Merge pull request #163 from chiachunli08/volvo-dp0.8.13

Add volvo support to Dragonpilot

.gitignore

@@ -1,4 +1,5 @@
 venv/
+.env
 .clang-format
 .DS_Store
 .tags
@@ -57,6 +58,7 @@ one
 openpilot
 notebooks
 xx
+yy
 hyperthneed
 panda_jungle
 provisioning
@@ -74,3 +76,12 @@ comma*.sh
 
 selfdrive/modeld/thneed/compile
 models/*.thneed
+
+*.bz2
+
+build/
+
+!**/.gitkeep
+
+!third_party/mapbox-gl-native-qt/aarch64/*.so
+!third_party/mapbox-gl-native-qt/jarch64/*.so

CHANGELOGS-DEV.md

@@ -1,3 +1,140 @@
+dragonpilot 0.8.13-1
+========================
+* Based on openpilot 0.8.13 devel.
+* ADDED: Support for SDSU. Can now control distance with the button on the steering wheel. (Thanks to @CT9212)
+* FIXED: DLP fix. (Thank to @Hikari1023)
+* Bug fixes.
+
+dragonpilot 0.8.12-3
+========================
+* Bug fixes.
+* ADDED: Car Selector for C3.
+* ADDED: ColorBlind mode eon only. (thanks to @ihsakashi)
+* TUNNING: Toyota long improvement.
+* Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2).
+
+dragonpilot 0.8.12-2
+========================
+* Bug fixes.
+* ADDED: FTP to easily manage storage.
+* Readded: camera offset, path offset and autoshutdown.
+
+dragonpilot 0.8.12-1
+========================
+* Based on openpilot 0.8.12 devel.
+* ADDED: Support for no gps (mr.one panda).
+* Reimplement: camera offset, path offset, nav for c2 and autoshutdown.
+
+dragonpilot 0.8.10-4
+========================
+* FIXED: Allow gas press. (Thanks to @loveloveses)
+* FIXED: Honda SnG. (Thanks to @loveloveses
+* ADDED: Toyota: Display Blue Barriers When Engaged. (Thanks to @krkeegan)
+
+dragonpilot 0.8.10-3
+========================
+* NAV: Gaode/amap to use new key combination. (Thanks to @loveloveses)
+
+dragonpilot 0.8.10
+========================
+* Based on openpilot 0.8.10 devel.
+* Reimplement: Following Distance.
+* Better Subaru support. (Thanks to @martinl https://github.com/martinl/openpilot)
+* NAV: Added use of Navigation tab to access home/work/recent dest.
+* NAV: Added auto Day/Night Mode.
+* NAV: Added customizable style.
+* NAV: Added Gaode/amap Search. (Thanks to @loveloveses)
+* FIXED: Device w/ battery no longer need to set auto shutdown to 1 min.
+* FIXED: Auto shutdown while on bench (Thanks to @sunnyhaibin)
+* REMOVED: Timebomb feature for VW.
+* REMOVED: Support of running Android apps.
+
+dragonpilot 0.8.9-3
+========================
+* Bug fixes.
+* Fixed up auto updater.
+* Fixed Honda Jade dbc. (Thanks to @lijunhao731)
+* ADDED: 0.8.10 model.
+* ADDED: Nav for all device.
+* ADDED: Support for Nvidia Xavier.
+
+dragonpilot 0.8.9-2
+========================
+* Bug fixes.
+* Refactor UI related changes.
+* Updated Simplified Chinese translation. (Thanks to @CCZ)
+* WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error.
+* Re-tuned acceleraton profile. (Thank to @wer5lcy)
+* ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921)
+
+dragonpilot 0.8.9-1
+========================
+* Based on openpilot 0.8.8 devel.
+* Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s).
+* ADDED: New softer sound for c3.
+* ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin)
+* Bug Fixes.
+
+dragonpilot 0.8.8-2
+========================
+* ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast)
+* ADDED: Street name on the bottom bar.
+* ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX.
+* ADDED: Smoother tune for PRIUS_TSS2.
+* Bug fixes.
+
+dragonpilot 0.8.8-1
+========================
+** BETA TESTING ONLY **
+* Based on openpilot 0.8.8 devel.
+* FIXED: dashcam issue.
+* FIXED: some VW vehicles issue. (Thanks to @yayism)
+* FIXED: white panda + j533 acc issue. (Thanks to @lirudy)
+* ADDED: Auto fake black panda.
+* ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen)
+* WIP: mapd.
+
+dragonpilot 0.8.7-4
+========================
+* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731)
+* Fixed toyota / honda brake light display. (Thanks to @loveloveses)
+* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻)
+* Fixed VW resume/display issue. (Thanks to @SKY)
+* Fixed CJK font installation issue.
+
+dragonpilot 0.8.7-3
+========================
+* Bug fixes.
+* Fixed gpxd.
+* Added some Chinese support.
+
+dragonpilot 0.8.7-2
+========================
+* Fixed sound issue.
+* Changed gpx logs to OSM compatible format.
+* HONDA: Added BSM support for CRV-Hybrid.
+* HONDA: Added toggle to force displaying km/h in HUD.
+* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature.
+
+dragonpilot 0.8.7-1
+========================
+* Based on openpilot 0.8.7 devel.
+* Support 1+3t / C2 / Jetson Xavier NX.
+* Support White / Grey Panda.
+* TOYOTA: Can now change Following Modes with physical button from the steering wheel.
+* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it.
+* TOYOTA: Added Low speed override toggles.
+* Dev UI now displays RPM reading.
+* Added Prebuilt toggle for faster boot.
+* Lexus RX high RPM fix. (Thanks to @crazysim).
+* Added toggle to launch Language settings.
+* Added toggle to launch Volume settings.
+* Added toggle to launch date/time settings.
+* Added toggle to flash panda.
+* Added toggle to recover panda firmware.
+* Added toggle to delete logging (/sdcard/realdata).
+* Added GPS Logger.
+
 dragonpilot 0.8.6-1
 ========================
 * Based on openpilot 0.8.6 devel.
@@ -29,7 +166,7 @@ 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. 
+* 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.
@@ -96,7 +233,7 @@ dragonpilot 0.7.10.1
 * 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
 * Added Dynamic Gas Lite. (Thanks to @toyboxZ)
 * 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
-* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
 * 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
 * Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
 
