Merge pull request #134 from Hikari1023/patch-9

Fix DLP laneless bug
2026-06-14 03:14:14 +08:00 · 2022-04-16 08:18:59 -07:00 · 2022-04-16 22:21:55 +08:00 · 2022-04-01 12:08:37 +08:00 · 2022-01-31 22:14:41 -07:00 · 2021-12-15 10:07:42 -08:00
437 changed files with 9240 additions and 25462 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -41,8 +41,6 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
-
-
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
@@ -59,6 +57,7 @@ one
 openpilot
 notebooks
 xx
+yy
 hyperthneed
 panda_jungle
 provisioning
@@ -78,5 +77,10 @@ selfdrive/modeld/thneed/compile
 models/*.thneed

 *.bz2
+
+build/
+
+!**/.gitkeep
+
 !third_party/mapbox-gl-native-qt/aarch64/*.so
-!third_party/mapbox-gl-native-qt/jarch64/*.so
+!third_party/mapbox-gl-native-qt/jarch64/*.so
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -1,3 +1,27 @@
+dragonpilot 0.8.12-4
+========================
+* Fixed bins for C3.
+
+dragonpilot 0.8.12-3
+========================
+* Bug fixes.
+* ADDED: Car Selector for C3.
+* ADDED: ColorBlind mode eon only. (thanks to @ihsakashi)
+* TUNNING: Toyota long improvement.
+* Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2).
+
+dragonpilot 0.8.12-2
+========================
+* Bug fixes.
+* ADDED: FTP to easily manage storage.
+* Readded: camera offset, path offset and autoshutdown.
+
+dragonpilot 0.8.12-1
+========================
+* Based on openpilot 0.8.12 devel.
+* ADDED: Support for no gps (mr.one panda).
+* Reimplement: camera offset, path offset, nav for c2 and autoshutdown.
+
 dragonpilot 0.8.10-4
 ========================
 * FIXED: Allow gas press. (Thanks to @loveloveses)
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -28,6 +28,8 @@ dinglx                                                       | [dingliangxue](ht
 eyezenheim                                                   | [eyezenheim](https://github.com/eyezenheim)                 
 Jason Wen                                                    | [sunnyhaibin](https://github.com/sunnyhaibin)               
 kegman                                                       | [kegman](https://github.com/kegman)                         
+krkeegan                                                     | [krkeegan](https://github.com/krkeegan)                     
+ihsakashi                                                    | [krkeegan](https://github.com/ihsakashi)                    
 lijunhao731                                                  | [lijunhao731](https://github.com/lijunhao731)               
 lirudy                                                       | [lirudy](https://github.com/lirudy)                         
 LOVEChen                                                     | [LOVEChen](https://github.com/LOVEChen)                     
--- a/121
+++ b/121
@@ -1,7 +1,7 @@
 def phone(String ip, String step_label, String cmd) {
  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'
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'

 set -e

@@ -29,7 +29,7 @@ cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0

-EOF"""
+END"""

    sh script: ssh_cmd, label: step_label
  }
@@ -37,7 +37,7 @@ EOF"""

 def phone_steps(String device_type, steps) {
  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 150, unit: 'MINUTES') {
+    timeout(time: 60, unit: 'MINUTES') {
      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
      steps.each { item ->
        phone(device_ip, item[0], item[1])
@@ -53,42 +53,33 @@ pipeline {
    SOURCE_DIR = "/data/openpilot_source/"
  }
  options {
-      timeout(time: 3, unit: 'HOURS')
+      timeout(time: 4, unit: 'HOURS')
  }

  stages {
-
-    stage('Build release2') {
-      agent {
-        docker {
-          image 'python:3.7.3'
-          args '--user=root'
-        }
-      }
+    stage('build releases') {
      when {
        branch 'devel-staging'
      }
-      steps {
-        phone_steps("eon-build", [
-          ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
-    }

-    stage('Build release3') {
-      agent {
-        docker {
-          image 'python:3.7.3'
-          args '--user=root'
+      parallel {
+        stage('release2') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("eon-build", [
+              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
+        }
+
+        stage('release3') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici", [
+              ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
        }
-      }
-      when {
-        branch 'devel-staging'
-      }
-      steps {
-        phone_steps("tici", [
-          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-        ])
      }
    }

@@ -105,50 +96,15 @@ pipeline {
      }

      stages {
-
-        /*
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilotci'
-              args '--privileged --shm-size=1G --user=root'
-            }
-          }
-          stages {
-            stage('Build') {
-              steps {
-                sh 'scons -j$(nproc)'
-              }
-            }
-          }
-          post {
-            always {
-              // fix permissions since docker runs as another user
-              sh "chmod -R 777 ."
-            }
-          }
-        }
-        */
-
        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'
-            }
-          }
-
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          stages {
            stage('parallel tests') {
              parallel {
-                stage('Devel Tests') {
+                stage('C2: build') {
                  steps {
                    phone_steps("eon-build", [
-                      ["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@@ -157,7 +113,7 @@ pipeline {
                  }
                }

-                stage('Replay Tests') {
+                stage('C2: replay') {
                  steps {
                    phone_steps("eon2", [
                      ["build", "cd selfdrive/manager && ./build.py"],
@@ -166,7 +122,7 @@ pipeline {
                  }
                }

-                stage('HW + Unit Tests') {
+                stage('C2: HW + Unit Tests') {
                  steps {
                    phone_steps("eon", [
                      ["build", "cd selfdrive/manager && ./build.py"],
@@ -201,29 +157,33 @@ pipeline {
                }
                */

-                stage('tici Build') {
+                stage('C3: build') {
                  environment {
                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                  }
                  steps {
                    phone_steps("tici", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["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"],
                    ])
                  }
                }

-                stage('Unit Tests (tici)') {
+                stage('C3: HW + Unit Tests') {
                  steps {
                    phone_steps("tici2", [
                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.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"],
                    ])
                  }
                }

-                stage('EON camerad') {
+                stage('C2: camerad') {
                  steps {
                    phone_steps("eon-party", [
                      ["build", "cd selfdrive/manager && ./build.py"],
@@ -233,7 +193,7 @@ pipeline {
                  }
                }

-                stage('tici camerad') {
+                stage('C3: camerad') {
                  steps {
                    phone_steps("tici-party", [
                      ["build", "cd selfdrive/manager && ./build.py"],
@@ -243,6 +203,15 @@ pipeline {
                  }
                }

+                stage('C3: replay') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
              }
            }

--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-![](https://user-images.githubusercontent.com/37757984/127420744-89ca219c-8f8e-46d3-bccf-c1cb53b81bb1.png)
+![](https://i.imgur.com/b0ZyIx5.jpg)

 Table of Contents
 =======================
@@ -17,20 +17,20 @@ Table of Contents
 What is openpilot?
 ------

-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration and limitations here](docs/INTEGRATION.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).

 <table>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
+    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
+    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
  </tr>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
+    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
+    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
+    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
+    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
  </tr>
 </table>

@@ -40,7 +40,7 @@ Running in a car

 To use openpilot in a car, you need four things
 * This software. It's free and available right here.
-* One of [the 140+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
+* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
 * A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
 * A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).

@@ -61,6 +61,8 @@ Community and Contributing

 openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).

+Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
+
 You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.

 Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,36 @@
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
+ * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
+ * Audi Q3 2020-21 support thanks to jyoung8607!
+ * Lexus RC 2020 support thanks to ErichMoraga!
+
+Version 0.8.11 (2021-11-29)
+========================
+ * Support for CAN FD on the red panda
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
+
 Version 0.8.10 (2021-11-01)
 ========================
 * New driving model
--- a/19
+++ b/19
@@ -15,9 +15,9 @@ AddOption('--test',
          action='store_true',
          help='build test files')

-AddOption('--setup',
+AddOption('--extras',
          action='store_true',
-          help='build setup and installer files')
+          help='build misc extras, like setup and installer files')

 AddOption('--kaitai',
          action='store_true',
@@ -62,7 +62,6 @@ if arch == "aarch64" and TICI:
  arch = "larch64"

 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
 USE_MIPI = os.getenv("USE_MIPI") is not None

 # use larch64 for now
@@ -75,6 +74,7 @@ lenv = {
  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,

  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
 }

@@ -101,7 +101,6 @@ if arch == "aarch64" or arch == "larch64":
    "/usr/lib",
    "/system/vendor/lib64",
    "/system/comma/usr/lib",
-    "#third_party/nanovg",
    f"#third_party/acados/{arch}/lib",
  ]

@@ -208,12 +207,14 @@ env = Environment(
    "-O2",
    "-Wunused",
    "-Werror",
+    "-Wshadow",
    "-Wno-unknown-warning-option",
    "-Wno-deprecated-register",
    "-Wno-register",
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
+    "-Wno-error=unused-but-set-variable",
  ] + cflags + ccflags,

  CPPPATH=cpppath + [
@@ -234,7 +235,6 @@ env = Environment(
    "#third_party/linux/include",
    "#third_party/snpe/include",
    "#third_party/mapbox-gl-native-qt/include",
-    "#third_party/nanovg",
    "#third_party/qrcode",
    "#third_party",
    "#cereal",
@@ -294,7 +294,7 @@ def abspath(x):
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]

 envCython["LIBS"] = []
 if arch == "Darwin":
@@ -376,7 +376,7 @@ if GetOption("clazy"):
  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)

-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM', 'USE_MIPI')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_MIPI')

 SConscript(['selfdrive/common/SConscript'])
 Import('_common', '_gpucommon', '_gpu_libs')
@@ -411,7 +411,7 @@ rednose_config = {
  },
 }

-if arch != "aarch64":
+if arch not in ["aarch64", "larch64"]:
  rednose_config['to_build'].update({
    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
@@ -457,6 +457,9 @@ SConscript(['selfdrive/ui/SConscript'])
 if arch != "Darwin":
  SConscript(['selfdrive/logcatd/SConscript'])

+if GetOption('test'):
+  SConscript('panda/tests/safety/SConscript')
+
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
  SConscript([external_sconscript])
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -104,6 +104,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    wideRoadCameraError @102;
    localizerMalfunction @103;
    highCpuUsage @105;
+    cruiseMismatch @106;

    driverMonitorLowAccDEPRECATED @68;
    radarCanErrorDEPRECATED @15;
@@ -127,15 +128,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startupOneplusDEPRECATED @82;
    startupFuzzyFingerprintDEPRECATED @97;

-    # mapd
+    #dp
+    autoLaneChange @107;
+    manualSteeringRequired @108;
+    manualSteeringRequiredBlinkersOn @109;
    speedLimitActive @110;
    speedLimitValueChange @111;
-
-    #dp
-    autoLaneChange @106;
-    manualSteeringRequired @107;
-    manualSteeringRequiredBlinkersOn @108;
-    leadCarMoving @109;
  }
 }

@@ -160,6 +158,7 @@ struct CarState {
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
+  brakeHoldActive @38 :Bool;

  # steering wheel
  steeringAngleDeg @7 :Float32;
@@ -203,9 +202,10 @@ struct CarState {
  rightBlindspot @34 :Bool; # Is there something blocking the right lane change

  # dp
-  lkMode @38 :Bool;
-  engineRPM @39 :Float32;
-  cruiseActualEnabled @40 :Bool;
+  lkMode @39 :Bool;
+  engineRPM @40 :Float32;
+  cruiseActualEnabled @41 :Bool;
+  distanceLines @42 :UInt8;

  struct WheelSpeeds {
    # optional wheel speeds
@@ -306,6 +306,8 @@ struct CarControl {
  active @7 :Bool;

  actuators @6 :Actuators;
+  roll @8 :Float32;
+  pitch @9 :Float32;

  cruiseControl @4 :CruiseControl;
  hudControl @5 :HUDControl;
@@ -364,14 +366,17 @@ struct CarControl {

    enum AudibleAlert {
      none @0;
-      chimeEngage @1;
-      chimeDisengage @2;
-      chimeError @3;
-      chimeWarning1 @4;
-      chimeWarning2 @5;
-      chimeWarningRepeat @6;
-      chimePrompt @7;
-      chimeWarning2Repeat @8;
+
+      engage @1;
+      disengage @2;
+      refuse @3;
+
+      warningSoft @4;
+      warningImmediate @5;
+
+      prompt @6;
+      promptRepeat @7;
+      promptDistracted @8;
    }
  }

@@ -392,6 +397,7 @@ struct CarParams {
  enableDsu @5 :Bool;        # driving support unit
  enableApgs @6 :Bool;       # advanced parking guidance system
  enableBsm @56 :Bool;       # blind spot monitoring
+  flags @64 :UInt32;         # flags for car specific quirks

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
@@ -455,6 +461,8 @@ struct CarParams {
  fingerprintSource @49: FingerprintSource;
  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network

