :Bool;
  enableCamera @4 :Bool;
  enableDsu @5 :Bool; # driving support unit
  enableApgs @6 :Bool; # advanced parking guidance system
+  enableBsm @56 :Bool; # blind spot monitoring
+  hasStockCamera @57 :Bool; # factory LKAS/LDW camera is present

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
+  maxSteeringAngleDeg @54 :Float32;
  safetyModel @9 :SafetyModel;
  safetyModelPassive @42 :SafetyModel = silent;
  safetyParam @10 :Int16;
@@ -370,11 +400,11 @@ struct CarParams {
  brakeMaxV @16 :List(Float32);

  # things about the car in the manual
-  mass @17 :Float32;             # [kg] running weight
-  wheelbase @18 :Float32;        # [m] distance from rear to front axle
-  centerToFront @19 :Float32;   # [m] GC distance to front axle
-  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)

  # things we can derive
  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
@@ -406,10 +436,10 @@ struct CarParams {
  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
-  isPandaBlack @39: Bool;
  dashcamOnly @41: Bool;
  transmissionType @43 :TransmissionType;
  carFw @44 :List(CarFw);
+
  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
  communityFeature @46: Bool;  # true if a community maintained feature is detected
  fingerprintSource @49: FingerprintSource;
@@ -438,10 +468,19 @@ struct CarParams {
  }

  struct LateralINDITuning {
-    outerLoopGain @0 :Float32;
-    innerLoopGain @1 :Float32;
-    timeConstant @2 :Float32;
-    actuatorEffectiveness @3 :Float32;
+    outerLoopGainBP @4 :List(Float32);
+    outerLoopGainV @5 :List(Float32);
+    innerLoopGainBP @6 :List(Float32);
+    innerLoopGainV @7 :List(Float32);
+    timeConstantBP @8 :List(Float32);
+    timeConstantV @9 :List(Float32);
+    actuatorEffectivenessBP @10 :List(Float32);
+    actuatorEffectivenessV @11 :List(Float32);
+
+    outerLoopGainDEPRECATED @0 :Float32;
+    innerLoopGainDEPRECATED @1 :Float32;
+    timeConstantDEPRECATED @2 :Float32;
+    actuatorEffectivenessDEPRECATED @3 :Float32;
  }

  struct LateralLQRTuning {
@@ -496,6 +535,7 @@ struct CarParams {
    automatic @1;  # Traditional auto, including DSG
    manual @2;  # True "stick shift" only
    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
  }

  struct CarFw {
@@ -539,4 +579,6 @@ struct CarParams {
    fwdCamera @0;  # Standard/default integration at LKAS camera
    gateway @1;    # Integration at vehicle's CAN gateway
  }
+
+  isPandaBlackDEPRECATED @39: Bool;
 }
--- a/cereal/dp.capnp
+++ b/cereal/dp.capnp
@@ -0,0 +1,57 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("dp");
+
+@0xbfa7e645486440c7;
+
+# dp.capnp: a home for deprecated structs
+
+# dp
+struct DragonConf {
+  dpThermalStarted @0 :Bool;
+  dpThermalOverheat @1 :Bool;
+  dpAtl @2 :Bool;
+  dpDashcamd @3 :Bool;
+  dpAutoShutdown @4 :Bool;
+  dpAthenad @5 :Bool;
+  dpUploader @6 :Bool;
+  dpLateralMode @7 :UInt8;
+  dpSignalOffDelay @8 :Float32;
+  dpLcMinMph @9 :UInt8;
+  dpLcAutoCont @10 :Bool;
+  dpLcAutoMinMph @11 :UInt8;
+  dpLcAutoDelay @12 :Float32;
+  dpAllowGas @13 :Bool;
+  dpFollowingProfileCtrl @14 :Bool;
+  dpFollowingProfile @15 :UInt8;
+  dpAccelProfileCtrl @16 :Bool;
+  dpAccelProfile @17 :UInt8;
+  dpGearCheck @18 :Bool;
+  dpSpeedCheck @19 :Bool;
+  dpUiDisplayMode @20 :UInt8;
+  dpUiSpeed @21 :Bool;
+  dpUiEvent @22 :Bool;
+  dpUiMaxSpeed @23 :Bool;
+  dpUiFace @24 :Bool;
+  dpUiLane @25 :Bool;
+  dpUiLead @26 :Bool;
+  dpUiDev @27 :Bool;
+  dpUiDevMini @28 :Bool;
+  dpUiBlinker @29 :Bool;
+  dpUiBrightness @30 :UInt8;
+  dpUiVolume @31 :Int8;
+  dpToyotaLdw @32 :Bool;
+  dpToyotaSng @33 :Bool;
+  dpVwTimebombAssist @34 :Bool;
+  dpIpAddr @35 :Text;
+  dpCameraOffset @36 :Int8;
+  dpPathOffset @37 :Int8;
+  dpLocale @38 :Text;
+  dpSrLearner @39 :Bool;
+  dpSrCustom @40 :Float32;
+  dpAppd @41 :Bool;
+  dpDebug @42 :Bool;
+}
--- a/cereal/legacy.capnp
+++ b/cereal/legacy.capnp
@@ -0,0 +1,865 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Legacy");
+
+@0x80ef1ec4889c2a63;
+
+# legacy.capnp: a home for deprecated structs
+
+struct LogRotate @0x9811e1f38f62f2d1 {
+  segmentNum @0 :Int32;
+  path @1 :Text;
+}
+
+struct LiveUI @0xc08240f996aefced {
+  rearViewCam @0 :Bool;
+  alertText1 @1 :Text;
+  alertText2 @2 :Text;
+  awarenessStatus @3 :Float32;
+}
+
+struct UiLayoutState @0x88dcce08ad29dda0 {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
+
+  enum App @0x9917470acf94d285 {
+    home @0;
+    music @1;
+    nav @2;
+    settings @3;
+    none @4;
+  }
+}
+
+struct OrbslamCorrection @0x8afd33dc9b35e1aa {
+  correctionMonoTime @0 :UInt64;
+  prePositionECEF @1 :List(Float64);
+  postPositionECEF @2 :List(Float64);
+  prePoseQuatECEF @3 :List(Float32);
+  postPoseQuatECEF @4 :List(Float32);
+  numInliers @5 :UInt32;
+}
+
+struct EthernetPacket @0xa99a9d5b33cf5859 {
+  pkt @0 :Data;
+  ts @1 :Float32;
+}
+
+struct CellInfo @0xcff7566681c277ce {
+  timestamp @0 :UInt64;
+  repr @1 :Text; # android toString() for now
+}
+
+struct WifiScan @0xd4df5a192382ba0b {
+  bssid @0 :Text;
+  ssid @1 :Text;
+  capabilities @2 :Text;
+  frequency @3 :Int32;
+  level @4 :Int32;
+  timestamp @5 :Int64;
+
+  centerFreq0 @6 :Int32;
+  centerFreq1 @7 :Int32;
+  channelWidth @8 :ChannelWidth;
+  operatorFriendlyName @9 :Text;
+  venueName @10 :Text;
+  is80211mcResponder @11 :Bool;
+  passpoint @12 :Bool;
+
+  distanceCm @13 :Int32;
+  distanceSdCm @14 :Int32;
+
+  enum ChannelWidth @0xcb6a279f015f6b51 {
+    w20Mhz @0;
+    w40Mhz @1;
+    w80Mhz @2;
+    w160Mhz @3;
+    w80Plus80Mhz @4;
+  }
+}
+
+struct LiveEventData @0x94b7baa90c5c321e {
+  name @0 :Text;
+  value @1 :Int32;
+}
+
+struct ModelData @0xb8aad62cffef28a9 {
+  frameId @0 :UInt32;
+  frameAge @12 :UInt32;
+  frameDropPerc @13 :Float32;
+  timestampEof @9 :UInt64;
+  modelExecutionTime @14 :Float32;
+  gpuExecutionTime @16 :Float32;
+  rawPred @15 :Data;
+
+  path @1 :PathData;
+  leftLane @2 :PathData;
+  rightLane @3 :PathData;
+  lead @4 :LeadData;
+  freePath @6 :List(Float32);
+
+  settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
+  meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;
+
+  struct PathData @0x8817eeea389e9f08 {
+    points @0 :List(Float32);
+    prob @1 :Float32;
+    std @2 :Float32;
+    stds @3 :List(Float32);
+    poly @4 :List(Float32);
+    validLen @5 :Float32;
+  }
+
+  struct LeadData @0xd1c9bef96d26fa91 {
+    dist @0 :Float32;
+    prob @1 :Float32;
+    std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
+  }
+
+  struct ModelSettings @0xa26e3710efd3e914 {
+    bigBoxX @0 :UInt16;
+    bigBoxY @1 :UInt16;
+    bigBoxWidth @2 :UInt16;
+    bigBoxHeight @3 :UInt16;
+    boxProjection @4 :List(Float32);
+    yuvCorrection @5 :List(Float32);
+    inputTransform @6 :List(Float32);
+  }
+
+  struct MetaData @0x9744f25fb60f2bf8 {
+    engagedProb @0 :Float32;
+    desirePrediction @1 :List(Float32);
+    brakeDisengageProb @2 :Float32;
+    gasDisengageProb @3 :Float32;
+    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+
+  struct LongitudinalData @0xf98f999c6a071122 {
+    distances @2 :List(Float32);
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
+}
+
+struct ECEFPoint @0xc25bbbd524983447 {
+  x @0 :Float64;
+  y @1 :Float64;
+  z @2 :Float64;
+}
+
+struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints @0xab54c59699f8f9f3 {
+  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
+  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
+  curPos @6 :ECEFPoint;
+  points @7 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  speedLimit @4 :Float32;
+  accelTarget @5 :Float32;
+}
+
+struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+  speed @3 :Float32;
+  acceleration @4 :Float32;
+  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
+  points @6 :List(ECEFPoint);
+  xLookahead @7 :Float32;
+}
+
+struct UiNavigationEvent @0x90c8426c3eaddd3b {
+  type @0: Type;
+  status @1: Status;
+  distanceTo @2: Float32;
+  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
+  endRoadPoint @4: ECEFPoint;
+
+  enum Type @0xe8db07dcf8fcea05 {
+    none @0;
+    laneChangeLeft @1;
+    laneChangeRight @2;
+    mergeLeft @3;
+    mergeRight @4;
+    turnLeft @5;
+    turnRight @6;
+  }
+
+  enum Status @0xb9aa88c75ef99a1f {
+    none @0;
+    passive @1;
+    approaching @2;
+    active @3;
+  }
+}
+
+struct LiveLocationData @0xb99b2bc7a57e8128 {
+  status @0 :UInt8;
+
+  # 3D fix
+  lat @1 :Float64;
+  lon @2 :Float64;
+  alt @3 :Float32;     # m
+
+  # speed
+  speed @4 :Float32;   # m/s
+
+  # NED velocity components
+  vNED @5 :List(Float32);
+
+  # roll, pitch, heading (x,y,z)
+  roll @6 :Float32;     # WRT to center of earth?
+  pitch @7 :Float32;    # WRT to center of earth?
+  heading @8 :Float32;  # WRT to north?
+
+  # what are these?
+  wanderAngle @9 :Float32;
+  trackAngle @10 :Float32;
+
+  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
+
+  # gyro, in car frame, deg/s
+  gyro @11 :List(Float32);
+
+  # accel, in car frame, m/s^2
+  accel @12 :List(Float32);
+
+  accuracy @13 :Accuracy;
+
+  source @14 :SensorSource;
+  # if we are fixing a location in the past
+  fixMonoTime @15 :UInt64;
+
+  gpsWeek @16 :Int32;
+  timeOfWeek @17 :Float64;
+
+  positionECEF @18 :List(Float64);
+  poseQuatECEF @19 :List(Float32);
+  pitchCalibration @20 :Float32;
+  yawCalibration @21 :Float32;
+  imuFrame @22 :List(Float32);
+
+  struct Accuracy @0x943dc4625473b03f {
+    pNEDError @0 :List(Float32);
+    vNEDError @1 :List(Float32);
+    rollError @2 :Float32;
+    pitchError @3 :Float32;
+    headingError @4 :Float32;
+    ellipsoidSemiMajorError @5 :Float32;
+    ellipsoidSemiMinorError @6 :Float32;
+    ellipsoidOrientationError @7 :Float32;
+  }
+
+  enum SensorSource @0xc871d3cc252af657 {
+    applanix @0;
+    kalman @1;
+    orbslam @2;
+    timing @3;
+    dummy @4;
+  }
+}
+
+struct OrbOdometry @0xd7700859ed1f5b76 {
+  # timing first
+  startMonoTime @0 :UInt64;
+  endMonoTime @1 :UInt64;
+
+  # fundamental matrix and error
+  f @2: List(Float64);
+  err @3: Float64;
+
+  # number of inlier points
+  inliers @4: Int32;
+
+  # for debug only
+  # indexed by endMonoTime features
+  # value is startMonoTime feature match
+  # -1 if no match
+  matches @5: List(Int16);
+}
+
+struct OrbFeatures @0xcd60164a8a0159ef {
+  timestampEof @0 :UInt64;
+  # transposed arrays of normalized image coordinates
+  # len(xs) == len(ys) == len(descriptors) * 32
+  xs @1 :List(Float32);
+  ys @2 :List(Float32);
+  descriptors @3 :Data;
+  octaves @4 :List(Int8);
+
+  # match index to last OrbFeatures
+  # -1 if no match
+  timestampLastEof @5 :UInt64;
+  matches @6: List(Int16);
+}
+
+struct OrbFeaturesSummary @0xd500d30c5803fa4f {
+  timestampEof @0 :UInt64;
+  timestampLastEof @1 :UInt64;
+
+  featureCount @2 :UInt16;
+  matchCount @3 :UInt16;
+  computeNs @4 :UInt64;
+}
+
+struct OrbKeyFrame @0xc8233c0345e27e24 {
+  # this is a globally unique id for the KeyFrame
+  id @0: UInt64;
+
+  # this is the location of the KeyFrame
+  pos @1: ECEFPoint;
+
+  # these are the features in the world
+  # len(dpos) == len(descriptors) * 32
+  dpos @2 :List(ECEFPoint);
+  descriptors @3 :Data;
+}
+
+struct KalmanOdometry @0x92e21bb7ea38793a {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
+struct OrbObservation @0x9b326d4e436afec7 {
+  observationMonoTime @0 :UInt64;
+  normalizedCoordinates @1 :List(Float32);
+  locationECEF @2 :List(Float64);
+  matchDistance @3: UInt32;
+}
+
+struct CalibrationFeatures @0x8fdfadb254ea867a {
+  frameId @0 :UInt32;
+
+  p0 @1 :List(Float32);
+  p1 @2 :List(Float32);
+  status @3 :List(Int8);
+}
+
+struct NavStatus @0xbd8822120928120c {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address @0xce7cd672cacc7814 {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
+struct NavUpdate @0xdb98be6565516acb {
+  isNavigating @0 :Bool;
+  curSegment @1 :Int32;
+  segments @2 :List(Segment);
+
+  struct LatLng @0x9eaef9187cadbb9b {
+    lat @0 :Float64;
+    lng @1 :Float64;
+  }
+
+  struct Segment @0xa5b39b4fc4d7da3f {
+    from @0 :LatLng;
+    to @1 :LatLng;
+    updateTime @2 :Int32;
+    distance @3 :Int32;
+    crossTime @4 :Int32;
+    exitNo @5 :Int32;
+    instruction @6 :Instruction;
+
+    parts @7 :List(LatLng);
+
+    enum Instruction @0xc5417a637451246f {
+      turnLeft @0;
+      turnRight @1;
+      keepLeft @2;
+      keepRight @3;
+      straight @4;
+      roundaboutExitNumber @5;
+      roundaboutExit @6;
+      roundaboutTurnLeft @7;
+      unkn8 @8;
+      roundaboutStraight @9;
+      unkn10 @10;
+      roundaboutTurnRight @11;
+      unkn12 @12;
+      roundaboutUturn @13;
+      unkn14 @14;
+      arrive @15;
+      exitLeft @16;
+      exitRight @17;
+      unkn18 @18;
+      uturn @19;
+      # ...
+    }
+  }
+}
+
+struct TrafficEvent @0xacfa74a094e62626 {
+  type @0 :Type;
+  distance @1 :Float32;
+  action @2 :Action;
+  resuming @3 :Bool;
+
+  enum Type @0xd85d75253435bf4b {
+    stopSign @0;
+    lightRed @1;
+    lightYellow @2;
+    lightGreen @3;
+    stopLight @4;
+  }
+
+  enum Action @0xa6f6ce72165ccb49 {
+    none @0;
+    yield @1;
+    stop @2;
+    resumeReady @3;
+  }
+
+}
+
+
+struct AndroidGnss @0xdfdf30d03fc485bd {
+  union {
+    measurements @0 :Measurements;
+    navigationMessage @1 :NavigationMessage;
+  }
+
+  struct Measurements @0xa20710d4f428d6cd {
+    clock @0 :Clock;
+    measurements @1 :List(Measurement);
+
+    struct Clock @0xa0e27b453a38f450 {
+      timeNanos @0 :Int64;
+      hardwareClockDiscontinuityCount @1 :Int32;
+
+      hasTimeUncertaintyNanos @2 :Bool;
+      timeUncertaintyNanos @3 :Float64;
+
+      hasLeapSecond @4 :Bool;
+      leapSecond @5 :Int32;
+
+      hasFullBiasNanos @6 :Bool;
+      fullBiasNanos @7 :Int64;
+
+      hasBiasNanos @8 :Bool;
+      biasNanos @9 :Float64;
+
+      hasBiasUncertaintyNanos @10 :Bool;
+      biasUncertaintyNanos @11 :Float64;
+
+      hasDriftNanosPerSecond @12 :Bool;
+      driftNanosPerSecond @13 :Float64;
+
+      hasDriftUncertaintyNanosPerSecond @14 :Bool;
+      driftUncertaintyNanosPerSecond @15 :Float64;
+    }
+
+    struct Measurement @0xd949bf717d77614d {
+      svId @0 :Int32;
+      constellation @1 :Constellation;
+
+      timeOffsetNanos @2 :Float64;
+      state @3 :Int32;
+      receivedSvTimeNanos @4 :Int64;
+      receivedSvTimeUncertaintyNanos @5 :Int64;
+      cn0DbHz @6 :Float64;
+      pseudorangeRateMetersPerSecond @7 :Float64;
+      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
+      accumulatedDeltaRangeState @9 :Int32;
+      accumulatedDeltaRangeMeters @10 :Float64;
+      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
+
+      hasCarrierFrequencyHz @12 :Bool;
+      carrierFrequencyHz @13 :Float32;
+      hasCarrierCycles @14 :Bool;
+      carrierCycles @15 :Int64;
+      hasCarrierPhase @16 :Bool;
+      carrierPhase @17 :Float64;
+      hasCarrierPhaseUncertainty @18 :Bool;
+      carrierPhaseUncertainty @19 :Float64;
+      hasSnrInDb @20 :Bool;
+      snrInDb @21 :Float64;
+
+      multipathIndicator @22 :MultipathIndicator;
+
+      enum Constellation @0x9ef1f3ff0deb5ffb {
+        unknown @0;
+        gps @1;
+        sbas @2;
+        glonass @3;
+        qzss @4;
+        beidou @5;
+        galileo @6;
+      }
+
+      enum State @0xcbb9490adce12d72 {
+        unknown @0;
+        codeLock @1;
+        bitSync @2;
+        subframeSync @3;
+        towDecoded @4;
+        msecAmbiguous @5;
+        symbolSync @6;
+        gloStringSync @7;
+        gloTodDecoded @8;
+        bdsD2BitSync @9;
+        bdsD2SubframeSync @10;
+        galE1bcCodeLock @11;
+        galE1c2ndCodeLock @12;
+        galE1bPageSync @13;
+        sbasSync @14;
+      }
+
+      enum MultipathIndicator @0xc04e7b6231d4caa8 {
+        unknown @0;
+        detected @1;
+        notDetected @2;
+      }
+    }
+  }
+
+  struct NavigationMessage @0xe2517b083095fd4e {
+    type @0 :Int32;
+    svId @1 :Int32;
+    messageId @2 :Int32;
+    submessageId @3 :Int32;
+    data @4 :Data;
+    status @5 :Status;
+
+    enum Status @0xec1ff7996b35366f {
+      unknown @0;
+      parityPassed @1;
+      parityRebuilt @2;
+    }
+  }
+}
+
+struct QcomGnss @0xde94674b07ae51c1 {
+  logTs @0 :UInt64;
+  union {
+    measurementReport @1 :MeasurementReport;
+    clockReport @2 :ClockReport;
+    drMeasurementReport @3 :DrMeasurementReport;
+    drSvPoly @4 :DrSvPolyReport;
+    rawLog @5 :Data;
+  }
+
+  enum MeasurementSource @0xd71a12b6faada7ee {
+    gps @0;
+    glonass @1;
+    beidou @2;
+  }
+
+  enum SVObservationState @0xe81e829a0d6c83e9 {
+    idle @0;
+    search @1;
+    searchVerify @2;
+    bitEdge @3;
+    trackVerify @4;
+    track @5;
+    restart @6;
+    dpo @7;
+    glo10msBe @8;
+    glo10msAt @9;
+  }
+
+  struct MeasurementStatus @0xe501010e1bcae83b {
+    subMillisecondIsValid @0 :Bool;
+    subBitTimeIsKnown @1 :Bool;
+    satelliteTimeIsKnown @2 :Bool;
+    bitEdgeConfirmedFromSignal @3 :Bool;
+    measuredVelocity @4 :Bool;
+    fineOrCoarseVelocity @5 :Bool;
+    lockPointValid @6 :Bool;
+    lockPointPositive @7 :Bool;
+    lastUpdateFromDifference @8 :Bool;
+    lastUpdateFromVelocityDifference @9 :Bool;
+    strongIndicationOfCrossCorelation @10 :Bool;
+    tentativeMeasurement @11 :Bool;
+    measurementNotUsable @12 :Bool;
+    sirCheckIsNeeded @13 :Bool;
+    probationMode @14 :Bool;
+
+    glonassMeanderBitEdgeValid @15 :Bool;
+    glonassTimeMarkValid @16 :Bool;
+
+    gpsRoundRobinRxDiversity @17 :Bool;
+    gpsRxDiversity @18 :Bool;
+    gpsLowBandwidthRxDiversityCombined @19 :Bool;
+    gpsHighBandwidthNu4 @20 :Bool;
+    gpsHighBandwidthNu8 @21 :Bool;
+    gpsHighBandwidthUniform @22 :Bool;
+    multipathIndicator @23 :Bool;
+
+    imdJammingIndicator @24 :Bool;
+    lteB13TxJammingIndicator @25 :Bool;
+    freshMeasurementIndicator @26 :Bool;
+
+    multipathEstimateIsValid @27 :Bool;
+    directionIsValid @28 :Bool;
+  }
+
+  struct MeasurementReport @0xf580d7d86b7b8692 {
+    source @0 :MeasurementSource;
+
+    fCount @1 :UInt32;
+
+    gpsWeek @2 :UInt16;
+    glonassCycleNumber @3 :UInt8;
+    glonassNumberOfDays @4 :UInt16;
+
+    milliseconds @5 :UInt32;
+    timeBias @6 :Float32;
+    clockTimeUncertainty @7 :Float32;
+    clockFrequencyBias @8 :Float32;
+    clockFrequencyUncertainty @9 :Float32;
+
+    sv @10 :List(SV);
+
+    struct SV @0xf10c595ae7bb2c27 {
+      svId @0 :UInt8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      gpsParityErrorCount @5 :UInt16;
+      glonassFrequencyIndex @1 :Int8;
+      glonassHemmingErrorCount @6 :UInt8;
+      filterStages @7 :UInt8;
+      carrierNoise @8 :UInt16;
+      latency @9 :Int16;
+      predetectInterval @10 :UInt8;
+      postdetections @11 :UInt16;
+
+      unfilteredMeasurementIntegral @12 :UInt32;
+      unfilteredMeasurementFraction @13 :Float32;
+      unfilteredTimeUncertainty @14 :Float32;
+      unfilteredSpeed @15 :Float32;
+      unfilteredSpeedUncertainty @16 :Float32;
+      measurementStatus @17 :MeasurementStatus;
+      multipathEstimate @18 :UInt32;
+      azimuth @19 :Float32;
+      elevation @20 :Float32;
+      carrierPhaseCyclesIntegral @21 :Int32;
+      carrierPhaseCyclesFraction @22 :UInt16;
+      fineSpeed @23 :Float32;
+      fineSpeedUncertainty @24 :Float32;
+      cycleSlipCount @25 :UInt8;
+    }
+
+  }
+
+  struct ClockReport @0xca965e4add8f4f0b {
+    hasFCount @0 :Bool;
+    fCount @1 :UInt32;
+
+    hasGpsWeek @2 :Bool;
+    gpsWeek @3 :UInt16;
+    hasGpsMilliseconds @4 :Bool;
+    gpsMilliseconds @5 :UInt32;
+    gpsTimeBias @6 :Float32;
+    gpsClockTimeUncertainty @7 :Float32;
+    gpsClockSource @8 :UInt8;
+
+    hasGlonassYear @9 :Bool;
+    glonassYear @10 :UInt8;
+    hasGlonassDay @11 :Bool;
+    glonassDay @12 :UInt16;
+    hasGlonassMilliseconds @13 :Bool;
+    glonassMilliseconds @14 :UInt32;
+    glonassTimeBias @15 :Float32;
+    glonassClockTimeUncertainty @16 :Float32;
+    glonassClockSource @17 :UInt8;
+
+    bdsWeek @18 :UInt16;
+    bdsMilliseconds @19 :UInt32;
+    bdsTimeBias @20 :Float32;
+    bdsClockTimeUncertainty @21 :Float32;
+    bdsClockSource @22 :UInt8;
+
+    galWeek @23 :UInt16;
+    galMilliseconds @24 :UInt32;
+    galTimeBias @25 :Float32;
+    galClockTimeUncertainty @26 :Float32;
+    galClockSource @27 :UInt8;
+
+    clockFrequencyBias @28 :Float32;
+    clockFrequencyUncertainty @29 :Float32;
+    frequencySource @30 :UInt8;
+    gpsLeapSeconds @31 :UInt8;
+    gpsLeapSecondsUncertainty @32 :UInt8;
+    gpsLeapSecondsSource @33 :UInt8;
+
+    gpsToGlonassTimeBiasMilliseconds @34 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
+    gpsToBdsTimeBiasMilliseconds @36 :Float32;
+    gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
+    bdsToGloTimeBiasMilliseconds @38 :Float32;
+    bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
+    gpsToGalTimeBiasMilliseconds @40 :Float32;
+    gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
+    galToGloTimeBiasMilliseconds @42 :Float32;
+    galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
+    galToBdsTimeBiasMilliseconds @44 :Float32;
+    galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
+
+    hasRtcTime @46 :Bool;
+    systemRtcTime @47 :UInt32;
+    fCountOffset @48 :UInt32;
+    lpmRtcCount @49 :UInt32;
+    clockResets @50 :UInt32;
+  }
+
+  struct DrMeasurementReport @0x8053c39445c6c75c {
+
+    reason @0 :UInt8;
+    seqNum @1 :UInt8;
+    seqMax @2 :UInt8;
+    rfLoss @3 :UInt16;
+
+    systemRtcValid @4 :Bool;
+    fCount @5 :UInt32;
+    clockResets @6 :UInt32;
+    systemRtcTime @7 :UInt64;
+
+    gpsLeapSeconds @8 :UInt8;
+    gpsLeapSecondsUncertainty @9 :UInt8;
+    gpsToGlonassTimeBiasMilliseconds @10 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
+
+    gpsWeek @12 :UInt16;
+    gpsMilliseconds @13 :UInt32;
+    gpsTimeBiasMs @14 :UInt32;
+    gpsClockTimeUncertaintyMs @15 :UInt32;
+    gpsClockSource @16 :UInt8;
+
+    glonassClockSource @17 :UInt8;
+    glonassYear @18 :UInt8;
+    glonassDay @19 :UInt16;
+    glonassMilliseconds @20 :UInt32;
+    glonassTimeBias @21 :Float32;
+    glonassClockTimeUncertainty @22 :Float32;
+
+    clockFrequencyBias @23 :Float32;
+    clockFrequencyUncertainty @24 :Float32;
+    frequencySource @25 :UInt8;
+
+    source @26 :MeasurementSource;
+
+    sv @27 :List(SV);
+
+    struct SV @0xf08b81df8cbf459c {
+      svId @0 :UInt8;
+      glonassFrequencyIndex @1 :Int8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      filterStages @5 :UInt8;
+      predetectInterval @6 :UInt8;
+      cycleSlipCount @7 :UInt8;
+      postdetections @8 :UInt16;
+
+      measurementStatus @9 :MeasurementStatus;
+
+      carrierNoise @10 :UInt16;
+      rfLoss @11 :UInt16;
+      latency @12 :Int16;
+
+      filteredMeasurementFraction @13 :Float32;
+      filteredMeasurementIntegral @14 :UInt32;
+      filteredTimeUncertainty @15 :Float32;
+      filteredSpeed @16 :Float32;
+      filteredSpeedUncertainty @17 :Float32;
+
+      unfilteredMeasurementFraction @18 :Float32;
+      unfilteredMeasurementIntegral @19 :UInt32;
+      unfilteredTimeUncertainty @20 :Float32;
+      unfilteredSpeed @21 :Float32;
+      unfilteredSpeedUncertainty @22 :Float32;
+
+      multipathEstimate @23 :UInt32;
+      azimuth @24 :Float32;
+      elevation @25 :Float32;
+      dopplerAcceleration @26 :Float32;
+      fineSpeed @27 :Float32;
+      fineSpeedUncertainty @28 :Float32;
+
+      carrierPhase @29 :Float64;
+      fCount @30 :UInt32;
+
+      parityErrorCount @31 :UInt16;
+      goodParity @32 :Bool;
+    }
+  }
+
+  struct DrSvPolyReport @0xb1fb80811a673270 {
+    svId @0 :UInt16;
+    frequencyIndex @1 :Int8;
+
+    hasPosition @2 :Bool;
+    hasIono @3 :Bool;
+    hasTropo @4 :Bool;
+    hasElevation @5 :Bool;
+    polyFromXtra @6 :Bool;
+    hasSbasIono @7 :Bool;
+
+    iode @8 :UInt16;
+    t0 @9 :Float64;
+    xyz0 @10 :List(Float64);
+    xyzN @11 :List(Float64);
+    other @12 :List(Float32);
+
+    positionUncertainty @13 :Float32;
+    ionoDelay @14 :Float32;
+    ionoDot @15 :Float32;
+    sbasIonoDelay @16 :Float32;
+    sbasIonoDot @17 :Float32;
+    tropoDelay @18 :Float32;
+    elevation @19 :Float32;
+    elevationDot @20 :Float32;
+    elevationUncertainty @21 :Float32;
+    velocityCoeff @22 :List(Float64);
+  }
+}
+
+struct LidarPts @0xe3d6685d4e9d8f7a {
+  r @0 :List(UInt16);        # uint16   m*500.0
+  theta @1 :List(UInt16);    # uint16 deg*100.0
+  reflect @2 :List(UInt8);   # uint8      0-255
+
+  # For storing out of file.
+  idx @3 :UInt64;
+
+  # For storing in file
+  pkt @4 :Data;
+}
+
+
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
--- a/cereal/messaging/init.py
+++ b/cereal/messaging/init.py
@@ -1,9 +1,11 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+import os
 import capnp