@@ -158,7 +295,7 @@ dragonpilot 0.7.8.0
 * 將警示訊息更改為類似於概念 UI 的設計。
 * Alert messages changed to concept UI alike design.
 * 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
-* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. 
+* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
 
 dragonpilot 0.7.7.3
 ========================
@@ -197,7 +334,7 @@ dragonpilot 0.7.7.1
 * 加入回調校介面。(感謝 @Kent)
 * Re-added Dev UI. (Thanks to @Kent)
 * 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
-* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) 
+* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
 
 dragonpilot 0.7.7.0
 ========================
@@ -250,7 +387,7 @@ dragonpilot 0.7.5.3
 * C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
 * C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
 * 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
-* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
 * 將剎車狀熊顯示於 dp 資訊欄。
 * Added brake indicator to dp infobar.
 * 修正「溫度監控」燈示。
@@ -258,7 +395,7 @@ dragonpilot 0.7.5.3
 * 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
 * Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
 * 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
-* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
 
 dragonpilot 0.7.5.2
 ========================
@@ -273,7 +410,7 @@ dragonpilot 0.7.5.2
 * 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
 * Fixed alert issue in waze mode. (Thanks to @axandres)
 * 修正無法顯示更新中圖示的問題。
-* Fixed unable to display "UPDATING" icon issue. 
+* Fixed unable to display "UPDATING" icon issue.
 * 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
 * Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
 * 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
@@ -311,14 +448,14 @@ dragonpilot 0.7.5.0
 * 簡/繁中文版和 i18n 整合成為單一版本。  
 * Merged zhs/zht/i18n versions into one.
 * 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
-* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
 * 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
 * Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
 * 新增行駛時關閉畫面功能。
 * Added Screen off while driving feature.
 * 新增倒車時關閉畫面功能。
 * Added Screen off while reversing feature.
-* 新增駕駛介面加入「加速模式」切換鈕。 
+* 新增駕駛介面加入「加速模式」切換鈕。
 * Added acceleration profile toggle onto driving UI.
 * 新增自定車型功能，取代指紋暫存功能。
 * Replaced fingerprint cache with custom car model selector.
@@ -337,7 +474,7 @@ dragonpilot 0.7.5.0
 * 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
 * 新增行駛時關閉畫面功能。
 * 新增倒車時關閉畫面功能。
-* 新增駕駛介面加入「加速模式」切換鈕。 
+* 新增駕駛介面加入「加速模式」切換鈕。
 * 新增自定義車型。
 
