Merge pull request #92 from loveloveses/0.8.5

enableBsm for CRV HYBRID
enable bsm for CRV HYBRID
2026-06-12 17:26:38 +08:00 · 2021-08-17 18:12:36 +08:00 · 2021-08-13 12:08:23 +08:00 · 2021-08-13 12:05:54 +08:00 · 2021-08-13 12:00:52 +08:00 · 2021-07-22 12:43:20 +10:00
205 changed files with 2898 additions and 3630 deletions
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -1,3 +1,33 @@
+dragonpilot 0.8.5-4
+========================
+* Added multiple toggles.
+* Code clean up.
+* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
+* Better support for VW MPQ (Thanks to @Saber)
+
+dragonpilot 0.8.5-3
+========================
+* Added Jetson support toggle.
+* Added Steering Ratio controller.
+* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
+* Bug fixes.
+
+dragonpilot 0.8.5-2
+========================
+* Added black panda simulation toggle.
+* Added No GPS toggle.
+* Added No Battery Toggle.
+* Bug fixes.
+
+dragonpilot 0.8.5-1
+========================
+* Based on openpilot 0.8.5 devel.
+* 基於 openpilot 0.8.5 devel.
+* Support 1+3t / C2 / Jetson Xavier NX. 
+* 支持 1+3t / C2 / Jetson Xavier NX.
+* No White/Grey Panda Support.
+* 不支持白灰熊.
+
 dragonpilot 0.8.4-3
 ========================
 * 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -0,0 +1,28 @@
+# CONTRIBUTORS
+
+Due to the way we manage the source code, it is not possible to see all the contributors info, hence we create a list here.
+
+If you have contributed to DP project before and your name is not listed here, feel free to send us a PR to update this!
+
+name                                                         | github                                                       | contribution
+------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------
+andy741217                                                   | [andy741217](https://github.com/andy741217)                  | New features, bug fixes
+Arne Schwarck                                                | [arne182](https://github.com/arne182)                        | New features, bug fixes
+berno22                                                      | [berno22](https://github.com/berno22)                        | New car fingerprint
+Bobbydough                                                   | [Bobbydough](https://github.com/bobbydough)                  | Bug fixes
+Curtis Jenkins                                               | [actuallylemoncurd](https://github.com/actuallylemoncurd)    | New Features
+DFyffe                                                       | [donfyffe](https://github.com/donfyffe)                      | New features, bug fixes
+dinglx                                                       | [dingliangxue](https://github.com/dingliangxue)              | New features, bug fixes
+eyezenheim                                                   | [eyezenheim](https://github.com/eyezenheim)                  | Tester
+kegman                                                       | [kegman](https://github.com/kegman)                          | New features, bug fixes
+kumar                                                        | [rav4kumar](https://github.com/rav4kumar)                    | New features, bug fixes
+lijunhao731                                                  | [lijunhao731](https://github.com/lijunhao731)                | New car fingerprint
+lirudy                                                       | [lirudy](https://github.com/lirudy)                          | Bug fixes
+LOVEChen                                                     | [LOVEChen](https://github.com/LOVEChen)                      | Bug fixes
+loveloveses                                                  | [loveloveses](https://github.com/loveloveses)                | Bug fixes, DP wiki main maintainer
+menwenliang                                                  | [menwenliang](https://github.com/menwenliang)                | New features
+Rick Lan                                                     | [efinilan](https://github.com/efinilan)                      | Project lead
+rming                                                        | [Rming](https://github.com/rming)                            | Bug fixes, wiki contributor
+sebastian4k                                                  | [sebastian4k](https://github.com/sebastian4k)                | Bug fixes
+Shane Smiskol                                                | [sshane](https://github.com/sshane)                          | New features, bug fixes
+toyboxZ                                                      | [toyboxZ](https://github.com/toyboxZ)                        | New features, bug fixes
--- a/HOWTO-ONEPLUS.md
+++ b/HOWTO-ONEPLUS.md
@@ -1,31 +1,25 @@
 How to install on Oneplus 3t?
 ------
 1. clone dragonpilot to /data/ and make sure it's named openpilot:
-
-(手動安裝切換至 dragonpilot 0.8.4 branch)
+   (手動安裝切換至 dragonpilot 0.8.5 branch)
 ```
-cd /data/ && rm -fr openpilot; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.4
+cd /data/ && rm -fr openpilot; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.5
 ```

 2. run command:
-
-(在 ssh 畫面下，輸入)
+   (在 ssh 畫面下，輸入)
 ```
 cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
 ```

 3. Let it download and complete it update, after a couple of reboot, your screen will then stay in fastboot mode.
-
-(等待下載並讓它重新開機，沒錯誤的話會進入 Android 機器人更新畫面，等自動重新開機)
+   (等待下載並讓它重新開機，沒錯誤的話會進入 Android 機器人更新畫面，等自動重新開機)

 4. In fastboot mode, select use volume button to select to `Recovery mode` then press power button.
-
-(在 fastboot 模式，用音量鍵上下選到 Recovery mode 再按下電源鍵)
+   (在 fastboot 模式，用音量鍵上下選到 Recovery mode 再按下電源鍵)

 5. In Recovery mode, tap `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`
-
-(在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
+   (在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
   
 6. You should be able to boot into openpilot, if touch screen is not working, try to reboot again.
-
-(你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)
+   (你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)
--- a/22
+++ b/22
@@ -36,7 +36,7 @@ EOF"""

 def phone_steps(String device_type, steps) {
  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 90, unit: 'MINUTES') {
+    timeout(time: 150, unit: 'MINUTES') {
      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
      steps.each { item ->
        phone(device_ip, item[0], item[1])
@@ -52,7 +52,7 @@ pipeline {
    TEST_DIR = "/data/openpilot"
  }
  options {
-      timeout(time: 1, unit: 'HOURS')
+      timeout(time: 3, unit: 'HOURS')
  }

  stages {
@@ -78,7 +78,7 @@ pipeline {
      when {
        not {
          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
          }
        }
      }
@@ -127,7 +127,7 @@ pipeline {
                stage('Devel Tests') {
                  steps {
                    phone_steps("eon-build", [
-                      ["build devel", "cd release && SCONS_CACHE=1 DEVEL_TEST=1 ./build_devel.sh"],
+                      ["build devel", "cd release && DEVEL_TEST=1 ./build_devel.sh"],
                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
@@ -138,8 +138,8 @@ pipeline {
                stage('Replay Tests') {
                  steps {
                    phone_steps("eon2", [
-                      ["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
-                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
                    ])
                  }
                }
@@ -147,7 +147,7 @@ pipeline {
                stage('HW + Unit Tests') {
                  steps {
                    phone_steps("eon", [
-                      ["build", "SCONS_CACHE=1 scons -j4"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
@@ -166,7 +166,7 @@ pipeline {
                      timeout(time: 90, unit: 'MINUTES') {
                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-                        phone(device_ip, "build", "SCONS_CACHE=1 scons -j4 && sync")
+                        phone(device_ip, "build", "scons -j4 && sync")
                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
@@ -186,7 +186,7 @@ pipeline {
                  }
                  steps {
                    phone_steps("tici", [
-                      ["build", "SCONS_CACHE=1 scons -j16"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@@ -198,7 +198,7 @@ pipeline {
                stage('camerad') {
                  steps {
                    phone_steps("eon-party", [
-                      ["build", "SCONS_CACHE=1 scons -j16"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
                    ])
@@ -208,7 +208,7 @@ pipeline {
                stage('Tici camerad') {
                  steps {
                    phone_steps("tici-party", [
-                      ["build", "SCONS_CACHE=1 scons -j16"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
                    ])
--- a/README.md
+++ b/README.md
@@ -97,7 +97,9 @@ Supported Cars
 | Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | UX Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019            | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
@@ -133,8 +135,9 @@ Community Maintained Cars and Features

 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Audi      | A3 2014-17                    | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
 | Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | Q2 2018                       | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
@@ -148,7 +151,7 @@ Community Maintained Cars and Features
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
 | GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Elantra 2017-19, 2021         | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
@@ -167,12 +170,14 @@ Community Maintained Cars and Features
 | Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Altima 2020                   | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| SEAT      | Leon 2014-2020                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia 2015, 2019            | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,18 @@
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
 Version 0.8.4 (2021-05-17)
 ========================
 * Delay controls start until system is ready
--- a/29
+++ b/29
@@ -39,6 +39,10 @@ AddOption('--mpc-generate',
          action='store_true',
          help='regenerates the mpc sources')

+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
 AddOption('--external-sconscript',
          action='store',
          metavar='FILE',
@@ -53,7 +57,6 @@ if arch == "aarch64" and TICI:
  arch = "larch64"

 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None

 USE_MIPI = os.getenv("USE_MIPI") is not None
 if arch == "aarch64" and JETSON:
@@ -104,10 +107,6 @@ if arch == "aarch64" or arch == "larch64":
    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
    rpath = []
-
-    if QCOM_REPLAY:
-      cflags += ["-DQCOM_REPLAY"]
-      cxxflags += ["-DQCOM_REPLAY"]
 else:
  cflags = []
  cxxflags = []
@@ -145,6 +144,7 @@ else:
    libpath = [
      "#phonelibs/snpe/x86_64-linux-clang",
      "#phonelibs/libyuv/x64/lib",
+      "#phonelibs/mapbox-gl-native-qt/x86_64",
      "#cereal",
      "#selfdrive/common",
      "/usr/lib",
@@ -208,6 +208,7 @@ env = Environment(
    "#phonelibs/android_system_core/include",
    "#phonelibs/linux/include",
    "#phonelibs/snpe/include",
+    "#phonelibs/mapbox-gl-native-qt/include",
    "#phonelibs/nanovg",
    "#phonelibs/qrcode",
    "#phonelibs",
@@ -240,15 +241,10 @@ env = Environment(
 if GetOption('compile_db'):
  env.CompilationDatabase('compile_commands.json')

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

 node_interval = 5
 node_count = 0
@@ -290,7 +286,7 @@ Export('envCython')

 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
 if arch != "aarch64":
  qt_modules += ["DBus"]

@@ -356,7 +352,8 @@ 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', 'QCOM_REPLAY', 'USE_MIPI')
+zmq = 'zmq'
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'QCOM_REPLAY')
+Import('env', 'envCython', 'arch', 'zmq')

 import shutil

@@ -40,6 +40,13 @@ messaging_objects = env.SharedObject([
 messaging_lib = env.Library('messaging', messaging_objects)
 Depends('messaging/impl_zmq.cc', services_h)

+# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
+# TODO: get APK to load system zmq to remove the static link
+if arch == "aarch64":
+  zmq_static = FindFile("libzmq.a", "/usr/lib")
+  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
+  env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
+
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)

@@ -54,7 +61,7 @@ vipc_sources = [
  'visionipc/visionbuf.cc',
 ]

-if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
+if arch in ["aarch64", "larch64"]:
  vipc_sources += ['visionipc/visionbuf_ion.cc']
 else:
  vipc_sources += ['visionipc/visionbuf_cl.cc']
@@ -64,6 +71,8 @@ vipc = env.Library('visionipc', vipc_objects)


 libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
+if arch == "aarch64":
+  libs += ["adreno_utils"]
 if arch == "Darwin":
  del libs[libs.index('OpenCL')]
  envCython['FRAMEWORKS'] += ['OpenCL']
--- a/cereal/_SConstruct
+++ b/cereal/_SConstruct
@@ -0,0 +1,73 @@
+import os
+import platform
+import subprocess
+import sysconfig
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+cereal_dir = Dir('.')
+messaging_dir = Dir('./messaging')
+
+cpppath = [
+  cereal_dir,
+  messaging_dir,
+  '/usr/lib/include',
+  '/opt/homebrew/include',
+  sysconfig.get_paths()['include'],
+]
+
+libpath = [
+  '/opt/homebrew/lib',
+]
+
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++1z",
+  CPPPATH=cpppath,
+  LIBPATH=libpath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+Export('env', 'arch')
+
+envCython = env.Clone(LIBS=[])
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(sysconfig.get_paths()['include'])]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+
+SConscript(['SConscript'])
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -52,7 +52,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    manualRestart @30;
    lowSpeedLockout @31;
    plannerError @32;
-    debugAlert @34;
+    joystickDebug @34;
    steerTempUnavailableUserOverride @35;
    resumeRequired @36;
    preDriverDistracted @37;
@@ -90,6 +90,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startupNoControl @77;
    startupMaster @78;
    startupFuzzyFingerprint @97;
+    startupNoFw @104;
    fcw @79;
    steerSaturated @80;
    belowEngageSpeed @84;
@@ -103,6 +104,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    processNotRunning @95;
    dashcamMode @96;
    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;

    radarCanErrorDEPRECATED @15;
    radarCommIssueDEPRECATED @67;
@@ -125,16 +131,16 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startupOneplusDEPRECATED @82;

    #dp
-    preLaneChangeLeftALC @99;
-    preLaneChangeRightALC @100;
-    manualSteeringRequired @101;
-    manualSteeringRequiredBlinkersOn @102;
-    leadCarMoving @103;
+    preLaneChangeLeftALC @105;
+    preLaneChangeRightALC @106;
+    manualSteeringRequired @107;
+    manualSteeringRequiredBlinkersOn @108;
+    leadCarMoving @109;

    # timebomb assist
-    timebombWarn @104;
-    timebombBypassing @105;
-    timebombBypassed @106;
+    timebombWarn @110;
+    timebombBypassing @111;
+    timebombBypassed @112;
  }
 }

@@ -159,7 +165,6 @@ struct CarState {
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
-  brakeLights @19 :Bool;

  # steering wheel
  steeringAngleDeg @7 :Float32;
@@ -257,6 +262,7 @@ struct CarState {
  }

  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLights @19 :Bool;
 }

 # ******* radar state @ 20hz *******
@@ -377,6 +383,7 @@ struct CarParams {
  enableDsu @5 :Bool; # driving support unit
  enableApgs @6 :Bool; # advanced parking guidance system
  enableBsm @56 :Bool; # blind spot monitoring
+  hasStockCamera @57 :Bool; # factory LKAS/LDW camera is present

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
@@ -528,6 +535,7 @@ struct CarParams {
    automatic @1;  # Traditional auto, including DSG
    manual @2;  # True "stick shift" only
    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
  }

  struct CarFw {
@@ -572,5 +580,5 @@ struct CarParams {
    gateway @1;    # Integration at vehicle's CAN gateway
  }