 from typing import Optional, List, Union
+from collections import deque

 from cereal import log
 from cereal.services import service_list
@@ -11,6 +13,9 @@ from cereal.services import service_list
 assert MultiplePublishersError
 assert MessagingError

+AVG_FREQ_HISTORY = 100
+SIMULATION = "SIMULATION" in os.environ
+
 # sec_since_boot is faster, but allow to run standalone too
 try:
  from common.realtime import sec_since_boot
@@ -126,12 +131,14 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:

 class SubMaster():
  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
-               ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
+               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               addr: str = "127.0.0.1"):
    self.frame = -1
    self.updated = {s: False for s in services}
    self.rcv_time = {s: 0. for s in services}
    self.rcv_frame = {s: 0 for s in services}
    self.alive = {s: False for s in services}
+    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
    self.sock = {}
    self.freq = {}
    self.data = {}
@@ -142,10 +149,8 @@ class SubMaster():
    self.non_polled_services = [s for s in services if poll is not None and
                                len(poll) and s not in poll]

-    if ignore_alive is not None:
-      self.ignore_alive = ignore_alive
-    else:
-      self.ignore_alive = []
+    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
+    self.ignore_alive = [] if ignore_alive is None else ignore_alive

    for s in services:
      if addr is not None:
@@ -184,20 +189,34 @@ class SubMaster():

      s = msg.which()
      self.updated[s] = True
+
+      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
+        and (s not in self.ignore_average_freq):
+        self.recv_dts[s].append(cur_time - self.rcv_time[s])
+
      self.rcv_time[s] = cur_time
      self.rcv_frame[s] = self.frame
      self.data[s] = getattr(msg, s)
      self.logMonoTime[s] = msg.logMonoTime
      self.valid[s] = msg.valid

-    for s in self.data:
-      # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
-      if self.freq[s] > 1e-5:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
-      else:
+      if SIMULATION:
        self.alive[s] = True

+    if not SIMULATION:
+      for s in self.data:
+        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+        if self.freq[s] > 1e-5:
+          # alive if delay is within 10x the expected frequency
+          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+
+          # alive if average frequency is higher than 90% of expected frequency
+          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
+          expected_dt = 1 / (self.freq[s] * 0.90)
+          self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
+        else:
+          self.alive[s] = True
+
  def all_alive(self, service_list=None) -> bool:
    if service_list is None:  # check all
      service_list = self.alive.keys()
@@ -223,3 +242,6 @@ class PubMaster():
    if not isinstance(dat, bytes):
      dat = dat.to_bytes()
    self.sock[s].send(dat)
+
+  def all_readers_updated(self, s: str) -> bool:
+    return self.sock[s].all_readers_updated()
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -8,8 +8,8 @@ typedef void (*sighandler_t)(int sig);

 #include "services.h"

-#include "impl_msgq.hpp"
-#include "impl_zmq.hpp"
+#include "impl_msgq.h"
+#include "impl_zmq.h"

 void sigpipe_handler(int sig) {
  assert(sig == SIGPIPE);
--- a/cereal/messaging/impl_msgq.cc
+++ b/cereal/messaging/impl_msgq.cc
@@ -5,8 +5,9 @@
 #include <csignal>
 #include <cerrno>

+#include "services.h"
+#include "impl_msgq.h"

-#include "impl_msgq.hpp"

 volatile sig_atomic_t msgq_do_exit = 0;

@@ -15,14 +16,21 @@ void sig_handler(int signal) {
  msgq_do_exit = 1;
 }

+static bool service_exists(std::string path){
+  for (const auto& it : services) {
+    if (it.name == path) {
+      return true;
+    }
+  }
+  return false;
+}
+
 static size_t get_size(std::string endpoint){
  size_t sz = DEFAULT_SEGMENT_SIZE;

-#if !defined(QCOM) && !defined(QCOM2)
-  if (endpoint == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
+  if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
    sz *= 10;
  }
-#endif

  return sz;
 }
@@ -61,10 +69,14 @@ MSGQMessage::~MSGQMessage() {
  this->close();
 }

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

+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }
+
  q = new msgq_queue_t;
  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
  if (r != 0){
@@ -150,9 +162,13 @@ MSGQSubSocket::~MSGQSubSocket(){
  }
 }

-int MSGQPubSocket::connect(Context *context, std::string endpoint){
+int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
  assert(context);

+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }
+
  q = new msgq_queue_t;
  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
  if (r != 0){
@@ -180,6 +196,10 @@ int MSGQPubSocket::send(char *data, size_t size){
  return msgq_msg_send(&msg, q);
 }

+bool MSGQPubSocket::all_readers_updated() {
+  return msgq_all_readers_updated(q);
+}
+
 MSGQPubSocket::~MSGQPubSocket(){
  if (q != NULL){
    msgq_close_queue(q);
--- a/cereal/messaging/impl_msgq.hpp
+++ b/cereal/messaging/impl_msgq.hpp
@@ -1,6 +1,6 @@
 #pragma once
-#include "messaging.hpp"
-#include "msgq.hpp"
+#include "messaging.h"
+#include "msgq.h"
 #include <zmq.h>
 #include <string>

@@ -34,7 +34,7 @@ private:
  msgq_queue_t * q = NULL;
  int timeout;
 public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
  void setTimeout(int timeout);
  void * getRawSocket() {return (void*)q;}
  Message *receive(bool non_blocking=false);
@@ -45,9 +45,10 @@ class MSGQPubSocket : public PubSocket {
 private:
  msgq_queue_t * q = NULL;
 public:
-  int connect(Context *context, std::string endpoint);
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
  int send(char *data, size_t size);
+  bool all_readers_updated();
  ~MSGQPubSocket();
 };

--- a/cereal/messaging/impl_zmq.cc
+++ b/cereal/messaging/impl_zmq.cc
@@ -7,7 +7,7 @@
 #include <zmq.h>

 #include "services.h"
-#include "impl_zmq.hpp"
+#include "impl_zmq.h"

 static int get_port(std::string endpoint) {
  int port = -1;
@@ -54,7 +54,7 @@ ZMQMessage::~ZMQMessage() {
 }


-int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
+int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
  if (sock == NULL){
    return -1;
@@ -71,7 +71,11 @@ int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string ad
  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));

  full_endpoint = "tcp://" + address + ":";
-  full_endpoint += std::to_string(get_port(endpoint));
+  if (check_endpoint){
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }

  return zmq_connect(sock, full_endpoint.c_str());
 }
@@ -103,14 +107,18 @@ ZMQSubSocket::~ZMQSubSocket(){
  zmq_close(sock);
 }