+  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
+
  struct SafetyConfig {
    safetyModel @0 :SafetyModel;
    safetyParam @1 :Int16;
@@ -533,7 +541,7 @@ struct CarParams {
    allOutput @17;
    gmAscm @18;
    noOutput @19;  # like silent but without silent CAN TXs
-    hondaBoschHarness @20;
+    hondaBosch @20;
    volkswagenPq @21;
    subaruLegacy @22;  # pre-Global platform
    hyundaiLegacy @23;
--- a/cereal/dp.capnp
+++ b/cereal/dp.capnp
@@ -19,35 +19,58 @@ struct DragonConf {
  dpLaneLessModeCtrl @11 :Bool;
  dpLaneLessMode @12 :UInt8;
  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;
-  dpUiSide @27 :Bool;
-  dpUiTop @28 :Bool;
-  dpUiBlinker @29 :Bool;
-  dpUiBrightness @30 :UInt8;
-  dpUiVolume @31 :Int8;
-  dpToyotaLdw @32 :Bool;
-  dpToyotaSng @33 :Bool;
-  dpToyotaCruiseOverride @34 :Bool;
-  dpToyotaCruiseOverrideVego @35 :Bool;
-  dpToyotaCruiseOverrideAt @36 :Float32;
-  dpToyotaCruiseOverrideSpeed @37 :Float32;
-  dpIpAddr @38 :Text;
-  dpCameraOffset @39 :Int8;
-  dpPathOffset @40 :Int8;
-  dpLocale @41 :Text;
-  dpSrLearner @42 :Bool;
-  dpSrCustom @43 :Float32;
-  dpMapd @44 :Bool;
+  dpAccelProfileCtrl @14 :Bool;
+  dpAccelProfile @15 :UInt8;
+  dpGearCheck @16 :Bool;
+  dpSpeedCheck @17 :Bool;
+  dpUiDisplayMode @18 :UInt8;
+  dpUiSpeed @19 :Bool;
+  dpUiEvent @20 :Bool;
+  dpUiMaxSpeed @21 :Bool;
+  dpUiFace @22 :Bool;
+  dpUiLane @23 :Bool;
+  dpUiLead @24 :Bool;
+  dpUiSide @25 :Bool;
+  dpUiTop @26 :Bool;
+  dpUiBlinker @27 :Bool;
+  dpUiBrightness @28 :UInt8;
+  dpUiVolume @29 :Int8;
+  dpToyotaLdw @30 :Bool;
+  dpToyotaSng @31 :Bool;
+  dpToyotaCruiseOverride @32 :Bool;
+  dpToyotaCruiseOverrideVego @33 :Bool;
+  dpToyotaCruiseOverrideAt @34 :Float32;
+  dpToyotaCruiseOverrideSpeed @35 :Float32;
+  dpIpAddr @36 :Text;
+  dpCameraOffset @37 :Int8;
+  dpPathOffset @38 :Int8;
+  dpLocale @39 :Text;
+  dpSrLearner @40 :Bool;
+  dpSrCustom @41 :Float32;
+  dpMapd @42 :Bool;
+}
+
+
+# use on mapd
+struct LiveMapData {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedLimitAheadValid @2 :Bool;
+  speedLimitAhead @3 :Float32;
+  speedLimitAheadDistance @4 :Float32;
+  turnSpeedLimitValid @5 :Bool;
+  turnSpeedLimit @6 :Float32;
+  turnSpeedLimitEndDistance @7 :Float32;
+  turnSpeedLimitSign @8 :Int16;
+  turnSpeedLimitsAhead @9 :List(Float32);
+  turnSpeedLimitsAheadDistances @10 :List(Float32);
+  turnSpeedLimitsAheadSigns @11 :List(Int16);
+  lastGpsTimestamp @12 :Int64;  # Milliseconds since January 1, 1970.
+  currentRoadName @13 :Text;
+  lastGpsLatitude @14 :Float64;
+  lastGpsLongitude @15 :Float64;
+  lastGpsSpeed @16 :Float32;
+  lastGpsBearingDeg @17 :Float32;
+  lastGpsAccuracy @18 :Float32;
+  lastGpsBearingAccuracyDeg @19 :Float32;
 }
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -307,8 +307,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  batteryCurrent @15 :Int32;
  chargingError @17 :Bool;
  chargingDisabled @18 :Bool;
-  offroadPowerUsageUwh @23 :UInt32;
+  # dp, we need Int32 because it could be a negative value
+  offroadPowerUsageUwh @23 :Int32;
  carBatteryCapacityUwh @25 :UInt32;
+  powerDrawW @40 :Float32;

  # device thermals
  cpuTempC @26 :List(Float32);
@@ -317,11 +319,18 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  ambientTempC @30 :Float32;
  nvmeTempC @35 :List(Float32);
  modemTempC @36 :List(Float32);
+  pmicTempC @39 :List(Float32);
+  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;

  fanSpeedPercentDesired @10 :UInt16;
  screenBrightnessPercent @37 :Int8;

+  struct ThermalZone {
+    name @0 :Text;
+    temp @1 :Float32;
+  }
+
  enum ThermalStatus {
    green @0;
    yellow @1;
@@ -605,6 +614,8 @@ struct ControlsState @0x97ff69c53601abf1 {
    delta @8 :Float32;
    output @9 :Float32;
    saturated @10 :Bool;
+    steeringAngleDesiredDeg @11 :Float32;
+    steeringRateDesiredDeg @12 :Float32;
  }

  struct LateralPIDState {
@@ -617,6 +628,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    f @6 :Float32;
    output @7 :Float32;
    saturated @8 :Bool;
+    steeringAngleDesiredDeg @9 :Float32;
   }

  struct LateralLQRState {
@@ -626,6 +638,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    output @3 :Float32;
    lqrOutput @4 :Float32;
    saturated @5 :Bool;
+    steeringAngleDesiredDeg @6 :Float32;
  }

  struct LateralAngleState {
@@ -633,6 +646,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    steeringAngleDeg @1 :Float32;
    output @2 :Float32;
    saturated @3 :Bool;
+    steeringAngleDesiredDeg @4 :Float32;
  }

  struct LateralDebugState {
@@ -687,6 +701,7 @@ struct ModelDataV2 {
  orientation @5 :XYZTData;
  velocity @6 :XYZTData;
  orientationRate @7 :XYZTData;
+  acceleration @19 :XYZTData;

  # prediction lanelines and road edges
  laneLines @8 :List(XYZTData);
@@ -812,7 +827,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  accels @32 :List(Float32);
  speeds @33 :List(Float32);
  jerks @34 :List(Float32);
-
  #mapd
  visionTurnControllerState @35 :VisionTurnControllerState;
  visionTurnSpeed @36 :Float32;
@@ -912,7 +926,7 @@ struct LateralPlan @0xe1e9318e2ae8b51e {

  # dp
  dpALCAStartIn @30 :Float32;
-  dpLaneLessModeStatus @31 :Bool;
+  dpLaneLessModeIsE2E @31 :Bool;
  # 32~33 are being used in mapd

  enum Desire {
@@ -1328,6 +1342,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
 struct Boot {
  wallTimeNanos @0 :UInt64;
  pstore @4 :Map(Text, Data);
+  commands @5 :Map(Text, Data);
  launchLog @3 :Text;

  lastKmsgDEPRECATED @1 :Data;
@@ -1371,29 +1386,6 @@ struct LiveMapDataDEPRECATED {
  mapValid @11 :Bool;
 }

-struct LiveMapData {
-  speedLimitValid @0 :Bool;
-  speedLimit @1 :Float32;
-  speedLimitAheadValid @2 :Bool;
-  speedLimitAhead @3 :Float32;
-  speedLimitAheadDistance @4 :Float32;
-  turnSpeedLimitValid @5 :Bool;
-  turnSpeedLimit @6 :Float32;
-  turnSpeedLimitEndDistance @7 :Float32;
-  turnSpeedLimitSign @8 :Int16;
-  turnSpeedLimitsAhead @9 :List(Float32);
-  turnSpeedLimitsAheadDistances @10 :List(Float32);
-  turnSpeedLimitsAheadSigns @11 :List(Int16);
-  lastGpsTimestamp @12 :Int64;  # Milliseconds since January 1, 1970.
-  currentRoadName @13 :Text;
-  lastGpsLatitude @14 :Float64;
-  lastGpsLongitude @15 :Float64;
-  lastGpsSpeed @16 :Float32;
-  lastGpsBearingDeg @17 :Float32;
-  lastGpsAccuracy @18 :Float32;
-  lastGpsBearingAccuracyDeg @19 :Float32;
-}
-
 struct CameraOdometry {
  frameId @4 :UInt32;
  timestampEof @5 :UInt64;
@@ -1438,6 +1430,44 @@ struct UploaderState {
  lastFilename @6 :Text;
 }

+struct NavInstruction {
+  maneuverPrimaryText @0 :Text;
+  maneuverSecondaryText @1 :Text;
+  maneuverDistance @2 :Float32;  # m
+  maneuverType @3 :Text; # TODO: Make Enum
+  maneuverModifier @4 :Text; # TODO: Make Enum
+
+  distanceRemaining @5 :Float32; # m
+  timeRemaining @6 :Float32; # s
+  timeRemainingTypical @7 :Float32; # s
+
+  lanes @8 :List(Lane);
+  showFull @9 :Bool;
+
+  struct Lane {
+    directions @0 :List(Direction);
+    active @1 :Bool;
+    activeDirection @2 :Direction;
+  }
+
+  enum Direction {
+    none @0;
+    left @1;
+    right @2;
+    straight @3;
+  }
+
+}
+
+struct NavRoute {
+  coordinates @0 :List(Coordinate);
+
+  struct Coordinate {
+    latitude @0 :Float32;
+    longitude @1 :Float32;
+  }
+}
+
 struct Event {
  logMonoTime @0 :UInt64;  # nanoseconds
  valid @67 :Bool = true;
@@ -1495,6 +1525,10 @@ struct Event {
    deviceState @6 :DeviceState;
    logMessage @18 :Text;

+    # navigation
+    navInstruction @82 :NavInstruction;
+    navRoute @83 :NavRoute;
+    navThumbnail @84: Thumbnail;

    # *********** debug ***********
    testJoystick @52 :Joystick;
@@ -1537,7 +1571,7 @@ struct Event {
    gpsLocationDEPRECATED @21 :GpsLocationData;
    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
    pandaStateDEPRECATED @12 :PandaState;
-    dragonConf @82 :Dp.DragonConf;
-    liveMapData @83: LiveMapData; # 82 is for dp
+    dragonConf @85 :Dp.DragonConf;
+    liveMapData @86 :Dp.LiveMapData;
  }
 }
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -62,7 +62,9 @@ services = {
  "modelV2": (True, 20., 40),
  "managerState": (True, 2., 1),
  "uploaderState": (True, 0., 1),
-  "liveMapData": (True, 0.),
+  "navInstruction": (True, 0.),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),

  # debug
  "testJoystick": (False, 0.),
@@ -70,6 +72,7 @@ services = {
  # dp
  "thermal": (True, 2., 1),
  "dragonConf": (False, 1.),
+  "liveMapData": (True, 0.), # mapd
 }
 service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
                idx, (name, vals) in enumerate(services.items())}
--- a/cereal/visionipc/visionbuf.cc
+++ b/cereal/visionipc/visionbuf.cc
@@ -22,19 +22,28 @@ void visionbuf_compute_aligned_width_and_height(int width, int height, int *alig
 #endif
 }

-void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
+void VisionBuf::init_rgb(size_t init_width, size_t init_height, size_t init_stride) {
  this->rgb = true;
-  this->width = width;
-  this->height = height;
-  this->stride = stride;
+  this->width = init_width;
+  this->height = init_height;
+  this->stride = init_stride;
 }

-void VisionBuf::init_yuv(size_t width, size_t height){
+void VisionBuf::init_yuv(size_t init_width, size_t init_height){
  this->rgb = false;
-  this->width = width;
-  this->height = height;
+  this->width = init_width;
+  this->height = init_height;

  this->y = (uint8_t *)this->addr;
-  this->u = this->y + (width * height);
-  this->v = this->u + (width / 2 * height / 2);
+  this->u = this->y + (this->width * this->height);
+  this->v = this->u + (this->width / 2 * this->height / 2);
+}
+
+
+uint64_t VisionBuf::get_frame_id() {
+  return *frame_id;
+}
+
+void VisionBuf::set_frame_id(uint64_t id) {
+  *frame_id = id;
 }
--- a/cereal/visionipc/visionbuf.h
+++ b/cereal/visionipc/visionbuf.h
@@ -15,9 +15,10 @@ 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_ROAD,
+  VISION_STREAM_DRIVER,
+  VISION_STREAM_WIDE_ROAD,
+  VISION_STREAM_RGB_MAP,
  VISION_STREAM_MAX,
 };

@@ -26,6 +27,7 @@ class VisionBuf {
  size_t len = 0;
  size_t mmap_len = 0;
  void * addr = nullptr;
+  uint64_t *frame_id;
  int fd = 0;

  bool rgb = false;
@@ -57,6 +59,9 @@ class VisionBuf {
  void init_yuv(size_t width, size_t height);
  int sync(int dir);
  int free();
+
+  void set_frame_id(uint64_t id);
+  uint64_t get_frame_id();
 };

 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
@@ -32,14 +32,11 @@ static void *malloc_with_fd(size_t len, int *fd) {
  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::allocate(size_t length) {
+  this->len = length;
+  this->mmap_len = this->len;
+  this->addr = malloc_with_fd(this->len, &this->fd);
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
 }

 void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
@@ -57,6 +54,8 @@ 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);
+
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
 }


--- a/cereal/visionipc/visionbuf_ion.cc
+++ b/cereal/visionipc/visionbuf_ion.cc
@@ -47,13 +47,13 @@ static void ion_init() {
  }
 }

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

  ion_init();

  struct ion_allocation_data ion_alloc = {0};
-  ion_alloc.len = len + PADDING_CL;
+  ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
  ion_alloc.align = 4096;
  ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
  ion_alloc.flags = ION_FLAG_CACHED;
@@ -66,18 +66,19 @@ void VisionBuf::allocate(size_t len) {
  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
  assert(err == 0);

-  void *addr = mmap(NULL, ion_alloc.len,
-                    PROT_READ | PROT_WRITE,
-                    MAP_SHARED, ion_fd_data.fd, 0);
-  assert(addr != MAP_FAILED);
+  void *mmap_addr = mmap(NULL, ion_alloc.len,
+                         PROT_READ | PROT_WRITE,
+                         MAP_SHARED, ion_fd_data.fd, 0);
+  assert(mmap_addr != MAP_FAILED);

-  memset(addr, 0, ion_alloc.len);
+  memset(mmap_addr, 0, ion_alloc.len);

-  this->len = len;
+  this->len = length;
  this->mmap_len = ion_alloc.len;
-  this->addr = addr;
+  this->addr = mmap_addr;
  this->handle = ion_alloc.handle;
  this->fd = ion_fd_data.fd;
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
 }

 void VisionBuf::import(){
@@ -95,6 +96,8 @@ void VisionBuf::import(){
  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);
+
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
 }

 void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
--- a/cereal/visionipc/visionipc_client.cc
+++ b/cereal/visionipc/visionipc_client.cc
@@ -55,7 +55,7 @@ bool VisionIpcClient::connect(bool blocking){
  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(num_buffers >= 0);
  assert(r == sizeof(VisionBuf) * num_buffers);