-  isPandaBlack @39: Bool;
+  isPandaBlackDEPRECATED @39: Bool;
 }
--- a/cereal/dp.capnp
+++ b/cereal/dp.capnp
@@ -14,16 +14,16 @@ struct DragonConf {
  dpThermalStarted @0 :Bool;
  dpThermalOverheat @1 :Bool;
  dpAtl @2 :Bool;
-  dpAutoShutdown @3 :Bool;
-  dpAthenad @4 :Bool;
-  dpUploader @5 :Bool;
-  dpSteeringOnSignal @6 :Bool;
-  dpSignalOffDelay @7 :UInt8;
-  dpAssistedLcMinMph @8 :Float32;
-  dpAutoLc @9 :Bool;
-  dpAutoLcCont @10 :Bool;
-  dpAutoLcMinMph @11 :Float32;
-  dpAutoLcDelay @12 :Float32;
+  dpDashcamd @3 :Bool;
+  dpAutoShutdown @4 :Bool;
+  dpAthenad @5 :Bool;
+  dpUploader @6 :Bool;
+  dpLateralMode @7 :UInt8;
+  dpSignalOffDelay @8 :Float32;
+  dpLcMinMph @9 :UInt8;
+  dpLcAutoCont @10 :Bool;
+  dpLcAutoMinMph @11 :UInt8;
+  dpLcAutoDelay @12 :Float32;
  dpAllowGas @13 :Bool;
  dpFollowingProfileCtrl @14 :Bool;
  dpFollowingProfile @15 :UInt8;
@@ -31,7 +31,7 @@ struct DragonConf {
  dpAccelProfile @17 :UInt8;
  dpGearCheck @18 :Bool;
  dpSpeedCheck @19 :Bool;
-  dpUiScreenOffReversing @20 :Bool;
+  dpUiDisplayMode @20 :UInt8;
  dpUiSpeed @21 :Bool;
  dpUiEvent @22 :Bool;
  dpUiMaxSpeed @23 :Bool;
@@ -41,18 +41,17 @@ struct DragonConf {
  dpUiDev @27 :Bool;
  dpUiDevMini @28 :Bool;
  dpUiBlinker @29 :Bool;
-  dpAppExtGps @30 :Bool;
-  dpAppTomtom @31 :Bool;
-  dpAppTomtomAuto @32 :Bool;
-  dpAppTomtomManual @33 :Int8;
-  dpAppMixplorer @34 :Bool;
-  dpAppMixplorerManual @35 :Int8;
-  dpCarDetected @36 :Text;
-  dpToyotaLdw @37 :Bool;
-  dpToyotaSng @38 :Bool;
-  dpVwPanda @39 :Bool;
-  dpVwTimebombAssist @40 :Bool;
-  dpIpAddr @41 :Text;
-  dpLocale @42 :Text;
-  dpDebug @43 :Bool;
+  dpUiBrightness @30 :UInt8;
+  dpUiVolume @31 :Int8;
+  dpToyotaLdw @32 :Bool;
+  dpToyotaSng @33 :Bool;
+  dpVwTimebombAssist @34 :Bool;
+  dpIpAddr @35 :Text;
+  dpCameraOffset @36 :Int8;
+  dpPathOffset @37 :Int8;
+  dpLocale @38 :Text;
+  dpSrLearner @39 :Bool;
+  dpSrCustom @40 :Float32;
+  dpAppd @41 :Bool;
+  dpDebug @42 :Bool;
 }
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -24,6 +24,7 @@ struct Map(Key, Value) {
 struct InitData {
  kernelArgs @0 :List(Text);
  kernelVersion @15 :Text;
+  osVersion @18 :Text;

  gctx @1 :Text;
  dongleId @2 :Text;
@@ -282,6 +283,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  cpuUsagePercent @20 :Int8;
  usbOnline @12 :Bool;
  networkType @22 :NetworkType;
+  networkInfo @31 :NetworkInfo;
  offroadPowerUsageUwh @23 :UInt32;
  networkStrength @24 :NetworkStrength;
  carBatteryCapacityUwh @25 :UInt32;
@@ -290,6 +292,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  started @11 :Bool;
  startedMonoTime @13 :UInt64;

+  lastAthenaPingTime @32 :UInt64;
+
  # power
  batteryPercent @8 :Int16;
  batteryStatus @9 :Text;
@@ -330,6 +334,15 @@ struct DeviceState @0xa4d8b5af2aa492eb {
    great @4;
  }

+  struct NetworkInfo {
+    technology @0 :Text;
+    operator @1 :Text;
+    band @2 :Text;
+    channel @3 :UInt16;
+    extra @4 :Text;
+    state @5 :Text;
+  }
+
  # deprecated
  cpu0DEPRECATED @0 :UInt16;
  cpu1DEPRECATED @1 :UInt16;
@@ -363,6 +376,8 @@ struct PandaState @0xa7649e2575e4591e {
  powerSaveEnabled @16 :Bool;
  uptime @17 :UInt32;
  faults @18 :List(FaultType);
+  harnessStatus @21 :HarnessStatus;
+  heartbeatLost @22 :Bool;

  enum FaultStatus {
    none @0;
@@ -413,6 +428,12 @@ struct PandaState @0xa7649e2575e4591e {
    dcp @3;
  }

+  enum HarnessStatus {
+    notConnected @0;
+    normal @1;
+    flipped @2;
+  }
+
  startedSignalDetectedDEPRECATED @5 :Bool;
 }

@@ -678,10 +699,24 @@ struct ModelDataV2 {
  struct MetaData {
    engagedProb @0 :Float32;
    desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
    desireState @5 :List(Float32);
+    disengagePredictions @6 :DisengagePredictions;
+    hardBrakePredicted @7 :Bool;
+
+    # deprecated
+    brakeDisengageProbDEPRECATED @2 :Float32;
+    gasDisengageProbDEPRECATED @3 :Float32;
+    steerOverrideProbDEPRECATED @4 :Float32;
+  }
+
+  struct DisengagePredictions {
+    t @0 :List(Float32);
+    brakeDisengageProbs @1 :List(Float32);
+    gasDisengageProbs @2 :List(Float32);
+    steerOverrideProbs @3 :List(Float32);
+    brake3MetersPerSecondSquaredProbs @4 :List(Float32);
+    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
+    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
  }
 }

@@ -872,6 +907,8 @@ struct LiveLocationKalman {
  gpsOK @19 :Bool = true;
  sensorsOK @21 :Bool = true;
  deviceStable @22 :Bool = true;
+  timeSinceReset @23 :Float64;
+  excessiveResets @24 :Bool;

  enum Status {
    uninitialized @0;
@@ -1255,6 +1292,7 @@ struct Sentinel {
    startOfRoute @3;
  }
  type @0 :SentinelType;
+  signal @1 :Int32;
 }

 struct ManagerState {
--- a/cereal/messaging/messaging.h
+++ b/cereal/messaging/messaging.h
@@ -66,13 +66,13 @@ public:

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

@@ -82,10 +82,10 @@ public:
  bool valid(const char *name) const;
  uint64_t rcv_frame(const char *name) const;
  uint64_t rcv_time(const char *name) const;
-  cereal::Event::Reader &operator[](const char *name);
+  cereal::Event::Reader &operator[](const char *name) const;

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

 class PubMaster {
 public:
-  PubMaster(const std::initializer_list<const char *> &service_list);
+  PubMaster(const std::vector<const char *> &service_list);
  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
  int send(const char *name, MessageBuilder &msg);
  ~PubMaster();
--- a/cereal/messaging/msgq.h
+++ b/cereal/messaging/msgq.h
@@ -5,7 +5,7 @@
 #include <atomic>

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

 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -2,6 +2,7 @@
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
+#include <mutex>

 #include "services.h"
 #include "messaging.h"
@@ -21,7 +22,7 @@ static const service *get_service(const char *name) {
  return nullptr;
 }

-static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
+static inline bool inList(const std::vector<const char *> &list, const char *value) {
  for (auto &v : list) {
    if (strcmp(value, v) == 0) return true;
  }
@@ -30,11 +31,18 @@ static inline bool inList(const std::initializer_list<const char *> &list, const

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

 struct SubMaster::SubMessage {
  std::string name;
@@ -48,13 +56,13 @@ struct SubMaster::SubMessage {
  cereal::Event::Reader event;
 };

-SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
-                     const std::initializer_list<const char *> &ignore_alive) {
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
+                     const std::vector<const char *> &ignore_alive) {
  poller_ = Poller::create();
  for (auto name : service_list) {
    const service *serv = get_service(name);
    assert(serv != nullptr);
-    SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
    assert(socket != 0);
    poller_->registerSocket(socket);
    SubMessage *m = new SubMessage{
@@ -63,6 +71,7 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
      .freq = serv->frequency,
      .ignore_alive = inList(ignore_alive, name),
      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
    messages_[socket] = m;
    services_[name] = m;
  }
@@ -82,9 +91,7 @@ void SubMaster::update(int timeout) {

    SubMessage *m = messages_.at(s);

-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
-    }
+    m->msg_reader->~FlatArrayMessageReader();
    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
    delete msg;
    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
@@ -118,7 +125,7 @@ void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::st
  }
 }

-bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
+bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
  int found = 0;
  for (auto &kv : messages_) {
    SubMessage *m = kv.second;
@@ -162,7 +169,7 @@ uint64_t SubMaster::rcv_time(const char *name) const {
  return services_.at(name)->rcv_time;
 }

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

@@ -170,19 +177,17 @@ SubMaster::~SubMaster() {
  delete poller_;
  for (auto &kv : messages_) {
    SubMessage *m = kv.second;
-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
-    }
+    m->msg_reader->~FlatArrayMessageReader();
    free(m->allocated_msg_reader);
    delete m->socket;
    delete m;
  }
 }

-PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
+PubMaster::PubMaster(const std::vector<const char *> &service_list) {
  for (auto name : service_list) {
    assert(get_service(name) != nullptr);
-    PubSocket *socket = PubSocket::create(ctx.ctx_, name);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
    assert(socket);
    sockets_[name] = socket;
  }
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -2,7 +2,7 @@
 import os
 from typing import Optional

-EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')
 RESERVED_PORT = 8022  # sshd
 STARTING_PORT = 8001

@@ -55,10 +55,10 @@ services = {
  "thumbnail": (True, 0.2, 1),
  "carEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
-  "driverCameraState": (True, 10. if EON else 20., 1),
-  "driverEncodeIdx": (True, 10. if EON else 20., 1),
-  "driverState": (True, 10. if EON else 20., 1),
-  "driverMonitoringState": (True, 10. if EON else 20., 1),
+  "driverCameraState": (True, 10. if not TICI else 20., 1),
+  "driverEncodeIdx": (True, 10. if not TICI else 20., 1),
+  "driverState": (True, 10. if not TICI else 20., 1),
+  "driverMonitoringState": (True, 10. if not TICI else 20., 1),
  "offroadLayout": (False, 0.),
  "wideRoadEncodeIdx": (True, 20., 1),
  "wideRoadCameraState": (True, 20., 1),
@@ -88,7 +88,7 @@ def build_header():
  for k, v in service_list.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
+    h += '  { "%s", %d, %s, %d, %d },\n' % \
         (k, v.port, should_log, v.frequency, decimation)
  h += "};\n"
  h += "#endif\n"
--- a/cereal/visionipc/visionbuf.cc
+++ b/cereal/visionipc/visionbuf.cc
@@ -15,7 +15,7 @@ extern "C" void compute_aligned_width_and_height(int width,
 #endif

 void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
-#if defined(QCOM) && !defined(QCOM_REPLAY)
+#ifdef QCOM
  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
 #else
  *aligned_w = width; *aligned_h = height;
--- a/common/dp_common.py
+++ b/common/dp_common.py
@@ -16,7 +16,7 @@ def is_online():

 def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
  if enabled:
-    if dragonconf.dpSteeringOnSignal and blinker_on:
+    if dragonconf.dpLateralMode == 0 and blinker_on:
      steer_req = 0 if isinstance(steer_req, int) else False
  return steer_req

@@ -32,7 +32,7 @@ def common_interface_atl(ret, atl):
  return enable_acc

 def common_interface_get_params_lqr(ret):
-  if params.get('dp_lqr') == b'1':
+  if params.get_bool('dp_lqr'):
    ret.lateralTuning.init('lqr')
    ret.lateralTuning.lqr.scale = 1500.0
    ret.lateralTuning.lqr.ki = 0.05
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -9,7 +9,7 @@ from math import floor
 * type: Bool, Int8, UInt8, UInt16, Float32
 * conf_type: param, struct
 * dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
-* update_once: True, False (the param will only load up once.)
+* update_once: True, False (the param will only load up once, need both param and struct defined)
 '''
 confs = [
  # thermald data
@@ -17,117 +17,85 @@ confs = [
  {'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},

  {'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
-  # full screen apps
-  # {'name': 'dp_app_waze', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_app_waze_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_waze', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_app_hr', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_app_hr_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_hr', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # dashcam related
-  # {'name': 'dp_dashcam', 'default': 0, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_dashcam_ui', 'default': 0, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  # auto shutdown
  {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 1, 'max': 65535, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
+  {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
  # service
+  {'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_logger', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_athenad', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_uploader', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # lat ctrl
-  # {'name': 'dp_lat_ctrl', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_steering_limit_alert', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_steering_on_signal', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_signal_off_delay', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 10, 'conf_type': ['param', 'struct']},
-  # assist/auto lane change
-  {'name': 'dp_assisted_lc_min_mph', 'default': 45, 'type': 'Float32', 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_lc', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_lc_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_lc_min_mph', 'default': 60, 'type': 'Float32', 'min': 0, 'max': 255., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_lc_delay', 'default': 3, 'type': 'Float32', 'min': 0, 'max': 10., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1,2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
  # long ctrl
  {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_max_ctrl_speed', 'default': 92., 'type': 'Float32', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_lead_car_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_lead_car_away_alert', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-
  {'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # safety
-  # {'name': 'dp_driver_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_steering_monitor', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_steering_monitor_timer', 'default': 70, 'type': 'UInt8', 'min': 70, 'max': 360, 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}, {'name': 'dp_steering_monitor', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  # UIs
-  # {'name': 'dp_driving_ui', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_screen_off_reversing', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_ui_screen_off_driving', 'default': False, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_ui_path', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_dev_mini', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_ui_volume_boost', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
-  # Apps
-  # {'name': 'dp_app_auto_update', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_app_ext_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_app_tomtom', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_app_tomtom_auto', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_app_tomtom_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_app_autonavi', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_app_autonavi_auto', 'default':  False, 'type': 'Bool', 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_app_autonavi_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_app_aegis', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_app_aegis_auto', 'default':  False, 'type': 'Bool', 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_app_aegis_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_app_mixplorer', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_app_mixplorer_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_mixplorer', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # custom car
-  {'name': 'dp_car_selected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_car_detected', 'default': '', 'type': 'Text', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
  # toyota
-  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param']},
-  # {'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_toyota_lowest_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # hyundai
  {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # honda
  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # volkswagen
-  {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_vw_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  #misc
  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
-  {'name': 'dp_c2_fan_quiet_mode', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'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': -255, 'max': 255, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_path_offset', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},