-int ZMQPubSocket::connect(Context *context, std::string endpoint){
+int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
  if (sock == NULL){
    return -1;
  }

  full_endpoint = "tcp://*:";
-  full_endpoint += std::to_string(get_port(endpoint));
+  if (check_endpoint){
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }

  return zmq_bind(sock, full_endpoint.c_str());
 }
@@ -123,6 +131,11 @@ int ZMQPubSocket::send(char *data, size_t size){
  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
 }

+bool ZMQPubSocket::all_readers_updated() {
+  assert(false); // TODO not implemented
+  return false;
+}
+
 ZMQPubSocket::~ZMQPubSocket(){
  zmq_close(sock);
 }
--- a/cereal/messaging/impl_zmq.hpp
+++ b/cereal/messaging/impl_zmq.hpp
@@ -1,5 +1,5 @@
 #pragma once
-#include "messaging.hpp"
+#include "messaging.h"
 #include <zmq.h>
 #include <string>

@@ -32,7 +32,7 @@ private:
  void * sock;
  std::string full_endpoint;
 public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
  void setTimeout(int timeout);
  void * getRawSocket() {return sock;}
  Message *receive(bool non_blocking=false);
@@ -44,9 +44,10 @@ private:
  void * sock;
  std::string full_endpoint;
 public:
-  int connect(Context *context, std::string endpoint);
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
  int send(char *data, size_t size);
+  bool all_readers_updated();
  ~ZMQPubSocket();
 };

--- a/cereal/messaging/messaging.cc
+++ b/cereal/messaging/messaging.cc
@@ -1,6 +1,6 @@
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-#include "impl_msgq.hpp"
+#include "messaging.h"
+#include "impl_zmq.h"
+#include "impl_msgq.h"

 #ifdef __APPLE__
 const bool MUST_USE_ZMQ = true;
@@ -8,9 +8,13 @@ const bool MUST_USE_ZMQ = true;
 const bool MUST_USE_ZMQ = false;
 #endif

+bool messaging_use_zmq(){
+  return std::getenv("ZMQ") || MUST_USE_ZMQ;
+}
+
 Context * Context::create(){
  Context * c;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    c = new ZMQContext();
  } else {
    c = new MSGQContext();
@@ -20,7 +24,7 @@ Context * Context::create(){

 SubSocket * SubSocket::create(){
  SubSocket * s;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    s = new ZMQSubSocket();
  } else {
    s = new MSGQSubSocket();
@@ -28,33 +32,9 @@ SubSocket * SubSocket::create(){
  return s;
 }

-SubSocket * SubSocket::create(Context * context, std::string endpoint){
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, "127.0.0.1");
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address, conflate);
+  int r = s->connect(context, endpoint, address, conflate, check_endpoint);

  if (r == 0) {
    return s;
@@ -66,7 +46,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri

 PubSocket * PubSocket::create(){
  PubSocket * s;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    s = new ZMQPubSocket();
  } else {
    s = new MSGQPubSocket();
@@ -74,9 +54,9 @@ PubSocket * PubSocket::create(){
  return s;
 }

-PubSocket * PubSocket::create(Context * context, std::string endpoint){
+PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
  PubSocket *s = PubSocket::create();
-  int r = s->connect(context, endpoint);
+  int r = s->connect(context, endpoint, check_endpoint);

  if (r == 0) {
    return s;
@@ -88,7 +68,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){

 Poller * Poller::create(){
  Poller * p;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    p = new ZMQPoller();
  } else {
    p = new MSGQPoller();
--- a/cereal/messaging/messaging.hpp
+++ b/cereal/messaging/messaging.hpp
@@ -12,6 +12,8 @@

 #define MSG_MULTIPLE_PUBLISHERS 100

+bool messaging_use_zmq();
+
 class Context {
 public:
  virtual void * getRawContext() = 0;
@@ -32,24 +34,24 @@ public:

 class SubSocket {
 public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
+  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
  virtual void setTimeout(int timeout) = 0;
  virtual Message *receive(bool non_blocking=false) = 0;
  virtual void * getRawSocket() = 0;
  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
  virtual ~SubSocket(){};
 };

 class PubSocket {
 public:
-  virtual int connect(Context *context, std::string endpoint) = 0;
+  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
  virtual int sendMessage(Message *message) = 0;
  virtual int send(char *data, size_t size) = 0;
+  virtual bool all_readers_updated() = 0;
  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint);
+  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
+  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
  virtual ~PubSocket(){};
 };

@@ -64,22 +66,26 @@ public:

 class SubMaster {
 public:
-  SubMaster(const std::initializer_list<const char *> &service_list,
-            const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
-  int update(int timeout = 1000);
-  inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
-  inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
-  inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
+  SubMaster(const std::vector<const char *> &service_list,
+            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
+  void update(int timeout = 1000);
+  void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
+  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
  void drain();
  ~SubMaster();

  uint64_t frame = 0;
  bool updated(const char *name) const;
+  bool alive(const char *name) const;
+  bool valid(const char *name) const;
  uint64_t rcv_frame(const char *name) const;
-  cereal::Event::Reader &operator[](const char *name);
+  uint64_t rcv_time(const char *name) const;
+  cereal::Event::Reader &operator[](const char *name) const;

 private:
-  bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
+  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
  Poller *poller_ = nullptr;
  struct SubMessage;
  std::map<SubSocket *, SubMessage *> messages_;
@@ -111,7 +117,7 @@ private:

 class PubMaster {
 public:
-  PubMaster(const std::initializer_list<const char *> &service_list);
+  PubMaster(const std::vector<const char *> &service_list);
  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
  int send(const char *name, MessageBuilder &msg);
  ~PubMaster();
@@ -119,3 +125,21 @@ public:
 private:
  std::map<std::string, PubSocket *> sockets_;
 };
+
+class AlignedBuffer {
+public:
+  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
+    words_size = size / sizeof(capnp::word) + 1;
+    if (aligned_buf.size() < words_size) {
+      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
+    }
+    memcpy(aligned_buf.begin(), data, size);
+    return aligned_buf.slice(0, words_size);
+  }
+  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
+    return align(m->getData(), m->getSize());
+  }
+private:
+  kj::Array<capnp::word> aligned_buf;
+  size_t words_size;
+};
--- a/cereal/messaging/messaging.pxd
+++ b/cereal/messaging/messaging.pxd
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool


-cdef extern from "messaging.hpp":
+cdef extern from "messaging.h":
  cdef cppclass Context:
    @staticmethod
    Context * create()
@@ -31,6 +31,7 @@ cdef extern from "messaging.hpp":
    int connect(Context *, string)
    int sendMessage(Message *)
    int send(char *, size_t)
+    bool all_readers_updated()

  cdef cppclass Poller:
    @staticmethod
--- a/cereal/messaging/messaging_pyx.pyx
+++ b/cereal/messaging/messaging_pyx.pyx
@@ -149,3 +149,6 @@ cdef class PubSocket:
        raise MultiplePublishersError
      else:
        raise MessagingError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()
--- a/cereal/messaging/msgq.cc
+++ b/cereal/messaging/msgq.cc
@@ -21,9 +21,7 @@

 #include <stdio.h>

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

 void sigusr2_handler(int signal) {
  assert(signal == SIGUSR2);
@@ -83,20 +81,9 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
  return;
 }

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

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

  const char * prefix = "/dev/shm/";
@@ -465,3 +452,13 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){

  return num;
 }
+
+bool msgq_all_readers_updated(msgq_queue_t *q) {
+  uint64_t num_readers = *q->num_readers;
+  for (uint64_t i = 0; i < num_readers; i++) {
+    if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
+      return false;
+    }
+  }
+  return num_readers > 0;
+}
--- a/cereal/messaging/msgq.hpp
+++ b/cereal/messaging/msgq.hpp
@@ -5,7 +5,7 @@
 #include <atomic>

 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 8
+#define NUM_READERS 10
 #define ALIGN(n) ((n + (8 - 1)) & -8)

 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
@@ -64,3 +64,5 @@ int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_ready(msgq_queue_t * q);
 int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
+
+bool msgq_all_readers_updated(msgq_queue_t *q);
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -1,7 +1,13 @@
-#include <assert.h>
 #include <time.h>
-#include "messaging.hpp"
+#include <assert.h>
+#include <stdlib.h>
+#include <string>
+#include <mutex>
+
 #include "services.h"
+#include "messaging.h"
+
+const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");

 static inline uint64_t nanos_since_boot() {
  struct timespec t;
@@ -16,7 +22,7 @@ static const service *get_service(const char *name) {
  return nullptr;
 }

-static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
+static inline bool inList(const std::vector<const char *> &list, const char *value) {
  for (auto &v : list) {
    if (strcmp(value, v) == 0) return true;
  }
@@ -25,89 +31,106 @@ static inline bool inList(const std::initializer_list<const char *> &list, const

 class MessageContext {
 public:
-  MessageContext() { ctx_ = Context::create(); }
+  MessageContext() : ctx_(nullptr) {};
  ~MessageContext() { delete ctx_; }
+  inline Context *context() {
+    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
+    return ctx_;
+  }
+private:
  Context *ctx_;
+  std::once_flag init_flag;
 };
-MessageContext ctx;
+
+MessageContext message_context;

 struct SubMaster::SubMessage {
  std::string name;
  SubSocket *socket = nullptr;
  int freq = 0;
-  bool updated = false, alive = false, valid = false, ignore_alive;
+  bool updated = false, alive = false, valid = true, ignore_alive;
  uint64_t rcv_time = 0, rcv_frame = 0;
  void *allocated_msg_reader = nullptr;
  capnp::FlatArrayMessageReader *msg_reader = nullptr;
-  kj::Array<capnp::word> buf;
+  AlignedBuffer aligned_buf;
  cereal::Event::Reader event;
 };

-SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
-                     const std::initializer_list<const char *> &ignore_alive) {
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
+                     const std::vector<const char *> &ignore_alive) {
  poller_ = Poller::create();
  for (auto name : service_list) {
    const service *serv = get_service(name);
    assert(serv != nullptr);
-    SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
    assert(socket != 0);
    poller_->registerSocket(socket);
    SubMessage *m = new SubMessage{
+      .name = name,
      .socket = socket,
      .freq = serv->frequency,
      .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-      .buf = kj::heapArray<capnp::word>(1024)};
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
    messages_[socket] = m;
    services_[name] = m;
  }
 }

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

-  int updated = 0;
  auto sockets = poller_->poll(timeout);
  uint64_t current_time = nanos_since_boot();
+
+  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
+
  for (auto s : sockets) {
    Message *msg = s->receive(true);
    if (msg == nullptr) continue;

    SubMessage *m = messages_.at(s);
-    const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
-    if (m->buf.size() < size) {
-      m->buf = kj::heapArray<capnp::word>(size);
-    }
-    memcpy(m->buf.begin(), msg->getData(), msg->getSize());
-    delete msg;

-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
+    m->msg_reader->~FlatArrayMessageReader();
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
+    delete msg;
+    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
+  }
+
+  update_msgs(current_time, messages);
+}
+
+void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
+  if (++frame == UINT64_MAX) frame = 1;
+
+  for(auto &kv : messages) {
+    auto m_find = services_.find(kv.first);
+    if (m_find == services_.end()){
+      continue;
    }
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
-    m->event = m->msg_reader->getRoot<cereal::Event>();
+    SubMessage *m = m_find->second;
+    m->event = kv.second;
    m->updated = true;
    m->rcv_time = current_time;
    m->rcv_frame = frame;
    m->valid = m->event.getValid();
-
-    ++updated;
+    if (SIMULATION) m->alive = true;
  }

-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+  if (!SIMULATION) {
+    for (auto &kv : messages_) {
+      SubMessage *m = kv.second;
+      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+    }
  }
-  return updated;
 }

-bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
+bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
  int found = 0;
  for (auto &kv : messages_) {
    SubMessage *m = kv.second;
    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
-      found += (!valid || m->valid) && (!alive || (m->alive && !m->ignore_alive));
+      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
    }
  }
  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
@@ -130,11 +153,23 @@ bool SubMaster::updated(const char *name) const {
  return services_.at(name)->updated;
 }

+bool SubMaster::alive(const char *name) const {
+  return services_.at(name)->alive;
+}
+
+bool SubMaster::valid(const char *name) const {
+  return services_.at(name)->valid;
+}
+
 uint64_t SubMaster::rcv_frame(const char *name) const {
  return services_.at(name)->rcv_frame;
 }

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

@@ -142,19 +177,17 @@ SubMaster::~SubMaster() {
  delete poller_;
  for (auto &kv : messages_) {
    SubMessage *m = kv.second;
-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
-    }
+    m->msg_reader->~FlatArrayMessageReader();
    free(m->allocated_msg_reader);
    delete m->socket;
    delete m;
  }
 }

-PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
+PubMaster::PubMaster(const std::vector<const char *> &service_list) {
  for (auto name : service_list) {
    assert(get_service(name) != nullptr);
-    PubSocket *socket = PubSocket::create(ctx.ctx_, name);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
    assert(socket);
    sockets_[name] = socket;
  }
--- a/cereal/service_list.yaml
+++ b/cereal/service_list.yaml
@@ -1,180 +0,0 @@
-# TODO: these port numbers are hardcoded in c, fix this
-
-# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
-
-# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
-
-# frame syncing packet
-frame: [8002, true, 20., 1]
-# accel, gyro, and compass
-sensorEvents: [8003, true, 100., 100]
-# GPS data, also global timestamp
-gpsNMEA: [8004, true, 9.]  # 9 msgs each sec
-# CPU+MEM+GPU+BAT temps
-thermal: [8005, true, 2., 1]
-# List(CanData), list of can messages
-can: [8006, true, 100.]
-controlsState: [8007, true, 100., 100]
-#liveEvent: [8008, true, 0.]
-model: [8009, true, 20., 5]
-features: [8010, true, 0.]
-health: [8011, true, 2., 1]
-radarState: [8012, true, 20., 5]
-#liveUI: [8014, true, 0.]
-encodeIdx: [8015, true, 20.]
-liveTracks: [8016, true, 20.]
-sendcan: [8017, true, 100.]
-logMessage: [8018, true, 0.]
-liveCalibration: [8019, true, 4., 4]
-androidLog: [8020, true, 0.]
-carState: [8021, true, 100., 10]
-# 8022 is reserved for sshd
-carControl: [8023, true, 100., 10]
-plan: [8024, true, 20., 2]
-liveLocation: [8025, true, 0., 1]
-gpsLocation: [8026, true, 1., 1]
-ethernetData: [8027, true, 0.]
-navUpdate: [8028, true, 0.]
-qcomGnss: [8029, true, 0.]
-lidarPts: [8030, true, 0.]
-procLog: [8031, true, 0.5]
-gpsLocationExternal: [8032, true, 10., 1]
-ubloxGnss: [8033, true, 10.]
-clocks: [8034, true, 1., 1]
-liveMpc: [8035, false, 20.]
-liveLongitudinalMpc: [8036, false, 20.]
-navStatus: [8038, true, 0.]
-gpsLocationTrimble: [8039, true, 0.]
-trimbleGnss: [8041, true, 0.]
-ubloxRaw: [8042, true, 20.]
-gpsPlannerPoints: [8043, true, 0.]
-gpsPlannerPlan: [8044, true, 0.]
-applanixRaw: [8046, true, 0.]
-orbLocation: [8047, true, 0.]
-trafficEvents: [8048, true, 0.]
-liveLocationTiming: [8049, true, 0.]
-orbslamCorrection: [8050, true, 0.]
-liveLocationCorrected: [8051, true, 0.]
-orbObservation: [8052, true, 0.]
-applanixLocation: [8053, true, 0.]
-liveLocationKalman: [8054, true, 20., 2]
-uiNavigationEvent: [8055, true, 0.]
-orbOdometry: [8057, true, 0.]
-orbFeatures: [8058, false, 0.]
-orbKeyFrame: [8059, true, 0.]
-uiLayoutState: [8060, true, 0.]
-frontEncodeIdx: [8061, true, 5.] # should be 20fps on tici
-orbFeaturesSummary: [8062, true, 0.]
-driverState: [8063, true, 5., 1]
-liveParameters: [8064, true, 20., 2]
-liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 20., 5]
-pathPlan: [8067, true, 20., 2]
-kalmanOdometry: [8068, true, 0.]
-thumbnail: [8069, true, 0.2, 1]
-carEvents: [8070, true, 1., 1]
-carParams: [8071, true, 0.02, 1]
-frontFrame: [8072, true, 10.]
-dMonitoringState: [8073, true, 5., 1]
-offroadLayout: [8074, false, 0.]
-wideEncodeIdx: [8075, true, 20.]
-wideFrame: [8076, true, 20.]
-modelV2: [8077, true, 20., 20]
-
-testModel: [8040, false, 0.]
-testLiveLocation: [8045, false, 0.]
-testJoystick: [8056, false, 0.]
-
-# 8080 is reserved for slave testing daemon
-# 8762 is reserved for logserver
-
-# manager -- base process to manage starting and stopping of all others
-#   subscribes: thermal
-
-# **** processes that communicate with the outside world ****
-
-# thermald -- decides when to start and stop onroad
-#   subscribes: health, location
-#   publishes: thermal
-
-# boardd -- communicates with the car
-#   subscribes: sendcan
-#   publishes: can, health, ubloxRaw
-
-# sensord -- publishes IMU and Magnetometer
-#   publishes: sensorEvents
-
-# gpsd -- publishes EON's gps
-#   publishes: gpsNMEA
-
-# camerad -- publishes camera frames
-#   publishes: frame, frontFrame, thumbnail
-#   subscribes: driverState
-
-# dmonitoringmodeld -- runs face detection on camera frames
-#   publishes: driverState
-
-# **** stateful data transformers ****
-
-# modeld -- runs & publishes the model
-#   publishes: model, cameraOdometry
-#   subscribes: liveCalibration, pathPlan
-
-# plannerd -- decides where to drive the car
-#   subscribes: carState, model, radarState, controlsState, liveParameters
-#   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc
-
-# controlsd -- drives the car by sending CAN messages to panda
-#   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
-#   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams
-
-# dmonitoringd -- processes driver monitoring data and publishes driver awareness
-#   subscribes: driverState, liveCalibration, carState, model, gpsLocation
-#   publishes: dMonitoringState
-
-# radard -- processes the radar and vision data
-#   subscribes: can, controlsState, model, liveParameters
-#   publishes:  radarState, liveTracks
-
-# params_learner -- learns vehicle params by observing the vehicle dynamics
-#   subscribes: controlsState, sensorEvents, cameraOdometry
-#   publishes: liveParameters
-
-# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
-#   subscribes: cameraOdometry
-#   publishes: liveCalibration
-
-# ubloxd -- read raw ublox data and converts them in readable format
-#   subscribes: ubloxRaw
-#   publishes: ubloxGnss
-
-# **** LOGGING SERVICE ****
-
-# loggerd
-#   subscribes: EVERYTHING
-
-# **** NON VITAL SERVICES ****
-
-# ui
-#   subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
-
-# uploader
-#   communicates through file system with loggerd
-
-# deleter
-#   communicates through file system with loggerd and uploader
-
-# logmessaged -- central logging service, can log to cloud
-#   publishes:  logMessage
-
-# logcatd -- fetches logcat info from android
-#   publishes:  androidLog
-
-# proclogd -- fetches process information
-#   publishes: procLog
-
-# tombstoned -- reports native crashes
-
-# athenad -- on request, open a sub socket and return the value
-
-# updated -- waits for network access and tries to update every hour
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -1,34 +1,99 @@
 #!/usr/bin/env python3
 import os
-import yaml
+from typing import Optional
+
+TICI = os.path.isfile('/TICI')
+RESERVED_PORT = 8022  # sshd
+STARTING_PORT = 8001