  // Import buffers
--- a/cereal/visionipc/visionipc_pyx.pyx
+++ b/cereal/visionipc/visionipc_pyx.pyx
@@ -19,9 +19,9 @@ 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
+  VISION_STREAM_ROAD
+  VISION_STREAM_DRIVER
+  VISION_STREAM_WIDE_ROAD


 cdef class VisionIpcServer:
--- a/cereal/visionipc/visionipc_server.cc
+++ b/cereal/visionipc/visionipc_server.cc
@@ -45,7 +45,6 @@ void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers,
    size = width * height * 3 / 2;
  }

-
  // Create map + alloc requested buffers
  for (size_t i = 0; i < num_buffers; i++){
    VisionBuf* buf = new VisionBuf();
--- a/cereal/visionipc/visionipc_tests.cc
+++ b/cereal/visionipc/visionipc_tests.cc
@@ -13,10 +13,10 @@ static void zmq_sleep(int milliseconds=1000){

 TEST_CASE("Connecting"){
  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
  server.start_listener();

-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
  REQUIRE(client.connect());

  REQUIRE(client.connected);
@@ -25,10 +25,10 @@ TEST_CASE("Connecting"){
 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.create_buffers(VISION_STREAM_ROAD, num_buffers, false, width, height);
  server.start_listener();

-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
  REQUIRE(client.connect());

  REQUIRE(client.buffers[0].width == width);
@@ -39,11 +39,11 @@ TEST_CASE("Check 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_ROAD, 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_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
  VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
  client_yuv.connect();
  client_rgb.connect();
@@ -54,20 +54,21 @@ TEST_CASE("Check yuv/rgb"){

 TEST_CASE("Send single buffer"){
  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
  server.start_listener();

-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
  REQUIRE(client.connect());
  zmq_sleep();

-  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
  REQUIRE(buf != nullptr);

  *((uint64_t*)buf->addr) = 1234;

  VisionIpcBufExtra extra = {0};
  extra.frame_id = 1337;
+  buf->set_frame_id(extra.frame_id);

  server.send(buf, &extra);

@@ -76,19 +77,20 @@ TEST_CASE("Send single buffer"){
  REQUIRE(recv_buf != nullptr);
  REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
  REQUIRE(extra_recv.frame_id == extra.frame_id);
+  REQUIRE(recv_buf->get_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.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
  server.start_listener();

-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
  REQUIRE(client.connect());
  zmq_sleep();

-  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
  REQUIRE(buf != nullptr);

  VisionIpcBufExtra extra = {0};
@@ -109,14 +111,14 @@ TEST_CASE("Test no conflate"){

 TEST_CASE("Test conflate"){
  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
  server.start_listener();

-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);
  REQUIRE(client.connect());
  zmq_sleep();

-  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
  REQUIRE(buf != nullptr);

  VisionIpcBufExtra extra = {0};
--- a/common/api/init.py
+++ b/common/api/init.py
@@ -3,7 +3,7 @@ import os
 import requests
 from datetime import datetime, timedelta
 from common.basedir import PERSIST
-from selfdrive.version import version
+from selfdrive.version import get_version
 from common.params import Params

 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8')
@@ -37,13 +37,13 @@ class Api():
    if isinstance(token, bytes):
      token = token.decode('utf8')
    return token
-    
+

 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  headers = {}
  if access_token is not None:
-    headers['Authorization'] = "JWT "+access_token
+    headers['Authorization'] = "JWT " + access_token

-  headers['User-Agent'] = "openpilot-" + version
+  headers['User-Agent'] = "openpilot-" + get_version()

  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
--- a/common/cython_hacks.py
+++ b/common/cython_hacks.py
@@ -1,23 +0,0 @@
-import os
-import sysconfig
-from Cython.Distutils import build_ext
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -4,6 +4,7 @@ import sys
 import json
 import time
 from math import floor
+from selfdrive.hardware import TICI

 '''
 * type: Bool, Int8, UInt8, UInt16, Float32
@@ -41,8 +42,8 @@ confs = [
  {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], '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', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  #{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  #{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # safety
@@ -63,7 +64,7 @@ confs = [
  {'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_lexus_rx_rpm_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -80,16 +81,16 @@ confs = [
  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # volkswagen
-  {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  #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_camera_offset', 'default': -4 if TICI else 6, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_path_offset', 'default': -4 if TICI else 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']},
+  {'name': 'dp_reg', 'default': False, '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']},
@@ -98,7 +99,6 @@ confs = [
  {'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']},
@@ -108,13 +108,9 @@ confs = [
  {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # deprecated
-  # {'name': 'dp_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  # {'name': 'dp_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  # {'name': 'dp_mapbox_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_mapbox_traffic', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_mapbox_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_mapbox_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  # no gps is for mr. one's harness + black panda in one solution (without GPS chip)
+  {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+
  {'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -126,6 +122,7 @@ confs = [
  {'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
 ]

 # from 0.8.9 to 0.8.10
--- a/common/markdown.py
+++ b/common/markdown.py
@@ -0,0 +1,48 @@
+from typing import List
+
+HTML_REPLACEMENTS = [
+  (r'&', r'&amp;'),
+  (r'"', r'&quot;'),
+]
+
+
+def parse_markdown(text: str, tab_length: int = 2) -> str:
+  lines = text.split("\n")
+  output: List[str] = []
+  list_level = 0
+
+  def end_outstanding_lists(level: int, end_level: int) -> int:
+    while level > end_level:
+      level -= 1
+      output.append("</ul>")
+      if level > 0:
+        output.append("</li>")
+    return end_level
+
+  for i, line in enumerate(lines):
+    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
+      output.append(f"<h1>{line}</h1>")
+    elif line.startswith("==="):
+      pass
+    elif line.lstrip().startswith("* "):  # list
+      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
+      if list_level >= line_level:
+        list_level = end_outstanding_lists(list_level, line_level)
+      else:
+        list_level += 1
+        if list_level > 1:
+          output[-1] = output[-1].replace("</li>", "")
+        output.append("<ul>")
+      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
+    else:
+      list_level = end_outstanding_lists(list_level, 0)
+      if len(line) > 0:
+        output.append(line)
+
+  end_outstanding_lists(list_level, 0)
+  output_str = "\n".join(output) + "\n"
+
+  for (fr, to) in HTML_REPLACEMENTS:
+    output_str = output_str.replace(fr, to)
+
+  return output_str
--- a/common/params_pxd.pxd
+++ b/common/params_pxd.pxd
@@ -1,30 +0,0 @@
-from libcpp.string cimport string
-from libcpp cimport bool
-
-cdef extern from "selfdrive/common/params.cc":
-  pass
-
-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() nogil
-    Params(string) nogil
-    string get(string, bool) nogil
-    bool getBool(string) nogil
-    int remove(string) nogil
-    int put(string, string) nogil
-    int putBool(string, bool) nogil
-    bool checkKey(string) nogil
-    void clearAll(ParamKeyType)
-
-    string get_params_path()
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -2,27 +2,31 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
-
-import os
 import threading
-from common.basedir import BASEDIR

+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 c_Params "Params":
+    c_Params(string) nogil
+    string get(string, bool) nogil
+    bool getBool(string) nogil
+    int remove(string) nogil
+    int put(string, string) nogil
+    int putBool(string, bool) nogil
+    bool checkKey(string) nogil
+    void clearAll(ParamKeyType)
+    string get_params_path()

-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):
-    return v.encode()
-  else:
-    return v
-
+  return v.encode() if isinstance(v, str) else v;

 class UnknownKeyName(Exception):
  pass
@@ -30,36 +34,25 @@ class UnknownKeyName(Exception):
 cdef class Params:
  cdef c_Params* p

-  def __cinit__(self, d=None):
-    cdef string path
-    if d is None:
-      with nogil:
-        self.p = new c_Params()
-    else:
-      path = <string>d.encode()
-      with nogil:
-        self.p = new c_Params(path)
+  def __cinit__(self, d=""):
+    cdef string path = <string>d.encode()
+    with nogil:
+      self.p = new c_Params(path)

  def __dealloc__(self):
    del self.p

-  def clear_all(self, tx_type=None):
-    if tx_type is None:
-      tx_type = ParamKeyType.ALL
-
+  def clear_all(self, tx_type=ParamKeyType.ALL):
    self.p.clearAll(tx_type)

  def check_key(self, key):
    key = ensure_bytes(key)
-
    if not self.p.checkKey(key):
      raise UnknownKeyName(key)
-
    return key

  def get(self, key, bool block=False, encoding=None):
    cdef string k = self.check_key(key)
-
    cdef string val
    with nogil:
      val = self.p.get(k, block)
@@ -72,10 +65,7 @@ cdef class Params:
      else:
        return None

-    if encoding is not None:
-      return val.decode(encoding)
-    else:
-      return val
+    return val if encoding is None else val.decode(encoding)

  def get_bool(self, key):
    cdef string k = self.check_key(key)
@@ -109,7 +99,7 @@ cdef class Params:
  def get_params_path(self):
    return self.p.get_params_path().decode("utf-8")

-def put_nonblocking(key, val, d=None):
+def put_nonblocking(key, val, d=""):
  def f(key, val):
    params = Params(d)
    cdef string k = ensure_bytes(key)
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -81,6 +81,15 @@ model_frame_from_road_frame = np.dot(model_intrinsics,
 bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

+bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
+sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -1,13 +1,14 @@
-Supported Cars
------
+# Supported Cars
+
+## comma.ai supported cars

 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | 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 2019-21                   | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord 2018-21                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-21         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
@@ -23,19 +24,20 @@ Supported Cars
 | 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     | Passport 2019-21              | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-21                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | 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              |
+| Hyundai   | Sonata 2020-22                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 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     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | NX 2018-2019                  | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | NX Hybrid 2018-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RC 2020                       | All               | Stock            | 22mph              | 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              |
@@ -45,24 +47,24 @@ Supported Cars
 | Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Avalon Hybrid 2019-21         | 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<sup>4</sup>   | 0mph              |
+| Toyota    | Camry 2021-22                 | All               | openpilot        | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry Hybrid 2021-22          | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | C-HR 2017-20                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | C-HR 2017-21                  | 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 2020-22               | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Corolla Hatchback 2019-22     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Corolla Hybrid 2020-22        | 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 2020-22            | 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    | Highlander Hybrid 2020-22     | 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    | Prius Prime 2021-22           | 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              |
@@ -74,17 +76,18 @@ Supported Cars
 <sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
 <sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />

-Community Maintained Cars and Features
------
+## Community Maintained Cars and Features

 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
 | Audi      | A3 2014-19                    | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
 | Audi      | A3 Sportback e-tron 2017-18   | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
 | Audi      | Q2 2018                       | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
-| Audi      | S3 2015-17                    | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | Q3 2020-21                    | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | S3 2015                       | ACC + Lane Assist | 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         |
+| Cadillac  | Escalade ESV 2016<sup>1</sup> | ACC + LKAS        | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Volt 2017-18<sup>1</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
@@ -92,6 +95,7 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2019-21       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G70 2020                      | 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         |
@@ -110,6 +114,7 @@ Community Maintained Cars and Features
 | Hyundai   | Kona Hybrid 2020              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2021-22              | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe Hybrid 2022          | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata Hybrid 2021-22         | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Veloster 2019-20              | SCC + LKAS        | Stock            | 5mph               | 0mph         |
@@ -117,7 +122,7 @@ Community Maintained Cars and Features
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Forte 2018-21                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | K5 2021                       | SCC + LFA         | Stock            | 0mph               | 0mph         |
+| Kia       | K5 2021-22                    | SCC + LFA         | Stock            | 0mph               | 0mph         |
 | Kia       | Niro EV 2019-21               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Niro Hybrid 2021              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Niro PHEV 2019                | SCC + LKAS        | Stock            | 10mph              | 32mph        |
@@ -127,6 +132,7 @@ Community Maintained Cars and Features
 | Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Telluride 2020                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Mazda     | CX-9 2021                     | All               | Stock            | 0mph               | 28mph        |
 | Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-22                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
@@ -158,7 +164,9 @@ Community Maintained Cars and Features
 | Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Passat 2016-18<sup>3</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Polo 2020                     | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| T-Cross 2021<sup>4</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| T-Roc 2021<sup>4</sup>        | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Taos 2022<sup>4</sup>         | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Touran 2017                   | Driver Assistance | Stock            | 0mph               | 0mph         |
@@ -169,7 +177,7 @@ Community Maintained Cars and Features
 <sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
 remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
 in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
-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`.
+Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.

 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

--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -1,16 +1,35 @@
 # How to contribute

-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).