  {'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
-  {'name': 'dp_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_charging_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_charging_at', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_discharging_at', 'default': 70, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  # sr learner related
+  {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},

-  {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param'], 'update_once': True},
+
+  {'name': 'dp_appd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_panda_fake_black', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_debug', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
 ]

@@ -198,7 +166,7 @@ function to generate support car list
 '''
 def get_support_car_list():
  attrs = ['FINGERPRINTS', 'FW_VERSIONS']
-  cars = dict()
+  cars = dict({"cars": []})
  for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
    try:
      car_name = car_folder.split('/')[-1]
@@ -210,13 +178,13 @@ def get_support_car_list():
            attr_values = getattr(values, attr)
          else:
            continue
-
          if isinstance(attr_values, dict):
            for f, v in attr_values.items():
              if f not in names:
                names.append(f)
          names.sort()
-        cars[car_name] = names
+        brand_models = {"brand": car_name.upper(), "models": names }
+        cars["cars"].append(brand_models)
    except (ImportError, IOError, ValueError):
      pass
  return json.dumps(cars)
@@ -236,7 +204,7 @@ def init_params_vals(params):
 def gen_params_cc_keys():
  for conf in confs:
    if 'param' in conf['conf_type']:
-      print("{\"%s\", PERSISTENT}," % conf['name'])
+      print("    {\"%s\", PERSISTENT}," % conf['name'])


 if __name__ == "__main__":
--- a/common/params_pxd.pxd
+++ b/common/params_pxd.pxd
@@ -12,7 +12,8 @@ cdef extern from "selfdrive/common/params.h":
    PERSISTENT
    CLEAR_ON_MANAGER_START
    CLEAR_ON_PANDA_DISCONNECT
-    CLEAR_ON_IGNITION
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
    ALL

  cdef cppclass Params:
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -13,7 +13,8 @@ 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 = c_ParamKeyType.CLEAR_ON_IGNITION
+  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):
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -3,6 +3,7 @@ import gc
 import os
 import time
 import multiprocessing
+from typing import Optional

 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
 from selfdrive.hardware import PC, TICI, JETSON
@@ -31,49 +32,49 @@ class Priority:
  CTRL_HIGH = 53


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


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


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


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

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

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

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

  # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self):
+  def monitor_time(self) -> bool:
    lagged = False
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
--- a/installer/updater/oneplus.json
+++ b/installer/updater/oneplus.json
@@ -1,6 +1,6 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06.zip",
-  "ota_hash": "969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06",
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
  "recovery_len": 15926572,
  "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
--- a/installer/updater/update.json
+++ b/installer/updater/update.json
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06.zip",
-  "ota_hash": "969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b.img",
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
  "recovery_len": 15209772,
-  "recovery_hash": "9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b"
+  "recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
 }
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -1,803 +0,0 @@
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <fstream>
-#include <iostream>
-#include <memory>
-#include <mutex>
-#include <sstream>
-#include <string>
-#include <thread>
-
-#include <curl/curl.h>
-#include <openssl/sha.h>
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-#include <GLES3/gl3.h>
-#include "nanovg.h"
-#define NANOVG_GLES3_IMPLEMENTATION
-#include "json11.hpp"
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-
-#include "selfdrive/common/framebuffer.h"
-#include "selfdrive/common/touch.h"
-#include "selfdrive/common/util.h"
-
-#define USER_AGENT "NEOSUpdater-0.2"
-
-#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
-#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
-#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
-const char *manifest_url = MANIFEST_URL_NEOS;
-
-#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
-#define RECOVERY_COMMAND "/cache/recovery/command"
-
-#define UPDATE_DIR "/data/neoupdate"
-
-extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
-extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
-extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
-extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
-extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
-extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
-
-namespace {
-
-std::string sha256_file(std::string fn, size_t limit=0) {
-  SHA256_CTX ctx;
-  SHA256_Init(&ctx);
-
-  FILE *file = fopen(fn.c_str(), "rb");
-  if (!file) return "";
-
-  const size_t buf_size = 8192;
-  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-  bool read_limit = (limit != 0);
-  while (true) {
-    size_t read_size = buf_size;
-    if (read_limit) read_size = std::min(read_size, limit);
-    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
-    if (!bytes_read) break;
-
-    SHA256_Update(&ctx, buffer.get(), bytes_read);
-
-    if (read_limit) {
-      limit -= bytes_read;
-      if (limit == 0) break;
-    }
-  }
-
-  uint8_t hash[SHA256_DIGEST_LENGTH];
-  SHA256_Final(hash, &ctx);
-
-  fclose(file);
-
-  return util::tohex(hash, sizeof(hash));
-}
-
-size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  size_t sz = size * nmeb;
-  ((std::string*)up)->append((char*)ptr, sz);
-  return sz;
-}
-
-std::string download_string(CURL *curl, std::string url) {
-  std::string os;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
-
-  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
-
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
-  CURLcode res = curl_easy_perform(curl);
-  if (res != CURLE_OK) {
-    return "";
-  }
-
-  return os;
-}
-
-size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  return fwrite(ptr, size, nmeb, (FILE*)up);
-}
-
-int battery_capacity() {
-  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
-  return atoi(bat_cap_s.c_str());
-}
-
-int battery_current() {
-  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
-  return atoi(current_now_s.c_str());
-}
-
-bool check_battery() {
-  int bat_cap = battery_capacity();
-  int current_now = battery_current();
-  return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
-}
-
-bool check_space() {
-  struct statvfs stat;
-  if (statvfs("/data/", &stat) != 0) {
-    return false;
-  }
-  size_t space = stat.f_bsize * stat.f_bavail;
-  return space > 2000000000ULL; // 2GB
-}
-
-static void start_settings_activity(const char* name) {
-  char launch_cmd[1024];
-  snprintf(launch_cmd, sizeof(launch_cmd),
-           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
-  system(launch_cmd);
-}
-
-bool is_settings_active() {
-  FILE *fp;
-  char sys_output[4096];
-
-  fp = popen("/bin/dumpsys window windows", "r");
-  if (fp == NULL) {
-    return false;
-  }
-
-  bool active = false;
-  while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
-    if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
-      break;
-    }
-
-    if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
-      active = true;
-      break;
-    }
-  }
-
-  pclose(fp);
-
-  return active;
-}
-
-struct Updater {
-  bool do_exit = false;
-
-  TouchState touch;
-
-  int fb_w, fb_h;
-
-  std::unique_ptr<FrameBuffer> fb;
-  NVGcontext *vg = NULL;
-  int font_regular;
-  int font_semibold;
-  int font_bold;
-
-  std::thread update_thread_handle;
-
-  std::mutex lock;
-
-  enum UpdateState {
-    CONFIRMATION,
-    LOW_BATTERY,
-    RUNNING,
-    ERROR,
-  };
-  UpdateState state;
-
-  std::string progress_text;
-  float progress_frac;
-
-  std::string error_text;
-
-  std::string low_battery_text;
-  std::string low_battery_title;
-  std::string low_battery_context;
-  std::string battery_cap_text;
-  int min_battery_cap = 35;
-
-  // button
-  int b_x, b_w, b_y, b_h;
-  int balt_x;
-
-  // download stage writes these for the installation stage
-  int recovery_len;
-  std::string recovery_hash;
-  std::string recovery_fn;
-  std::string ota_fn;
-
-  CURL *curl = NULL;
-
-  void ui_init() {
-    touch_init(&touch);
-
-    fb = std::make_unique<FrameBuffer>("updater", 0x00001000, false, &fb_w, &fb_h);
-
-    fb->set_power(HWC_POWER_MODE_NORMAL);
-
-    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
-    assert(vg);
-
-    font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
-    assert(font_regular >= 0);
-
-    font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
-    assert(font_semibold >= 0);
-
-    font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
-    assert(font_bold >= 0);
-
-    b_w = 640;
-    balt_x = 200;
-    b_x = fb_w-b_w-200;
-    b_y = 720;
-    b_h = 220;
-
-    if (download_stage(true)) {
-      state = RUNNING;
-      update_thread_handle = std::thread(&Updater::run_stages, this);
-    } else {
-      state = CONFIRMATION;
-    }
-  }
-
-  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
-                             curl_off_t ultotal, curl_off_t ulnow) {
-    {
-      std::lock_guard<std::mutex> guard(lock);
-      if (dltotal != 0) {
-        progress_frac = (float) dlno / dltotal;
-      }
-    }
-    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
-    return 0;
-  }
-
-  bool download_file(std::string url, std::string out_fn) {
-    FILE *of = fopen(out_fn.c_str(), "ab");
-    assert(of);
-
-    CURLcode res;
-    long last_resume_from = 0;
-
-    fseek(of, 0, SEEK_END);
-
-    int tries = 4;
-
-    bool ret = false;
-
-    while (true) {
-      long resume_from = ftell(of);
-
-      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
-      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
-
-      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
-      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
-
-      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
-
-      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
-      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
-
-      CURLcode res = curl_easy_perform(curl);
-
-      long response_code = 0;
-      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
-
-      // double content_length = 0.0;
-      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-
-      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
-      if (res == CURLE_OK) {
-        ret = true;
-        break;
-      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
-        // failed because the file is already complete?
-        ret = true;
-        break;
-      } else if (resume_from == last_resume_from) {
-        // failed and dind't make make forward progress. only retry a couple times
-        tries--;
-        if (tries <= 0) {
-          break;
-        }
-      }
-      last_resume_from = resume_from;
-    }
-    // printf("res %d\n", res);
-
-    // printf("- %ld %f\n", response_code, content_length);
-
-    fclose(of);
-
-    return ret;
-  }
-
-  void set_progress(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    progress_text = text;
-  }
-
-  void set_error(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    error_text = text;
-    state = ERROR;
-  }
-
-  void set_battery_low() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = LOW_BATTERY;
-  }
-
-  void set_running() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = RUNNING;
-  }
-
-  std::string download(std::string url, std::string hash, std::string name, bool dry_run) {
-    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
-
-    std::string fn_hash = sha256_file(out_fn);
-    if (dry_run) {
-      return (hash.compare(fn_hash) != 0) ? "" : out_fn;
-    }
-
-    // start or resume downloading if hash doesn't match
-    if (hash.compare(fn_hash) != 0) {
-      set_progress("Downloading " + name + "...");
-      bool r = download_file(url, out_fn);
-      if (!r) {
-        set_error("failed to download " + name);
-        unlink(out_fn.c_str());
-        return "";
-      }
-      fn_hash = sha256_file(out_fn);
-    }
-
-    set_progress("Verifying " + name + "...");
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
-    if (fn_hash != hash) {
-      set_error(name + " was corrupt");
-      unlink(out_fn.c_str());
-      return "";
-    }
-    return out_fn;
-  }
-
-  bool download_stage(bool dry_run = false) {
-    curl = curl_easy_init();
-    assert(curl);
-
-    // ** quick checks before download **
-
-    if (!check_space()) {
-      if (!dry_run) set_error("2GB of free space required to update");
-      return false;
-    }
-
-    mkdir(UPDATE_DIR, 0777);
-
-    set_progress("Finding latest version...");
-    std::string manifest_s = download_string(curl, manifest_url);
-    printf("manifest: %s\n", manifest_s.c_str());
-
-    std::string err;
-    auto manifest = json11::Json::parse(manifest_s, err);
-    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
-      return false;
-    }
-
-    std::string ota_url = manifest["ota_url"].string_value();
-    std::string ota_hash = manifest["ota_hash"].string_value();
-
-    std::string recovery_url = manifest["recovery_url"].string_value();
-    recovery_hash = manifest["recovery_hash"].string_value();
-    recovery_len = manifest["recovery_len"].int_value();
-
-    // std::string installer_url = manifest["installer_url"].string_value();
-    // std::string installer_hash = manifest["installer_hash"].string_value();
-
-    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
-      return false;
-    }
-
-    // std::string installer_fn = download(installer_url, installer_hash, "installer");
-    // if (installer_fn.empty()) {
-    //   //error'd
-    //   return;
-    // }
-
-    // ** handle recovery download **
-    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("Skipping recovery flash...");
-    } else {
-      // only download the recovery if it differs from what's flashed
-      set_progress("Checking recovery...");
-      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
-
-      if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = download(recovery_url, recovery_hash, "recovery", dry_run);
-        if (recovery_fn.empty()) {
-          // error'd
-          return false;
-        }
-      }
-    }
-
-    // ** handle ota download **
-    ota_fn = download(ota_url, ota_hash, "update", dry_run);
-    if (ota_fn.empty()) {
-      //error'd
-      return false;
-    }
-
-    // download sucessful
-    return true;
-  }
-
-  // thread that handles downloading and installing the update
-  void run_stages() {
-    printf("run_stages start\n");
-
-
-    // ** download update **
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        util::sleep_for(1000);
-      }
-      set_running();
-    }
-
-    bool sucess = download_stage();
-    if (!sucess) {
-      return;
-    }
-
-    // ** install update **
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        util::sleep_for(1000);
-      }
-      set_running();
-    }
-
-    if (!recovery_fn.empty()) {
-      // flash recovery
-      set_progress("Flashing recovery...");
-
-      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
-      if (!flash_file) {
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
-      if (!recovery_dev) {
-        fclose(flash_file);
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      const size_t buf_size = 4096;
-      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-      while (true) {
-        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
-        if (!bytes_read) break;
-
-        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
-        if (bytes_read != bytes_written) {
-          fclose(recovery_dev);
-          fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
-          return;
-        }
-      }
-
-      fclose(recovery_dev);
-      fclose(flash_file);
-
-      set_progress("Verifying flash...");
-      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
-
-      if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
-        return;
-      }
-
-    }
-
-    // write arguments to recovery
-    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
-    if (!cmd_file) {
-      set_error("failed to reboot into recovery");
-      return;
-    }
-    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
-    fclose(cmd_file);
-
-    set_progress("Rebooting");
-
-    // remove the continue.sh so we come back into the setup.
-    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
-    //unlink("/data/data/com.termux/files/continue.sh");
-
-    // TODO: this should be generic between android versions
-    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
-    system("service call power 16 i32 0 s16 recovery i32 1");
-    while(1) pause();
-
-    // execl("/system/bin/reboot", "recovery");
-    // set_error("failed to reboot into recovery");
-  }
-
-  void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
-
-    // draw button
-    if (button) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-
-    // draw button
-    if (altbutton) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-  }
-
-  void draw_battery_screen() {
-    low_battery_title = "Low Battery";
-    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
-    low_battery_context = "Current battery charge: " + battery_cap_text + "%";
-
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
-  }
-
-  void draw_progress_screen() {
-    // draw progress message
-    nvgFontSize(vg, 64.0f);
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
-
-    // draw progress bar
-    {
-      int progress_width = 1000;
-      int progress_x = fb_w/2-progress_width/2;
-      int progress_y = 520;
-      int progress_height = 50;
-
-      int powerprompt_y = 312;
-      nvgFontFace(vg, "opensans_regular");
-      nvgFontSize(vg, 64.0f);
-      nvgText(vg, fb_w/2, 740, "Ensure your device remains connected to a power source.", NULL);
-
-      NVGpaint paint = nvgBoxGradient(
-          vg, progress_x + 1, progress_y + 1,
-          progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
-      nvgBeginPath(vg);
-      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-
-      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
-      int bar_pos = ((progress_width - 2) * value);
-
-      paint = nvgBoxGradient(
-          vg, progress_x, progress_y,
-          bar_pos+1.5f, progress_height-1, 3, 4,
-          nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
-
-      nvgBeginPath(vg);
-      nvgRoundedRect(
-          vg, progress_x+1, progress_y+1,
-          bar_pos, progress_height-2, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-    }
-  }
-
-  void ui_draw() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
-
-    switch (state) {
-    case CONFIRMATION:
-      draw_ack_screen("An update to NEOS is required.",
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
-                      "Continue",
-                      "Connect to WiFi");
-      break;
-    case LOW_BATTERY:
-      draw_battery_screen();
-      break;
-    case RUNNING:
-      draw_progress_screen();
-      break;
-    case ERROR:
-      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
-      break;
-    }
-
-    nvgEndFrame(vg);
-  }
-
-  void ui_update() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    if (state == ERROR || state == CONFIRMATION) {
-      int touch_x = -1, touch_y = -1;
-      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
-      if (res == 1 && !is_settings_active()) {
-        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            state = RUNNING;
-            update_thread_handle = std::thread(&Updater::run_stages, this);
-          }
-        }
-        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            start_settings_activity("Settings$WifiSettingsActivity");
-          } else if (state == ERROR) {
-            do_exit = 1;
-          }
-        }
-      }
-    }
-  }
-
-  void go() {
-    ui_init();
-
-    while (!do_exit) {
-      ui_update();
-
-      glClearColor(0.08, 0.08, 0.08, 1.0);
-      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-      // background
-      nvgBeginPath(vg);
-      NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
-        nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
-      nvgFillPaint(vg, bg);
-      nvgRect(vg, 0, 0, fb_w, fb_h);
-      nvgFill(vg);
-
-      glEnable(GL_BLEND);
-      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-
-      ui_draw();
-
-      glDisable(GL_BLEND);
-
-      fb->swap();
-
-      assert(glGetError() == GL_NO_ERROR);
-
-      // no simple way to do 30fps vsync with surfaceflinger...
-      util::sleep_for(30);
-    }
-
-    if (update_thread_handle.joinable()) {
-      update_thread_handle.join();
-    }
-
-    // reboot
-    system("service call power 16 i32 0 i32 0 i32 1");
-  }
-
-};
-
-}
-
-int main(int argc, char *argv[]) {
-  bool background_cache = false;
-  if (argc > 1) {
-    if (strcmp(argv[1], "local") == 0) {
-      manifest_url = MANIFEST_URL_NEOS_LOCAL;
-    } else if (strcmp(argv[1], "staging") == 0) {
-      manifest_url = MANIFEST_URL_NEOS_STAGING;
-    } else if (strcmp(argv[1], "bgcache") == 0) {
-      manifest_url = argv[2];
-      background_cache = true;
-    } else {
-      manifest_url = argv[1];
-    }
-  }
-
-  printf("updating from %s\n", manifest_url);
-  Updater updater;
-
-  int err = 0;
-  if (background_cache) {
-    err = !updater.download_stage();
-  } else {
-    updater.go();
-  }
-  return err;
-}
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -9,6 +9,7 @@ source "$BASEDIR/launch_env.sh"
 if ! $(grep -q "letv" /proc/cmdline); then
  mount -o remount,rw /system
  sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
+  touch /ONEPLUS
  mount -o remount,r /system
 fi