-class Service():
-  def __init__(self, port, should_log, frequency, decimation=None):
+def new_port(port: int):
+  port += STARTING_PORT
+  return port + 1 if port >= RESERVED_PORT else port
+
+
+class Service:
+  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
    self.port = port
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation


-service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
+services = {
+  "roadCameraState": (True, 20., 1),  # should_log, frequency, decimation (optional)
+  "sensorEvents": (True, 100., 100),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "can": (True, 100.),
+  "controlsState": (True, 100., 100),
+  "features": (True, 0.),
+  "pandaState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (True, 20., 1),
+  "liveTracks": (True, 20.),
+  "sendcan": (True, 100.),
+  "logMessage": (True, 0.),
+  "liveCalibration": (True, 4., 4),
+  "androidLog": (True, 0., 1),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 2),
+  "liveLocation": (True, 0., 1),
+  "procLog": (True, 0.5),
+  "gpsLocationExternal": (True, 10., 1),
+  "ubloxGnss": (True, 10.),
+  "clocks": (True, 1., 1),
+  "liveMpc": (False, 20.),
+  "liveLongitudinalMpc": (False, 20.),
+  "ubloxRaw": (True, 20.),
+  "liveLocationKalman": (True, 20., 2),
+  "uiLayoutState": (True, 0.),
+  "liveParameters": (True, 20., 2),
+  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 2),
+  "thumbnail": (True, 0.2, 1),
+  "carEvents": (True, 1., 1),
+  "carParams": (True, 0.02, 1),
+  "driverCameraState": (True, 10. if not TICI else 20., 1),
+  "driverEncodeIdx": (True, 10. if not TICI else 20., 1),
+  "driverState": (True, 10. if not TICI else 20., 1),
+  "driverMonitoringState": (True, 10. if not TICI else 20., 1),
+  "offroadLayout": (False, 0.),
+  "wideRoadEncodeIdx": (True, 20., 1),
+  "wideRoadCameraState": (True, 20., 1),
+  "modelV2": (True, 20., 20),
+  "managerState": (True, 2., 1),

-service_list = {}
-with open(service_list_path, "r") as f:
-  for k, v in yaml.safe_load(f).items():
-    decimation = None
-    if len(v) == 4:
-      decimation = v[3]
+  "testModel": (False, 0.),
+  "testLiveLocation": (False, 0.),
+  "testJoystick": (False, 0.),
+
+  # dp
+  "thermal": (True, 2., 1),
+  "dragonConf": (False, 2.),
+
+}
+service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+                idx, (name, vals) in enumerate(services.items())}
+
+
+def build_header():
+  h = ""
+  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
+  h += "#ifndef __SERVICES_H\n"
+  h += "#define __SERVICES_H\n"
+  h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "static struct service services[] = {\n"
+  for k, v in service_list.items():
+    should_log = "true" if v.should_log else "false"
+    decimation = -1 if v.decimation is None else v.decimation
+    h += '  { "%s", %d, %s, %d, %d },\n' % \
+         (k, v.port, should_log, v.frequency, decimation)
+  h += "};\n"
+  h += "#endif\n"
+  return h

-    service_list[k] = Service(v[0], v[1], v[2], decimation)

 if __name__ == "__main__":
-  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
-  print("#ifndef __SERVICES_H")
-  print("#define __SERVICES_H")
-  print("struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };")
-  print("static struct service services[] = {")
-  for k, v in service_list.items():
-    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
-  print("};")
-  print("#endif")
+  print(build_header())
--- a/cereal/visionipc/.gitignore
+++ b/cereal/visionipc/.gitignore
@@ -0,0 +1,2 @@
+visionipc_pyx.cpp
+*.so
--- a/panda/board/pedal/obj/.gitkeep
+++ b/panda/board/pedal/obj/.gitkeep
--- a/cereal/visionipc/ipc.cc
+++ b/cereal/visionipc/ipc.cc
@@ -1,6 +1,5 @@
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdbool.h>
 #include <string.h>
 #include <unistd.h>
 #include <assert.h>
@@ -10,16 +9,19 @@
 #include <sys/socket.h>
 #include <sys/un.h>

+#ifdef __APPLE__
+#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
+#else
+#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
+#endif
+
 #include "ipc.h"

 int ipc_connect(const char* socket_path) {
  int err;

-#ifdef __APPLE__
-  int sock = socket(AF_UNIX, SOCK_STREAM, 0);
-#else
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-#endif
+  int sock = getsocket();
+
  if (sock < 0) return -1;
  struct sockaddr_un addr = {
    .sun_family = AF_UNIX,
@@ -39,11 +41,8 @@ int ipc_bind(const char* socket_path) {

  unlink(socket_path);

-#ifdef __APPLE__
-  int sock = socket(AF_UNIX, SOCK_STREAM, 0);
-#else
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-#endif
+  int sock = getsocket();
+
  struct sockaddr_un addr = {
    .sun_family = AF_UNIX,
  };
@@ -87,7 +86,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
      cmsg->cmsg_type = SCM_RIGHTS;
      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
-      // printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
    }
    return sendmsg(fd, &msg, 0);
  } else {
@@ -102,8 +100,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
      recv_fds /= sizeof(int);
-      // printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
-      // assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));

      assert(fds && recv_fds <= num_fds);
      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
--- a/cereal/visionipc/ipc.h
+++ b/cereal/visionipc/ipc.h
@@ -1,19 +1,7 @@
-#ifndef IPC_H
-#define IPC_H
-
-#include <stdbool.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
+#pragma once
+#include <cstddef>

 int ipc_connect(const char* socket_path);
 int ipc_bind(const char* socket_path);
 int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
                          int *out_num_fds);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif
--- a/cereal/visionipc/test_runner.cc
+++ b/cereal/visionipc/test_runner.cc
@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"
--- a/cereal/visionipc/visionbuf.cc
+++ b/cereal/visionipc/visionbuf.cc
@@ -0,0 +1,40 @@
+#include "visionbuf.h"
+
+#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
+
+#ifdef QCOM
+// from libadreno_utils.so
+extern "C" void compute_aligned_width_and_height(int width,
+                                                 int height,
+                                                 int bpp,
+                                                 int tile_mode,
+                                                 int raster_mode,
+                                                 int padding_threshold,
+                                                 int *aligned_w,
+                                                 int *aligned_h);
+#endif
+
+void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
+#ifdef QCOM
+  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
+#else
+  *aligned_w = width; *aligned_h = height;
+#endif
+}
+
+void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
+  this->rgb = true;
+  this->width = width;
+  this->height = height;
+  this->stride = stride;
+}
+
+void VisionBuf::init_yuv(size_t width, size_t height){
+  this->rgb = false;
+  this->width = width;
+  this->height = height;
+
+  this->y = (uint8_t *)this->addr;
+  this->u = this->y + (width * height);
+  this->v = this->u + (width / 2 * height / 2);
+}
--- a/cereal/visionipc/visionbuf.h
+++ b/cereal/visionipc/visionbuf.h
@@ -0,0 +1,63 @@
+#pragma once
+#include "visionipc.h"
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#define VISIONBUF_SYNC_FROM_DEVICE 0
+#define VISIONBUF_SYNC_TO_DEVICE 1
+
+enum VisionStreamType {
+  VISION_STREAM_RGB_BACK,
+  VISION_STREAM_RGB_FRONT,
+  VISION_STREAM_RGB_WIDE,
+  VISION_STREAM_YUV_BACK,
+  VISION_STREAM_YUV_FRONT,
+  VISION_STREAM_YUV_WIDE,
+  VISION_STREAM_MAX,
+};
+
+class VisionBuf {
+ public:
+  size_t len = 0;
+  size_t mmap_len = 0;
+  void * addr = nullptr;
+  int fd = 0;
+
+  bool rgb = false;
+  size_t width = 0;
+  size_t height = 0;
+  size_t stride = 0;
+
+  // YUV
+  uint8_t * y = nullptr;
+  uint8_t * u = nullptr;
+  uint8_t * v = nullptr;
+
+  // Visionipc
+  uint64_t server_id = 0;
+  size_t idx = 0;
+  VisionStreamType type;
+
+  // OpenCL
+  cl_mem buf_cl = nullptr;
+  cl_command_queue copy_q = nullptr;
+
+  // ion
+  int handle = 0;
+  bool owner = false;
+
+  void allocate(size_t len);
+  void import();
+  void init_cl(cl_device_id device_id, cl_context ctx);
+  void init_rgb(size_t width, size_t height, size_t stride);
+  void init_yuv(size_t width, size_t height);
+  void sync(int dir);
+  void free();
+};
+
+void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
--- a/cereal/visionipc/visionbuf_cl.cc
+++ b/cereal/visionipc/visionbuf_cl.cc
@@ -0,0 +1,86 @@
+#include "visionbuf.h"
+
+#include <atomic>
+#include <stdio.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+
+std::atomic<int> offset = 0;
+
+static void *malloc_with_fd(size_t len, int *fd) {
+  char full_path[0x100];
+
+#ifdef __APPLE__
+  snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
+#else
+  snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
+#endif
+
+  *fd = open(full_path, O_RDWR | O_CREAT, 0777);
+  assert(*fd >= 0);
+
+  unlink(full_path);
+
+  ftruncate(*fd, len);
+  void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
+  assert(addr != MAP_FAILED);
+
+  return addr;
+}
+
+void VisionBuf::allocate(size_t len) {
+  int fd;
+  void *addr = malloc_with_fd(len, &fd);
+
+  this->len = len;
+  this->mmap_len = len;
+  this->addr = addr;
+  this->fd = fd;
+}
+
+void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
+  int err;
+
+  this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
+  assert(err == 0);
+
+  this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
+  assert(err == 0);
+}
+
+
+void VisionBuf::import(){
+  assert(this->fd >= 0);
+  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
+  assert(this->addr != MAP_FAILED);
+}
+
+
+void VisionBuf::sync(int dir) {
+  int err = 0;
+  if (!this->buf_cl) return;
+
+  if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
+    err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
+  } else {
+    err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
+  }
+  assert(err == 0);
+  clFinish(this->copy_q);
+}
+
+void VisionBuf::free() {
+  if (this->buf_cl){
+    int err = clReleaseMemObject(this->buf_cl);
+    assert(err == 0);
+
+    clReleaseCommandQueue(this->copy_q);
+  }
+
+  munmap(this->addr, this->len);
+  close(this->fd);
+}
--- a/cereal/visionipc/visionbuf_ion.cc
+++ b/cereal/visionipc/visionbuf_ion.cc
@@ -10,7 +10,7 @@
 #include <unistd.h>
 #include <linux/ion.h>
 #include <CL/cl_ext.h>
-#include "common/clutil.h"
+
 #include <msm_ion.h>

 #include "visionbuf.h"
@@ -36,7 +36,7 @@ static void ion_init() {
  }
 }

-VisionBuf visionbuf_allocate(size_t len) {
+void VisionBuf::allocate(size_t len) {
  int err;

  ion_init();
@@ -62,46 +62,58 @@ VisionBuf visionbuf_allocate(size_t len) {

  memset(addr, 0, ion_alloc.len);

-  return (VisionBuf){
-    .len = len,
-    .mmap_len = ion_alloc.len,
-    .addr = addr,
-    .handle = ion_alloc.handle,
-    .fd = ion_fd_data.fd,
-  };
+  this->owner = true;
+  this->len = len;
+  this->mmap_len = ion_alloc.len;
+  this->addr = addr;
+  this->handle = ion_alloc.handle;
+  this->fd = ion_fd_data.fd;
 }

-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx) {
-  VisionBuf buf = visionbuf_allocate(len);
+void VisionBuf::import(){
+  int err;
+  assert(this->fd >= 0);

-  assert(((uintptr_t)buf.addr % DEVICE_PAGE_SIZE_CL) == 0);
+  ion_init();
+
+  // Get handle
+  struct ion_fd_data fd_data = {0};
+  fd_data.fd = this->fd;
+  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
+  assert(err == 0);
+
+  this->owner = false;
+  this->handle = fd_data.handle;
+  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
+  assert(this->addr != MAP_FAILED);
+}
+
+void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
+  int err;
+
+  assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);

  cl_mem_ion_host_ptr ion_cl = {0};
  ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
  ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
-  ion_cl.ion_filedesc = buf.fd;
-  ion_cl.ion_hostptr = buf.addr;
+  ion_cl.ion_filedesc = this->fd;
+  ion_cl.ion_hostptr = this->addr;

-  buf.buf_cl = CL_CHECK_ERR(clCreateBuffer(ctx,
+  this->buf_cl = clCreateBuffer(ctx,
                              CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
-                              buf.len, &ion_cl, &err));
-  return buf;
+                              this->len, &ion_cl, &err);
+  assert(err == 0);
 }


-void visionbuf_sync(const VisionBuf* buf, int dir) {
+void VisionBuf::sync(int dir) {
  int err;

-  struct ion_fd_data fd_data = {0};
-  fd_data.fd = buf->fd;
-  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
-  assert(err == 0);
-
  struct ion_flush_data flush_data = {0};
-  flush_data.handle = fd_data.handle;
-  flush_data.vaddr = buf->addr;
+  flush_data.handle = this->handle;
+  flush_data.vaddr = this->addr;
  flush_data.offset = 0;
-  flush_data.length = buf->len;
+  flush_data.length = this->len;

  // ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
  // ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
@@ -109,36 +121,28 @@ void visionbuf_sync(const VisionBuf* buf, int dir) {

  struct ion_custom_data custom_data = {0};

-  switch (dir) {
-  case VISIONBUF_SYNC_FROM_DEVICE:
-    custom_data.cmd = ION_IOC_INV_CACHES;
-    break;
-  case VISIONBUF_SYNC_TO_DEVICE:
-    custom_data.cmd = ION_IOC_CLEAN_CACHES;
-    break;
-  default:
-    assert(0);
-  }
+   assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
+   custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
+     ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;

  custom_data.arg = (unsigned long)&flush_data;
  err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
  assert(err == 0);
-
-  struct ion_handle_data handle_data = {0};
-  handle_data.handle = fd_data.handle;
-  err = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-  assert(err == 0);
 }