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

-## Getting Started
+### Getting Started

 * Setup your [development environment](../tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Make sure you have a [GitHub account](https://github.com/signup/free)
 * Fork [our repositories](https://github.com/commaai) on GitHub

+## Pull Requests
+
+Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
+
+A good pull request has all of the following:
+* a clearly stated purpose
+* every line changed directly contributes to the stated purpose
+* verification, i.e. how did you test your PR?
+* justification
+  * if you've optimized something, post benchmarks to prove it's better
+  * if you've improved your car's tuning, post before and after plots
+* passes the CI tests
+
+### Car Ports
+
+We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
+
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
+
 ## Testing

 ### Automated Testing
@@ -20,27 +39,3 @@ All PRs and commits are automatically checked by GitHub Actions. Check out `.git
 ### Code Style and Linting

 Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
-
-## Car Ports
-
-We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
-
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
-
-## Pull Requests
-
-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
-```
-git clone https://github.com/commaai/openpilot.git --recursive
-```
-Or alternatively, when on the master branch:
-```
-git submodule update --init
-```
-The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
-Modules that are in seperate repositories include:
-* cereal
-* laika
-* opendbc
-* panda
-* rednose
--- a/docs/INTEGRATION.md
+++ b/docs/INTEGRATION.md
@@ -1,5 +1,4 @@
-Integration with Stock Features
------
+# Integration with Stock Features

 In all supported cars:
 * Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
@@ -10,64 +9,3 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
 * openpilot FCW operates in addition to stock FCW.

 openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
-
-Limitations of openpilot ALC and LDW
------
-
-openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
-
-While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
-
-Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
-* In the presence of restricted lanes or construction zones.
-* When driving on highly banked roads or in presence of strong cross-wind.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Driving on hills, narrow, or winding roads.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot ACC and FCW
------
-
-openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
-
-Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* Approaching a toll booth, a bridge or a large metal plate.
-* When driving on roads with pedestrians, cyclists, etc...
-* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
-* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
-* In presence of vehicles in the same lane that are not moving.
-* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
-* When surrounding vehicles perform close cut-ins from neighbor lanes.
-* Driving on hills, narrow, or winding roads.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Interference from other equipment that generates radar waves.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot DM
------
-
-openpilot DM should not be considered an exact measurement of the alertness of the driver.
-
-Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
-
-* Low light conditions, such as driving at night or in dark tunnels.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver's face is partially or completely outside field of view of the driver facing camera.
-* The driver facing camera is obstructed, covered, or damaged.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
--- a/docs/LIMITATIONS.md
+++ b/docs/LIMITATIONS.md
@@ -0,0 +1,58 @@
+# Limitations
+## Limitations of openpilot ALC and LDW
+
+openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
+
+While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
+
+Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
+* In the presence of restricted lanes or construction zones.
+* When driving on highly banked roads or in presence of strong cross-wind.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Driving on hills, narrow, or winding roads.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+## Limitations of openpilot ACC and FCW
+
+openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
+
+Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* Approaching a toll booth, a bridge or a large metal plate.
+* When driving on roads with pedestrians, cyclists, etc...
+* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
+* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
+* In presence of vehicles in the same lane that are not moving.
+* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
+* When surrounding vehicles perform close cut-ins from neighbor lanes.
+* Driving on hills, narrow, or winding roads.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Interference from other equipment that generates radar waves.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+## Limitations of openpilot DM
+
+openpilot DM should not be considered an exact measurement of the alertness of the driver.
+
+Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
+
+* Low light conditions, such as driving at night or in dark tunnels.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* The driver's face is partially or completely outside field of view of the driver facing camera.
+* The driver facing camera is obstructed, covered, or damaged.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -1,34 +0,0 @@
-openpilot Safety
-======
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on either pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
-
-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -9,6 +9,7 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

 function two_init {
+  export LD_LIBRARY_PATH="$BASEDIR/third_party/mapbox-gl-native-qt/aarch64:$LD_LIBRARY_PATH"
  python /data/openpilot/scripts/installers/language_installer.py
  python /data/openpilot/scripts/installers/sshkey_installer.py
  python /data/openpilot/scripts/installers/font_installer.py
@@ -30,6 +31,11 @@ function two_init {
    echo noop > $f
  done

+  # set vol to 100 when boot
+  service call audio 3 i32 2 i32 100
+  service call audio 3 i32 3 i32 100
+  service call audio 3 i32 4 i32 100
+
  # *** shield cores 2-3 ***

  # TODO: should we enable this?
@@ -160,7 +166,7 @@ function tici_init {
 # jetpack 4.6
 function jetson_init {
  # modeld need this
-  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH"
+  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:$BASEDIR/third_party/mapbox-gl-native-qt/jarch64:$LD_LIBRARY_PATH"
  # jetpack 4.6 has mode 8
  sudo nvpmodel -m 8

@@ -206,6 +212,19 @@ function jetson_init {

  # hide mouse cursor
  unclutter -idle 0 &
+
+  # prep for model
+  rm -fr $DIR/models/*.dlc
+  if [ -f "$DIR/models/supercombo.onnx" ]; then
+    file_check_sum=$(md5sum $DIR/models/supercombo.onnx | cut -d " " -f1)
+    if [[ $file_check_sum != "e9e19c5127f717dd94e8182201a08ab8" ]]; then
+      rm -fr $DIR/models/supercombo.onnx
+    fi
+  fi
+  # make sure we have right models
+  if [ ! -f "$DIR/models/supercombo.onnx" ]; then
+    wget https://github.com/commaai/openpilot/raw/be89044c51406eccb7ce7ae7678004a8fc774a7a/models/supercombo.onnx -O "$DIR/models/supercombo.onnx"
+  fi
 }

 function launch {
@@ -268,11 +287,6 @@ function launch {
    tici_init
  elif [ -f /JETSON ]; then
    jetson_init
-    # make sure we have right models
-    if [ ! -f "$DIR/models/supercombo.onnx" ]; then
-      rm -fr $DIR/models/*.dlc
-      wget https://github.com/commaai/openpilot/raw/72a736f90e57a7d5845891ea34b17360b6f684d0/models/supercombo.onnx -O "$DIR/models/supercombo.onnx"
-    fi
  fi

  # write tmux scrollback to a file
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
 fi

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="2"
+  export AGNOS_VERSION="3"
 fi

 if [ -z "$PASSIVE" ]; then
--- a/models/supercombo.dlc
+++ b/models/supercombo.dlc
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -323,4 +323,3 @@ VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "CHFFR_METRIC 342 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/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -310,4 +310,3 @@ VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 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" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;

-CM_ "CHFFR_METRIC 342 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/acura_rdx_2020_can_generated.dbc
+++ b/opendbc/acura_rdx_2020_can_generated.dbc
@@ -432,4 +432,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/can/common.cc
+++ b/opendbc/can/common.cc
@@ -144,6 +144,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
      crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
      break;
+    case 0x12E: // ACC_07 Automatic Cruise Control
+      crc ^= (uint8_t[]){0xF8,0xE5,0x97,0xC9,0xD6,0x07,0x47,0x21,0x66,0xDD,0xCF,0x6F,0xA1,0x94,0x74,0x63}[counter];
+      break;
    case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
      crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
      break;
@@ -172,7 +175,6 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
  return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR
 }

-
 unsigned int pedal_checksum(uint64_t d, int l) {
  uint8_t crc = 0xFF;
  uint8_t poly = 0xD5; // standard crc8
--- a/opendbc/honda_accord_2018_can_generated.dbc
+++ b/opendbc/honda_accord_2018_can_generated.dbc
@@ -489,4 +489,3 @@ 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
@@ -492,4 +492,3 @@ 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_sedan_16_diesel_2019_can_generated.dbc
+++ b/opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
@@ -485,4 +485,3 @@ 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_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -394,4 +394,3 @@ VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not
 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" ;

-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_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -496,4 +496,3 @@ 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_crv_executive_2016_can_generated.dbc
+++ b/opendbc/honda_crv_executive_2016_can_generated.dbc
@@ -316,4 +316,3 @@ VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;

-CM_ "CHFFR_METRIC 342 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_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -480,4 +480,3 @@ 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_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -320,4 +320,3 @@ VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;

-CM_ "CHFFR_METRIC 342 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_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -345,4 +345,3 @@ VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "c
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;

-CM_ "CHFFR_METRIC 342 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_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -474,4 +474,3 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
 VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" ;

-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_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -357,4 +357,3 @@ 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" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;

-CM_ "CHFFR_METRIC 342 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_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -313,4 +313,3 @@ VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "c
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;

-CM_ "CHFFR_METRIC 342 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_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -308,4 +308,3 @@ VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "c
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;

-CM_ "CHFFR_METRIC 342 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/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/lexus_nx300_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300_2018_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/lexus_nx300h_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300h_2018_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/lexus_gs300h_2017_pt_generated.dbc
+++ b/opendbc/lexus_gs300h_2017_pt_generated.dbc
@@ -1,7 +1,37 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"


-CM_ "Imported file _toyota_2017.dbc starts here";
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""


@@ -64,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 7 XXX
+BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
-
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -166,16 +196,11 @@ BO_ 951 ESP_CONTROL: 8 ESP
 SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX

-BO_ 1020 SOLAR_SENSOR: 8 XXX
- SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
-
 BO_ 1041 ACC_HUD: 8 DSU
- SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
 SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
- SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
- SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX

 BO_ 1042 LKAS_HUD: 8 XXX
 SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
@@ -229,15 +254,11 @@ 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_ PARKING_BRAKE : 60|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
@@ -246,11 +267,6 @@ 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
- SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX

 BO_ 1161 RSA1: 8 FCM
 SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -294,18 +310,12 @@ BO_ 1163 RSA3: 8 FCM
 SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
 SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX

-BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
- SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
- SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
- SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
-
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 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?";
@@ -315,23 +325,13 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
-CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
-CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
-CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
-CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
-CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
-CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
-CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
-CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
-CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
 CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
 CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
-CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
 CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
 CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
 CM_ SG_ 1163 TSREQPD "always 1";
@@ -343,20 +343,13 @@ 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 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_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
-VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
-VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
-VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
-VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
-VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
-VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
@@ -366,55 +359,13 @@ 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" 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 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

-
-CM_ "Imported file _comma.dbc starts here";
-BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
- SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
- SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
-
- BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
-  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
- BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
-  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
-  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
-  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
- SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
-
-CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
-
-BO_ 767 SDSU: 8 XXX
- SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
-
-CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
-
-CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
-
-CM_ "lexus_gs300h_2017_pt.dbc starts here";
+CM_ "lexus_nxt_2015_pt.dbc starts here"



@@ -423,11 +374,15 @@ BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
 SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX

-BO_ 581 GAS_PEDAL: 5 XXX
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
 SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX

+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -442,15 +397,18 @@ BO_ 610 EPS_STATUS: 5 EPS
 BO_ 956 GEAR_PACKET: 8 XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX

-BO_ 1009 PCM_CRUISE_3: 8 XXX
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
 SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|15] "" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/nissan_leaf_2018.dbc
+++ b/opendbc/nissan_leaf_2018.dbc
@@ -83,7 +83,7 @@ BO_ 569 CRUISE_THROTTLE: 8 XXX
 SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
 SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ unsure4 : 39|6@0+ (1,0) [0|63] "" XXX
+ SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
 SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
--- a/opendbc/tesla_can.dbc
+++ b/opendbc/tesla_can.dbc
@@ -748,4 +748,3 @@ VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RES
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;


-CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";
--- a/opendbc/tesla_powertrain.dbc
+++ b/opendbc/tesla_powertrain.dbc
@@ -0,0 +1,179 @@
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_:
+	NEO
+	MCU
+	GTW
+	EPAS
+	DI
+	ESP
+	SBW
+	STW
+	APP
+	DAS
+	XXX
+
+BO_ 262 DI_torque1: 8 DI
+ SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm"  NEO
+ SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm"  NEO
+ SG_ DI_soptState : 29|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM"  NEO
+ SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%"  NEO
+ SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] ""  NEO
+
+BO_ 278 DI_torque2: 6 DI
+ SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO
+ SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO
+ SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO
+ SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO
+ SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO
+ SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO
+ SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO
+ SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO
+ SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO
+ SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO
+ SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO
+
+BO_ 504 BrakeMessage: 8 XXX
+ SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 568 STW_ACTN_RQ: 8 STW
+ SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO
+ SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO
+ SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO
+ SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO
+ SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO
+ SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO
+ SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO
+ SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO
+ SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO
+ SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO
+ SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO
+ SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO
+
+BO_ 598 DI_state: 8 DI
+ SG_ DI_systemState : 0|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_proximity : 6|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_state : 9|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed"  NEO
+ SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] ""  NEO
+ SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed"  NEO
+ SG_ DI_aebState : 41|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] ""  NEO
+ SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] ""  NEO
+
+BO_ 703 DAS_control: 8 GTW
+ SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" DI,PM,APS
+ SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" DI,PM,APS
+ SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" DI,PM,APS
+ SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" DI,PM,APS
+ SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" DI,PM,APS
+ SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS
+ SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS
+ SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" DI,PM,APS
+ SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" DI,PM,APS
+
+VAL_ 262 DI_torqueDriver -4096 "SNA" ;
+VAL_ 262 DI_torqueMotor -4096 "SNA" ;
+VAL_ 262 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ;
+VAL_ 262 DI_motorRPM -32768 "SNA" ;
+VAL_ 262 DI_pedalPos 255 "SNA" ;
+VAL_ 278 DI_torqueEstimate -2048 "SNA" ;
+VAL_ 278 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
+VAL_ 278 DI_brakePedal 1 "Applied" 0 "Not_applied" ;
+VAL_ 278 DI_vehicleSpeed 4095 "SNA" ;
+VAL_ 278 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
+VAL_ 278 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ;
+VAL_ 278 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 278 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ;
+VAL_ 278 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
+VAL_ 504 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ;
+VAL_ 568 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
+VAL_ 568 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
+VAL_ 568 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
+VAL_ 568 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
+VAL_ 568 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ;
+VAL_ 568 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ;
+VAL_ 568 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ;
+VAL_ 568 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ;
+VAL_ 568 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ;
+VAL_ 568 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
+VAL_ 568 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
+VAL_ 568 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
+VAL_ 568 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
+VAL_ 568 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;
+VAL_ 598 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
+VAL_ 598 DI_analogSpeed 4095 "SNA" ;
+VAL_ 598 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ;
+VAL_ 598 DI_digitalSpeed 255 "SNA" ;
+VAL_ 598 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ;
+VAL_ 598 DI_speedUnits 1 "KPH" 0 "MPH" ;
+VAL_ 598 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
+VAL_ 598 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
+VAL_ 598 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
+VAL_ 703 DAS_setSpeed 4095 "SNA" ;
+VAL_ 703 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ;
+VAL_ 703 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ;
+VAL_ 703 DAS_jerkMin 511 "SNA" ;
+VAL_ 703 DAS_jerkMax 255 "SNA" ;
+VAL_ 703 DAS_accelMin 511 "SNA" ;
+VAL_ 703 DAS_accelMax 511 "SNA" ;
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -380,7 +380,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_prius_alpha_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_alpha_2017_pt_generated.dbc
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU

 BO_ 835 ACC_CONTROL: 8 DSU
 SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
 SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
 SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
 SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX

 BO_ 1020 SOLAR_SENSOR: 8 XXX
 SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";


-CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";


 CM_ "Imported file _comma.dbc starts here";
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
@@ -33,7 +33,7 @@ NS_ :

 BS_:

-BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_Hybrid_MQB Getriebe_DQ_MQB LEH_MQB Motor_Diesel_MQB Motor_Hybrid_MQB Motor_Otto_MQB SAK_MQB Waehlhebel_MQB Vector__XXX 9 l c i XXX
+BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_Hybrid_MQB Getriebe_DQ_MQB LEH_MQB Motor_Diesel_MQB Motor_Hybrid_MQB Motor_Otto_MQB SAK_MQB Waehlhebel_MQB Vector__XXX l c i XXX


 BO_ 290 ACC_06: 8 Gateway_MQB
@@ -1253,8 +1253,17 @@ BO_ 780 ACC_02: 8 XXX
 SG_ ACC_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] ""  XXX

 BO_ 302 ACC_07: 8 XXX
- SG_ ACC_07_BZ : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ ACC_07_CRC : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  XXX
+ SG_ ACC_Distance_to_Stop : 12|11@1+ (0.01,0) [0|1] "m"  XXX
+ SG_ ACC_Hold_Request : 23|1@1+ (1,0) [0|1] "x"  XXX
+ SG_ ACC_Boost_Request : 24|1@1+ (1,0) [0|1] ""  XXX
+ SG_ ACC_Freewheel_Request : 25|1@1+ (1,0) [0|1] ""  XXX
+ SG_ ACC_Freewheel_Type : 26|2@1+ (1,0) [0|3] "enum"  XXX
+ SG_ ACC_Hold_Type : 28|3@1+ (1,0) [0|15] "enum"  XXX
+ SG_ ACC_Hold_Release : 31|1@1+ (1,0) [0|1] ""  XXX
+ SG_ ACC_Accel_Secondary : 32|8@1+ (0.03,-4.6) [-4.6|2.99] "m/s2"  XXX
+ SG_ ACC_Accel_TSK : 53|11@1+ (0.005,-7.22) [-7.22|3.005] "m/s2"  XXX

 BO_ 264 Fahrwerk_01: 8 XXX
 SG_ Fahrwerk_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
@@ -1360,18 +1369,24 @@ BO_ 391 EV_Gearshift: 8 XXX
 SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX

 CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included";
-CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature"
+CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature";
 CM_ SG_ 159 EPS_Lenkmoment "Steering input by driver, torque";
 CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction";
 CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees";
-CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction"
+CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction";
 CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
-CM_ SG_ 294 3 "May be zero when sent by older cameras";
-CM_ SG_ 294 7 "May be zero when sent by older cameras";
-CM_ SG_ 294 254 "May be zero when sent by older cameras";
+CM_ SG_ 294 SET_ME_0X3 "May be zero when sent by older cameras";
+CM_ SG_ 294 SET_ME_0X07 "May be zero when sent by older cameras";
+CM_ SG_ 294 SET_ME_0XFE "May be zero when sent by older cameras";
 CM_ SG_ 294 Assist_Torque "Heading control input, torque";
 CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)";
 CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
+CM_ SG_ 302 ACC_Hold_Request "Active request for ABS brake hold in ACC_Hold_Type";
+CM_ SG_ 302 ACC_Boost_Request "Hybrid engine start related";
+CM_ SG_ 302 ACC_Freewheel_Request "Active request for DSG sailing/coasting in ACC_Freewheel_Type";
+CM_ SG_ 302 ACC_Hold_Release "Request to ABS to release brake hold";
+CM_ SG_ 302 ACC_Accel_Secondary "Target acceleration of the secondary controller";
+CM_ SG_ 302 ACC_Accel_TSK "Mirror of request to TSK to implement a target acceleration";
 CM_ SG_ 870 Hazard_Switch "Four-way flashers active";
 CM_ SG_ 870 Comfort_Signal_Left "Comfort turn signal active, left";
 CM_ SG_ 870 Comfort_Signal_Right "Comfort turn signal active, right";
@@ -1397,6 +1412,9 @@ CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode
 CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on";
 VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
 VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T";
+VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault";
+VAL_ 302 ACC_Freewheel_Type 0 "freewheel_released" 1 "freewheel_not_permitted" 2 "freewheel_not_released" 3 "freewheel_requested" ;
+VAL_ 302 ACC_Hold_Type 0 "no_request" 1 "hold" 2 "park" 3 "hold_standby" 4 "startup" 5 "loosen_over_ramp" ;
 VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D";
 VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3";
 VAL_ 870 Fast_Send_Rate_Active 0 "1 Hz" 1 "50 Hz";
--- a/panda/init.py
+++ b/panda/init.py
@@ -1,8 +1,8 @@
 # flake8: noqa
 # pylint: skip-file
 from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, \
-                    BASEDIR, ensure_st_up_to_date, PandaSerial, \
-                    DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4
+                    BASEDIR, ensure_st_up_to_date, PandaSerial, pack_can_buffer, unpack_can_buffer, \
+                    DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC

 from .python.config import BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, \
                           BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, \
--- a/panda/board/SConscript
+++ b/panda/board/SConscript
@@ -23,10 +23,10 @@ if os.getenv("PEDAL"):
    ],
  }

-  if FindFile('dp_vw_panda', '/data/params/d') != None:
-    with open('/data/params/d/dp_vw_panda') as f:
-      if (int(f.read().strip())) == 1:
-        build_projects["pedal_usb"]["PROJECT_FLAGS"].append('-Dvw')
+#  if FindFile('dp_vw_panda', '/data/params/d') != None:
+#    with open('/data/params/d/dp_vw_panda') as f:
+#      if (int(f.read().strip())) == 1:
+#        build_projects["pedal_usb"]["PROJECT_FLAGS"].append('-Dvw')

  if os.getenv("PEDAL_USB"):
    build_projects["pedal_usb"] = build_projects.pop("pedal")
--- a/panda/board/can_definitions.h
+++ b/panda/board/can_definitions.h
@@ -0,0 +1,29 @@
+#include "dlc_to_len.h"
+
+#define CAN_PACKET_VERSION 2
+typedef struct {
+  unsigned char reserved : 1;
+  unsigned char bus : 3;
+  unsigned char data_len_code : 4;
+  unsigned char rejected : 1;
+  unsigned char returned : 1;
+  unsigned char extended : 1;
+  unsigned int addr : 29;
+  unsigned char data[CANPACKET_DATA_SIZE_MAX];
+} __attribute__((packed, aligned(4))) CANPacket_t;
+
+#define GET_BUS(msg) ((msg)->bus)
+#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])
+#define GET_ADDR(msg) ((msg)->addr)
+
+// Flasher and pedal use raw mailbox access
+#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
+#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
+
+#define CAN_INIT_TIMEOUT_MS 500U
+
+#define CANPACKET_HEAD_SIZE 5U
+
+#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFFU); 1[dst8] = (((src32) >> 8U) & 0xFFU); 2[dst8] = (((src32) >> 16U) & 0xFFU); 3[dst8] = (((src32) >> 24U) & 0xFFU)
+#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
--- a/panda/board/config.h
+++ b/panda/board/config.h
@@ -34,16 +34,6 @@

 #define MAX_RESP_LEN 0x40U

-#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
-#define GET_LEN(msg) ((msg)->RDTR & 0xF)
-#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
-#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
-#define GET_BYTES_04(msg) ((msg)->RDLR)
-#define GET_BYTES_48(msg) ((msg)->RDHR)
-#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
-
-#define CAN_INIT_TIMEOUT_MS 500U
-
 #include <stdbool.h>
 #ifdef STM32H7
  #include "stm32h7/stm32h7_config.h"
--- a/panda/board/dlc_to_len.h
+++ b/panda/board/dlc_to_len.h
@@ -0,0 +1 @@
+unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
--- a/panda/board/drivers/bxcan.h
+++ b/panda/board/drivers/bxcan.h
@@ -9,7 +9,7 @@ bool can_set_speed(uint8_t can_number) {
  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);

-  ret &= llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
+  ret &= llcan_set_speed(CAN, bus_config[bus_number].can_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
  return ret;
 }

@@ -17,7 +17,7 @@ bool can_set_speed(uint8_t can_number) {
 void can_set_gmlan(uint8_t bus) {
  if(current_board->has_hw_gmlan){
    // first, disable GMLAN on prev bus
-    uint8_t prev_bus = can_num_lookup[3];
+    uint8_t prev_bus = bus_config[3].can_num_lookup;
    if (bus != prev_bus) {
      switch (prev_bus) {
        case 1:
@@ -26,9 +26,9 @@ void can_set_gmlan(uint8_t bus) {
          puth(prev_bus + 1U);
          puts("\n");
          current_board->set_can_mode(CAN_MODE_NORMAL);
-          bus_lookup[prev_bus] = prev_bus;
-          can_num_lookup[prev_bus] = prev_bus;
-          can_num_lookup[3] = -1;
+          bus_config[prev_bus].bus_lookup = prev_bus;
+          bus_config[prev_bus].can_num_lookup = prev_bus;
+          bus_config[3].can_num_lookup = -1;
          bool ret = can_init(prev_bus);
          UNUSED(ret);
          break;
@@ -46,9 +46,9 @@ void can_set_gmlan(uint8_t bus) {
        puth(bus + 1U);
        puts("\n");
        current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
-        bus_lookup[bus] = 3;
-        can_num_lookup[bus] = -1;
-        can_num_lookup[3] = bus;
+        bus_config[bus].bus_lookup = 3;
+        bus_config[bus].can_num_lookup = -1;
+        bus_config[3].can_num_lookup = bus;
        bool ret = can_init(bus);
        UNUSED(ret);
        break;
@@ -101,18 +101,23 @@ void process_can(uint8_t can_number) {
    uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);

    // check for empty mailbox
-    CAN_FIFOMailBox_TypeDef to_send;
+    CANPacket_t to_send;
    if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
      // add successfully transmitted message to my fifo
      if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
        can_txd_cnt += 1;

        if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
-          CAN_FIFOMailBox_TypeDef to_push;
-          to_push.RIR = CAN->sTxMailBox[0].TIR;
-          to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
-          to_push.RDLR = CAN->sTxMailBox[0].TDLR;
-          to_push.RDHR = CAN->sTxMailBox[0].TDHR;
+          CANPacket_t to_push;
+          to_push.returned = 1U;
+          to_push.rejected = 0U;
+          to_push.extended = (CAN->sTxMailBox[0].TIR >> 2) & 0x1U;
+          to_push.addr = (to_push.extended != 0U) ? (CAN->sTxMailBox[0].TIR >> 3) : (CAN->sTxMailBox[0].TIR >> 21);
+          to_push.data_len_code = CAN->sTxMailBox[0].TDTR & 0xFU;
+          to_push.bus = bus_number;
+          WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sTxMailBox[0].TDLR);
+          WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sTxMailBox[0].TDHR);
+
          can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
        }

@@ -136,10 +141,12 @@ void process_can(uint8_t can_number) {
      if (can_pop(can_queues[bus_number], &to_send)) {
        can_tx_cnt += 1;
        // only send if we have received a packet
-        CAN->sTxMailBox[0].TDLR = to_send.RDLR;
-        CAN->sTxMailBox[0].TDHR = to_send.RDHR;
-        CAN->sTxMailBox[0].TDTR = to_send.RDTR;
-        CAN->sTxMailBox[0].TIR = to_send.RIR;
+        CAN->sTxMailBox[0].TIR = ((to_send.extended != 0U) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
+        CAN->sTxMailBox[0].TDTR = to_send.data_len_code;
+        BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDLR, &to_send.data[0]);
+        BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDHR, &to_send.data[4]);
+        // Send request TXRQ
+        CAN->sTxMailBox[0].TIR |= 0x1U;

        usb_cb_ep3_out_complete();
      }
@@ -161,23 +168,29 @@ void can_rx(uint8_t can_number) {
    pending_can_live = 1;

    // add to my fifo
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RIR = CAN->sFIFOMailBox[0].RIR;
-    to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
-    to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
-    to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
+    CANPacket_t to_push;

-    // modify RDTR for our API
-    to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
+    to_push.returned = 0U;
+    to_push.rejected = 0U;
+    to_push.extended = (CAN->sFIFOMailBox[0].RIR >> 2) & 0x1U;
+    to_push.addr = (to_push.extended != 0U) ? (CAN->sFIFOMailBox[0].RIR >> 3) : (CAN->sFIFOMailBox[0].RIR >> 21);
+    to_push.data_len_code = CAN->sFIFOMailBox[0].RDTR & 0xFU;
+    to_push.bus = bus_number;
+    WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sFIFOMailBox[0].RDLR);
+    WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sFIFOMailBox[0].RDHR);

    // forwarding (panda only)
-    int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+    int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
    if (bus_fwd_num != -1) {
-      CAN_FIFOMailBox_TypeDef to_send;
-      to_send.RIR = to_push.RIR | 1; // TXRQ
-      to_send.RDTR = to_push.RDTR;
-      to_send.RDLR = to_push.RDLR;
-      to_send.RDHR = to_push.RDHR;
+      CANPacket_t to_send;
+
+      to_send.returned = 0U;
+      to_send.rejected = 0U;
+      to_send.extended = to_push.extended; // TXRQ
+      to_send.addr = to_push.addr;
+      to_send.bus = to_push.bus;
+      to_send.data_len_code = to_push.data_len_code;
+      (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
      can_send(&to_send, bus_fwd_num, true);
    }

--- a/panda/board/drivers/can_common.h
+++ b/panda/board/drivers/can_common.h
@@ -2,11 +2,19 @@ typedef struct {
  volatile uint32_t w_ptr;
  volatile uint32_t r_ptr;
  uint32_t fifo_size;
-  CAN_FIFOMailBox_TypeDef *elems;
+  CANPacket_t *elems;
 } can_ring;

-#define CAN_BUS_RET_FLAG 0x80U
-#define CAN_BUS_NUM_MASK 0x7FU
+typedef struct {
+  uint8_t bus_lookup;
+  uint8_t can_num_lookup;
+  uint32_t can_speed;
+  uint32_t can_data_speed;
+  bool canfd_enabled;
+  bool brs_enabled;
+} bus_config_t;
+
+#define CAN_BUS_NUM_MASK 0x3FU

 #define BUS_MAX 4U

@@ -21,8 +29,6 @@ extern int pending_can_live;
 // must reinit after changing these
 extern int can_loopback;
 extern int can_silent;
-extern uint32_t can_speed[4];
-extern uint32_t can_data_speed[3];

 // Ignition detected from CAN meessages
 bool ignition_can = false;
@@ -43,14 +49,19 @@ void process_can(uint8_t can_number);

 // ********************* instantiate queues *********************
 #define can_buffer(x, size) \
-  CAN_FIFOMailBox_TypeDef elems_##x[size]; \
-  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) };
+  CANPacket_t elems_##x[size]; \
+  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };

+#ifdef STM32H7
+__attribute__((section(".ram_d1"))) can_buffer(rx_q, 0x1000)
+__attribute__((section(".ram_d1"))) can_buffer(txgmlan_q, 0x1A0)
+#else
 can_buffer(rx_q, 0x1000)
-can_buffer(tx1_q, 0x100)
-can_buffer(tx2_q, 0x100)
-can_buffer(tx3_q, 0x100)
-can_buffer(txgmlan_q, 0x100)
+can_buffer(txgmlan_q, 0x1A0)
+#endif
+can_buffer(tx1_q, 0x1A0)
+can_buffer(tx2_q, 0x1A0)
+can_buffer(tx3_q, 0x1A0)
 // FIXME:
 // cppcheck-suppress misra-c2012-9.3
 can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
@@ -63,7 +74,7 @@ int can_err_cnt = 0;
 int can_overflow_cnt = 0;

 // ********************* interrupt safe queue *********************
-bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+bool can_pop(can_ring *q, CANPacket_t *elem) {
  bool ret = 0;

  ENTER_CRITICAL();
@@ -81,7 +92,7 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
  return ret;
 }

-bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+bool can_push(can_ring *q, CANPacket_t *elem) {
  bool ret = false;
  uint32_t next_w_ptr;

@@ -150,20 +161,21 @@ void can_clear(can_ring *q) {
 // can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
 // bus_lookup: Translates from 'can number' to 'bus number'.
 // can_num_lookup: Translates from 'bus number' to 'can number'.
-// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.