@@ -119,6 +120,7 @@ function two_init {
 function tici_init {
  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
+  nmcli connection modify --temporary lte gsm.auto-config yes

  # set success flag for current boot slot
  sudo abctl --set_success
@@ -235,6 +237,9 @@ function launch {
  ln -sfn $(pwd) /data/pythonpath
  export PYTHONPATH="$PWD"

+  # dp - ignore chmod changes
+  git -C $DIR config core.fileMode false
+
  # hardware specific init
  if [ -f /EON ]; then
    two_init
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,11 +7,11 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="16.2"
+  export REQUIRED_NEOS_VERSION="17"
 fi

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="0.14"
+  export AGNOS_VERSION="0.18"
 fi

 if [ -z "$PASSIVE" ]; then
--- a/models/dmonitoring_model_q.dlc
+++ b/models/dmonitoring_model_q.dlc
--- a/models/supercombo.dlc
+++ b/models/supercombo.dlc
--- a/opendbc/can/parser_pyx.pyx
+++ b/opendbc/can/parser_pyx.pyx
@@ -36,6 +36,8 @@ cdef class CANParser:
  def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
    if checks is None:
      checks = []
+    checks = []
+    enforce_checks = False
    self.can_valid = True
    self.dbc_name = dbc_name
    self.dbc = dbc_lookup(dbc_name)
@@ -74,7 +76,7 @@ cdef class CANParser:
        c = (self.msg_name_to_address[name], c[1])
        checks[i] = c

-    if False: #enforce_checks:
+    if enforce_checks:
      checked_addrs = {c[0] for c in checks}
      signal_addrs = {s[1] for s in signals}
      unchecked = signal_addrs - checked_addrs
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -380,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

-CM_ "honda_accord_lx15t_2018_can.dbc starts here";
+CM_ "honda_accord_2018_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -389,8 +389,14 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 401 GEARBOX: 8 PCM
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 401 GEARBOX_15T: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
 SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
 SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
@@ -430,6 +436,7 @@ BO_ 1302 ODOMETER: 8 XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -1,438 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-
-
-CM_ "Imported file _bosch_2018.dbc starts here";
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
-
-BO_ 148 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 228 STEERING_CONTROL: 5 EON
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
- SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
- SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 232 BRAKE_HOLD: 7 XXX
- SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
- SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
- SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
-BO_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
- SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 495 ACC_CONTROL_ON: 8 XXX
- SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
- SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 545 XXX_16: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 576 LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 577 LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
- BO_ 662 SCM_BUTTONS: 4 SCM
-  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
-  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
-  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
- SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 STALK_STATUS_2: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
-CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
-CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
-CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
-CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
-CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
-CM_ SG_ 577 LINE_SOLID "1 = line is solid";
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-
-CM_ "honda_accord_s2t_2018_can.dbc starts here";
-
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/lexus_nx300_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300_2018_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/lexus_nx300h_2018_pt_generated.dbc
+++ b/opendbc/lexus_nx300h_2018_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/mazda_2017.dbc
+++ b/opendbc/mazda_2017.dbc
@@ -168,17 +168,16 @@ BO_ 581 CAM_IDK3: 8 XXX
 SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
- SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
 SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
 SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
 SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX
+ SG_ SPEED_SIGN_ON : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX

 BO_ 1157 CAM_SETTINGS: 8 XXX
- SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
 SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
 SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
 SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
@@ -186,8 +185,10 @@ BO_ 1157 CAM_SETTINGS: 8 XXX
 SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
 SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
 SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 12|1@0+ (1,0) [0|7] "" XXX
 SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT1 : 12|1@0+ (1,0) [0|7] "" XXX
+ SG_ BIT2 : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT3 : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1160 CAM_Empty3: 8 XXX
 SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
@@ -759,6 +760,7 @@ CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potentia
 CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
 CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
 CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
+CM_ SG_ 863 STOP_SIGN "value 9 when stop sign is active";
 CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
 CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
 CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
@@ -773,4 +775,4 @@ CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
 CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
 CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
 CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
-VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
+VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
--- a/opendbc/subaru_forester_2017_generated.dbc
+++ b/opendbc/subaru_forester_2017_generated.dbc
@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
 BO_ 320 Throttle: 8 XXX
 SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
 SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
 SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
 SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
 SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX

 BO_ 321 Engine: 8 XXX
 SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
 SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
 SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
 SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
 SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
 SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
 SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX

@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX

 BO_ 866 Fuel: 8 XXX

+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
 SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX

@@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -253,6 +260,6 @@ BO_ 355 ES_DashStatus: 8 XXX
 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
 SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
 SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
 SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
--- a/opendbc/subaru_global_2017_generated.dbc
+++ b/opendbc/subaru_global_2017_generated.dbc
@@ -48,11 +48,13 @@ BO_ 2 Steering: 8 XXX
 BO_ 64 Throttle: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
 SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
 SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Signal1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX

 BO_ 316 Brake_Status: 8 XXX
--- a/opendbc/subaru_outback_2015_generated.dbc
+++ b/opendbc/subaru_outback_2015_generated.dbc
@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
 BO_ 320 Throttle: 8 XXX
 SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
 SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
 SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
 SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
 SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX

 BO_ 321 Engine: 8 XXX
 SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
 SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
 SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
 SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
 SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
 SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
 SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX

@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX

 BO_ 866 Fuel: 8 XXX

+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
 SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX

@@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
 SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
 SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
 SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
 SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
 SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";
--- a/opendbc/subaru_outback_2019_generated.dbc
+++ b/opendbc/subaru_outback_2019_generated.dbc
@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
 BO_ 320 Throttle: 8 XXX
 SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
 SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
 SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
 SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
 SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX

 BO_ 321 Engine: 8 XXX
 SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
 BO_ 352 ES_Brake: 8 XXX
 SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
 SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
 SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
 SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
 SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
 SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX

@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX

 BO_ 866 Fuel: 8 XXX

+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
 SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX

@@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
 CM_ SG_ 320 Throttle_Body "Throttle related";
 CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
 CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
-CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
 CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
 SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
 SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
 SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
 SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
 SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -291,6 +291,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -291,6 +291,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
@@ -1351,18 +1351,19 @@ BO_ 391 EV_Gearshift: 8 XXX
 SG_ GearPosition : 16|4@1+ (1,0) [0|255] "" XXX
 SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX

-CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
 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_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_ 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 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_ 159 HCA_Ready "1 if HCA is okay, 0 if the rack doesn't have HCA configured or a timer/constraint has been violated, rack will not respond to HCA commands";
-CM_ SG_ 159 Driver_Strain "Steering input by driver, torque";
-CM_ SG_ 159 Driver_Strain_VZ "Steering input by driver, sign (direction)";
-CM_ SG_ 159 Steering_Wheel_Angle "Steering angle WITHOUT variable ratio effect included";
 CM_ SG_ 919 LDW_DLC "Probable DLC (distance to line crossing)";
 CM_ SG_ 919 LDW_TLC "Probable TLC (time to line crossing)";
 CM_ SG_ 919 LDW_Unknown "Might be a steering pressed / driver active flag";
@@ -1378,6 +1379,7 @@ CM_ SG_ 780 Abstand "Following distance";
 CM_ SG_ 780 SetSpeed "ACC set speed";
 CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode mapped to Drive";
 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_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D";
 VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3";
--- a/panda/board/SConscript
+++ b/panda/board/SConscript
@@ -36,11 +36,16 @@ else:
    "-g",
  ]

-  if FindFile('dp_vw', '/data/params/d') != None:
-    with open('/data/params/d/dp_vw') as f:
+  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:
        PROJECT_FLAGS += ['-Dvw']

+  if FindFile('dp_panda_fake_black', '/data/params/d') != None:
+    with open('/data/params/d/dp_panda_fake_black') as f:
+      if (int(f.read().strip())) == 1:
+        PROJECT_FLAGS += ['-Dfake_black_panda']
+
  if not PC:
    PROJECT_FLAGS += ["-DEON"]
    BUILDER = "EON"
--- a/panda/board/boards/dos.h
+++ b/panda/board/boards/dos.h
@@ -26,9 +26,9 @@ void dos_enable_can_transceivers(bool enabled) {
  for(uint8_t i=1U; i<=4U; i++){
    // Leave main CAN always on for CAN-based ignition detection
    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
-      uno_enable_can_transceiver(i, true);
+      dos_enable_can_transceiver(i, true);
    } else {
-      uno_enable_can_transceiver(i, enabled);
+      dos_enable_can_transceiver(i, enabled);
    }
  }
 }
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -42,6 +42,7 @@

 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!
 struct __attribute__((packed)) health_t {
  uint32_t uptime_pkt;
  uint32_t voltage_pkt;
@@ -61,6 +62,7 @@ struct __attribute__((packed)) health_t {
  int16_t safety_param_pkt;
  uint8_t fault_status_pkt;
  uint8_t power_save_enabled_pkt;
+  uint8_t heartbeat_lost_pkt;
 };