-void visionbuf_free(const VisionBuf* buf) {
-  if (buf->buf_cl) {
-    CL_CHECK(clReleaseMemObject(buf->buf_cl));
+void VisionBuf::free() {
+  if (this->buf_cl){
+    int err = clReleaseMemObject(this->buf_cl);
+    assert(err == 0);
+  }
+
+  munmap(this->addr, this->mmap_len);
+  close(this->fd);
+
+  // Free the ION buffer if we also shared it
+  if (this->owner){
+    struct ion_handle_data handle_data = {.handle = this->handle};
+    int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
+    assert(ret == 0);
  }
-  munmap(buf->addr, buf->mmap_len);
-  close(buf->fd);
-  struct ion_handle_data handle_data = {
-    .handle = buf->handle,
-  };
-  int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-  assert(ret == 0);
 }
--- a/cereal/visionipc/visionipc.h
+++ b/cereal/visionipc/visionipc.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <cstdint>
+#include <cstddef>
+
+constexpr int VISIONIPC_MAX_FDS = 64;
+
+struct VisionIpcBufExtra {
+  uint32_t frame_id;
+  uint64_t timestamp_sof;
+  uint64_t timestamp_eof;
+};
+
+struct VisionIpcPacket {
+  uint64_t server_id;
+  size_t idx;
+  struct VisionIpcBufExtra extra;
+};
--- a/cereal/visionipc/visionipc.pxd
+++ b/cereal/visionipc/visionipc.pxd
@@ -0,0 +1,29 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libc.stdint cimport uint32_t, uint64_t
+from libcpp cimport bool
+
+cdef extern from "visionbuf.h":
+  cdef enum VisionStreamType:
+    pass
+
+  cdef cppclass VisionBuf:
+    void * addr
+    size_t len
+
+cdef extern from "visionipc.h":
+  struct VisionIpcBufExtra:
+    uint32_t frame_id
+    uint64_t timestamp_sof
+    uint64_t timestamp_eof
+
+cdef extern from "visionipc_server.h":
+  cdef cppclass VisionIpcServer:
+    VisionIpcServer(string, void*, void*)
+    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
+    VisionBuf * get_buffer(VisionStreamType)
+    void send(VisionBuf *, VisionIpcBufExtra *, bool)
+    void start_listener()
--- a/cereal/visionipc/visionipc_client.cc
+++ b/cereal/visionipc/visionipc_client.cc
@@ -0,0 +1,119 @@
+#include <chrono>
+#include <cassert>
+#include <iostream>
+#include <thread>
+
+#include "ipc.h"
+#include "visionipc_client.h"
+#include "visionipc_server.h"
+
+VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
+  msg_ctx = Context::create();
+  sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
+
+  poller = Poller::create();
+  poller->registerSocket(sock);
+}
+
+// Connect is not thread safe. Do not use the buffers while calling connect
+bool VisionIpcClient::connect(bool blocking){
+  connected = false;
+
+  // Cleanup old buffers on reconnect
+  for (size_t i = 0; i < num_buffers; i++){
+    buffers[i].free();
+  }
+  num_buffers = 0;
+
+  // Connect to server socket and ask for all FDs of type
+  std::string path = "/tmp/visionipc_" + name;
+
+  int socket_fd = -1;
+  while (socket_fd < 0) {
+    socket_fd = ipc_connect(path.c_str());
+
+    if (socket_fd < 0) {
+      if (blocking){
+        std::cout << "VisionIpcClient connecting" << std::endl;
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      } else {
+        return false;
+      }
+    }
+  }
+
+  // Send stream type to server to request FDs
+  int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
+  assert(r == sizeof(type));
+
+  // Get FDs
+  int fds[VISIONIPC_MAX_FDS];
+  VisionBuf bufs[VISIONIPC_MAX_FDS];
+  r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
+
+  assert(num_buffers > 0);
+  assert(r == sizeof(VisionBuf) * num_buffers);
+
+  // Import buffers
+  for (size_t i = 0; i < num_buffers; i++){
+    buffers[i] = bufs[i];
+    buffers[i].fd = fds[i];
+    buffers[i].import();
+    if (buffers[i].rgb) {
+      buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
+    } else {
+      buffers[i].init_yuv(buffers[i].width, buffers[i].height);
+    }
+
+    if (device_id) buffers[i].init_cl(device_id, ctx);
+  }
+
+  connected = true;
+  return true;
+}
+
+VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
+  auto p = poller->poll(timeout_ms);
+
+  if (!p.size()){
+    return nullptr;
+  }
+
+  Message * r = sock->receive(true);
+  if (r == nullptr){
+    return nullptr;
+  }
+
+  // Get buffer
+  assert(r->getSize() == sizeof(VisionIpcPacket));
+  VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
+
+  assert(packet->idx < num_buffers);
+  VisionBuf * buf = &buffers[packet->idx];
+
+  if (buf->server_id != packet->server_id){
+    connected = false;
+    delete r;
+    return nullptr;
+  }
+
+  if (extra) {
+    *extra = packet->extra;
+  }
+
+  buf->sync(VISIONBUF_SYNC_TO_DEVICE);
+  delete r;
+  return buf;
+}
+
+
+
+VisionIpcClient::~VisionIpcClient(){
+  for (size_t i = 0; i < num_buffers; i++){
+    buffers[i].free();
+  }
+
+  delete sock;
+  delete poller;
+  delete msg_ctx;
+}
--- a/cereal/visionipc/visionipc_client.h
+++ b/cereal/visionipc/visionipc_client.h
@@ -0,0 +1,32 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <unistd.h>
+
+#include "messaging.h"
+#include "visionipc.h"
+#include "visionbuf.h"
+
+class VisionIpcClient {
+private:
+  std::string name;
+  Context * msg_ctx;
+  SubSocket * sock;
+  Poller * poller;
+
+  VisionStreamType type;
+
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+
+  void init_msgq(bool conflate);
+
+public:
+  bool connected = false;
+  int num_buffers = 0;
+  VisionBuf buffers[VISIONIPC_MAX_FDS];
+  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
+  ~VisionIpcClient();
+  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
+  bool connect(bool blocking=true);
+};
--- a/cereal/visionipc/visionipc_pyx.pyx
+++ b/cereal/visionipc/visionipc_pyx.pyx
@@ -0,0 +1,49 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import sys
+from libcpp.string cimport string
+from libcpp cimport bool
+from libc.string cimport memcpy
+from libc.stdint cimport uint32_t, uint64_t
+
+from .visionipc cimport VisionIpcServer as cppVisionIpcServer
+from .visionipc cimport VisionBuf as cppVisionBuf
+from .visionipc cimport VisionIpcBufExtra
+
+cpdef enum VisionStreamType:
+  VISION_STREAM_RGB_BACK
+  VISION_STREAM_RGB_FRONT
+  VISION_STREAM_RGB_WIDE
+  VISION_STREAM_YUV_BACK
+  VISION_STREAM_YUV_FRONT
+  VISION_STREAM_YUV_WIDE
+
+cdef class VisionIpcServer:
+  cdef cppVisionIpcServer * server
+
+  def __init__(self, string name):
+    self.server = new cppVisionIpcServer(name, NULL, NULL)
+
+  def create_buffers(self,  VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
+    self.server.create_buffers(tp, num_buffers, rgb, width, height)
+
+  def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
+    cdef cppVisionBuf * buf = self.server.get_buffer(tp)
+
+    # Populate buffer
+    assert buf.len == len(data)
+    memcpy(buf.addr, <char*>data, len(data))
+
+    cdef VisionIpcBufExtra extra
+    extra.frame_id = frame_id
+    extra.timestamp_sof = timestamp_sof
+    extra.timestamp_eof = timestamp_eof
+
+    self.server.send(buf, &extra, False)
+
+  def start_listener(self):
+    self.server.start_listener()
+
+  def __dealloc__(self):
+    del self.server
--- a/cereal/visionipc/visionipc_server.cc
+++ b/cereal/visionipc/visionipc_server.cc
@@ -0,0 +1,179 @@
+#include <iostream>
+#include <chrono>
+#include <cassert>
+#include <random>
+
+#include <poll.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include "messaging.h"
+#include "ipc.h"
+#include "visionipc_server.h"
+
+std::string get_endpoint_name(std::string name, VisionStreamType type){
+  if (messaging_use_zmq()){
+    assert(name == "camerad");
+    return std::to_string(9000 + static_cast<int>(type));
+  } else {
+    return "visionipc_" + name + "_" + std::to_string(type);
+  }
+}
+
+VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
+  msg_ctx = Context::create();
+
+  std::random_device rd("/dev/urandom");
+  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
+  server_id = distribution(rd);
+}
+
+void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
+  // TODO: assert that this type is not created yet
+  assert(num_buffers < VISIONIPC_MAX_FDS);
+  int aligned_w = 0, aligned_h = 0;
+
+  size_t size = 0;
+  size_t stride = 0; // Only used for RGB
+
+  if (rgb) {
+    visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
+    size = (size_t)aligned_w * (size_t)aligned_h * 3;
+    stride = aligned_w * 3;
+  } else {
+    size = width * height * 3 / 2;
+  }
+
+
+  // Create map + alloc requested buffers
+  for (size_t i = 0; i < num_buffers; i++){
+    VisionBuf* buf = new VisionBuf();
+    buf->allocate(size);
+    buf->idx = i;
+    buf->type = type;
+
+    if (device_id) buf->init_cl(device_id, ctx);
+
+    rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
+
+    buffers[type].push_back(buf);
+  }
+
+  cur_idx[type] = 0;
+
+  // Create msgq publisher for each of the `name` + type combos
+  // TODO: compute port number directly if using zmq
+  sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
+}
+
+
+void VisionIpcServer::start_listener(){
+  listener_thread = std::thread(&VisionIpcServer::listener, this);
+}
+
+
+void VisionIpcServer::listener(){
+  std::cout << "Starting listener for: " << name << std::endl;
+
+  std::string path = "/tmp/visionipc_" + name;
+  int sock = ipc_bind(path.c_str());
+  assert(sock >= 0);
+
+  while (!should_exit){
+    // Wait for incoming connection
+    struct pollfd polls[1] = {{0}};
+    polls[0].fd = sock;
+    polls[0].events = POLLIN;
+
+    int ret = poll(polls, 1, 100);
+    if (ret < 0) {
+      if (errno == EINTR || errno == EAGAIN) continue;
+      std::cout << "poll failed, stopping listener" << std::endl;
+      break;
+    }
+
+    if (should_exit) break;
+    if (!polls[0].revents) {
+      continue;
+    }
+
+    // Handle incoming request
+    int fd = accept(sock, NULL, NULL);
+    assert(fd >= 0);
+
+    VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
+    int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
+    assert(r == sizeof(type));
+    if (buffers.count(type) <= 0) {
+      std::cout << "got request for invalid buffer type: " << type << std::endl;
+      close(fd);
+      continue;
+    }
+
+    int fds[VISIONIPC_MAX_FDS];
+    int num_fds = buffers[type].size();
+    VisionBuf bufs[VISIONIPC_MAX_FDS];
+
+    for (int i = 0; i < num_fds; i++){
+      fds[i] = buffers[type][i]->fd;
+      bufs[i] = *buffers[type][i];
+
+      // Remove some private openCL/ion metadata
+      bufs[i].buf_cl = 0;
+      bufs[i].copy_q = 0;
+      bufs[i].handle = 0;
+      bufs[i].owner = false;
+
+      bufs[i].server_id = server_id;
+    }
+
+    r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
+
+    close(fd);
+  }
+
+  std::cout << "Stopping listener for: " << name << std::endl;
+  close(sock);
+}
+
+
+
+VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
+  // Do we want to keep track if the buffer has been sent out yet and warn user?
+  assert(buffers.count(type));
+  auto b = buffers[type];
+  return b[cur_idx[type]++ % b.size()];
+}
+
+void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
+  if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
+  assert(buffers.count(buf->type));
+  assert(buf->idx < buffers[buf->type].size());
+
+  // Send over correct msgq socket
+  VisionIpcPacket packet = {0};
+  packet.server_id = server_id;
+  packet.idx = buf->idx;
+  packet.extra = *extra;
+
+  sockets[buf->type]->send((char*)&packet, sizeof(packet));
+}
+
+VisionIpcServer::~VisionIpcServer(){
+  should_exit = true;
+  listener_thread.join();
+
+  // VisionBuf cleanup
+  for( auto const& [type, buf] : buffers ) {
+    for (VisionBuf* b : buf){
+      b->free();
+      delete b;
+    }
+  }
+
+  // Messaging cleanup
+  for( auto const& [type, sock] : sockets ) {
+    delete sock;
+  }
+  delete msg_ctx;
+}
--- a/cereal/visionipc/visionipc_server.h
+++ b/cereal/visionipc/visionipc_server.h
@@ -0,0 +1,42 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <thread>
+#include <atomic>
+#include <map>
+
+#include "messaging.h"
+#include "visionipc.h"
+#include "visionbuf.h"
+
+std::string get_endpoint_name(std::string name, VisionStreamType type);
+
+class VisionIpcServer {
+ private:
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+  uint64_t server_id;
+
+  std::atomic<bool> should_exit = false;
+  std::string name;
+  std::thread listener_thread;
+
+  std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
+  std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
+  std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
+
+  Context * msg_ctx;
+  std::map<VisionStreamType, PubSocket*> sockets;
+
+  void listener(void);
+
+ public:
+  VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
+  ~VisionIpcServer();
+
+  VisionBuf * get_buffer(VisionStreamType type);
+
+  void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
+  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
+  void start_listener();
+};
--- a/cereal/visionipc/visionipc_tests.cc
+++ b/cereal/visionipc/visionipc_tests.cc
@@ -0,0 +1,135 @@
+#include <thread>
+#include <chrono>
+
+#include "catch2/catch.hpp"
+#include "visionipc_server.h"
+#include "visionipc_client.h"
+
+static void zmq_sleep(int milliseconds=1000){
+  if (messaging_use_zmq()){
+    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
+  }
+}
+
+TEST_CASE("Connecting"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+
+  REQUIRE(client.connected);
+}
+
+TEST_CASE("Check buffers"){
+  size_t width = 100, height = 200, num_buffers = 5;
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+
+  REQUIRE(client.buffers[0].width == width);
+  REQUIRE(client.buffers[0].height == height);
+  REQUIRE(client.buffers[0].len);
+  REQUIRE(client.num_buffers == num_buffers);
+}
+
+TEST_CASE("Check yuv/rgb"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
+  client_yuv.connect();
+  client_rgb.connect();
+
+  REQUIRE(client_rgb.buffers[0].rgb == true);
+  REQUIRE(client_yuv.buffers[0].rgb == false);
+}
+
+TEST_CASE("Send single buffer"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  REQUIRE(buf != nullptr);
+
+  *((uint64_t*)buf->addr) = 1234;
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1337;
+
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
+  REQUIRE(extra_recv.frame_id == extra.frame_id);
+}
+
+
+TEST_CASE("Test no conflate"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  REQUIRE(buf != nullptr);
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1;
+  server.send(buf, &extra);
+  extra.frame_id = 2;
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 1);
+
+  recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 2);
+}
+
+TEST_CASE("Test conflate"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  REQUIRE(buf != nullptr);
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1;
+  server.send(buf, &extra);
+  extra.frame_id = 2;
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 2);
+
+  recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf == nullptr);
+}
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,4 +1,4 @@
-Import('envCython')
+Import('envCython', 'common')

 envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.pyx')
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
--- a/common/api/init.py
+++ b/common/api/init.py
@@ -27,7 +27,11 @@ class Api():
      'iat': now,
      'exp': now + timedelta(hours=1)
    }
-    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+    

 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,8 +1,11 @@
 import os
+from pathlib import Path
+
+from selfdrive.hardware import PC, JETSON
+
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

-from selfdrive.hardware import PC
-if PC:
-  PERSIST = os.path.join(BASEDIR, "persist")
+if PC or JETSON:
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
  PERSIST = "/persist"
--- a/common/dict_helpers.py
+++ b/common/dict_helpers.py
@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d
--- a/common/dp_common.py
+++ b/common/dp_common.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3.7
+import subprocess
+from cereal import car
+from common.params import Params
+from common.realtime import sec_since_boot
+import os
+params = Params()
+PARAM_PATH = params.get_params_path() + '/d/'
+LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
+
+def is_online():
+  try:
+    return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+  except ProcessLookupError:
+    return False
+
+def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
+  if enabled:
+    if dragonconf.dpLateralMode == 0 and blinker_on:
+      steer_req = 0 if isinstance(steer_req, int) else False
+  return steer_req
+
+def common_interface_atl(ret, atl):
+  # dp
+  enable_acc = ret.cruiseState.enabled
+  if atl and ret.cruiseState.available:
+    enable_acc = True
+    if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
+      enable_acc = False
+    if ret.seatbeltUnlatched or ret.doorOpen:
+      enable_acc = False
+  return enable_acc
+
+def common_interface_get_params_lqr(ret):
+  if params.get_bool('dp_lqr'):
+    ret.lateralTuning.init('lqr')
+    ret.lateralTuning.lqr.scale = 1500.0
+    ret.lateralTuning.lqr.ki = 0.05
+
+    ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+    ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+    ret.lateralTuning.lqr.c = [1., 0.]
+    ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+    ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+    ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+  return ret
+
+
+def get_last_modified(delay, old_check, old_modified):
+  new_check = sec_since_boot()
+  if old_check is None or new_check - old_check >= delay:
+    return new_check, os.stat(LAST_MODIFIED).st_mtime
+  else:
+    return old_check, old_modified
+
+def param_get_if_updated(param, type, old_val, old_modified):
+  try:
+    modified = os.stat(PARAM_PATH + param).st_mtime
+  except OSError:
+    return old_val, old_modified
+  if old_modified != modified:
+    new_val = param_get(param, type, old_val)
+    new_modified = modified
+  else:
+    new_val = old_val
+    new_modified = old_modified
+  return new_val, new_modified
+
+def param_get(param_name, type, default):
+  try:
+    val = params.get(param_name, encoding='utf8').rstrip('\x00')
+    if type == 'bool':
+      val = val == '1'
+    elif type == 'int':
+      val = int(val)
+    elif type == 'float':
+      val = float(val)
+  except (TypeError, ValueError):
+    val = default
+  return val
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -0,0 +1,214 @@
+#!/usr/bin/env python3.7
+import os
+import sys
+import json
+import time
+from math import floor
+
+'''
+* type: Bool, Int8, UInt8, UInt16, Float32
+* conf_type: param, struct
+* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
+* update_once: True, False (the param will only load up once, need both param and struct defined)
+'''
+confs = [
+  # thermald data
+  {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+  {'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+
+  {'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
+  # dashcam related
+  {'name': 'dp_dashcamd', 'default': False, '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': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
+  # service
+  {'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_logger', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_athenad', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_uploader', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # lat ctrl
+  {'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1,2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+  # long ctrl
+  {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # safety
+  {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  # UIs
+  {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_dev_mini', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
+  # toyota
+  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # hyundai
+  {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # honda
+  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # volkswagen
+  {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_vw_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  #misc
+  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
+  {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
+  {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_path_offset', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+
+  {'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  # sr learner related
+  {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},
+
+  {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+
+  {'name': 'dp_appd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_panda_fake_black', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_debug', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+]
+
+def get_definition(name):
+  for conf in confs:
+    if conf['name'] == name:
+      return conf
+  return None
+
+def to_param_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    type = conf['type'].lower()
+    try:
+      if 'bool' in type:
+        val = '1' if val else '0'
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return str(val)
+    except (ValueError, TypeError):
+      return ''
+  return ''
+
+def to_struct_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    try:
+      type = conf['type'].lower()
+      if 'bool' in type:
+        val = True if val == '1' else False
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return val
+    except (ValueError, TypeError):
+      return None
+  return None
+
+'''
+function to convert param name into struct name.
+'''
+def get_struct_name(snake_str):
+  components = snake_str.split('_')
+  # We capitalize the first letter of each component except the first one
+  # with the 'title' method and join them together.
+  return components[0] + ''.join(x.title() for x in components[1:])
+
+'''
+function to generate struct for log.capnp
+'''
+def gen_log_struct():
+  count = 0
+  str = "# dp\n"
+  str += "struct DragonConf {\n"
+  for conf in confs:
+    name = get_struct_name(conf['name'])
+    if 'struct' in conf['conf_type']:
+      str += f"  {name} @{count} :{conf['type']};\n"
+      count += 1
+  str += "}"
+  print(str)
+
+'''
+function to generate support car list
+'''
+def get_support_car_list():
+  attrs = ['FINGERPRINTS', 'FW_VERSIONS']
+  cars = dict({"cars": []})
+  for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
+    try:
+      car_name = car_folder.split('/')[-1]
+      if car_name != "mock":
+        names = []
+        for attr in attrs:
+          values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
+          if hasattr(values, attr):
+            attr_values = getattr(values, attr)
+          else:
+            continue
+          if isinstance(attr_values, dict):
+            for f, v in attr_values.items():
+              if f not in names:
+                names.append(f)
+          names.sort()
+        brand_models = {"brand": car_name.upper(), "models": names }
+        cars["cars"].append(brand_models)
+    except (ImportError, IOError, ValueError):
+      pass
+  return json.dumps(cars)
+
+'''
+function to init param value.
+should add this into manager.py
+'''
+def init_params_vals(params):
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      if conf['name'] == 'dp_car_list':
+        params.put(conf['name'], get_support_car_list())
+      elif params.get(conf['name']) is None:
+        params.put(conf['name'], to_param_val(conf['name'], conf['default']))
+
+def gen_params_cc_keys():
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      print("    {\"%s\", PERSISTENT}," % conf['name'])
+
+
+if __name__ == "__main__":
+  if (len(sys.argv) > 1) and sys.argv[1] == 'cc':
+    gen_params_cc_keys()
+  else:
+    gen_log_struct()
--- a/common/dp_time.py
+++ b/common/dp_time.py
@@ -0,0 +1,7 @@
+#!/usr/bin/env python3.7
+
+# delay of reading last modified
+LAST_MODIFIED_THERMALD = 10.
+LAST_MODIFIED_SYSTEMD = 1.
+LAST_MODIFIED_LANE_PLANNER = 3.
+LAST_MODIFIED_UPLOADER = 10.
--- a/common/i18n.py
+++ b/common/i18n.py
@@ -0,0 +1,14 @@
+import gettext
+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']
+
+def get_locale():
+  return getprop("persist.sys.locale") if EON else 'en-US'
+
+def events():
+  i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
+  i18n.install()
+  return i18n.gettext
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -3,6 +3,7 @@ import os
 import sys
 import copy
 import json
+import uuid
 import socket
 import logging
 import traceback
@@ -62,8 +63,48 @@ class SwagFormatter(logging.Formatter):
    return record_dict

  def format(self, record):
+    if self.swaglogger is None:
+      raise Exception("must set swaglogger before calling format()")
    return json_robust_dumps(self.format_dict(record))