 // Helpers
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
-uint8_t bus_lookup[] = {0,1,2};
-uint8_t can_num_lookup[] = {0,1,2,-1};
-int8_t can_forwarding[] = {-1,-1,-1,-1};
-uint32_t can_speed[] = {5000, 5000, 5000, 333};
-uint32_t can_data_speed[] = {5000, 5000, 5000}; //For CAN FD with BRS only
+bus_config_t bus_config[] = {
+  { .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
+  { .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
+  { .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
+  { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false },
+};
+
 #define CAN_MAX 3U

 #define CANIF_FROM_CAN_NUM(num) (cans[num])
-#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
-#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
+#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
+#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)

 void can_init_all(void) {
  bool ret = true;
@@ -175,13 +187,13 @@ void can_init_all(void) {
 }

 void can_flip_buses(uint8_t bus1, uint8_t bus2){
-  bus_lookup[bus1] = bus2;
-  bus_lookup[bus2] = bus1;
-  can_num_lookup[bus1] = bus2;
-  can_num_lookup[bus2] = bus1;
+  bus_config[bus1].bus_lookup = bus2;
+  bus_config[bus2].bus_lookup = bus1;
+  bus_config[bus1].can_num_lookup = bus2;
+  bus_config[bus2].can_num_lookup = bus1;
 }

-void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+void ignition_can_hook(CANPacket_t *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);
  int len = GET_LEN(to_push);
@@ -189,23 +201,30 @@ void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  ignition_can_cnt = 0U;  // reset counter

  if (bus == 0) {
+    // GM exception
    // TODO: verify on all supported GM models that we can reliably detect ignition using only this signal,
    // since the 0x1F1 signal can briefly go low immediately after ignition
    if ((addr == 0x160) && (len == 5)) {
      // this message isn't all zeros when ignition is on
-      ignition_cadillac = GET_BYTES_04(to_push) != 0;
+      ignition_cadillac = GET_BYTES_04(to_push) != 0U;
    }
-    // GM exception
    if ((addr == 0x1F1) && (len == 8)) {
      // Bit 5 is ignition "on"
-      bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
+      bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20U) != 0U);
      ignition_can = ignition_gm || ignition_cadillac;
    }
+
    // Tesla exception
    if ((addr == 0x348) && (len == 8)) {
      // GTW_status
-      ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
+      ignition_can = (GET_BYTE(to_push, 0) & 0x1U) != 0U;
    }
+
+    // Mazda exception
+    if ((addr == 0x9E) && (len == 8)) {
+      ignition_can = (GET_BYTE(to_push, 0) >> 4) == 0xDU;
+    }
+
  }
 }

@@ -217,22 +236,19 @@ bool can_tx_check_min_slots_free(uint32_t min) {
    (can_slots_empty(&can_txgmlan_q) >= min);
 }

-void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
+void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
  if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
    if (bus_number < BUS_MAX) {
      // add CAN packet to send queue
-      // bus number isn't passed through
-      to_push->RDTR &= 0xF;
-      if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
+      if ((bus_number == 3U) && (bus_config[3].can_num_lookup == 0xFFU)) {
        gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
      } else {
        can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
        process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
      }
    }
+  } else {
+    to_push->rejected = 1U;
+    can_send_errs += can_push(&can_rx_q, to_push) ? 0U : 1U;
  }
 }
-
-void can_set_forwarding(int from, int to) {
-  can_forwarding[from] = to;
-}
--- a/panda/board/drivers/fdcan.h
+++ b/panda/board/drivers/fdcan.h
@@ -5,6 +5,11 @@
 #define BUS_OFF_FAIL_LIMIT 2U
 uint8_t bus_off_err[] = {0U, 0U, 0U};

+typedef struct {
+  volatile uint32_t header[2];
+  volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
+} canfd_fifo;
+
 FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};

 bool can_set_speed(uint8_t can_number) {
@@ -12,7 +17,7 @@ bool can_set_speed(uint8_t can_number) {
  FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);

-  ret &= llcan_set_speed(CANx, can_speed[bus_number], can_data_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
+  ret &= llcan_set_speed(CANx, bus_config[bus_number].can_speed, bus_config[bus_number].can_data_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
  return ret;
 }

@@ -42,36 +47,41 @@ void process_can(uint8_t can_number) {

    FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
    uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-    
+
    CANx->IR |= FDCAN_IR_TFE; // Clear Tx FIFO Empty flag

    if ((CANx->TXFQS & FDCAN_TXFQS_TFQF) == 0) {
-      CAN_FIFOMailBox_TypeDef to_send;
+      CANPacket_t to_send;
      if (can_pop(can_queues[bus_number], &to_send)) {
        can_tx_cnt += 1;
        uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
        uint8_t tx_index = (CANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
        // only send if we have received a packet
-        CAN_FIFOMailBox_TypeDef *fifo;
-        fifo = (CAN_FIFOMailBox_TypeDef *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
+        canfd_fifo *fifo;
+        fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));

-        // Convert from "mailbox type"
-        fifo->RIR = ((to_send.RIR & 0x6) << 28) | (to_send.RIR >> 3);  // identifier format and frame type | identifier
-        //REDEBUG: enable CAN FD and BRS for test purposes
-        //fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16) | (1U << 21) | (1U << 20); // DLC (length) | timestamp | enable CAN FD | enable BRS
-        fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16); // DLC (length) | timestamp
-        fifo->RDLR = to_send.RDLR;
-        fifo->RDHR = to_send.RDHR;
-        
-        CANx->TXBAR = (1UL << tx_index); 
+        fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18));
+        fifo->header[1] = (to_send.data_len_code << 16) | (bus_config[can_number].canfd_enabled << 21) | (bus_config[can_number].brs_enabled << 20);
+
+        uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U);
+        data_len_w += ((dlc_to_len[to_send.data_len_code] % 4U) > 0U) ? 1U : 0U;
+        for (unsigned int i = 0; i < data_len_w; i++) {
+          BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4U]);
+        }
+
+        CANx->TXBAR = (1UL << tx_index);

        // Send back to USB
        can_txd_cnt += 1;
-        CAN_FIFOMailBox_TypeDef to_push;
-        to_push.RIR = to_send.RIR;
-        to_push.RDTR = (to_send.RDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
-        to_push.RDLR = to_send.RDLR;
-        to_push.RDHR = to_send.RDHR;
+        CANPacket_t to_push;
+
+        to_push.returned = 1U;
+        to_push.rejected = 0U;
+        to_push.extended = to_send.extended;
+        to_push.addr = to_send.addr;
+        to_push.bus = to_send.bus;
+        to_push.data_len_code = to_send.data_len_code;
+        (void)memcpy(to_push.data, to_send.data, dlc_to_len[to_push.data_len_code]);
        can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;

        usb_cb_ep3_out_complete();
@@ -123,29 +133,37 @@ void can_rx(uint8_t can_number) {
      rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);

      uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
-      CAN_FIFOMailBox_TypeDef to_push;
-      CAN_FIFOMailBox_TypeDef *fifo;
+      CANPacket_t to_push;
+      canfd_fifo *fifo;

      // getting address
-      fifo = (CAN_FIFOMailBox_TypeDef *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
+      fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));

-      // Need to convert real CAN frame format to mailbox "type"
-      to_push.RIR = ((fifo->RIR >> 28) & 0x6) | (fifo->RIR << 3); // identifier format and frame type | identifier
-      to_push.RDTR = ((fifo->RDTR >> 16) & 0xF) | (fifo->RDTR << 16); // DLC (length) | timestamp
-      to_push.RDLR = fifo->RDLR;
-      to_push.RDHR = fifo->RDHR;
+      to_push.returned = 0U;
+      to_push.rejected = 0U;
+      to_push.extended = (fifo->header[0] >> 30) & 0x1U;
+      to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
+      to_push.bus = bus_number;
+      to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);

-      // modify RDTR for our API
-      to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
+      uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
+      data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
+      for (unsigned int i = 0; i < data_len_w; i++) {
+        WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]);
+      }

      // forwarding (panda only)
-      int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+      int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
      if (bus_fwd_num != -1) {
-        CAN_FIFOMailBox_TypeDef to_send;
-        to_send.RIR = to_push.RIR;
-        to_send.RDTR = to_push.RDTR;
-        to_send.RDLR = to_push.RDLR;
-        to_send.RDHR = to_push.RDHR;
+        CANPacket_t to_send;
+
+        to_send.returned = 0U;
+        to_send.rejected = 0U;
+        to_send.extended = to_push.extended;
+        to_send.addr = to_push.addr;
+        to_send.bus = to_push.bus;
+        to_send.data_len_code = to_push.data_len_code;
+        (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
        can_send(&to_send, bus_fwd_num, true);
      }

@@ -155,7 +173,7 @@ void can_rx(uint8_t can_number) {
      current_board->set_led(LED_BLUE, true);
      can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;

-      // update read index 
+      // update read index
      CANx->RXF0A = rx_fifo_idx;
    }

@@ -165,10 +183,9 @@ void can_rx(uint8_t can_number) {
    #endif
    CANx->IR |= (FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_EW | FDCAN_IR_MRAF | FDCAN_IR_TOO); // Clean all error flags
    can_err_cnt += 1;
-  } else { 
-    
+  } else {
+
  }
-  
 }

 void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }
--- a/panda/board/drivers/gmlan_alt.h
+++ b/panda/board/drivers/gmlan_alt.h
@@ -75,7 +75,7 @@ int append_int(char *in, int in_len, int val, int val_len) {
  return in_len_copy;
 }

-int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
+int get_bit_message(char *out, CANPacket_t *to_bang) {
  char pkt[MAX_BITS_CAN_PACKET];
  char footer[] = {
    1,  // CRC delimiter
@@ -88,18 +88,18 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
  int len = 0;

  // test packet
-  int dlc_len = to_bang->RDTR & 0xF;
+  int dlc_len = GET_LEN(to_bang);
  len = append_int(pkt, len, 0, 1);    // Start-of-frame

-  if ((to_bang->RIR & 4) != 0) {
+  if (to_bang->extended != 0U) {
    // extended identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, GET_ADDR(to_bang) >> 18, 11);  // Identifier
    len = append_int(pkt, len, 3, 2);    // SRR+IDE
-    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1U << 18) - 1U), 18);  // Identifier
+    len = append_int(pkt, len, (GET_ADDR(to_bang)) & ((1U << 18) - 1U), 18);  // Identifier
    len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
  } else {
    // standard identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, GET_ADDR(to_bang), 11);  // Identifier
    len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
  }

@@ -107,8 +107,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {

  // append data
  for (int i = 0; i < dlc_len; i++) {
-    unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
-    len = append_int(pkt, len, dat, 8);
+    len = append_int(pkt, len, to_bang->data[i], 8);
  }

  // append crc
@@ -269,7 +268,7 @@ void TIM12_IRQ_Handler(void) {
  TIM12->SR = 0;
 }

-bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+bool bitbang_gmlan(CANPacket_t *to_bang) {
  gmlan_send_ok = true;
  gmlan_alt_mode = BITBANG;

--- a/panda/board/drivers/usb.h
+++ b/panda/board/drivers/usb.h
@@ -23,7 +23,8 @@ typedef union _USB_Setup {
 }
 USB_Setup_TypeDef;

-#define MAX_CAN_MSGS_PER_BULK_TRANSFER 4U
+#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
+#define MAX_EP1_CHUNK_PER_BULK_TRANSFER 16256 // max data stream chunk in bytes, shouldn't be higher than 16320 or counter will overflow

 bool usb_eopf_detected = false;

@@ -493,7 +494,7 @@ void usb_setup(void) {
                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
      USBx_OUTEP(2)->DOEPINT = 0xFF;

-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+      USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
      USBx_OUTEP(3)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
      USBx_OUTEP(3)->DOEPINT = 0xFF;
@@ -934,7 +935,7 @@ void usb_irqhandler(void) {
 void usb_outep3_resume_if_paused(void) {
  ENTER_CRITICAL();
  if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
-    USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+    USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
    USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
  }
  EXIT_CRITICAL();
--- a/panda/board/early_init.h
+++ b/panda/board/early_init.h
@@ -38,9 +38,9 @@ void early_initialization(void) {