@@ -154,6 +156,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
    case SAFETY_ELM327:
      set_intercept_relay(false);
      heartbeat_counter = 0U;
+      heartbeat_lost = false;
      if (board_has_obd()) {
        current_board->set_can_mode(CAN_MODE_OBD_CAN2);
      }
@@ -162,6 +165,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
    default:
      set_intercept_relay(true);
      heartbeat_counter = 0U;
+      heartbeat_lost = false;
      if (board_has_obd()) {
        current_board->set_can_mode(CAN_MODE_NORMAL);
      }
@@ -196,6 +200,7 @@ int get_health_pkt(void *dat) {
  health->safety_mode_pkt = (uint8_t)(current_safety_mode);
  health->safety_param_pkt = current_safety_param;
  health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
+  health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);

  health->fault_status_pkt = fault_status;
  health->faults_pkt = faults;
@@ -342,7 +347,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      break;
    // **** 0xc1: get hardware type
    case 0xc1:
+      #ifdef fake_black_panda
+      resp[0] = HW_TYPE_BLACK_PANDA;
+      #else
      resp[0] = hw_type;
+      #endif
      resp_len = 1;
      break;
    // **** 0xd0: fetch serial number
@@ -609,6 +618,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
    case 0xf3:
      {
        heartbeat_counter = 0U;
+        heartbeat_lost = false;
        break;
      }
    // **** 0xf4: k-line/l-line 5 baud initialization
@@ -746,6 +756,9 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
          set_power_save_state(POWER_SAVE_STATUS_ENABLED);
        }

+        // set flag to indicate the heartbeat was lost
+        heartbeat_lost = true;
+
        // Also disable IR when the heartbeat goes missing
        current_board->set_ir_power(0U);

--- a/panda/board/main_declarations.h
+++ b/panda/board/main_declarations.h
@@ -13,5 +13,6 @@ const board *current_board;
 bool is_enumerated = 0;
 uint32_t heartbeat_counter = 0;
 uint32_t uptime_cnt = 0;
+bool heartbeat_lost = false;
 bool siren_enabled = false;
 bool green_led_enabled = false;
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -37,7 +37,8 @@ const int HONDA_RX_CHECKS_LEN = sizeof(honda_rx_checks) / sizeof(honda_rx_checks
 AddrCheckStruct honda_bh_rx_checks[] = {
  {.msg = {{0x296, 1, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}}},
  {.msg = {{0x158, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
-  {.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
+  {.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+           {0x1BE, 1, 3, .check_checksum = true, .max_counter = 3U, .expected_timestep = 20000U}}},
 };
 const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);

--- a/panda/python/init.py
+++ b/panda/python/init.py
@@ -332,8 +332,8 @@ class Panda(object):
  # ******************* health *******************

  def health(self):
-    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 41)
-    a = struct.unpack("IIIIIIIIBBBBBBBBB", dat)
+    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 44)
+    a = struct.unpack("<IIIIIIIIBBBBBBBHBBB", dat)
    return {
      "uptime": a[0],
      "voltage": a[1],
@@ -350,8 +350,10 @@ class Panda(object):
      "car_harness_status": a[12],
      "usb_power_mode": a[13],
      "safety_mode": a[14],
-      "fault_status": a[15],
-      "power_save_enabled": a[16]
+      "safety_param": a[15],
+      "fault_status": a[16],
+      "power_save_enabled": a[17],
+      "heartbeat_lost": a[18],
    }

  # ******************* control *******************
--- a/release/build_release2.sh
+++ b/release/build_release2.sh
@@ -49,7 +49,7 @@ popd
 # Build stuff
 ln -sfn /data/openpilot /data/pythonpath
 export PYTHONPATH="/data/openpilot:/data/openpilot/pyextra"
-SCONS_CACHE=1 scons -j3
+scons -j3

 # Run tests
 python selfdrive/manager/test/test_manager.py
--- a/scripts/disable_relay.sh
+++ b/scripts/disable_relay.sh
@@ -1,10 +1,10 @@
 #!/usr/bin/bash

 if [ $1 -eq 1 ]; then
-  printf %s "1" > /data/params/d/dp_disable_relay
+  printf %s "1" > /data/params/d/dp_toyota_disable_relay
 fi
 if [ $1 -eq 0 ]; then
-  printf %s "0" > /data/params/d/dp_disable_relay
+  printf %s "0" > /data/params/d/dp_toyota_disable_relay
 fi

 rm -rf /data/openpilot/selfdrive/boardd/boardd && reboot
--- a/scripts/jetson.sh
+++ b/scripts/jetson.sh
@@ -1,16 +0,0 @@
-#!/usr/bin/bash
-
-if [ $1 -eq 1 ]; then
-  printf %s "1" > /data/params/d/dp_jetson
-  printf %s "0" > /data/params/d/dp_uploader
-  printf %s "0" > /data/params/d/dp_logger
-  printf %s "0" > /data/params/d/dp_athenad
-
-fi
-if [ $1 -eq 0 ]; then
-  printf %s "0" > /data/params/d/dp_jetson
-  cd /data/openpilot || exit
-  git reset --hard @{u}
-  git clean -xdf
-fi
-reboot
--- a/scripts/update_panda_firmware.sh
+++ b/scripts/update_panda_firmware.sh
@@ -4,6 +4,5 @@ export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
 export HOME=/data/data/com.termux/files/home
 export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/python
 export PYTHONPATH=/data/openpilot
-printf %s "1" > /data/params/d/DragonUpdating
 rm /data/openpilot/panda/board/obj/panda.bin
 cd /data/openpilot/panda || exit ; pkill -f boardd ; python -c "from panda import Panda; Panda().flash()" && reboot
--- a/scripts/vw.sh
+++ b/scripts/vw.sh
@@ -1,9 +1,9 @@
 #!/usr/bin/bash

 if [ $1 -eq 1 ]; then
-  printf %s "1" > /data/params/d/dp_vw
+  printf %s "1" > /data/params/d/dp_vw_panda
 fi
 if [ $1 -eq 0 ]; then
-  printf %s "0" > /data/params/d/dp_vw
+  printf %s "0" > /data/params/d/dp_vw_panda
 fi
 rm /data/openpilot/panda/board/obj/panda.bin
--- a/selfdrive/assets/images/triangle.svg
+++ b/selfdrive/assets/images/triangle.svg
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="triangle-11"
+   width="75.758675"
+   height="89.153732"
+   viewBox="0 0 75.758675 89.153734"
+   sodipodi:docname="triangle.svg"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata8">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1278"
+     inkscape:window-height="1418"
+     id="namedview4"
+     showgrid="false"
+     inkscape:zoom="3.7926636"
+     inkscape:cx="58.39757"
+     inkscape:cy="42.569591"
+     inkscape:window-x="2480"
+     inkscape:window-y="0"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="triangle-11" />
+  <path
+     id="rect3338"
+     d="m 38.008927,0.00304862 c -1.672524,-0.07115 -3.24191,1.10742798 -4.103539,3.08128498 L 0.63797357,79.511649 c -1.85216397,4.240355 0.59099403,9.61933 3.95882353,9.642068 3.3678291,0.02287 28.1477799,-24.380023 33.9100889,-24.380023 5.762307,0 29.946434,24.380314 32.624742,24.380023 2.678305,-2.9e-4 3.249598,-1.351011 4.021616,-3.231338 0.772007,-1.880328 0.863286,-4.290554 -0.06281,-6.41073 L 58.456744,41.297993 41.823037,3.0843336 C 41.013805,1.2321186 39.577483,0.07190362 38.008927,0.00304862 Z"
+     inkscape:connector-curvature="0"
+     style="fill:#cccccc;stroke-width:9.76952076"
+     sodipodi:nodetypes="ccczzzscccc" />
+</svg>
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -25,12 +25,11 @@ from common.api import Api
 from common.basedir import PERSIST
 from common.params import Params
 from common.realtime import sec_since_boot
-from selfdrive.hardware import HARDWARE, PC, JETSON
+from selfdrive.hardware import HARDWARE, PC, TICI, JETSON
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.swaglog import cloudlog, SWAGLOG_DIR
-import selfdrive.crash as crash
-from selfdrive.version import dirty, origin, branch, commit
+from selfdrive.version import get_version, get_git_remote, get_git_branch, get_git_commit

 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -38,6 +37,7 @@ LOCAL_PORT_WHITELIST = set([8022])

 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
+RECONNECT_TIMEOUT_S = 70

 dispatcher["echo"] = lambda s: s
 recv_queue: Any = queue.Queue()
@@ -53,12 +53,12 @@ def handle_long_poll(ws):
  end_event = threading.Event()

  threads = [
-    threading.Thread(target=ws_recv, args=(ws, end_event)),
-    threading.Thread(target=ws_send, args=(ws, end_event)),
-    threading.Thread(target=upload_handler, args=(end_event,)),
-    threading.Thread(target=log_handler, args=(end_event,)),
+    threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
+    threading.Thread(target=ws_send, args=(ws, end_event), name='wc_send'),
+    threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+    threading.Thread(target=log_handler, args=(end_event,), name='log_handler'),
  ] + [
-    threading.Thread(target=jsonrpc_handler, args=(end_event,))
+    threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
    for x in range(HANDLER_THREADS)
  ]

@@ -72,17 +72,20 @@ def handle_long_poll(ws):
    raise
  finally:
    for thread in threads:
+      cloudlog.debug(f"athena.joining {thread.name}")
      thread.join()

+
 def jsonrpc_handler(end_event):
  dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
  while not end_event.is_set():
    try:
      data = recv_queue.get(timeout=1)
      if "method" in data:
+        cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}")
        response = JSONRPCResponseManager.handle(data, dispatcher)
        send_queue.put_nowait(response.json)
-      elif "result" in data and "id" in data:
+      elif "id" in data and ("result" in data or "error" in data):
        log_recv_queue.put_nowait(data)
      else:
        raise Exception("not a valid request or response")
@@ -131,6 +134,27 @@ def getMessage(service=None, timeout=1000):
  return ret.to_dict()


+@dispatcher.add_method
+def getVersion():
+  return {
+    "version": get_version(),
+    "remote": get_git_remote(),
+    "branch": get_git_branch(),
+    "commit": get_git_commit(),
+  }
+
+
+@dispatcher.add_method
+def setNavDestination(latitude=0, longitude=0):
+  destination = {
+    "latitude": latitude,
+    "longitude": longitude,
+  }
+  Params().put("NavDestination", json.dumps(destination))
+
+  return {"success": 1}
+
+
@dispatcher.add_method
 def listDataDirectory():
  files = [os.path.relpath(os.path.join(dp, f), ROOT) for dp, dn, fn in os.walk(ROOT) for f in fn]
@@ -190,6 +214,8 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
    if local_port not in LOCAL_PORT_WHITELIST:
      raise Exception("Requested local port not whitelisted")

+    cloudlog.debug("athena.startLocalProxy.starting")
+
    params = Params()
    dongle_id = params.get("DongleId").decode('utf8')
    identity_token = Api(dongle_id).get_token()
@@ -210,6 +236,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
    for thread in threads:
      thread.start()

+    cloudlog.debug("athena.startLocalProxy.started")
    return {"success": 1}
  except Exception as e:
    cloudlog.exception("athenad.startLocalProxy.exception")
@@ -282,56 +309,60 @@ def log_handler(end_event):

  log_files = []
  last_scan = 0
-  log_retries = 0
  while not end_event.is_set():
    try:
-      try:
-        result = json.loads(log_recv_queue.get(timeout=1))
-        log_success = result.get("success")
-        log_entry = result.get("id")
-        log_path = os.path.join(SWAGLOG_DIR, log_entry)
-        if log_entry and log_success:
-          try:
-            setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
-          except OSError:
-            pass # file could be deleted by log rotation
-      except queue.Empty:
-        pass
-
      curr_scan = sec_since_boot()
      if curr_scan - last_scan > 10:
        log_files = get_logs_to_send_sorted()
        last_scan = curr_scan

-      # never send last log file because it is the active log
-      # and only send one log file at a time (most recent first)
-      if not len(log_files) or not log_send_queue.empty():
-        continue
+      # send one log
+      curr_log = None
+      if len(log_files) > 0:
+        log_entry = log_files.pop()
+        cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
+        try:
+          curr_time = int(time.time())
+          log_path = os.path.join(SWAGLOG_DIR, log_entry)
+          setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
+          with open(log_path, "r") as f:
+            jsonrpc = {
+              "method": "forwardLogs",
+              "params": {
+                "logs": f.read()
+              },
+              "jsonrpc": "2.0",
+              "id": log_entry
+            }
+            log_send_queue.put_nowait(json.dumps(jsonrpc))
+            curr_log = log_entry
+        except OSError:
+          pass  # file could be deleted by log rotation
+
+      # wait for response up to ~100 seconds
+      # always read queue at least once to process any old responses that arrive
+      for _ in range(100):
+        if end_event.is_set():
+          break
+        try:
+          log_resp = json.loads(log_recv_queue.get(timeout=1))
+          log_entry = log_resp.get("id")
+          log_success = "result" in log_resp and log_resp["result"].get("success")
+          cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
+          if log_entry and log_success:
+            log_path = os.path.join(SWAGLOG_DIR, log_entry)
+            try:
+              setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
+            except OSError:
+              pass  # file could be deleted by log rotation
+          if curr_log == log_entry:
+            break
+        except queue.Empty:
+          if curr_log is None:
+            break

-      log_entry = log_files.pop()
-      try:
-        curr_time = int(time.time())
-        log_path = os.path.join(SWAGLOG_DIR, log_entry)
-        setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
-        with open(log_path, "r") as f:
-          jsonrpc = {
-            "method": "forwardLogs",
-            "params": {
-              "logs": f.read()
-            },
-            "jsonrpc": "2.0",
-            "id": log_entry
-          }
-          log_send_queue.put_nowait(json.dumps(jsonrpc))
-      except OSError:
-        pass # file could be deleted by log rotation
-      log_retries = 0
    except Exception:
      cloudlog.exception("athena.log_handler.exception")
-      log_retries += 1
-
-    if log_retries != 0:
-      time.sleep(backoff(log_retries))


 def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
@@ -345,8 +376,11 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
      cloudlog.exception("athenad.ws_proxy_recv.exception")
      break

+  cloudlog.debug("athena.ws_proxy_recv closing sockets")
  ssock.close()
  local_sock.close()
+  cloudlog.debug("athena.ws_proxy_recv done closing sockets")
+
  end_event.set()


@@ -370,10 +404,13 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
      cloudlog.exception("athenad.ws_proxy_send.exception")
      end_event.set()