+class SwagLogFileFormatter(SwagFormatter):
+  def fix_kv(self, k, v):
+    # append type to names to preserve legacy naming in logs
+    # avoids overlapping key namespaces with different types
+    # e.g. log.info() creates 'msg' -> 'msg$s'
+    #      log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
+    #      because overlapping namespace 'msg' caused problems
+    if isinstance(v, (str, bytes)):
+      k += "$s"
+    elif isinstance(v, float):
+      k += "$f"
+    elif isinstance(v, bool):
+      k += "$b"
+    elif isinstance(v, int):
+      k += "$i"
+    elif isinstance(v, dict):
+      nv = {}
+      for ik, iv in v.items():
+        ik, iv = self.fix_kv(ik, iv)
+        nv[ik] = iv
+      v = nv
+    elif isinstance(v, list):
+      k += "$a"
+    return k, v
+
+  def format(self, record):
+    if isinstance(record, str):
+      v = json.loads(record)
+    else:
+      v = self.format_dict(record)
+
+    mk, mv = self.fix_kv('msg', v['msg'])
+    del v['msg']
+    v[mk] = mv
+    v['id'] = uuid.uuid4().hex
+
+    return json_robust_dumps(v)
+
 class SwagErrorFilter(logging.Filter):
  def filter(self, record):
    return record.levelno < logging.ERROR
@@ -117,6 +158,8 @@ class SwagLogger(logging.Logger):
    evt.update(kwargs)
    if 'error' in kwargs:
      self.error(evt)
+    if 'debug' in kwargs:
+      self.debug(evt)
    else:
      self.info(evt)

--- a/common/params.py
+++ b/common/params.py
@@ -1,4 +1,24 @@
-from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
+assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking
+
+if __name__ == "__main__":
+  import sys
+  from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
+
+  params = Params()
+  if len(sys.argv) == 3:
+    name = sys.argv[1]
+    val = sys.argv[2]
+    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
+    print(f"SET: {name} = {val}")
+    params.put(name, val)
+  elif len(sys.argv) == 2:
+    name = sys.argv[1]
+    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
+    print(f"GET: {name} = {params.get(name)}")
+  else:
+    for k in keys.keys():
+      print(f"GET: {k} = {params.get(k)}")
--- a/common/params_pxd.pxd
+++ b/common/params_pxd.pxd
@@ -4,13 +4,27 @@ from libcpp cimport bool
 cdef extern from "selfdrive/common/params.cc":
  pass

-cdef extern from "selfdrive/common/util.c":
+cdef extern from "selfdrive/common/util.cc":
  pass

 cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_PANDA_DISCONNECT
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
+    ALL
+
  cdef cppclass Params:
    Params(bool)
    Params(string)
    string get(string, bool) nogil
-    int delete_db_value(string)
-    int write_db_value(string, string)
+    bool getBool(string)
+    int remove(string)
+    int put(string, string)
+    int putBool(string, bool)
+    bool checkKey(string)
+    void clearAll(ParamKeyType)
+
+    string get_params_path()
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -2,75 +2,20 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from common.params_pxd cimport Params as c_Params
+from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType

 import os
 import threading
 from common.basedir import BASEDIR

-cdef enum TxType:
-  PERSISTENT = 1
-  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3

-keys = {
-  b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
-  b"AthenadPid": [TxType.PERSISTENT],
-  b"CalibrationParams": [TxType.PERSISTENT],
-  b"CarBatteryCapacity": [TxType.PERSISTENT],
-  b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CommunityFeaturesToggle": [TxType.PERSISTENT],
-  b"CompletedTrainingVersion": [TxType.PERSISTENT],
-  b"DisablePowerDown": [TxType.PERSISTENT],
-  b"DisableUpdates": [TxType.PERSISTENT],
-  b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  b"DongleId": [TxType.PERSISTENT],
-  b"GitBranch": [TxType.PERSISTENT],
-  b"GitCommit": [TxType.PERSISTENT],
-  b"GitRemote": [TxType.PERSISTENT],
-  b"GithubSshKeys": [TxType.PERSISTENT],
-  b"HasAcceptedTerms": [TxType.PERSISTENT],
-  b"HasCompletedSetup": [TxType.PERSISTENT],
-  b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsLdwEnabled": [TxType.PERSISTENT],
-  b"IsMetric": [TxType.PERSISTENT],
-  b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsRHD": [TxType.PERSISTENT],
-  b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUploadRawEnabled": [TxType.PERSISTENT],
-  b"LastAthenaPingTime": [TxType.PERSISTENT],
-  b"LastUpdateTime": [TxType.PERSISTENT],
-  b"LastUpdateException": [TxType.PERSISTENT],
-  b"LiveParameters": [TxType.PERSISTENT],
-  b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  b"LaneChangeEnabled": [TxType.PERSISTENT],
-  b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Passive": [TxType.PERSISTENT],
-  b"RecordFront": [TxType.PERSISTENT],
-  b"ReleaseNotes": [TxType.PERSISTENT],
-  b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"SubscriberInfo": [TxType.PERSISTENT],
-  b"TermsVersion": [TxType.PERSISTENT],
-  b"TrainingVersion": [TxType.PERSISTENT],
-  b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
-  b"Version": [TxType.PERSISTENT],
-  b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
-}
+cdef class ParamKeyType:
+  PERSISTENT = c_ParamKeyType.PERSISTENT
+  CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
+  CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
+  CLEAR_ON_IGNITION_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
+  CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
+  ALL = c_ParamKeyType.ALL

 def ensure_bytes(v):
  if isinstance(v, str):
@@ -95,23 +40,21 @@ cdef class Params:
    del self.p

  def clear_all(self, tx_type=None):
-    for key in keys:
-      if tx_type is None or tx_type in keys[key]:
-        self.delete(key)
+    if tx_type is None:
+      tx_type = ParamKeyType.ALL

-  def manager_start(self):
-    self.clear_all(TxType.CLEAR_ON_MANAGER_START)
+    self.p.clearAll(tx_type)

-  def panda_disconnect(self):
-    self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
-
-  def get(self, key, block=False, encoding=None):
+  def check_key(self, key):
    key = ensure_bytes(key)

-    if key not in keys:
+    if not self.p.checkKey(key):
      raise UnknownKeyName(key)

-    cdef string k = key
+    return key
+
+  def get(self, key, block=False, encoding=None):
+    cdef string k = self.check_key(key)
    cdef bool b = block

    cdef string val
@@ -131,6 +74,10 @@ cdef class Params:
    else:
      return val

+  def get_bool(self, key):
+    cdef string k = self.check_key(key)
+    return self.p.getBool(k)
+
  def put(self, key, dat):
    """
    Warning: This function blocks until the param is written to disk!
@@ -138,23 +85,26 @@ cdef class Params:
    Use the put_nonblocking helper function in time sensitive code, but
    in general try to avoid writing params as much as possible.
    """
-    key = ensure_bytes(key)
+    cdef string k = self.check_key(key)
    dat = ensure_bytes(dat)
+    self.p.put(k, dat)

-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    self.p.write_db_value(key, dat)
+  def put_bool(self, key, val):
+    cdef string k = self.check_key(key)
+    self.p.putBool(k, val)

  def delete(self, key):
-    key = ensure_bytes(key)
-    self.p.delete_db_value(key)
+    cdef string k = self.check_key(key)
+    self.p.remove(k)

+  def get_params_path(self):
+    return self.p.get_params_path().decode("utf-8")

 def put_nonblocking(key, val, d=None):
  def f(key, val):
    params = Params(d)
-    params.put(key, val)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)

  t = threading.Thread(target=f, args=(key, val))
  t.start()
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -3,9 +3,10 @@ import gc
 import os
 import time
 import multiprocessing
+from typing import Optional

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


 # time step for each process
@@ -31,49 +32,49 @@ class Priority:
  CTRL_HIGH = 53


-def set_realtime_priority(level):
-  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
+def set_realtime_priority(level: int) -> None:
+  if JETSON or not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]


-def set_core_affinity(core):
-  if not PC:
+def set_core_affinity(core: int) -> None:
+  if JETSON or not PC:
    os.sched_setaffinity(0, [core,])


-def config_realtime_process(core, priority):
+def config_realtime_process(core: int, priority: int) -> None:
  gc.disable()
  set_realtime_priority(priority)
  set_core_affinity(core)


-class Ratekeeper():
-  def __init__(self, rate, print_delay_threshold=0.):
+class Ratekeeper:
+  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
    self._next_frame_time = sec_since_boot() + self._interval
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
-    self._remaining = 0
+    self._remaining = 0.0
    self._process_name = multiprocessing.current_process().name

  @property
-  def frame(self):
+  def frame(self) -> int:
    return self._frame

  @property
-  def remaining(self):
+  def remaining(self) -> float:
    return self._remaining

  # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self):
+  def keep_time(self) -> bool:
    lagged = self.monitor_time()
    if self._remaining > 0:
      time.sleep(self._remaining)
    return lagged

  # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self):
+  def monitor_time(self) -> bool:
    lagged = False
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -16,7 +16,7 @@ class Spinner():
  def __enter__(self):
    return self

-  def update(self, spinner_text):
+  def update(self, spinner_text: str):
    if self.spinner_proc is not None:
      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
      try:
@@ -24,6 +24,9 @@ class Spinner():
      except BrokenPipeError:
        pass

+  def update_progress(self, cur: int, total: int):
+    self.update(str(round(100 * cur / total)))
+
  def close(self):
    if self.spinner_proc is not None:
      try:
--- a/common/text_window.py
+++ b/common/text_window.py
@@ -33,6 +33,7 @@ class TextWindow:
    if self.text_proc is not None:
      while True:
        if self.get_status() == 1:
+          os.system('/data/openpilot/scripts/reset_update.sh')
          return
        time.sleep(0.1)

--- a/common/transformations/SConscript
+++ b/common/transformations/SConscript
@@ -1,3 +1,6 @@
-Import('envCython')
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+Export('transformations')

 envCython.Program('transformations.so', 'transformations.pyx')
--- a/common/transformations/coordinates.cc
+++ b/common/transformations/coordinates.cc
@@ -6,8 +6,6 @@

 #include "coordinates.hpp"

-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-#define RAD2DEG(x) ((x) * 180.0 / M_PI)


 double a = 6378137; // lgtm [cpp/short-global-name]
--- a/common/transformations/coordinates.hpp
+++ b/common/transformations/coordinates.hpp
@@ -1,5 +1,8 @@
 #pragma once

+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
 struct ECEF {
  double x, y, z;
  Eigen::Vector3d to_vector(){
@@ -9,6 +12,9 @@ struct ECEF {

 struct NED {
  double n, e, d;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(n, e, d);
+  }
 };

 struct Geodetic {
--- a/common/transformations/orientation.cc
+++ b/common/transformations/orientation.cc
@@ -30,7 +30,8 @@ Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
  // return {euler(2), euler(1), euler(0)};
  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
-  double theta = asin(2 * (quat.w() * quat.y() - quat.z() * quat.x()));
+  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
+  double theta = asin(asin_arg_clipped);
  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
  return {gamma, theta, psi};
 }
@@ -39,7 +40,7 @@ Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
  return quat.toRotationMatrix();
 }

-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
  return ensure_unique(Eigen::Quaterniond(rot));
 }

@@ -47,7 +48,7 @@ Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
  return quat2rot(euler2quat(euler));
 }

-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
  return quat2euler(rot2quat(rot));
 }

@@ -141,7 +142,3 @@ Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
  return {phi, theta, psi};
 }