  // if wrong chip, reboot
  volatile unsigned int id = DBGMCU->IDCODE;
-    if ((id & 0xFFFU) != MCU_IDCODE) {
-      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-    }
+  if ((id & 0xFFFU) != MCU_IDCODE) {
+    enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+  }

  // setup interrupt table
  SCB->VTOR = (uint32_t)&g_pfnVectors;
--- a/panda/board/flasher.h
+++ b/panda/board/flasher.h
@@ -183,7 +183,7 @@ void CAN1_RX0_IRQ_Handler(void) {
    if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
      uint8_t dat[8];
      for (int i = 0; i < 8; i++) {
-        dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
+        dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
      }
      uint8_t odat[8];
      uint8_t type = dat[0] & 0xF0;
--- a/panda/board/get_sdk.sh
+++ b/panda/board/get_sdk.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
-sudo apt-get install gcc-arm-none-eabi python-pip
+sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip
 sudo pip install libusb1 pycryptodome requests
--- a/panda/board/get_sdk_mac.sh
+++ b/panda/board/get_sdk_mac.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 # Need formula for gcc
 sudo easy_install pip
-/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
+/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
 brew tap ArmMbed/homebrew-formulae
 brew install python dfu-util arm-none-eabi-gcc
 pip install --user libusb1 pycryptodome requests
--- a/panda/board/libc.h
+++ b/panda/board/libc.h
@@ -14,13 +14,36 @@ void *memset(void *str, int c, unsigned int n) {
  return str;
 }

-void *memcpy(void *dest, const void *src, unsigned int n) {
-  uint8_t *d = dest;
-  const uint8_t *s = src;
-  for (unsigned int i = 0; i < n; i++) {
-    *d = *s;
-    d++;
-    s++;
+#define UNALIGNED(X, Y) \
+  (((uint32_t)(X) & (sizeof(uint32_t) - 1U)) | ((uint32_t)(Y) & (sizeof(uint32_t) - 1U)))
+
+void *memcpy(void *dest, const void *src, unsigned int len) {
+  unsigned int n = len;
+  uint8_t *d8 = dest;
+  const uint8_t *s8 = src;
+
+  if ((n >= 4U) && !UNALIGNED(s8, d8)) {
+    uint32_t *d32 = (uint32_t *)d8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
+    const uint32_t *s32 = (const uint32_t *)s8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
+
+    while(n >= 16U) {
+      *d32 = *s32; d32++; s32++;
+      *d32 = *s32; d32++; s32++;
+      *d32 = *s32; d32++; s32++;
+      *d32 = *s32; d32++; s32++;
+      n -= 16U;
+    }
+
+    while(n >= 4U) {
+      *d32 = *s32; d32++; s32++;
+      n -= 4U;
+    }
+
+    d8 = (uint8_t *)d32;
+    s8 = (const uint8_t *)s32;
+  }
+  while (n-- > 0U) {
+    *d8 = *s8; d8++; s8++;
  }
  return dest;
 }
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -20,11 +20,14 @@
  #include "drivers/bxcan.h"
 #endif

+#include "usb_protocol.h"
+
 #include "obj/gitversion.h"

 extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used

 // When changing this struct, boardd and python/__init__.py needs to be kept up to date!
+#define HEALTH_PACKET_VERSION 1
 struct __attribute__((packed)) health_t {
  uint32_t uptime_pkt;
  uint32_t voltage_pkt;
@@ -109,24 +112,10 @@ void set_safety_mode(uint16_t mode, int16_t param) {
  switch (mode_copy) {
    case SAFETY_SILENT:
      set_intercept_relay(false);
-      #ifdef vw
-      // Volkswagen community port:
-      // J533 integrations with White/Grey Panda really need Panda to respond
-      // at all times. Let the CAN transceivers ACK traffic unless this is
-      // BP/Uno where the physical relay makes it irrelevant. This makes
-      // SILENT identical to NOOUTPUT for White/Grey Panda.
-      if (current_board->has_obd) {
-        current_board->set_can_mode(CAN_MODE_NORMAL);
-        can_silent = ALL_CAN_SILENT;
-      } else {
-        can_silent = ALL_CAN_LIVE;
-      }
-      #else
      if (current_board->has_obd) {
        current_board->set_can_mode(CAN_MODE_NORMAL);
      }
      can_silent = ALL_CAN_SILENT;
-      #endif
      break;
    case SAFETY_NOOUTPUT:
      set_intercept_relay(false);
@@ -206,15 +195,7 @@ int get_rtc_pkt(void *dat) {
  return sizeof(t);
 }

-int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
-  UNUSED(hardwired);
-  CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
-  int ilen = 0;
-  while (ilen < MIN(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) {
-    ilen++;
-  }
-  return ilen*0x10;
-}
+

 // send on serial, first byte to select the ring
 void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
@@ -232,23 +213,6 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
  }
 }

-// send on CAN
-void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
-  UNUSED(hardwired);
-  int dpkt = 0;
-  uint32_t *d32 = (uint32_t *)usbdata;
-  for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RDHR = d32[dpkt + 3];
-    to_push.RDLR = d32[dpkt + 2];
-    to_push.RDTR = d32[dpkt + 1];
-    to_push.RIR = d32[dpkt];
-
-    uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
-    can_send(&to_push, bus_number, false);
-  }
-}
-
 void usb_cb_ep3_out_complete(void) {
  if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
    usb_outep3_resume_if_paused();
@@ -468,24 +432,17 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
        set_safety_mode(setup->b.wValue.w, (uint16_t) setup->b.wIndex.w);
      }
      break;
-    // **** 0xdd: enable can forwarding
+    // **** 0xdd: get healthpacket and CANPacket versions
    case 0xdd:
-      // wValue = Can Bus Num to forward from
-      // wIndex = Can Bus Num to forward to
-      if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
-          (setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
-        can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
-      } else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFFU)){ //Clear Forwarding
-        can_set_forwarding(setup->b.wValue.w, -1);
-      } else {
-        puts("Invalid CAN bus forwarding\n");
-      }
+      resp[0] = HEALTH_PACKET_VERSION;
+      resp[1] = CAN_PACKET_VERSION;
+      resp_len = 2;
      break;
    // **** 0xde: set can bitrate
    case 0xde:
      if (setup->b.wValue.w < BUS_MAX) {
        // TODO: add sanity check, ideally check if value is correct(from array of correct values)
-        can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
+        bus_config[setup->b.wValue.w].can_speed = setup->b.wIndex.w;
        bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
        UNUSED(ret);
      }
@@ -642,11 +599,21 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
    case 0xf9:
      if (setup->b.wValue.w < CAN_MAX) {
        // TODO: add sanity check, ideally check if value is correct(from array of correct values)
-        can_data_speed[setup->b.wValue.w] = setup->b.wIndex.w;
+        bus_config[setup->b.wValue.w].can_data_speed = setup->b.wIndex.w;
+        bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed) ? true : false;
+        bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed) ? true : false;
        bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
        UNUSED(ret);
      }
      break;
+    // **** 0xfa: check if CAN FD and BRS are enabled
+    case 0xfa:
+      if (setup->b.wValue.w < CAN_MAX) {
+        resp[0] =  bus_config[setup->b.wValue.w].canfd_enabled;
+        resp[1] = bus_config[setup->b.wValue.w].brs_enabled;
+        resp_len = 2;
+      }
+      break;
    default:
      puts("NO HANDLER ");
      puth(setup->b.bRequest);
--- a/panda/board/pedal/README
+++ b/panda/board/pedal/README
@@ -1,8 +1,8 @@
-This is the firmware for the comma pedal. It borrows a lot from panda.
+# pedal

-The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
+This is the firmware for the comma pedal.

-This is the open source software. Note that it is not ready to use yet.
+The comma pedal is a gas pedal interceptor for Honda/Acura and Toyota/Lexus. It allows you to "virtually" press the pedal and borrows a lot from panda.

 == Test Plan ==

--- a/panda/board/pedal/main.c
+++ b/panda/board/pedal/main.c
@@ -132,11 +132,11 @@ void CAN1_RX0_IRQ_Handler(void) {
    int address = CAN->sFIFOMailBox[0].RIR >> 21;
    if (address == CAN_GAS_INPUT) {
      // softloader entry
-      if (GET_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
-        if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
+      if (GET_MAILBOX_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
+        if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
          NVIC_SystemReset();
-        } else if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
+        } else if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
          enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
          NVIC_SystemReset();
        } else {
@@ -147,7 +147,7 @@ void CAN1_RX0_IRQ_Handler(void) {
      // normal packet
      uint8_t dat[8];
      for (int i=0; i<8; i++) {
-        dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
+        dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
      }
      uint16_t value_0 = (dat[0] << 8) | dat[1];
      uint16_t value_1 = (dat[2] << 8) | dat[3];
--- a/panda/board/power_saving.h
+++ b/panda/board/power_saving.h
@@ -28,14 +28,7 @@ void set_power_save_state(int state) {
      enable = true;
    }

-    #ifdef vw
-    // Volkswagen community port:
-    // If this is a White or Grey Panda, always keep the CAN transceivers
-    // powered up so that transparent forwarding is maintained.
-    current_board->enable_can_transceivers(current_board->has_obd ? enable : true);
-    #else
    current_board->enable_can_transceivers(enable);
-    #endif

    // Switch EPS/GPS
    if (enable) {
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -5,7 +5,6 @@
 #include "safety/safety_honda.h"
 #include "safety/safety_toyota.h"
 #include "safety/safety_tesla.h"
-#include "safety/safety_gm_ascm.h"
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_hyundai.h"
@@ -34,31 +33,32 @@
 #define SAFETY_ALLOUTPUT 17U
 #define SAFETY_GM_ASCM 18U
 #define SAFETY_NOOUTPUT 19U
-#define SAFETY_HONDA_BOSCH_HARNESS 20U
+#define SAFETY_HONDA_BOSCH 20U
 #define SAFETY_VOLKSWAGEN_PQ 21U
 #define SAFETY_SUBARU_LEGACY 22U
 #define SAFETY_HYUNDAI_LEGACY 23U
 #define SAFETY_HYUNDAI_COMMUNITY 24U
+#define SAFETY_STELLANTIS 25U

 uint16_t current_safety_mode = SAFETY_SILENT;
 int16_t current_safety_param = 0;
 const safety_hooks *current_hooks = &nooutput_hooks;
 const addr_checks *current_rx_checks = &default_rx_checks;

-int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+int safety_rx_hook(CANPacket_t *to_push) {
  return current_hooks->rx(to_push);
 }

-int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-  return current_hooks->tx(to_send);
+int safety_tx_hook(CANPacket_t *to_send) {
+  return (relay_malfunction ? -1 : current_hooks->tx(to_send));
 }

 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len) {
  return current_hooks->tx_lin(lin_num, data, len);
 }

-int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return current_hooks->fwd(bus_num, to_fwd);
+int safety_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
+  return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, to_fwd));
 }

 // Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
@@ -76,7 +76,7 @@ void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
  }
 }

-bool msg_allowed(CAN_FIFOMailBox_TypeDef *to_send, const CanMsg msg_list[], int len) {
+bool msg_allowed(CANPacket_t *to_send, const CanMsg msg_list[], int len) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);
  int length = GET_LEN(to_send);
@@ -97,7 +97,7 @@ uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
  return ts - ts_last;
 }

-int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len) {
+int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], const int len) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);
  int length = GET_LEN(to_push);
@@ -171,11 +171,11 @@ void update_addr_timestamp(AddrCheckStruct addr_list[], int index) {
  }
 }

-bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
+bool addr_safety_check(CANPacket_t *to_push,
                       const addr_checks *rx_checks,
-                       uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
-                       uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
-                       uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push)) {
+                       uint8_t (*get_checksum)(CANPacket_t *to_push),
+                       uint8_t (*compute_checksum)(CANPacket_t *to_push),
+                       uint8_t (*get_counter)(CANPacket_t *to_push)) {

  int index = get_addr_check_index(to_push, rx_checks->check, rx_checks->len);
  update_addr_timestamp(rx_checks->check, index);
@@ -241,8 +241,7 @@ const safety_hook_config safety_hook_registry[] = {
  {SAFETY_TOYOTA, &toyota_hooks},
  {SAFETY_ELM327, &elm327_hooks},
  {SAFETY_GM, &gm_hooks},
-  {SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_giraffe_hooks},
-  {SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
+  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
  {SAFETY_HYUNDAI, &hyundai_hooks},
  {SAFETY_CHRYSLER, &chrysler_hooks},
  {SAFETY_SUBARU, &subaru_hooks},
@@ -250,13 +249,12 @@ const safety_hook_config safety_hook_registry[] = {
  {SAFETY_NISSAN, &nissan_hooks},
  {SAFETY_NOOUTPUT, &nooutput_hooks},
  {SAFETY_HYUNDAI_LEGACY, &hyundai_legacy_hooks},
+  {SAFETY_MAZDA, &mazda_hooks},
 #ifdef ALLOW_DEBUG
  {SAFETY_TESLA, &tesla_hooks},
-  {SAFETY_MAZDA, &mazda_hooks},
  {SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
  {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
  {SAFETY_ALLOUTPUT, &alloutput_hooks},
-  {SAFETY_GM_ASCM, &gm_ascm_hooks},
  {SAFETY_FORD, &ford_hooks},
 #endif
 };
@@ -274,6 +272,7 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
  cruise_engaged_prev = false;
  vehicle_speed = 0;
  vehicle_moving = false;
+  acc_main_on = false;
  desired_torque_last = 0;
  rt_torque_last = 0;
  ts_angle_last = 0;
--- a/panda/board/safety/safety_chrysler.h
+++ b/panda/board/safety/safety_chrysler.h
@@ -18,12 +18,12 @@ AddrCheckStruct chrysler_addr_checks[] = {
 #define CHRYSLER_ADDR_CHECK_LEN (sizeof(chrysler_addr_checks) / sizeof(chrysler_addr_checks[0]))
 addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};

-static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
-  int checksum_byte = GET_LEN(to_push) - 1;
+static uint8_t chrysler_get_checksum(CANPacket_t *to_push) {
+  int checksum_byte = GET_LEN(to_push) - 1U;
  return (uint8_t)(GET_BYTE(to_push, checksum_byte));
 }