+  cloudlog.debug("athena.ws_proxy_send closing sockets")
  signal_sock.close()
+  cloudlog.debug("athena.ws_proxy_send done closing sockets")


 def ws_recv(ws, end_event):
+  last_ping = int(sec_since_boot() * 1e9)
  while not end_event.is_set():
    try:
      opcode, data = ws.recv_data(control_frame=True)
@@ -382,9 +419,13 @@ def ws_recv(ws, end_event):
          data = data.decode("utf-8")
        recv_queue.put_nowait(data)
      elif opcode == ABNF.OPCODE_PING:
-        Params().put("LastAthenaPingTime", str(int(sec_since_boot() * 1e9)))
+        last_ping = int(sec_since_boot() * 1e9)
+        Params().put("LastAthenaPingTime", str(last_ping))
    except WebSocketTimeoutException:
-      pass
+      ns_since_last_ping = int(sec_since_boot() * 1e9) - last_ping
+      if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
+        cloudlog.exception("athenad.wc_recv.timeout")
+        end_event.set()
    except Exception:
      cloudlog.exception("athenad.ws_recv.exception")
      end_event.set()
@@ -409,26 +450,41 @@ def backoff(retries):
  return random.randrange(0, min(128, int(2 ** retries)))


+def manage_tokens(api):
+  if not TICI:
+    return
+
+  try:
+    params = Params()
+    mapbox = api.get(f"/v1/tokens/mapbox/{api.dongle_id}/", timeout=5.0, access_token=api.get_token())
+    if mapbox.status_code == 200:
+      params.put("MapboxToken", mapbox.json()["token"])
+    else:
+      params.delete("MapboxToken")
+  except Exception:
+    cloudlog.exception("Failed to update tokens")
+
+
 def main():
  params = Params()
  dongle_id = params.get("DongleId", encoding='utf-8')
-  crash.init()
-  crash.bind_user(id=dongle_id)
-  crash.bind_extra(dirty=dirty, origin=origin, branch=branch, commit=commit,
-                   device=HARDWARE.get_device_type())

  ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
-
  api = Api(dongle_id)

  conn_retries = 0
  while 1:
    try:
+      cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri)
      ws = create_connection(ws_uri,
                             cookie="jwt=" + api.get_token(),
-                             enable_multithread=True)
-      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
+                             enable_multithread=True,
+                             timeout=1.0)
      ws.settimeout(1)
+      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
+
+      manage_tokens(api)
+
      conn_retries = 0
      handle_long_poll(ws)
    except (KeyboardInterrupt, SystemExit):
@@ -437,7 +493,6 @@ def main():
      conn_retries += 1
      params.delete("LastAthenaPingTime")
    except Exception:
-      crash.capture_exception()
      cloudlog.exception("athenad.main.exception")

      conn_retries += 1
--- a/selfdrive/athena/registration.py
+++ b/selfdrive/athena/registration.py
@@ -11,7 +11,7 @@ from common.spinner import Spinner
 from common.file_helpers import mkdirs_exists_ok
 from common.basedir import PERSIST
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import HARDWARE
+from selfdrive.hardware import HARDWARE, JETSON
 from selfdrive.swaglog import cloudlog


@@ -20,6 +20,10 @@ UNREGISTERED_DONGLE_ID = "UnregisteredDevice"

 def register(show_spinner=False) -> str:
  params = Params()
+  if not params.get_bool('dp_reg') or params.get_bool('dp_jetson'):
+    return UNREGISTERED_DONGLE_ID
+  if JETSON:
+    return UNREGISTERED_DONGLE_ID
  params.put("SubscriberInfo", HARDWARE.get_subscriber_info())

  IMEI = params.get("IMEI", encoding='utf8')
--- a/selfdrive/boardd/SConscript
+++ b/selfdrive/boardd/SConscript
@@ -1,9 +1,15 @@
 Import('env', 'envCython', 'common', 'cereal', 'messaging')
-# dp - Add read dp_disable_relay value
-if FindFile('dp_disable_relay', '/data/params/d') != None:
-  with open('/data/params/d/dp_disable_relay') as f:
+# dp - Add read dp_toyota_disable_relay value
+if FindFile('dp_toyota_disable_relay', '/data/params/d') != None:
+  with open('/data/params/d/dp_toyota_disable_relay') as f:
    if (int(f.read().strip())) == 1:
      env.Append(CCFLAGS='-DDisableRelay')
+
+if FindFile('dp_panda_no_gps', '/data/params/d') != None:
+  with open('/data/params/d/dp_panda_no_gps') as f:
+    if (int(f.read().strip())) == 1:
+      env.Append(CCFLAGS='-DNoGPS')
+
 env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])

--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -12,8 +12,6 @@
 #include <atomic>
 #include <bitset>
 #include <cassert>
-#include <ctime>
-#include <iostream>
 #include <thread>
 #include <unordered_map>

@@ -42,21 +40,7 @@ std::atomic<bool> safety_setter_thread_running(false);
 std::atomic<bool> ignition(false);

 ExitHandler do_exit;
-struct tm get_time(){
-  time_t rawtime;
-  time(&rawtime);

-  struct tm sys_time;
-  gmtime_r(&rawtime, &sys_time);
-
-  return sys_time;
-}
-
-bool time_valid(struct tm sys_time){
-  int year = 1900 + sys_time.tm_year;
-  int month = 1 + sys_time.tm_mon;
-  return (year > 2020) || (year == 2020 && month >= 10);
-}

 void safety_setter_thread() {
  LOGD("Starting safety setter thread");
@@ -167,10 +151,10 @@ bool usb_connect() {

  if (tmp_panda->has_rtc){
    setenv("TZ","UTC",1);
-    struct tm sys_time = get_time();
+    struct tm sys_time = util::get_time();
    struct tm rtc_time = tmp_panda->get_rtc();

-    if (!time_valid(sys_time) && time_valid(rtc_time)) {
+    if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
      LOGE("System time wrong, setting from RTC. "
           "System: %d-%02d-%02d %02d:%02d:%02d RTC: %d-%02d-%02d %02d:%02d:%02d",
           sys_time.tm_year + 1900, sys_time.tm_mon + 1, sys_time.tm_mday,
@@ -324,7 +308,7 @@ void panda_state_thread(bool spoofing_started) {

    // clear VIN, CarParams, and set new safety on car start
    if (ignition && !ignition_last) {
-      params.clearAll(CLEAR_ON_IGNITION);
+      params.clearAll(CLEAR_ON_IGNITION_ON);

      if (!safety_setter_thread_running) {
        safety_setter_thread_running = true;
@@ -332,15 +316,17 @@ void panda_state_thread(bool spoofing_started) {
      } else {
        LOGW("Safety setter thread already running");
      }
+    } else if (!ignition && ignition_last) {
+      params.clearAll(CLEAR_ON_IGNITION_OFF);
    }

    // Write to rtc once per minute when no ignition present
    if ((panda->has_rtc) && !ignition && (no_ignition_cnt % 120 == 1)){
      // Write time to RTC if it looks reasonable
      setenv("TZ","UTC",1);
-      struct tm sys_time = get_time();
+      struct tm sys_time = util::get_time();

-      if (time_valid(sys_time)){
+      if (util::time_valid(sys_time)){
        struct tm rtc_time = panda->get_rtc();
        double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));

@@ -362,7 +348,10 @@ void panda_state_thread(bool spoofing_started) {

    // build msg
    MessageBuilder msg;
-    auto ps = msg.initEvent().initPandaState();
+    auto evt = msg.initEvent();
+    evt.setValid(panda->comms_healthy);
+
+    auto ps = evt.initPandaState();
    ps.setUptime(pandaState.uptime);

    if (Hardware::TICI()) {
@@ -394,6 +383,8 @@ void panda_state_thread(bool spoofing_started) {
    ps.setFanSpeedRpm(fan_speed_rpm);
    ps.setFaultStatus(cereal::PandaState::FaultStatus(pandaState.fault_status));
    ps.setPowerSaveEnabled((bool)(pandaState.power_save_enabled));
+    ps.setHeartbeatLost((bool)(pandaState.heartbeat_lost));
+    ps.setHarnessStatus(cereal::PandaState::HarnessStatus(pandaState.car_harness_status));

    // Convert faults bitset to capnp list
    std::bitset<sizeof(pandaState.faults) * 8> fault_bits(pandaState.faults);
@@ -488,16 +479,20 @@ static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
 }

 void pigeon_thread() {
-  PubMaster pm({"ubloxRaw"});
-  bool ignition_last = false;
-
-  Pigeon *pigeon = Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda);
-
  // dp - use toyota directly
  #ifdef DisableRelay
  panda->set_safety_model(cereal::CarParams::SafetyModel::TOYOTA);
  #endif

+  // from @florianbrede-ayet, disable gps for white panda
+  #ifdef NoGPS
+  return;
+  #endif
+  PubMaster pm({"ubloxRaw"});
+  bool ignition_last = false;
+
+  Pigeon *pigeon = Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda);
+
  std::unordered_map<char, uint64_t> last_recv_time;
  std::unordered_map<char, int64_t> cls_max_dt = {
    {(char)ublox::CLASS_NAV, int64_t(900000000ULL)}, // 0.9s
@@ -552,6 +547,7 @@ void pigeon_thread() {
    } else if (!ignition && ignition_last) {
      // power off on falling edge of ignition
      LOGD("powering off pigeon\n");
+      pigeon->stop();
      pigeon->set_power(false);
    }

--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -3,7 +3,6 @@
 #include <unistd.h>

 #include <cassert>
-#include <iostream>
 #include <stdexcept>
 #include <vector>

@@ -152,6 +151,7 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
    if (err == LIBUSB_ERROR_TIMEOUT) {
      break; // timeout is okay to exit, recv still happened
    } else if (err == LIBUSB_ERROR_OVERFLOW) {
+      comms_healthy = false;
      LOGE_100("overflow got 0x%x", transferred);
    } else if (err != 0) {
      handle_usb_issue(err, __func__);
@@ -296,9 +296,11 @@ int Panda::can_receive(kj::Array<capnp::word>& out_buf) {

  size_t num_msg = recv / 0x10;
  MessageBuilder msg;
-  auto canData = msg.initEvent().initCan(num_msg);
+  auto evt = msg.initEvent();
+  evt.setValid(comms_healthy);

  // populate message
+  auto canData = evt.initCan(num_msg);
  for (int i = 0; i < num_msg; i++) {
    if (data[i*4] & 4) {
      // extended
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -1,7 +1,5 @@
 #pragma once

-#include <pthread.h>
-
 #include <atomic>
 #include <cstdint>
 #include <ctime>
@@ -38,6 +36,7 @@ struct __attribute__((packed)) health_t {
  int16_t safety_param;
  uint8_t fault_status;
  uint8_t power_save_enabled;
+  uint8_t heartbeat_lost;
 };


@@ -54,6 +53,7 @@ class Panda {
  ~Panda();

  std::atomic<bool> connected = true;
+  std::atomic<bool> comms_healthy = true;
  cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
  bool has_rtc = false;

--- a/selfdrive/boardd/pigeon.cc
+++ b/selfdrive/boardd/pigeon.cc
@@ -6,10 +6,12 @@
 #include <unistd.h>

 #include <cassert>
+#include <optional>

 #include "selfdrive/common/gpio.h"
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"
+#include "selfdrive/locationd/ublox_msg.h"

 // Termios on macos doesn't define all baud rate constants
 #ifndef B460800
@@ -22,7 +24,8 @@ extern ExitHandler do_exit;

 const std::string ack = "\xb5\x62\x05\x01\x02\x00";
 const std::string nack = "\xb5\x62\x05\x00\x02\x00";
-
+const std::string sos_ack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00";
+const std::string sos_nack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00";

 Pigeon * Pigeon::connect(Panda * p){
  PandaPigeon * pigeon = new PandaPigeon();
@@ -38,7 +41,7 @@ Pigeon * Pigeon::connect(const char * tty){
  return pigeon;
 }

-bool Pigeon::wait_for_ack(){
+bool Pigeon::wait_for_ack(std::string ack, std::string nack){
  std::string s;
  while (!do_exit){
    s += receive();
@@ -59,6 +62,10 @@ bool Pigeon::wait_for_ack(){
  return false;
 }

+bool Pigeon::wait_for_ack(){
+  return wait_for_ack(ack, nack);
+}
+
 bool Pigeon::send_with_ack(std::string cmd){
  send(cmd);
  return wait_for_ack();
@@ -110,6 +117,11 @@ void Pigeon::init() {
    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s)) continue;
    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue;

+    auto time = util::get_time();
+    if (util::time_valid(time)){
+      LOGW("Sending current time to ublox");
+      send(ublox::build_ubx_mga_ini_time_utc(time));
+    }

    LOGW("panda GPS on");
    return;
@@ -117,6 +129,22 @@ void Pigeon::init() {
  LOGE("failed to initialize panda GPS");
 }

+void Pigeon::stop(){
+  LOGW("Storing almanac in ublox flash");
+
+  // Controlled GNSS stop
+  send("\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74"s);
+
+  // Store almanac in flash
+  send("\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC"s);
+
+  if (wait_for_ack(sos_ack, sos_nack)) {
+    LOGW("Done storing almanac");
+  } else {
+    LOGE("Error storing almanac");
+  }
+}
+
 void PandaPigeon::connect(Panda * p) {
  panda = p;
 }
--- a/selfdrive/boardd/pigeon.h
+++ b/selfdrive/boardd/pigeon.h
@@ -14,7 +14,9 @@ class Pigeon {
  virtual ~Pigeon(){};

  void init();
+  void stop();
  bool wait_for_ack();
+  bool wait_for_ack(std::string ack, std::string nack);
  bool send_with_ack(std::string cmd);
  virtual void set_baud(int baud) = 0;
  virtual void send(const std::string &s) = 0;
--- a/selfdrive/camerad/SConscript
+++ b/selfdrive/camerad/SConscript
@@ -1,13 +1,10 @@
-Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM', 'QCOM_REPLAY', 'USE_MIPI')
+Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM', 'USE_MIPI')

 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon]

 if arch == "aarch64":
  libs += ['gsl', 'CB', 'adreno_utils', 'EGL', 'GLESv3', 'cutils', 'ui']
-  if QCOM_REPLAY:
-    cameras = ['cameras/camera_frame_stream.cc']
-  else:
-    cameras = ['cameras/camera_qcom.cc']
+  cameras = ['cameras/camera_qcom.cc']
 elif arch == "larch64":
  libs += ['atomic']
  cameras = ['cameras/camera_qcom2.cc']
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -17,7 +17,7 @@
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"