-
-
-int main(void){
-}
--- a/common/transformations/orientation.hpp
+++ b/common/transformations/orientation.hpp
@@ -8,9 +8,9 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
 Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
 Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
 Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
 Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
 Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
--- a/installer/updater/oneplus.json
+++ b/installer/updater/oneplus.json
@@ -0,0 +1,7 @@
+{
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
+  "recovery_len": 15926572,
+  "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
+}
--- a/installer/updater/update.json
+++ b/installer/updater/update.json
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
-  "ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
-  "recovery_len": 15926572,
-  "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
+  "recovery_len": 15209772,
+  "recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
 }
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/installer/updater/updater
+++ b/installer/updater/updater
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -1,799 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
-#include <fstream>
-#include <iostream>
-#include <mutex>
-#include <thread>
-
-#include <curl/curl.h>
-#include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-
-#include "nanovg.h"
-#define NANOVG_GLES3_IMPLEMENTATION
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-
-#include "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/utilpp.h"
-
-#define USER_AGENT "NEOSUpdater-0.2"
-
-#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
-#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
-#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
-const char *manifest_url = MANIFEST_URL_NEOS;
-
-#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
-#define RECOVERY_COMMAND "/cache/recovery/command"
-
-#define UPDATE_DIR "/data/neoupdate"
-
-extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
-extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
-extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
-extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
-extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
-extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
-
-namespace {
-
-std::string sha256_file(std::string fn, size_t limit=0) {
-  SHA256_CTX ctx;
-  SHA256_Init(&ctx);
-
-  FILE *file = fopen(fn.c_str(), "rb");
-  if (!file) return "";
-
-  const size_t buf_size = 8192;
-  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-  bool read_limit = (limit != 0);
-  while (true) {
-    size_t read_size = buf_size;
-    if (read_limit) read_size = std::min(read_size, limit);
-    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
-    if (!bytes_read) break;
-
-    SHA256_Update(&ctx, buffer.get(), bytes_read);
-
-    if (read_limit) {
-      limit -= bytes_read;
-      if (limit == 0) break;
-    }
-  }
-
-  uint8_t hash[SHA256_DIGEST_LENGTH];
-  SHA256_Final(hash, &ctx);
-
-  fclose(file);
-
-  return util::tohex(hash, sizeof(hash));
-}
-
-size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  size_t sz = size * nmeb;
-  ((std::string*)up)->append((char*)ptr, sz);
-  return sz;
-}
-
-std::string download_string(CURL *curl, std::string url) {
-  std::string os;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
-
-  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
-
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
-  CURLcode res = curl_easy_perform(curl);
-  if (res != CURLE_OK) {
-    return "";
-  }
-
-  return os;
-}
-
-size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  return fwrite(ptr, size, nmeb, (FILE*)up);
-}
-
-int battery_capacity() {
-  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
-  return atoi(bat_cap_s.c_str());
-}
-
-int battery_current() {
-  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
-  return atoi(current_now_s.c_str());
-}
-
-bool check_battery() {
-  int bat_cap = battery_capacity();
-  int current_now = battery_current();
-  return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
-}
-
-bool check_space() {
-  struct statvfs stat;
-  if (statvfs("/data/", &stat) != 0) {
-    return false;
-  }
-  size_t space = stat.f_bsize * stat.f_bavail;
-  return space > 2000000000ULL; // 2GB
-}
-
-static void start_settings_activity(const char* name) {
-  char launch_cmd[1024];
-  snprintf(launch_cmd, sizeof(launch_cmd),
-           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
-  system(launch_cmd);
-}
-
-bool is_settings_active() {
-  FILE *fp;
-  char sys_output[4096];
-
-  fp = popen("/bin/dumpsys window windows", "r");
-  if (fp == NULL) {
-    return false;
-  }
-
-  bool active = false;
-  while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
-    if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
-      break;
-    }
-
-    if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
-      active = true;
-      break;
-    }
-  }
-
-  pclose(fp);
-
-  return active;
-}
-
-struct Updater {
-  bool do_exit = false;
-
-  TouchState touch;
-
-  int fb_w, fb_h;
-
-  FramebufferState *fb = NULL;
-  NVGcontext *vg = NULL;
-  int font_regular;
-  int font_semibold;
-  int font_bold;
-
-  std::thread update_thread_handle;
-
-  std::mutex lock;
-
-  enum UpdateState {
-    CONFIRMATION,
-    LOW_BATTERY,
-    RUNNING,
-    ERROR,
-  };
-  UpdateState state;
-
-  std::string progress_text;
-  float progress_frac;
-
-  std::string error_text;
-
-  std::string low_battery_text;
-  std::string low_battery_title;
-  std::string low_battery_context;
-  std::string battery_cap_text;
-  int min_battery_cap = 35;
-
-  // button
-  int b_x, b_w, b_y, b_h;
-  int balt_x;
-
-  // download stage writes these for the installation stage
-  int recovery_len;
-  std::string recovery_hash;
-  std::string recovery_fn;
-  std::string ota_fn;
-
-  CURL *curl = NULL;
-
-  void ui_init() {
-    touch_init(&touch);
-
-    fb = framebuffer_init("updater", 0x00001000, false,
-                          &fb_w, &fb_h);
-    assert(fb);
-
-    framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
-
-    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
-    assert(vg);
-
-    font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
-    assert(font_regular >= 0);
-
-    font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
-    assert(font_semibold >= 0);
-
-    font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
-    assert(font_bold >= 0);
-
-    b_w = 640;
-    balt_x = 200;
-    b_x = fb_w-b_w-200;
-    b_y = 720;
-    b_h = 220;
-
-    state = CONFIRMATION;
-  }
-
-  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
-                             curl_off_t ultotal, curl_off_t ulnow) {
-    {
-      std::lock_guard<std::mutex> guard(lock);
-      if (dltotal != 0) {
-        progress_frac = (float) dlno / dltotal;
-      }
-    }
-    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
-    return 0;
-  }
-
-  bool download_file(std::string url, std::string out_fn) {
-    FILE *of = fopen(out_fn.c_str(), "ab");
-    assert(of);
-
-    CURLcode res;
-    long last_resume_from = 0;
-
-    fseek(of, 0, SEEK_END);
-
-    int tries = 4;
-
-    bool ret = false;
-
-    while (true) {
-      long resume_from = ftell(of);
-
-      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
-      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
-
-      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
-      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
-
-      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
-
-      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
-      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
-
-      CURLcode res = curl_easy_perform(curl);
-
-      long response_code = 0;
-      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
-
-      // double content_length = 0.0;
-      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-
-      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
-      if (res == CURLE_OK) {
-        ret = true;
-        break;
-      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
-        // failed because the file is already complete?
-        ret = true;
-        break;
-      } else if (resume_from == last_resume_from) {
-        // failed and dind't make make forward progress. only retry a couple times
-        tries--;
-        if (tries <= 0) {
-          break;
-        }
-      }
-      last_resume_from = resume_from;
-    }
-    // printf("res %d\n", res);
-
-    // printf("- %ld %f\n", response_code, content_length);
-
-    fclose(of);
-
-    return ret;
-  }
-
-  void set_progress(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    progress_text = text;
-  }
-
-  void set_error(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    error_text = text;
-    state = ERROR;
-  }
-
-  void set_battery_low() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = LOW_BATTERY;
-  }
-
-  void set_running() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = RUNNING;
-  }
-
-  std::string download(std::string url, std::string hash, std::string name) {
-    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
-
-    // start or resume downloading if hash doesn't match
-    std::string fn_hash = sha256_file(out_fn);
-    if (hash.compare(fn_hash) != 0) {
-      set_progress("Downloading " + name + "...");
-      bool r = download_file(url, out_fn);
-      if (!r) {
-        set_error("failed to download " + name);
-        unlink(out_fn.c_str());
-        return "";
-      }
-      fn_hash = sha256_file(out_fn);
-    }
-
-    set_progress("Verifying " + name + "...");
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
-    if (fn_hash != hash) {
-      set_error(name + " was corrupt");
-      unlink(out_fn.c_str());
-      return "";
-    }
-    return out_fn;
-  }
-
-  bool download_stage() {
-    curl = curl_easy_init();
-    assert(curl);
-
-    // ** quick checks before download **
-
-    if (!check_space()) {
-      set_error("2GB of free space required to update");
-      return false;
-    }
-
-    mkdir(UPDATE_DIR, 0777);
-
-    set_progress("Finding latest version...");
-    std::string manifest_s = download_string(curl, manifest_url);
-    printf("manifest: %s\n", manifest_s.c_str());
-
-    std::string err;
-    auto manifest = json11::Json::parse(manifest_s, err);
-    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
-      return false;
-    }
-
-    std::string ota_url = manifest["ota_url"].string_value();
-    std::string ota_hash = manifest["ota_hash"].string_value();
-
-    std::string recovery_url = manifest["recovery_url"].string_value();
-    recovery_hash = manifest["recovery_hash"].string_value();
-    recovery_len = manifest["recovery_len"].int_value();
-
-    // std::string installer_url = manifest["installer_url"].string_value();
-    // std::string installer_hash = manifest["installer_hash"].string_value();
-
-    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
-      return false;
-    }
-
-    // std::string installer_fn = download(installer_url, installer_hash, "installer");
-    // if (installer_fn.empty()) {
-    //   //error'd
-    //   return;
-    // }
-
-    // ** handle recovery download **
-    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("Skipping recovery flash...");
-    } else {
-      // only download the recovery if it differs from what's flashed
-      set_progress("Checking recovery...");
-      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
-
-      if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = download(recovery_url, recovery_hash, "recovery");
-        if (recovery_fn.empty()) {
-          // error'd
-          return false;
-        }
-      }
-    }
-
-    // ** handle ota download **
-    ota_fn = download(ota_url, ota_hash, "update");
-    if (ota_fn.empty()) {
-      //error'd
-      return false;
-    }
-
-    // download sucessful
-    return true;
-  }
-
-  // thread that handles downloading and installing the update
-  void run_stages() {
-    printf("run_stages start\n");
-
-
-    // ** download update **
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
-      }
-      set_running();
-    }
-
-    bool sucess = download_stage();
-    if (!sucess) {
-      return;
-    }
-
-    // ** install update **
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
-      }
-      set_running();
-    }
-
-    if (!recovery_fn.empty()) {
-      // flash recovery
-      set_progress("Flashing recovery...");
-
-      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
-      if (!flash_file) {
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
-      if (!recovery_dev) {
-        fclose(flash_file);
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      const size_t buf_size = 4096;
-      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-      while (true) {
-        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
-        if (!bytes_read) break;
-
-        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
-        if (bytes_read != bytes_written) {
-          fclose(recovery_dev);
-          fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
-          return;
-        }
-      }
-
-      fclose(recovery_dev);
-      fclose(flash_file);
-
-      set_progress("Verifying flash...");
-      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
-
-      if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
-        return;
-      }
-
-    }
-
-    // write arguments to recovery
-    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
-    if (!cmd_file) {
-      set_error("failed to reboot into recovery");
-      return;
-    }
-    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
-    fclose(cmd_file);
-
-    set_progress("Rebooting");
-
-    // remove the continue.sh so we come back into the setup.
-    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
-    //unlink("/data/data/com.termux/files/continue.sh");
-
-    // TODO: this should be generic between android versions
-    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
-    system("service call power 16 i32 0 s16 recovery i32 1");
-    while(1) pause();
-
-    // execl("/system/bin/reboot", "recovery");
-    // set_error("failed to reboot into recovery");
-  }
-
-  void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
-
-    // draw button
-    if (button) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-
-    // draw button
-    if (altbutton) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-  }
-
-  void draw_battery_screen() {
-    low_battery_title = "Low Battery";
-    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
-    low_battery_context = "Current battery charge: " + battery_cap_text + "%";
-
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
-  }
-
-  void draw_progress_screen() {
-    // draw progress message
-    nvgFontSize(vg, 64.0f);
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
-
-    // draw progress bar
-    {
-      int progress_width = 1000;
-      int progress_x = fb_w/2-progress_width/2;
-      int progress_y = 520;
-      int progress_height = 50;
-
-      int powerprompt_y = 312;
-      nvgFontFace(vg, "opensans_regular");
-      nvgFontSize(vg, 64.0f);
-      nvgText(vg, fb_w/2, 740, "Ensure your device remains connected to a power source.", NULL);
-
-      NVGpaint paint = nvgBoxGradient(
-          vg, progress_x + 1, progress_y + 1,
-          progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
-      nvgBeginPath(vg);
-      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-
-      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
-      int bar_pos = ((progress_width - 2) * value);
-
-      paint = nvgBoxGradient(
-          vg, progress_x, progress_y,
-          bar_pos+1.5f, progress_height-1, 3, 4,
-          nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
-
-      nvgBeginPath(vg);
-      nvgRoundedRect(
-          vg, progress_x+1, progress_y+1,
-          bar_pos, progress_height-2, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-    }
-  }
-
-  void ui_draw() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
-
-    switch (state) {
-    case CONFIRMATION:
-      draw_ack_screen("An update to NEOS is required.",
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
-                      "Continue",
-                      "Connect to WiFi");
-      break;
-    case LOW_BATTERY:
-      draw_battery_screen();
-      break;
-    case RUNNING:
-      draw_progress_screen();
-      break;
-    case ERROR:
-      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
-      break;
-    }
-
-    nvgEndFrame(vg);
-  }
-
-  void ui_update() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    if (state == ERROR || state == CONFIRMATION) {
-      int touch_x = -1, touch_y = -1;
-      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
-      if (res == 1 && !is_settings_active()) {
-        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            state = RUNNING;
-            update_thread_handle = std::thread(&Updater::run_stages, this);
-          }
-        }
-        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            start_settings_activity("Settings$WifiSettingsActivity");
-          } else if (state == ERROR) {
-            do_exit = 1;
-          }
-        }
-      }
-    }
-  }
-
-  void go() {
-    ui_init();
-
-    while (!do_exit) {
-      ui_update();
-
-      glClearColor(0.08, 0.08, 0.08, 1.0);
-      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-      // background
-      nvgBeginPath(vg);
-      NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
-        nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
-      nvgFillPaint(vg, bg);
-      nvgRect(vg, 0, 0, fb_w, fb_h);
-      nvgFill(vg);
-
-      glEnable(GL_BLEND);
-      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-
-      ui_draw();
-
-      glDisable(GL_BLEND);
-
-      framebuffer_swap(fb);
-
-      assert(glGetError() == GL_NO_ERROR);
-
-      // no simple way to do 30fps vsync with surfaceflinger...
-      usleep(30000);
-    }
-
-    if (update_thread_handle.joinable()) {
-      update_thread_handle.join();
-    }
-
-    // reboot
-    system("service call power 16 i32 0 i32 0 i32 1");
-  }
-
-};
-
-}
-
-int main(int argc, char *argv[]) {
-  bool background_cache = false;
-  if (argc > 1) {
-    if (strcmp(argv[1], "local") == 0) {
-      manifest_url = MANIFEST_URL_NEOS_LOCAL;
-    } else if (strcmp(argv[1], "staging") == 0) {
-      manifest_url = MANIFEST_URL_NEOS_STAGING;
-    } else if (strcmp(argv[1], "bgcache") == 0) {
-      manifest_url = argv[2];
-      background_cache = true;
-    } else {
-      manifest_url = argv[1];
-    }
-  }
-
-  printf("updating from %s\n", manifest_url);
-  Updater updater;
-
-  int err = 0;
-  if (background_cache) {
-    err = !updater.download_stage();
-  } else {
-    updater.go();
-  }
-  return err;
-}
--- a/launch.sh
+++ b/launch.sh
@@ -1,4 +0,0 @@
-#!/usr/bin/bash
-
-export PASSIVE="0"
-exec ./launch_chffrplus.sh
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -6,14 +6,17 @@ fi

 source "$BASEDIR/launch_env.sh"

+if ! $(grep -q "letv" /proc/cmdline); then
+  mount -o remount,rw /system
+  sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
+  touch /ONEPLUS
+  mount -o remount,r /system
+fi
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

-function tici_init {
-  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
-  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
-}
-
 function two_init {
+
  # Wifi scan
  wpa_cli IFNAME=wlan0 SCAN

@@ -59,7 +62,7 @@ function two_init {
  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS

  # USB traffic needs realtime handling on cpu 3
-  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
+  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T

  # GPU and camera get cpu 2
@@ -81,20 +84,24 @@ function two_init {
  service call bluetooth_manager 8

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

-    if [ ! -f "$BASEDIR/prebuilt" ]; then
-      # Clean old build products, but preserve the scons cache
-      cd $DIR
-      scons --clean
-      git clean -xdf
-      git submodule foreach --recursive git clean -xdf
-    fi
+      if [ ! -f "$BASEDIR/prebuilt" ]; then
+        # Clean old build products, but preserve the scons cache
+        cd $DIR
+        scons --clean
+        git clean -xdf
+        git submodule foreach --recursive git clean -xdf
+      fi

-    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+      "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+    fi
+  else
+    echo -n 0 > /data/params/d/DisableUpdates
  fi

  # One-time fix for a subset of OP3T with gyro orientation offsets.
@@ -110,10 +117,82 @@ function two_init {
  fi
 }

+function tici_init {
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
+  nmcli connection modify --temporary lte gsm.auto-config yes
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # Check if AGNOS update is required
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    # Get number of slot to switch to
+    CUR_SLOT=$(abctl --boot_slot)
+    if [[ "$CUR_SLOT" == "_a" ]]; then
+      OTHER_SLOT="_b"
+      OTHER_SLOT_NUMBER="1"
+    else
+      OTHER_SLOT="_a"
+      OTHER_SLOT_NUMBER="0"
+    fi
+    echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
+
+    # Get expected hashes from manifest
+    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
+    SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
+    SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
+    BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
+    BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
+    echo "Expected hashes:"
+    echo "System: $SYSTEM_HASH_EXPECTED"
+    echo "Boot: $BOOT_HASH_EXPECTED"
+
+    # Read hashes from alternate partitions, should already be flashed by updated
+    SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
+    BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
+    echo "Found hashes:"
+    echo "System: $SYSTEM_HASH"
+    echo "Boot: $BOOT_HASH"
+
+    if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
+      echo "Swapping active slot to $OTHER_SLOT_NUMBER"
+
+      # Clean hashes before swapping to prevent looping
+      dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
+      dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
+      sync
+
+      abctl --set_active "$OTHER_SLOT_NUMBER"
+
+      sleep 1
+      sudo reboot
+    else
+      echo "Hash mismatch, downloading agnos"
+      if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
+        echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
+
+        # Clean hashes before swapping to prevent looping
+        dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
+        dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
+        sync
+
+        abctl --set_active "$OTHER_SLOT_NUMBER"
+      fi
+
+      sleep 1
+      sudo reboot
+    fi
+  fi
+}
+
 function launch {
  # Remove orphaned git lock if it exists on boot
  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock

+  # Pull time from panda
+  $DIR/selfdrive/boardd/set_time.py
+
  # Check to see if there's a valid overlay-based update available. Conditions
  # are as follows:
  #
@@ -124,10 +203,10 @@ function launch {
  #    that completed successfully and synced to disk.

  if [ -f "${BASEDIR}/.overlay_init" ]; then
-    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${BASEDIR} has been modified, skipping overlay update installation"
-    else
+#    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
+#    if [ $? -eq 0 ]; then
+#      echo "${BASEDIR} has been modified, skipping overlay update installation"
+#    else
      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
        if [ ! -d /data/safe_staging/old_openpilot ]; then
          echo "Valid overlay update found, installing"
@@ -144,32 +223,40 @@ function launch {

          echo "Restarting launch script ${LAUNCHER_LOCATION}"
          unset REQUIRED_NEOS_VERSION
+          unset AGNOS_VERSION
          exec "${LAUNCHER_LOCATION}"
        else
          echo "openpilot backup found, not updating"
          # TODO: restore backup? This means the updater didn't start after swapping
        fi
      fi
-    fi
-  fi
-
-  # comma two init
-  if [ -f /EON ]; then
-    two_init
-  elif [ -f /TICI ]; then
-    tici_init
+#    fi
  fi

  # handle pythonpath
  ln -sfn $(pwd) /data/pythonpath
  export PYTHONPATH="$PWD"

+  # dp - ignore chmod changes
+  git -C $DIR config core.fileMode false
+
+  # hardware specific init
+  if [ -f /EON ]; then
+    two_init
+  elif [ -f /TICI ]; then
+    tici_init
+  fi
+
+  if [ -f "/sdcard/dp_patcher.py" ]; then
+    /data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
+  fi
+
  # write tmux scrollback to a file
  tmux capture-pane -pq -S-1000 > /tmp/launch_log

  # start manager
-  cd selfdrive
-  ./manager.py
+  cd selfdrive/manager
+  ./build.py && ./manager.py

  # if broken, keep on screen error
  while true; do sleep 1; done
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,11 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="15-1"
+  export REQUIRED_NEOS_VERSION="17"
+fi
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="0.18"
 fi

 if [ -z "$PASSIVE" ]; then
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,4 +1,10 @@
 #!/usr/bin/bash
+size=$(du -sb .git/index 2>/dev/null|awk '{print $1}')
+echo $size|grep -E '^[0-9]+$' >/dev/null || size=0
+if [ $size -le 1024 ];then
+    rm .git/index 2>/dev/null
+    git reset
+fi

 export PASSIVE="0"
 exec ./launch_chffrplus.sh
--- a/models/dmonitoring_model_q.dlc
+++ b/models/dmonitoring_model_q.dlc
--- a/models/supercombo.dlc
+++ b/models/supercombo.dlc
--- a/opendbc/acura_rdx_2020_can_generated.dbc
+++ b/opendbc/acura_rdx_2020_can_generated.dbc
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

--- a/opendbc/can/SConscript
+++ b/opendbc/can/SConscript
@@ -18,5 +18,8 @@ libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "commo
 # Build packer and parser
 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')
+parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
+packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
+
+lenv.Depends(parser, libdbc)
+lenv.Depends(packer, libdbc)
--- a/opendbc/can/common.cc
+++ b/opendbc/can/common.cc
@@ -112,7 +112,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x86:  // LWI_01 Steering Angle
      crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
      break;
-    case 0x9F:  // EPS_01 Electric Power Steering
+    case 0x9F:  // LH_EPS_03 Electric Power Steering
      crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
      break;
    case 0xAD:  // Getriebe_11 Automatic Gearbox
@@ -125,7 +125,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
      crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
      break;
    case 0x117: // ACC_10 Automatic Cruise Control
-      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
+      crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
      break;
    case 0x120: // TSK_06 Drivetrain Coordinator
      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
@@ -151,6 +151,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
      break;
+    case 0x324: // ACC_04 Automatic Cruise Control
+      crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[counter];
+      break;
    case 0x3C0: // Klemmen_Status_01 ignition and starting status
      crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
      break;
--- a/opendbc/can/common.h
+++ b/opendbc/can/common.h
@@ -5,8 +5,12 @@
 #include <unordered_map>

 #include "common_dbc.h"
+#include <capnp/dynamic.h>
 #include <capnp/serialize.h>
+
+#ifndef DYNAMIC_CAPNP
 #include "cereal/gen/cpp/log.capnp.h"
+#endif

 #define MAX_BAD_COUNTER 5

@@ -36,6 +40,9 @@ public:
  uint8_t counter;
  uint8_t counter_fail;

+  bool ignore_checksum = false;
+  bool ignore_counter = false;
+
  bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
  bool update_counter_generic(int64_t v, int cnt_size);
 };
@@ -43,6 +50,7 @@ public:
 class CANParser {
 private:
  const int bus;
+  kj::Array<capnp::word> aligned_buf;

  const DBC *dbc = NULL;
  std::unordered_map<uint32_t, MessageState> message_states;
@@ -54,9 +62,13 @@ public:
  CANParser(int abus, const std::string& dbc_name,
            const std::vector<MessageParseOptions> &options,
            const std::vector<SignalParseOptions> &sigoptions);
+  CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
+  #ifndef DYNAMIC_CAPNP
+  void update_string(const std::string &data, bool sendcan);
  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
+  #endif
+  void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
  void UpdateValid(uint64_t sec);
-  void update_string(std::string data, bool sendcan);
  std::vector<SignalValue> query_latest();
 };

@@ -68,5 +80,6 @@ private:

 public:
  CANPacker(const std::string& dbc_name);
-  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter);
+  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &values, int counter);
+  Msg* lookup_message(uint32_t address);
 };
--- a/opendbc/can/common_dbc.h
+++ b/opendbc/can/common_dbc.h
@@ -3,6 +3,7 @@
 #include <cstddef>
 #include <cstdint>
 #include <string>
+#include <vector>

 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))

@@ -74,6 +75,7 @@ struct DBC {
  size_t num_vals;
 };

+std::vector<const DBC*>& get_dbcs();
 const DBC* dbc_lookup(const std::string& dbc_name);

 void dbc_register(const DBC* dbc);
--- a/opendbc/can/dbc.cc
+++ b/opendbc/can/dbc.cc
@@ -2,15 +2,11 @@

 #include "common_dbc.h"

-namespace {
-
 std::vector<const DBC*>& get_dbcs() {
  static std::vector<const DBC*> vec;
  return vec;
 }

-}
-
 const DBC* dbc_lookup(const std::string& dbc_name) {
  for (const auto& dbci : get_dbcs()) {
    if (dbc_name == dbci->name) {
--- a/opendbc/can/packer.cc
+++ b/opendbc/can/packer.cc
@@ -20,7 +20,7 @@ uint64_t ReverseBytes(uint64_t x) {
          ((x & 0x00000000000000ffull) << 56);
 }

-uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
+static uint64_t set_value(uint64_t ret, const Signal& sig, int64_t ival) {
  int shift = sig.is_little_endian? sig.b1 : sig.bo;
  uint64_t mask = ((1ULL << sig.b2)-1) << shift;
  uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
@@ -59,7 +59,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
      WARN("undefined signal %s - %d\n", name.c_str(), address);
      continue;
    }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;

    int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
    if (ival < 0) {
@@ -75,7 +75,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
      WARN("COUNTER not defined\n");
      return ret;
    }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;

    if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
      WARN("COUNTER signal type not valid\n");
@@ -86,7 +86,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s

  auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
  if (sig_it_checksum != signal_lookup.end()) {
-    auto sig = sig_it_checksum->second;
+    const auto& sig = sig_it_checksum->second;
    if (sig.type == SignalType::HONDA_CHECKSUM) {
      unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
      ret = set_value(ret, sig, chksm);
@@ -112,3 +112,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s

  return ret;
 }
+
+Msg* CANPacker::lookup_message(uint32_t address) {
+  return &message_lookup[address];
+}
--- a/opendbc/can/parser.cc
+++ b/opendbc/can/parser.cc
@@ -13,7 +13,6 @@
 // #define DEBUG printf
 #define INFO printf