-static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t chrysler_compute_checksum(CANPacket_t *to_push) {
  /* This function does not want the checksum byte in the input data.
  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
  uint8_t checksum = 0xFFU;
@@ -56,18 +56,18 @@ static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
  return ~checksum;
 }

-static uint8_t chrysler_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t chrysler_get_counter(CANPacket_t *to_push) {
  // Well defined counter only for 8 bytes messages
  return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
 }

-static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int chrysler_rx_hook(CANPacket_t *to_push) {

  bool valid = addr_safety_check(to_push, &chrysler_rx_checks,
                                 chrysler_get_checksum, chrysler_compute_checksum,
                                 chrysler_get_counter);

-  if (valid && (GET_BUS(to_push) == 0)) {
+  if (valid && (GET_BUS(to_push) == 0U)) {
    int addr = GET_ADDR(to_push);

    // Measured eps torque
@@ -80,7 +80,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

    // enter controls on rising edge of ACC, exit controls on ACC off
    if (addr == 500) {
-      int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
+      int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38U) >> 3) == 7U;
      if (cruise_engaged && !cruise_engaged_prev) {
        controls_allowed = 1;
      }
@@ -100,12 +100,12 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

    // exit controls on rising edge of gas press
    if (addr == 308) {
-      gas_pressed = ((GET_BYTE(to_push, 5) & 0x7F) != 0) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
+      gas_pressed = ((GET_BYTE(to_push, 5) & 0x7FU) != 0U) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
    }

    // exit controls on rising edge of brake press
    if (addr == 320) {
-      brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
+      brake_pressed = (GET_BYTE(to_push, 0) & 0x7U) == 5U;
      if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
        controls_allowed = 0;
      }
@@ -117,7 +117,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  return valid;
 }

-static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int chrysler_tx_hook(CANPacket_t *to_send) {

  int tx = 1;
  int addr = GET_ADDR(to_send);
@@ -126,10 +126,6 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
    tx = 0;
  }

-  if (relay_malfunction) {
-    tx = 0;
-  }
-
  // LKA STEER
  if (addr == 0x292) {
    int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1) - 1024U;
@@ -178,7 +174,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

  // FORCE CANCEL: only the cancel button press is allowed
  if (addr == 571) {
-    if ((GET_BYTE(to_send, 0) != 1) || ((GET_BYTE(to_send, 1) & 1) == 1)) {
+    if ((GET_BYTE(to_send, 0) != 1U) || ((GET_BYTE(to_send, 1) & 1U) == 1U)) {
      tx = 0;
    }
  }
@@ -186,21 +182,21 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return tx;
 }

-static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int chrysler_fwd_hook(int bus_num, CANPacket_t *to_fwd) {

  int bus_fwd = -1;
  int addr = GET_ADDR(to_fwd);

-  if (!relay_malfunction) {
-    // forward CAN 0 -> 2 so stock LKAS camera sees messages
-    if (bus_num == 0) {
-      bus_fwd = 2;
-    }
-    // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
-    if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
-      bus_fwd = 0;
-    }
+  // forward CAN 0 -> 2 so stock LKAS camera sees messages
+  if (bus_num == 0) {
+    bus_fwd = 2;
  }
+
+  // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
+  if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
+    bus_fwd = 0;
+  }
+
  return bus_fwd;
 }

--- a/panda/board/safety/safety_defaults.h
+++ b/panda/board/safety/safety_defaults.h
@@ -3,7 +3,7 @@ const addr_checks default_rx_checks = {
  .len = 0,
 };

-int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+int default_rx_hook(CANPacket_t *to_push) {
  UNUSED(to_push);
  return true;
 }
@@ -17,7 +17,7 @@ static const addr_checks* nooutput_init(int16_t param) {
  return &default_rx_checks;
 }

-static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int nooutput_tx_hook(CANPacket_t *to_send) {
  UNUSED(to_send);
  return false;
 }
@@ -29,33 +29,10 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
  return false;
 }

-static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  UNUSED(to_fwd);
-  #ifdef vw
-  // Volkswagen community port: Advanced Virtual Relay Technology!
-  // Make Panda fully transparent from bus 0->2 and bus 2->0 if not otherwise
-  // instructed by EON/OP, returning the car to stock behavior under NOOUTPUT.
-  // Don't do this for BP/C2, where we have Advanced Actual Relay Technology.
-  int bus_fwd = -1;
-
-  if(hw_type == HW_TYPE_WHITE_PANDA || hw_type == HW_TYPE_GREY_PANDA) {
-    switch (bus_num) {
-      case 0:
-        bus_fwd = 2;
-        break;
-      case 2:
-        bus_fwd = 0;
-        break;
-      default:
-        bus_fwd = -1;
-        break;
-    }
-  }
-  return bus_fwd;
-  #else
+static int default_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
  UNUSED(bus_num);
+  UNUSED(to_fwd);
  return -1;
-  #endif
 }

 const safety_hooks nooutput_hooks = {
@@ -68,14 +45,19 @@ const safety_hooks nooutput_hooks = {

 // *** all output safety mode ***

+// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
+const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
+bool alloutput_passthrough = false;
+
 static const addr_checks* alloutput_init(int16_t param) {
  UNUSED(param);
+  alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
  controls_allowed = true;
  relay_malfunction_reset();
  return &default_rx_checks;
 }

-static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int alloutput_tx_hook(CANPacket_t *to_send) {
  UNUSED(to_send);
  return true;
 }
@@ -87,10 +69,26 @@ static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
  return true;
 }

+static int alloutput_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
+  UNUSED(to_fwd);
+  int bus_fwd = -1;
+
+  if (alloutput_passthrough) {
+    if (bus_num == 0) {
+      bus_fwd = 2;
+    }
+    if (bus_num == 2) {
+      bus_fwd = 0;
+    }
+  }
+
+  return bus_fwd;
+}
+
 const safety_hooks alloutput_hooks = {
  .init = alloutput_init,
  .rx = default_rx_hook,
  .tx = alloutput_tx_hook,
  .tx_lin = alloutput_tx_lin_hook,
-  .fwd = default_fwd_hook,
+  .fwd = alloutput_fwd_hook,
 };
--- a/panda/board/safety/safety_elm327.h
+++ b/panda/board/safety/safety_elm327.h
@@ -1,4 +1,4 @@
-static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int elm327_tx_hook(CANPacket_t *to_send) {

  int tx = 1;
  int addr = GET_ADDR(to_send);
--- a/panda/board/safety/safety_ford.h
+++ b/panda/board/safety/safety_ford.h
@@ -8,7 +8,7 @@
 //      brake > 0mph


-static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int ford_rx_hook(CANPacket_t *to_push) {

  int addr = GET_ADDR(to_push);
  int bus = GET_BUS(to_push);
@@ -24,8 +24,8 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  // state machine to enter and exit controls
  if (addr == 0x83) {
-    bool cancel = GET_BYTE(to_push, 1) & 0x1;
-    bool set_or_resume = GET_BYTE(to_push, 3) & 0x30;
+    bool cancel = GET_BYTE(to_push, 1) & 0x1U;
+    bool set_or_resume = GET_BYTE(to_push, 3) & 0x30U;
    if (cancel) {
      controls_allowed = 0;
    }
@@ -37,7 +37,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  // exit controls on rising edge of brake press or on brake press when
  // speed > 0
  if (addr == 0x165) {
-    brake_pressed = GET_BYTE(to_push, 0) & 0x20;
+    brake_pressed = GET_BYTE(to_push, 0) & 0x20U;
    if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
      controls_allowed = 0;
    }
@@ -46,7 +46,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  // exit controls on rising edge of gas press
  if (addr == 0x204) {
-    gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
+    gas_pressed = ((GET_BYTE(to_push, 0) & 0x03U) | GET_BYTE(to_push, 1)) != 0U;
    if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
      controls_allowed = 0;
    }
@@ -65,7 +65,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 // else
 //     block all commands that produce actuation

-static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int ford_tx_hook(CANPacket_t *to_send) {

  int tx = 1;
  int addr = GET_ADDR(to_send);
@@ -79,15 +79,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  }
  bool current_controls_allowed = controls_allowed && !(pedal_pressed);

-  if (relay_malfunction) {
-    tx = 0;
-  }
-
  // STEER: safety check
  if (addr == 0x3CA) {
    if (!current_controls_allowed) {
      // bits 7-4 need to be 0xF to disallow lkas commands
-      if ((GET_BYTE(to_send, 0) & 0xF0) != 0xF0) {
+      if ((GET_BYTE(to_send, 0) & 0xF0U) != 0xF0U) {
        tx = 0;
      }
    }
@@ -96,7 +92,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  // FORCE CANCEL: safety check only relevant when spamming the cancel button
  // ensuring that set and resume aren't sent
  if (addr == 0x83) {
-    if ((GET_BYTE(to_send, 3) & 0x30) != 0) {
+    if ((GET_BYTE(to_send, 3) & 0x30U) != 0U) {
      tx = 0;
    }
  }
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -34,15 +34,15 @@ AddrCheckStruct gm_addr_checks[] = {
 #define GM_RX_CHECK_LEN (sizeof(gm_addr_checks) / sizeof(gm_addr_checks[0]))
 addr_checks gm_rx_checks = {gm_addr_checks, GM_RX_CHECK_LEN};

-static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int gm_rx_hook(CANPacket_t *to_push) {

  bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL);

-  if (valid && (GET_BUS(to_push) == 0)) {
+  if (valid && (GET_BUS(to_push) == 0U)) {
    int addr = GET_ADDR(to_push);

    if (addr == 388) {
-      int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
+      int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
      torque_driver_new = to_signed(torque_driver_new, 11);
      // update array of samples
      update_sample(&torque_driver, torque_driver_new);
@@ -56,7 +56,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

    // ACC steering wheel buttons
    if (addr == 481) {
-      int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
+      int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
      switch (button) {
        case 2:  // resume
        case 3:  // set
@@ -74,16 +74,16 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    if (addr == 241) {
      // Brake pedal's potentiometer returns near-zero reading
      // even when pedal is not pressed
-      brake_pressed = GET_BYTE(to_push, 1) >= 10;
+      brake_pressed = GET_BYTE(to_push, 1) >= 10U;
    }

    if (addr == 417) {
-      gas_pressed = GET_BYTE(to_push, 6) != 0;
+      gas_pressed = GET_BYTE(to_push, 6) != 0U;
    }

    // exit controls on regen paddle
    if (addr == 189) {
-      bool regen = GET_BYTE(to_push, 0) & 0x20;
+      bool regen = GET_BYTE(to_push, 0) & 0x20U;
      if (regen) {
        controls_allowed = 0;
      }
@@ -104,7 +104,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 // else
 //     block all commands that produce actuation

-static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int gm_tx_hook(CANPacket_t *to_send) {

  int tx = 1;
  int addr = GET_ADDR(to_send);
@@ -113,10 +113,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
    tx = 0;
  }

-  if (relay_malfunction) {
-    tx = 0;
-  }
-
  // disallow actuator commands if gas or brake (with vehicle moving) are pressed
  // and the the latching controls_allowed flag is True
  int pedal_pressed = brake_pressed_prev && vehicle_moving;
--- a/panda/board/safety/safety_gm_ascm.h
+++ b/panda/board/safety/safety_gm_ascm.h
@@ -1,43 +0,0 @@
-// BUS 0 is on the LKAS module (ASCM) side
-// BUS 2 is on the actuator (EPS) side
-
-static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-
-  int bus_fwd = -1;
-
-  if (bus_num == 0) {
-    int addr = GET_ADDR(to_fwd);
-    bus_fwd = 2;
-    // do not propagate lkas messages from ascm to actuators, unless supercruise is on
-    // block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
-    // block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
-    //if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
-    if ((addr == 0x152) || (addr == 0x154)) {
-      bool supercruise_on = (GET_BYTE(to_fwd, 4) & 0x10) != 0;  // bit 36
-      if (!supercruise_on) {
-        bus_fwd = -1;
-      }
-    }
-    if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
-      // on the chassis bus, the OBDII port is on the module side, so we need to read
-      // the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
-      // the actuator as 0x152 and 0x154
-      uint32_t fwd_addr = addr + 1;
-      to_fwd->RIR = (fwd_addr << 21) | (to_fwd->RIR & 0x1fffff);
-    }
-  }
-
-  if (bus_num == 2) {
-    bus_fwd = 0;
-  }
-
-  return bus_fwd;
-}
-
-const safety_hooks gm_ascm_hooks = {
-  .init = nooutput_init,
-  .rx = default_rx_hook,
-  .tx = alloutput_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .fwd = gm_ascm_fwd_hook,
-};
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Kumar	458dd1a527	Merge pull request #134 from Hikari1023/patch-9 Fix DLP laneless bug	2022-04-16 08:18:59 -07:00
Hikari1023	b03486fa10	Fix DLP laneless bug	2022-04-16 22:21:55 +08:00
Rick Lan	af80cdd94a	dragonpilot for 0.8.12-4	2022-04-01 12:08:37 +08:00
rav4kumar	35f5828690	dragonpilot for 0.8.12-3	2022-01-31 22:14:41 -07:00
Adeeb Shihadeh	a965de3c96	Hotfix: revert "Qt/SetingWindow: faster initialization and painting (#21764 )" This reverts commit `f482354e4e`.	2021-12-15 10:07:42 -08:00
Vehicle Researcher	bc7d21687a	openpilot v0.8.12 release	2021-12-14 04:51:54 +00:00
Adeeb Shihadeh	ce9e739428	Hotfix: fix controls mismatch on Honda Ridgeline (#23090 )	2021-12-01 17:24:09 -08:00
Adeeb Shihadeh	1e0ef417c3	UI: fix cameraview crash after going offroad in settings window (#23009 ) (#23068 ) Co-authored-by: Dean Lee <deanlee3@gmail.com>	2021-11-29 15:49:41 -08:00
Vehicle Researcher	bf338bf5e9	openpilot v0.8.11 release	2021-11-29 13:48:50 -08:00
				`@@ -0,0 +1 @@`
				`unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};`