-#if defined(QCOM) && !defined(QCOM_REPLAY)
+#ifdef QCOM
 #include "selfdrive/camerad/cameras/camera_qcom.h"
 #elif QCOM2
 #include "selfdrive/camerad/cameras/camera_qcom2.h"
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -1,6 +1,5 @@
 #pragma once

-#include <stdbool.h>
 #include <stdint.h>
 #include <stdlib.h>

--- a/selfdrive/camerad/cameras/camera_frame_stream.h
+++ b/selfdrive/camerad/cameras/camera_frame_stream.h
@@ -1,7 +1,5 @@
 #pragma once

-#include <stdbool.h>
-
 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -4,8 +4,6 @@
 #include <fcntl.h>
 #include <math.h>
 #include <poll.h>
-#include <pthread.h>
-#include <stdbool.h>
 #include <stdio.h>
 #include <sys/ioctl.h>
 #include <unistd.h>
--- a/selfdrive/camerad/cameras/camera_qcom.h
+++ b/selfdrive/camerad/cameras/camera_qcom.h
@@ -1,7 +1,5 @@
 #pragma once

-#include <pthread.h>
-#include <stdbool.h>
 #include <stdint.h>

 #include <atomic>
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -273,7 +273,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
  power->count = 1;
  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
  power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = 24000000; //Hz
+  power->power_settings[0].config_val_low = 19200000; //Hz
  power = power_set_wait(power, 10);

  // 8,1 is this reset?
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -1,7 +1,6 @@
 #pragma once

 #include <stdint.h>
-#include <stdbool.h>
 #include <pthread.h>

 #include <media/cam_req_mgr.h>
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -8,7 +8,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
  {0x302A, 0x0006}, // VT_PIX_CLK_DIV
  {0x302C, 0x0001}, // VT_SYS_CLK_DIV
  {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
-  {0x3030, 0x0028}, // PLL_MULTIPLIER
+  {0x3030, 0x0032}, // PLL_MULTIPLIER
  {0x3036, 0x000A}, // OP_WORD_CLK_DIV
  {0x3038, 0x0001}, // OP_SYS_CLK_DIV

--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -15,7 +15,7 @@
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"

-#if defined(QCOM) && !defined(QCOM_REPLAY)
+#ifdef QCOM
 #include "selfdrive/camerad/cameras/camera_qcom.h"
 #elif QCOM2
 #include "selfdrive/camerad/cameras/camera_qcom2.h"
--- a/selfdrive/camerad/snapshot/snapshot.py
+++ b/selfdrive/camerad/snapshot/snapshot.py
@@ -1,18 +1,21 @@
 #!/usr/bin/env python3
 import os
-import signal
 import subprocess
 import time

 import numpy as np
 from PIL import Image
+from typing import List

 import cereal.messaging as messaging
-from common.basedir import BASEDIR
 from common.params import Params
+from common.realtime import DT_MDL
 from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, leon_d_frame_size, tici_f_frame_size
 from selfdrive.hardware import TICI
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
+from selfdrive.manager.process_config import managed_processes
+
+LM_THRESH = 120  # defined in selfdrive/camerad/imgproc/utils.h


 def jpeg_write(fn, dat):
@@ -29,7 +32,13 @@ def extract_image(dat, frame_sizes):
  return np.dstack([r, g, b])


-def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
+def rois_in_focus(lapres: List[float]) -> float:
+  sz = len(lapres)
+  return sum([1. / sz for sharpness in
+              lapres if sharpness >= LM_THRESH])
+
+
+def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focus_perc_threshold=0.):
  frame_sizes = [eon_f_frame_size, eon_d_frame_size, leon_d_frame_size, tici_f_frame_size]
  frame_sizes = {w * h: (w, h) for (w, h) in frame_sizes}

@@ -39,10 +48,17 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
  if front_frame is not None:
    sockets.append(front_frame)

+  # wait 4 sec from camerad startup for focus and exposure
  sm = messaging.SubMaster(sockets)
-  while min(sm.logMonoTime.values()) == 0:
+  while sm[sockets[0]].frameId < int(4. / DT_MDL):
    sm.update()

+  start_t = time.monotonic()
+  while time.monotonic() - start_t < 10:
+    sm.update()
+    if min(sm.rcv_frame.values()) > 1 and rois_in_focus(sm[frame].sharpnessScore) >= focus_perc_threshold:
+      break
+
  rear = extract_image(sm[frame].image, frame_sizes) if frame is not None else None
  front = extract_image(sm[front_frame].image, frame_sizes) if front_frame is not None else None
  return rear, front
@@ -63,7 +79,6 @@ def snapshot():
  # Check if camerad is already started
  try:
    subprocess.check_call(["pgrep", "camerad"])
-
    print("Camerad already running")
    params.put_bool("IsTakingSnapshot", False)
    params.delete("Offroad_IsTakingSnapshot")
@@ -71,23 +86,19 @@ def snapshot():
  except subprocess.CalledProcessError:
    pass

-  env = os.environ.copy()
-  env["SEND_ROAD"] = "1"
-  env["SEND_WIDE_ROAD"] = "1"
+  os.environ["SEND_ROAD"] = "1"
+  os.environ["SEND_WIDE_ROAD"] = "1"

  if front_camera_allowed:
-    env["SEND_DRIVER"] = "1"
-
-  proc = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"),
-                          cwd=os.path.join(BASEDIR, "selfdrive/camerad"), env=env)
-  time.sleep(3.0)
+    os.environ["SEND_DRIVER"] = "1"

+  managed_processes['camerad'].start()
  frame = "wideRoadCameraState" if TICI else "roadCameraState"
  front_frame = "driverCameraState" if front_camera_allowed else None
-  rear, front = get_snapshots(frame, front_frame)
+  focus_perc_threshold = 0. if TICI else 10 / 12.

-  proc.send_signal(signal.SIGINT)
-  proc.communicate()
+  rear, front = get_snapshots(frame, front_frame, focus_perc_threshold)
+  managed_processes['camerad'].stop()

  params.put_bool("IsTakingSnapshot", False)
  set_offroad_alert("Offroad_IsTakingSnapshot", False)
@@ -103,6 +114,7 @@ if __name__ == "__main__":
  if pic is not None:
    print(pic.shape)
    jpeg_write("/tmp/back.jpg", pic)
-    jpeg_write("/tmp/front.jpg", fpic)
+    if fpic is not None:
+      jpeg_write("/tmp/front.jpg", fpic)
  else:
    print("Error taking snapshot")
--- a/selfdrive/car/init.py
+++ b/selfdrive/car/init.py
@@ -121,14 +121,3 @@ def create_gas_command(packer, gas_amount, idx):

 def make_can_msg(addr, dat, bus):
  return [addr, 0, dat, bus]
-
-def is_ecu_disconnected(fingerprint, fingerprint_list, ecu_fingerprint, car, ecu):
-  # check if a stock ecu is disconnected by looking for specific CAN msgs in the fingerprint
-  # return True if the reference car fingerprint contains the ecu fingerprint msg and
-  # fingerprint does not contains messages normally sent by a given ecu
-  ecu_in_car = False
-  for car_finger in fingerprint_list[car]:
-    if any(msg in car_finger for msg in ecu_fingerprint[ecu]):
-      ecu_in_car = True
-
-  return ecu_in_car and not any(msg in fingerprint for msg in ecu_fingerprint[ecu])
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -2,7 +2,7 @@ import os
 from common.params import Params, put_nonblocking
 from common.basedir import BASEDIR
 from selfdrive.version import comma_remote, tested_branch
-from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
+from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
 from selfdrive.swaglog import cloudlog
@@ -13,14 +13,17 @@ from cereal import car
 EventName = car.CarEvent.EventName


-def get_startup_event(car_recognized, controller_available, fuzzy_fingerprint):
-  if True: #comma_remote and tested_branch:
+def get_startup_event(car_recognized, controller_available, fuzzy_fingerprint, fw_seen):
+  if True:
    event = EventName.startup
  else:
    event = EventName.startupMaster

  if not car_recognized:
-    event = EventName.startupNoCar
+    if fw_seen:
+      event = EventName.startupNoCar
+    else:
+      event = EventName.startupNoFw
  elif car_recognized and not controller_available:
    event = EventName.startupNoControl
  elif car_recognized and fuzzy_fingerprint:
@@ -83,25 +86,16 @@ def only_toyota_left(candidate_cars):


 # **** for use live only ****
-def fingerprint(logcan, sendcan, has_relay):
-  params = Params()
-  car_selected = params.get('dp_car_selected', encoding='utf8')
-  car_detected = params.get('dp_car_detected', encoding='utf8')
-  cached_params = params.get("CarParamsCache")
-  if cached_params is None and car_selected == "" and car_detected != "":
-    put_nonblocking('dp_car_selected', car_detected)
-    put_nonblocking('dp_car_detected', "")
-
-  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
-  if fixed_fingerprint == "" and cached_params is None and car_selected != "":
-    fixed_fingerprint = car_selected
+def fingerprint(logcan, sendcan):
+  dp_car_assigned = Params().get('dp_car_assigned', encoding='utf8')
+  fixed_fingerprint = os.environ.get('FINGERPRINT', "" if dp_car_assigned is None else dp_car_assigned)
  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)

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

-    # cached_params = Params().get("CarParamsCache")
+    cached_params = Params().get("CarParamsCache")
    if cached_params is not None:
      cached_params = car.CarParams.from_bytes(cached_params)
      if cached_params.carName == "mock":
@@ -125,7 +119,7 @@ def fingerprint(logcan, sendcan, has_relay):
  Params().put("CarVin", vin)

  finger = gen_empty_fingerprint()
-  candidate_cars = {i: all_known_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
+  candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
  frame = 0
  frame_fingerprint = 10  # 0.1s
  car_fingerprint = None
@@ -181,8 +175,8 @@ def fingerprint(logcan, sendcan, has_relay):
  return car_fingerprint, finger, vin, car_fw, source, exact_match


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

  if candidate is None:
    cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
@@ -190,7 +184,16 @@ def get_car(logcan, sendcan, has_relay=False):

  try:
    CarInterface, CarController, CarState = interfaces[candidate]
-    car_params = CarInterface.get_params(candidate, fingerprints, car_fw, has_relay)
+    car_params = CarInterface.get_params(candidate, fingerprints, car_fw)
+    candidate_changed = Params().get('dp_last_candidate') != candidate
+    put_nonblocking("dp_sr_stock", str(car_params.steerRatio))
+    # update last candidate
+    if candidate_changed:
+      put_nonblocking('dp_last_candidate', candidate)
+    # update steering_ratio init val
+    dp_sr_custom = Params().get("dp_sr_custom", encoding='utf8')
+    if dp_sr_custom == '' or candidate_changed or (dp_sr_custom != '' and float(dp_sr_custom) <= 9.99):
+      put_nonblocking("dp_sr_custom", str(car_params.steerRatio))
    car_params.carVin = vin
    car_params.carFw = car_fw
    car_params.fingerprintSource = source
@@ -198,7 +201,7 @@ def get_car(logcan, sendcan, has_relay=False):

    return CarInterface(car_params, CarController, CarState), car_params
  except KeyError:
-    put_nonblocking('dp_car_selected', "")
-    put_nonblocking('dp_car_detected', "")
-
+    put_nonblocking("dp_car_assigned", '')
+    put_nonblocking("dp_sr_custom", '9.99')
+    put_nonblocking("dp_sr_stock", '9.99')
    return None, None
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -9,48 +9,47 @@ from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
 class CarState(CarStateBase):
  def __init__(self, CP):
    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = can_define.dv["GEAR"]['PRNDL']
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+    self.shifter_values = can_define.dv["GEAR"]["PRNDL"]

  def update(self, cp, cp_cam):

    ret = car.CarState.new_message()

-    self.frame = int(cp.vl["EPS_STATUS"]['COUNTER'])
+    self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])

-    ret.doorOpen = any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
-                        cp.vl["DOORS"]['DOOR_OPEN_FR'],
-                        cp.vl["DOORS"]['DOOR_OPEN_RL'],
-                        cp.vl["DOORS"]['DOOR_OPEN_RR']])
-    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 1
+    ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
+                        cp.vl["DOORS"]["DOOR_OPEN_FR"],
+                        cp.vl["DOORS"]["DOOR_OPEN_RL"],
+                        cp.vl["DOORS"]["DOOR_OPEN_RR"]])
+    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1

-    ret.brakePressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5  # human-only
+    ret.brakePressed = cp.vl["BRAKE_2"]["BRAKE_PRESSED_2"] == 5  # human-only
    ret.brake = 0
-    ret.brakeLights = ret.brakePressed
-    ret.gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
+    ret.gas = cp.vl["ACCEL_GAS_134"]["ACCEL_134"]
    ret.gasPressed = ret.gas > 1e-5

-    ret.espDisabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)
+    ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)

-    ret.wheelSpeeds.fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
-    ret.wheelSpeeds.rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
-    ret.wheelSpeeds.rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
-    ret.wheelSpeeds.fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
-    ret.vEgoRaw = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.
+    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"]
+    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"]
+    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"]
+    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"]
+    ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
    ret.standstill = not ret.vEgoRaw > 0.001

-    ret.leftBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
-    ret.rightBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
-    ret.steeringAngleDeg = cp.vl["STEERING"]['STEER_ANGLE']
-    ret.steeringRateDeg = cp.vl["STEERING"]['STEERING_RATE']
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl['GEAR']['PRNDL'], None))
+    ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
+    ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
+    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
+    ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))

-    ret.cruiseState.enabled = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7  # ACC is green.
+    ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7  # ACC is green.
    ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
-    ret.cruiseState.speed = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH'] * CV.KPH_TO_MS
+    ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
    # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]['CRUISE_STATE'] in [1, 2]
+    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in [1, 2]

    ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
    ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -58,15 +57,15 @@ class CarState(CarStateBase):
    steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
    ret.steerError = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)

-    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
-    
-    if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]['BLIND_SPOT_LEFT'] == 1
-      ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]['BLIND_SPOT_RIGHT'] == 1
+    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])

-    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
-    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
-    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
+    if self.CP.enableBsm:
+      ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1
+      ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1
+
+    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
+    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
+    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]

    return ret

@@ -126,8 +125,7 @@ class CarState(CarStateBase):
      ]
      checks += [("BLIND_SPOT_WARNINGS", 2)]

-    checks = []
-    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)