-
 bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
  uint64_t dat_le = read_u64_le(dat);
  uint64_t dat_be = read_u64_be(dat);
@@ -34,47 +33,52 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {

    DEBUG("parse 0x%X %s -> %lld\n", address, sig.name, tmp);

-    if (sig.type == SignalType::HONDA_CHECKSUM) {
-      if (honda_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
+    if (!ignore_checksum) {
+      if (sig.type == SignalType::HONDA_CHECKSUM) {
+        if (honda_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
+        if (toyota_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
+        if (volkswagen_crc(address, dat_le, size) != tmp) {
+          INFO("0x%X CRC FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+        if (subaru_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+        if (chrysler_checksum(address, dat_le, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
+        if (pedal_checksum(dat_be, size) != tmp) {
+          INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
+          return false;
+        }
      }
-    } else if (sig.type == SignalType::HONDA_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
-      }
-    } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
-      if (toyota_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
-      if (volkswagen_crc(address, dat_le, size) != tmp) {
-        INFO("0x%X CRC FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+    }
+    if (!ignore_counter) {
+      if (sig.type == SignalType::HONDA_COUNTER) {
        if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
-      }
-    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
-      if (subaru_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
-      if (chrysler_checksum(address, dat_le, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
-      if (pedal_checksum(dat_be, size) != tmp) {
-        INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::PEDAL_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+          if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
+      } else if (sig.type == SignalType::PEDAL_COUNTER) {
+        if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
      }
    }

@@ -108,26 +112,24 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
 CANParser::CANParser(int abus, const std::string& dbc_name,
          const std::vector<MessageParseOptions> &options,
          const std::vector<SignalParseOptions> &sigoptions)
-  : bus(abus) {
+  : bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {

  dbc = dbc_lookup(dbc_name);
  assert(dbc);
  init_crc_lookup_tables();

  for (const auto& op : options) {
-    MessageState state = {
-      .address = op.address,
-      // .check_frequency = op.check_frequency,
-    };
+    MessageState &state = message_states[op.address];
+    state.address = op.address;
+    // state.check_frequency = op.check_frequency,

    // msg is not valid if a message isn't received for 10 consecutive steps
    if (op.check_frequency > 0) {
      state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
    }

-
    const Msg* msg = NULL;
-    for (int i=0; i<dbc->num_msgs; i++) {
+    for (int i = 0; i < dbc->num_msgs; i++) {
      if (dbc->msgs[i].address == op.address) {
        msg = &dbc->msgs[i];
        break;
@@ -141,7 +143,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
    state.size = msg->size;

    // track checksums and counters for this message
-    for (int i=0; i<msg->num_sigs; i++) {
+    for (int i = 0; i < msg->num_sigs; i++) {
      const Signal *sig = &msg->sigs[i];
      if (sig->type != SignalType::DEFAULT) {
        state.parse_sigs.push_back(*sig);
@@ -153,7 +155,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
    for (const auto& sigop : sigoptions) {
      if (sigop.address != op.address) continue;

-      for (int i=0; i<msg->num_sigs; i++) {
+      for (int i = 0; i < msg->num_sigs; i++) {
        const Signal *sig = &msg->sigs[i];
        if (strcmp(sig->name, sigop.name) == 0
            && sig->type == SignalType::DEFAULT) {
@@ -162,59 +164,48 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
          break;
        }
      }
+    }
+  }
+}

+CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter)
+  : bus(abus) {
+  // Add all messages and signals
+
+  dbc = dbc_lookup(dbc_name);
+  assert(dbc);
+  init_crc_lookup_tables();
+
+  for (int i = 0; i < dbc->num_msgs; i++) {
+    const Msg* msg = &dbc->msgs[i];
+    MessageState state = {
+      .address = msg->address,
+      .size = msg->size,
+      .ignore_checksum = ignore_checksum,
+      .ignore_counter = ignore_counter,
+    };
+
+    for (int j = 0; j < msg->num_sigs; j++) {
+      const Signal *sig = &msg->sigs[j];
+      state.parse_sigs.push_back(*sig);
+      state.vals.push_back(0);
    }

    message_states[state.address] = state;
  }
 }

-void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
-    int msg_count = cans.size();
-
-    DEBUG("got %d messages\n", msg_count);
-
-    // parse the messages
-    for (int i = 0; i < msg_count; i++) {
-      auto cmsg = cans[i];
-      if (cmsg.getSrc() != bus) {
-        // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
-        continue;
-      }
-      auto state_it = message_states.find(cmsg.getAddress());
-      if (state_it == message_states.end()) {
-        // DEBUG("skip %d: not specified\n", cmsg.getAddress());
-        continue;
-      }
-
-      if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
-      uint8_t dat[8] = {0};
-      memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
-
-      state_it->second.parse(sec, cmsg.getBusTime(), dat);
-    }
-}
-
-void CANParser::UpdateValid(uint64_t sec) {
-  can_valid = true;
-  for (const auto& kv : message_states) {
-    const auto& state = kv.second;
-    if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
-      if (state.seen > 0) {
-        DEBUG("0x%X TIMEOUT\n", state.address);
-      }
-      can_valid = false;
-    }
+#ifndef DYNAMIC_CAPNP
+void CANParser::update_string(const std::string &data, bool sendcan) {
+  // format for board, make copy due to alignment issues.
+  const size_t buf_size = (data.length() / sizeof(capnp::word)) + 1;
+  if (aligned_buf.size() < buf_size) {
+    aligned_buf = kj::heapArray<capnp::word>(buf_size);
  }
-}
-
-void CANParser::update_string(std::string data, bool sendcan) {
-  // format for board, make copy due to alignment issues, will be freed on out of scope
-  auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), data.data(), data.length());
+  memcpy(aligned_buf.begin(), data.data(), data.length());

  // extract the messages
-  capnp::FlatArrayMessageReader cmsg(amsg);
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();

  last_sec = event.getLogMonoTime();
@@ -225,6 +216,69 @@ void CANParser::update_string(std::string data, bool sendcan) {
  UpdateValid(last_sec);
 }

+void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
+  int msg_count = cans.size();
+
+  DEBUG("got %d messages\n", msg_count);
+
+  for (int i = 0; i < msg_count; i++) {
+    auto cmsg = cans[i];
+    // parse the messages
+    if (cmsg.getSrc() != bus) {
+      // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
+      continue;
+    }
+    auto state_it = message_states.find(cmsg.getAddress());
+    if (state_it == message_states.end()) {
+      // DEBUG("skip %d: not specified\n", cmsg.getAddress());
+      continue;
+    }
+
+    if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
+    uint8_t dat[8] = {0};
+    memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
+
+    state_it->second.parse(sec, cmsg.getBusTime(), dat);
+  }
+}
+#endif
+
+void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
+  // assume message struct is `cereal::CanData` and parse
+  assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));
+
+  if (cmsg.get("src").as<uint8_t>() != bus) {
+    DEBUG("skip %d: wrong bus\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto state_it = message_states.find(cmsg.get("address").as<uint32_t>());
+  if (state_it == message_states.end()) {
+    DEBUG("skip %d: not specified\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto dat = cmsg.get("dat").as<capnp::Data>();
+  if (dat.size() > 8) return; //shouldn't ever happen
+  uint8_t data[8] = {0};
+  memcpy(data, dat.begin(), dat.size());
+  state_it->second.parse(sec, cmsg.get("busTime").as<uint16_t>(), data);
+}
+
+void CANParser::UpdateValid(uint64_t sec) {
+  can_valid = true;
+  for (const auto& kv : message_states) {
+    const auto& state = kv.second;
+    if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
+      if (state.seen > 0) {
+        DEBUG("0x%X TIMEOUT\n", state.address);
+      } else {
+        DEBUG("0x%X MISSING\n", state.address);
+      }
+      can_valid = false;
+    }
+  }
+}

 std::vector<SignalValue> CANParser::query_latest() {
  std::vector<SignalValue> ret;
--- a/opendbc/can/parser_pyx.pyx
+++ b/opendbc/can/parser_pyx.pyx
@@ -33,14 +33,16 @@ cdef class CANParser:
    bool can_valid
    int can_invalid_cnt

-  def __init__(self, dbc_name, signals, checks=None, bus=0):
+  def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
    if checks is None:
      checks = []
+    checks = []
+    enforce_checks = False
    self.can_valid = True
    self.dbc_name = dbc_name
    self.dbc = dbc_lookup(dbc_name)
    if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
+      raise RuntimeError(f"Can't find DBC: {dbc_name}")
    self.vl = {}
    self.ts = {}

@@ -74,6 +76,14 @@ cdef class CANParser:
        c = (self.msg_name_to_address[name], c[1])
        checks[i] = c

+    if enforce_checks:
+      checked_addrs = {c[0] for c in checks}
+      signal_addrs = {s[1] for s in signals}
+      unchecked = signal_addrs - checked_addrs
+      if len(unchecked):
+        err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
+        raise RuntimeError(f"Unchecked addrs: {err_msg}")
+
    cdef vector[SignalParseOptions] signal_options_v
    cdef SignalParseOptions spo
    for sig_name, sig_address, sig_default in signals:
@@ -108,7 +118,6 @@ cdef class CANParser:
        self.can_invalid_cnt = 0
    self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT

-
    for cv in can_values:
      # Cast char * directly to unicode
      name = <unicode>self.address_to_msg_name[cv.address].c_str()
@@ -149,8 +158,8 @@ cdef class CANDefine():
    self.dbc_name = dbc_name
    self.dbc = dbc_lookup(dbc_name)
    if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
-      
+      raise RuntimeError(f"Can't find DBC: '{dbc_name}'")
+
    num_vals = self.dbc[0].num_vals

    address_to_msg_name = {}
--- a/opendbc/can/process_dbc.py
+++ b/opendbc/can/process_dbc.py
@@ -106,8 +106,12 @@ def process(in_fn, out_fn):

  parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)

-  with open(out_fn, "w") as out_f:
-    out_f.write(parser_code)
+  with open(out_fn, "a+") as out_f:
+    out_f.seek(0)
+    if out_f.read() != parser_code:
+      out_f.seek(0)
+      out_f.truncate()
+      out_f.write(parser_code)

 def main():
  if len(sys.argv) != 3:
--- a/opendbc/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc
@@ -300,6 +300,7 @@ BO_ 501 DASHBOARD: 8 XXX
 SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CRUISE_STATE : 38|3@0+ (1,0) [0|7] "" XXX

 BO_ 639 NEW_MSG_27f: 8 XXX
 SG_ INCREASING : 47|8@0+ (1,0) [0|255] "" XXX
@@ -425,9 +426,11 @@ CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help w
 CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
 CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
 CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
+CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both.";
 CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
+VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged";
 VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
--- a/opendbc/gm_global_a_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
@@ -133,8 +133,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX

 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
- SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
- SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
+ SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s"  NEO

 BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
 SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

@@ -379,7 +380,7 @@ 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_2018_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -388,8 +389,14 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 401 GEARBOX: 8 PCM
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 401 GEARBOX_15T: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
 SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
 SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
@@ -429,6 +436,7 @@ BO_ 1302 ODOMETER: 8 XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -1,437 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-
-
-CM_ "Imported file _bosch_2018.dbc starts here";
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
-
-BO_ 148 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 228 STEERING_CONTROL: 5 EON
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
- SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 232 BRAKE_HOLD: 7 XXX
- SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
- SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
- SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
-BO_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
- SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 495 ACC_CONTROL_ON: 8 XXX
- SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
- SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 545 XXX_16: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 576 LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 577 LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
- BO_ 662 SCM_BUTTONS: 4 SCM
-  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
-  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
-  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
- SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 STALK_STATUS_2: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
-CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
-CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
-CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
-CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
-CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
-CM_ SG_ 577 LINE_SOLID "1 = line is solid";
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-
-CM_ "honda_accord_s2t_2018_can.dbc starts here";
-
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

@@ -418,13 +419,15 @@ BO_ 892 CRUISE_PARAMS: 8 PCM
 BO_ 927 RADAR_HUD: 8 RADAR
 SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
 SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
 SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
 SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
 SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
 SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

--- a/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
+++ b/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -346,6 +346,7 @@ BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

 BO_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
 SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
 SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
 SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
@@ -389,6 +390,7 @@ VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;

--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

@@ -405,13 +406,15 @@ BO_ 432 STANDSTILL: 7 VSA
 BO_ 927 RADAR_HUD: 8 RADAR
 SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
 SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
 SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
 SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
 SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
 SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

--- a/opendbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

--- a/opendbc/hyundai_kia_generic.dbc
+++ b/opendbc/hyundai_kia_generic.dbc
@@ -996,7 +996,7 @@ BO_ 1342 LKAS12: 6 LDWS_LKAS
 SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
 SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU
- SG_ CF_Lkas_Daw_USM : 39|3@1+ (1,0) [0|7] "" CLU
+ SG_ CF_Lkas_Daw_USM : 37|3@1+ (1,0) [0|7] "" CLU

 BO_ 1338 TMU_GW_E_01: 8 CLU
 SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
@@ -1470,19 +1470,24 @@ BO_ 1186 FRT_RADAR11: 2 FCA
 SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC

 BO_ 905 SCC14: 8 SCC
- SG_ ComfortBandUpper : 0|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
- SG_ ComfortBandLower : 6|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
- SG_ JerkUpperLimit : 12|7@1+ (1,0) [0|12.7] "m/s^3" ESC
+ SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
+ SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
+ SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
 SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
 SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
 SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC

 BO_ 1157 LFAHDA_MFC: 4 XXX
 SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
- SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
- SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
- SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
- SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Chime : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_VSetReq : 8|8@1+ (1,0) [0|255] "km/h" XXX
+ SG_ LFA_SysWarning : 16|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 20|3@1+ (1,0) [0|7] "" XXX
+ SG_ LFA_Icon_State : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_USM : 27|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_SysWarning : 29|2@1+ (1,0) [0|3] "" XXX

 BO_ 913 BCM_PO_11: 8 Vector__XXX
 SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
@@ -1565,7 +1570,7 @@ BO_ 352 AHB1: 8 iBAU
 SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX
 SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX

-BO_ 1191 4a7MFC: 8 XXX
+BO_ 1191 MFC_4a7: 8 XXX
 SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX

 BO_ 1162 BCA11: 8 BCW
@@ -1575,9 +1580,11 @@ BO_ 1162 BCA11: 8 BCW
 SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU
 SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU

-BO_ 1136 P_STS: 6 CGW
+BO_ 1136 P_STS: 8 CGW
 SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU
 SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU
+ SG_ Counter : 58|4@1+ (1,0) [0|15] "" MDPS
+ SG_ Checksum : 62|2@1+ (1,0) [0|3] "" MDPS

 BO_ 304 YRS11: 8 ACU
 SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU
@@ -1601,14 +1608,14 @@ BO_ 320 YRS12: 8 ACU
 BO_ 1173 YRS13: 8 ACU
 SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU

-BO_ 870 366_EMS: 8 EMS
- SG_ N : 7|16@0+ (1,0.25) [0|16383.75] "rpm" XXX
- SG_ EMS_Related : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ TQFR : 39|8@0+ (0.390625,0) [0|99.6094] "%" XXX
+BO_ 870 EMS_366: 8 EMS
+ SG_ TQI_1 : 0|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
+ SG_ N : 8|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" MDPS
+ SG_ TQI_2 : 24|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
 SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS
 SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX

-BO_ 854 356: 8 XXX
+BO_ 854 M_356: 8 XXX
 SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX
 SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX
 SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX
@@ -1633,3 +1640,7 @@ BO_ 1042 ICM_412h: 8 ICM
 SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX

 VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
+VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink";
+VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
+VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
+VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled";
--- a/opendbc/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -254,11 +254,14 @@ BO_ 1410 VIN_PART_3: 8 CGW

 BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -267,6 +270,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX

 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +323,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
 CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
@@ -345,8 +353,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
 CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
 CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
 CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";

-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
@@ -361,7 +370,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
eFini	16a8e69382	Merge pull request #92 from loveloveses/0.8.5 enableBsm for CRV HYBRID	2021-08-17 18:12:36 +08:00
loveloveses	76c77a1fb9	enable bsm for CRV HYBRID	2021-08-13 12:08:23 +08:00
loveloveses	a85f8d141e	enable bsm for CRV HYBRID	2021-08-13 12:05:54 +08:00
loveloveses	9b76c108c6	enableBsm for CRV HYBRID enableBsm for CRV HYBRID	2021-08-13 12:00:52 +08:00
eFini	2185eb440f	Update HOWTO-ONEPLUS.md	2021-07-22 12:43:20 +10:00
eFini	e334014a25	Fix command error	2021-07-22 12:42:34 +10:00
eFini	2a5d5c08c2	Bug fix	2021-07-07 10:06:19 +10:00
Rick Lan	3b0aed3ed2	bug fixes	2021-07-03 12:14:44 +08:00
Rick Lan	522fb06db7	dragonpilot mod for 0.8.5-4	2021-07-02 12:49:43 +08:00
Adeeb Shihadeh	145b222f0d	Fix Honda Accord transmission type detection (#21247 )	2021-06-12 20:53:59 -07:00
Adeeb Shihadeh	0ef3ce173a	Hotfix: fix UI crash when going onroad after onboarding	2021-06-11 16:57:52 -07:00
Vehicle Researcher	c1112e4400	openpilot v0.8.5 release	2021-06-07 22:13:57 +00:00
Adeeb Shihadeh	bbc546fcf3	Hotfix: fix update error alerts under some network conditions (#21059 ) This reverts commit `3c9e46d8a2`.	2021-05-27 15:36:59 -07:00
Adeeb Shihadeh	bf662bb1fd	Hotfix: Don't hide onboarding after display timeout (#20973 ) Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>	2021-05-20 02:33:18 -07:00
Willem Melching	8b274fc974	CRV Hybrid doesn't use alternate brake signal (#20945 )	2021-05-18 20:02:24 -07:00
Adeeb Shihadeh	99b1d6a40b	fingerprint cloudlog event (#20950 ) * fingerprint cloudlog event * kale cloudlog * not fuzzy	2021-05-18 13:21:35 -07:00
Vehicle Researcher	6418d4a09a	openpilot v0.8.4 release	2021-05-15 01:20:48 +00:00
Adeeb Shihadeh	747ff45da4	hotfix: remove ubloxRaw check in controlsd (#20630 ) * remove ubloxRaw from controlsd SubMaster * reduce STATUS_PACKET logging frequency to every 10 minutes Co-authored-by: Willem Melching <willem.melching@gmail.com>	2021-04-08 23:06:52 -07:00
Vehicle Researcher	55c44bf34e	openpilot v0.8.3 release	2021-03-29 23:54:22 +00:00
Vehicle Researcher	aed724beda	openpilot v0.8.2 release	2021-02-23 16:46:22 -08:00