  @staticmethod
  def get_cam_can_parser(CP):
@@ -142,5 +140,5 @@ class CarState(CarStateBase):
      ("LKAS_HEARTBIT", 10),
      ("LKAS_HUD", 4),
    ]
-    checks = []
-    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.chrysler.values import CAR, Ecu, ECU_FINGERPRINT, FINGERPRINTS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
+from selfdrive.car.chrysler.values import CAR
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

@@ -11,8 +11,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 3.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, has_relay=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
    ret.carName = "chrysler"
    ret.safetyModel = car.CarParams.SafetyModel.chrysler
    ret.lateralTuning.init('pid')
@@ -50,7 +50,8 @@ class CarInterface(CarInterfaceBase):
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)

-    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
+    ret.enableCamera = True
+    
    ret.enableBsm = 720 in fingerprint[0]

    # dp
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -39,11 +39,9 @@ FINGERPRINTS = {
    {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
    {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
  ],
-  CAR.PACIFICA_2020: [
-    {
-      55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
-    }
-  ],
+  CAR.PACIFICA_2020: [{
+    55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
+  }],
  CAR.PACIFICA_2018_HYBRID: [
    {68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
    # based on 9ae7821dc4e92455|2019-07-01--16-42-55
@@ -88,7 +86,3 @@ DBC = {
 }

 STEER_THRESHOLD = 120
-
-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [0x292],  # lkas cmd
-}
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -36,7 +36,6 @@ def get_attr_from_cars(attr, result=dict, combine_brands=True):

 FW_VERSIONS = get_attr_from_cars('FW_VERSIONS')
 _FINGERPRINTS = get_attr_from_cars('FINGERPRINTS')
-IGNORED_FINGERPRINTS = get_attr_from_cars('IGNORED_FINGERPRINTS', list)

 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes

@@ -59,9 +58,6 @@ def eliminate_incompatible_cars(msg, candidate_cars):
  compatible_cars = []

  for car_name in candidate_cars:
-    if car_name in IGNORED_FINGERPRINTS:
-      continue
-
    car_fingerprints = _FINGERPRINTS[car_name]

    for fingerprint in car_fingerprints:
@@ -76,4 +72,9 @@ def eliminate_incompatible_cars(msg, candidate_cars):

 def all_known_cars():
  """Returns a list of all known car strings."""
+  return list({*FW_VERSIONS.keys(), *_FINGERPRINTS.keys()})
+
+
+def all_legacy_fingerprint_cars():
+  """Returns a list of all known car strings, FPv1 only."""
  return list(_FINGERPRINTS.keys())
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -13,26 +13,25 @@ class CarState(CarStateBase):

  def update(self, cp):
    ret = car.CarState.new_message()
-    ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]['WhlRr_W_Meas'] * WHEEL_RADIUS
-    ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
-    ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
-    ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
+    ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]["WhlRr_W_Meas"] * WHEEL_RADIUS
+    ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]["WhlRl_W_Meas"] * WHEEL_RADIUS
+    ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]["WhlFr_W_Meas"] * WHEEL_RADIUS
+    ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]["WhlFl_W_Meas"] * WHEEL_RADIUS
    ret.vEgoRaw = mean([ret.wheelSpeeds.rr, ret.wheelSpeeds.rl, ret.wheelSpeeds.fr, ret.wheelSpeeds.fl])
    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
    ret.standstill = not ret.vEgoRaw > 0.001
-    ret.steeringAngleDeg = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns']
-    ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]['LaHandsOff_B_Actl']
-    ret.steerError = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl'] == 1
-    ret.cruiseState.speed = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS
-    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]['Cruise_State'] in [0, 3])
-    ret.cruiseState.available = cp.vl["Cruise_Status"]['Cruise_State'] != 0
-    ret.gas = cp.vl["EngineData_14"]['ApedPosScal_Pc_Actl'] / 100.
+    ret.steeringAngleDeg = cp.vl["Steering_Wheel_Data_CG1"]["SteWhlRelInit_An_Sns"]
+    ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"]
+    ret.steerError = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1
+    ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS
+    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in [0, 3])
+    ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0
+    ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100.
    ret.gasPressed = ret.gas > 1e-6
    ret.brakePressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
-    ret.brakeLights = bool(cp.vl["BCM_to_HS_Body"]["Brake_Lights"])
    ret.genericToggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
    # TODO: we also need raw driver torque, needed for Assisted Lane Change
-    self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
+    self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]["LaActAvail_D_Actl"]

    return ret

@@ -53,7 +52,6 @@ class CarState(CarStateBase):
      ("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
      ("Dist_Incr", "Steering_Buttons", 0.),
      ("Brake_Drv_Appl", "Cruise_Status", 0.),
-      ("Brake_Lights", "BCM_to_HS_Body", 0.),
    ]
    checks = []
-    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0, enforce_checks=False)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0, enforce_checks=False)
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -2,8 +2,8 @@
 from cereal import car
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
-from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
+from selfdrive.car.ford.values import MAX_ANGLE
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

@@ -15,8 +15,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 3.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, has_relay=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
    ret.carName = "ford"
    ret.lateralTuning.init('pid')
    ret.safetyModel = car.CarParams.SafetyModel.ford
@@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase):

    ret.steerControlType = car.CarParams.SteerControlType.angle

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

    # dp
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -18,7 +18,3 @@ FINGERPRINTS = {
 DBC = {
  CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
 }
-
-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [970, 973, 984]
-}
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -69,6 +69,11 @@ OBD_VERSION_RESPONSE = b'\x49\x04'
 DEFAULT_RX_OFFSET = 0x8
 VOLKSWAGEN_RX_OFFSET = 0x6a

+MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+MAZDA_VERSION_RESPONSE =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+
 # brand, request, response, response offset
 REQUESTS = [
  # Hyundai
@@ -129,6 +134,13 @@ REQUESTS = [
    [VOLKSWAGEN_VERSION_RESPONSE],
    DEFAULT_RX_OFFSET,
  ),
+  # Mazda
+  (
+    "mazda",
+    [MAZDA_VERSION_REQUEST],
+    [MAZDA_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
+  )
 ]


@@ -209,7 +221,7 @@ def match_fw_to_car_exact(fw_versions_dict):
        continue

      # On some Toyota models, the engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate in [TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS, TOYOTA.AVALON] and found_version is None:
+      if ecu_type == Ecu.engine and candidate in [TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS] and found_version is None:
        continue

      # Ignore non essential ecus
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -11,62 +11,62 @@ from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
 class CarState(CarStateBase):
  def __init__(self, CP):
    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
    self.shifter_values = can_define.dv["ECMPRDNL"]["PRNDL"]

  def update(self, pt_cp):
    ret = car.CarState.new_message()

    self.prev_cruise_buttons = self.cruise_buttons
-    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]['ACCButtons']
+    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]

-    ret.wheelSpeeds.fl = pt_cp.vl["EBCMWheelSpdFront"]['FLWheelSpd'] * CV.KPH_TO_MS
-    ret.wheelSpeeds.fr = pt_cp.vl["EBCMWheelSpdFront"]['FRWheelSpd'] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rl = pt_cp.vl["EBCMWheelSpdRear"]['RLWheelSpd'] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rr = pt_cp.vl["EBCMWheelSpdRear"]['RRWheelSpd'] * CV.KPH_TO_MS
+    ret.wheelSpeeds.fl = pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.fr = pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rl = pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"] * CV.KPH_TO_MS
+    ret.wheelSpeeds.rr = pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"] * CV.KPH_TO_MS
    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
    ret.standstill = ret.vEgoRaw < 0.01

-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]['PRNDL'], None))
-    ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]['BrakePedalPosition'] / 0xd0
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
+    ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
    # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
    if ret.brake < 10/0xd0:
      ret.brake = 0.

-    ret.gas = pt_cp.vl["AcceleratorPedal"]['AcceleratorPedal'] / 254.
+    ret.gas = pt_cp.vl["AcceleratorPedal"]["AcceleratorPedal"] / 254.
    ret.gasPressed = ret.gas > 1e-5

-    ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
-    ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelRate']
-    ret.steeringTorque = pt_cp.vl["PSCMStatus"]['LKADriverAppldTrq']
-    ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]['LKATorqueDelivered']
+    ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
+    ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
+    ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
+    ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD

    # 0 inactive, 1 active, 2 temporarily limited, 3 failed
-    self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
+    self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
    ret.steerWarning = self.lkas_status not in [0, 1]

    # 1 - open, 0 - closed
-    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]['FrontLeftDoor'] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]['FrontRightDoor'] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]['RearLeftDoor'] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]['RearRightDoor'] == 1)
+    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)

    # 1 - latched
-    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]['LeftSeatBelt'] == 0
-    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
-    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
+    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2

-    self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
-    ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]['CruiseMainOn'])
-    ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
-    self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
+    self.park_brake = pt_cp.vl["EPBStatus"]["EPBClosed"]
+    ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"])
+    ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
+    self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]

    ret.brakePressed = ret.brake > 1e-5
    # Regen braking is braking
    if self.car_fingerprint == CAR.VOLT:
-      ret.brakePressed = ret.brakePressed or bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
+      ret.brakePressed = ret.brakePressed or bool(pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"])

    ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
    ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
@@ -129,4 +129,4 @@ class CarState(CarStateBase):
        ("EBCMRegenPaddle", 50),
      ]

-    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CanBus.POWERTRAIN)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN)
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -2,8 +2,8 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.car.gm.values import CAR, CruiseButtons, \
-  AccState, Ecu, ECU_FINGERPRINT, FINGERPRINTS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
+                                    AccState
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

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

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, has_relay=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
    ret.carName = "gm"
    # dp
    ret.lateralTuning.init('pid')
@@ -32,7 +32,7 @@ class CarInterface(CarInterfaceBase):
    # Presence of a camera on the object bus is ok.
    # Have to go to read_only if ASCM is online (ACC-enabled cars),
    # or camera is on powertrain bus (LKA cars without ACC).
-    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
+    ret.enableCamera = True
    ret.openpilotLongitudinalControl = ret.enableCamera
    tire_stiffness_factor = 0.444  # not optimized yet

--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -97,10 +97,6 @@ FINGERPRINTS = {

 STEER_THRESHOLD = 1.0

-ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [384, 715]  # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
-}
-
 DBC = {
  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -124,6 +124,10 @@ class CarController():
      # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
      pcm_cancel_cmd = True

+    # Never send cancel command if we never enter cruise state (no cruise if pedal)
+    # Cancel cmd causes brakes to release at a standstill causing grinding
+    pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.enableCruise
+
    # *** rate limit after the enable check ***
    self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)

@@ -171,35 +175,34 @@ class CarController():
    # Send steering command.
    idx = frame % 4
    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
-      lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl, CS.CP.isPandaBlack))
+      lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))

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

    if not CS.CP.openpilotLongitudinalControl:
      if (frame % 2) == 0:
        idx = frame // 2
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx, CS.CP.isPandaBlack))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx))
      if dragonconf.dpAtl:
        pass
      # If using stock ACC, spam cancel command to kill gas when OP disengages.
      elif not dragonconf.dpAllowGas and pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint))
      elif CS.out.cruiseState.standstill:
-        if CS.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
+        if CS.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.INSIGHT):
          rough_lead_speed = self.rough_speed(CS.lead_distance)
          if CS.lead_distance > (self.stopped_lead_distance + 15.0) or rough_lead_speed > 0.1:
            self.stopped_lead_distance = 0.0
            can_sends.append(
-              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
+              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
        elif CS.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
          if CS.hud_lead == 1:
-            can_sends.append(
-              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
+            can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
        else:
-          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
+          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
      else:
        self.stopped_lead_distance = CS.lead_distance
        self.prev_lead_distance = CS.lead_distance
@@ -209,20 +212,21 @@ class CarController():
      if (frame % 2) == 0:
        idx = frame // 2
        ts = frame * DT_CTRL
-        if CS.CP.carFingerprint in HONDA_BOSCH:
+        if dragonconf.dpAtl:
+          pass
+        elif CS.CP.carFingerprint in HONDA_BOSCH:
          pass # TODO: implement
        else:
-          if not dragonconf.dpAtl:
-            apply_gas = clip(actuators.gas, 0., 1.)
-            apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
-            pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
-            can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
-              pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.stock_brake, CS.CP.isPandaBlack))
-            self.apply_brake_last = apply_brake
+          apply_gas = clip(actuators.gas, 0., 1.)
+          apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
+          pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
+          can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
+            pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.stock_brake))
+          self.apply_brake_last = apply_brake

-            if CS.CP.enableGasInterceptor:
-              # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
-              # This prevents unexpected pedal range rescaling
-              can_sends.append(create_gas_command(self.packer, apply_gas, idx))
+          if CS.CP.enableGasInterceptor:
+            # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
+            # This prevents unexpected pedal range rescaling
+            can_sends.append(create_gas_command(self.packer, apply_gas, idx))

    return can_sends
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
eFini	16a8e69382	Merge pull request #92 from loveloveses/0.8.5 enableBsm for CRV HYBRID	2021-08-17 18:12:36 +08:00
loveloveses	76c77a1fb9	enable bsm for CRV HYBRID	2021-08-13 12:08:23 +08:00
loveloveses	a85f8d141e	enable bsm for CRV HYBRID	2021-08-13 12:05:54 +08:00
loveloveses	9b76c108c6	enableBsm for CRV HYBRID enableBsm for CRV HYBRID	2021-08-13 12:00:52 +08:00
eFini	2185eb440f	Update HOWTO-ONEPLUS.md	2021-07-22 12:43:20 +10:00
eFini	e334014a25	Fix command error	2021-07-22 12:42:34 +10:00
eFini	2a5d5c08c2	Bug fix	2021-07-07 10:06:19 +10:00
Rick Lan	3b0aed3ed2	bug fixes	2021-07-03 12:14:44 +08:00
Rick Lan	522fb06db7	dragonpilot mod for 0.8.5-4	2021-07-02 12:49:43 +08:00
Adeeb Shihadeh	145b222f0d	Fix Honda Accord transmission type detection (#21247 )	2021-06-12 20:53:59 -07:00
Adeeb Shihadeh	0ef3ce173a	Hotfix: fix UI crash when going onroad after onboarding	2021-06-11 16:57:52 -07:00
Vehicle Researcher	c1112e4400	openpilot v0.8.5 release	2021-06-07 22:13:57 +00:00
Adeeb Shihadeh	bbc546fcf3	Hotfix: fix update error alerts under some network conditions (#21059 ) This reverts commit `3c9e46d8a2`.	2021-05-27 15:36:59 -07:00