 2020-04-16
@@ -446,7 +583,7 @@ dragonpilot 0.7.5.0
 2020-01-19
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
-* [DEVEL] 調整 appd 和 ALC 邏輯。 
+* [DEVEL] 調整 appd 和 ALC 邏輯。
 
 2020-01-14
 ========================
@@ -571,7 +708,7 @@ dragonpilot 0.7.5.0
 ========================
 * [DEVEL] 加入彎道減速功能開關。
 * [DEVEL] 強迫使用 dp 版 Panda 韌體。
-* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
 
 2019-10-17
 ========================
@@ -595,7 +732,7 @@ dragonpilot 0.7.5.0
 
 2019-10-11
 ========================
-* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
 * [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
 
 2019-10-09
@@ -614,12 +751,12 @@ dragonpilot 0.7.5.0
 2019-10-05
 ========================
 * [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
-* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 
+* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
 
 2019-09-30
 ========================
 * [DEVEL] 更新 curvature learner 版本至 v4。
-* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
 
 2019-09-27
 ========================

CONTRIBUTORS.md

@@ -1,28 +1,44 @@
 # 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.
-
+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
+### TEAM
+Name                                                         | github                                                       | Role
 ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------
-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)                    | DP main maintainer, 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
+cafe                                                         | [cafe](https://github.com/coffice12)                         | Resource Provider
+cgw1968                                                      | [cgw1968](https://github.com/cgw1968-5779)                   | C2/C3 Toyota Beta Tester
+Jason Wen                                                    | [sunnyhaibin](https://github.com/sunnyhaibin)                | Release Maintainer
+kumar                                                        | [rav4kumar](https://github.com/rav4kumar)                    | Release Maintainer
+loveloveses                                                  | [loveloveses](https://github.com/loveloveses)                | Wiki Maintainer
+Rick Lan                                                     | [efinilan](https://github.com/efinilan)                      | Release Maintainer
+Stupefacient                                                 | [Stupefacient](https://github.com/Stupefacient)              | C2/C3 Toyota Beta Tester
+CCZ                                                          | [CCZ](https://github.com/czdeee)                             | UI developer, Simplified Chinese Translator
+
+### CONTRIBUTORS
+Name                                                         | github                                                      
+------------------------------------------------------------ | ------------------------------------------------------------
+andy741217                                                   | [andy741217](https://github.com/andy741217)                 
+Arne Schwarck                                                | [arne182](https://github.com/arne182)                       
+berno22                                                      | [berno22](https://github.com/berno22)                       
+Bobbydough                                                   | [Bobbydough](https://github.com/bobbydough)                 
+TIM                                                          | [TIM](https://github.com/CT921)                             
+Curtis Jenkins                                               | [actuallylemoncurd](https://github.com/actuallylemoncurd)   
+DFyffe                                                       | [donfyffe](https://github.com/donfyffe)                     
+dinglx                                                       | [dingliangxue](https://github.com/dingliangxue)             
+eyezenheim                                                   | [eyezenheim](https://github.com/eyezenheim)                 
+Hikari1023                                                   | [Hikari1023](https://github.com/Hikari1023)                 
+kegman                                                       | [kegman](https://github.com/kegman)                         
+krkeegan                                                     | [krkeegan](https://github.com/krkeegan)                     
+ihsakashi                                                    | [ihsakashi](https://github.com/ihsakashi)                   
+lijunhao731                                                  | [lijunhao731](https://github.com/lijunhao731)               
+lirudy                                                       | [lirudy](https://github.com/lirudy)                         
+LOVEChen                                                     | [LOVEChen](https://github.com/LOVEChen)                     
+menwenliang                                                  | [menwenliang](https://github.com/menwenliang)               
+move-fast                                                    | [move-fast](https://github.com/move-fast)                   
+Nelson Chen                                                  | [nelsonjchen](https://github.com/nelsonjchen)               
+programanichiro                                              | [nelsonjchen](https://github.com/programanichiro)           
+rming                                                        | [Rming](https://github.com/rming)                           
+sebastian4k                                                  | [sebastian4k](https://github.com/sebastian4k)               
+Shane Smiskol                                                | [sshane](https://github.com/sshane)                         
+toyboxZ                                                      | [toyboxZ](https://github.com/toyboxZ)                       

HOWTO-ONEPLUS.md

@@ -1,9 +1,9 @@
 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 0.8.6 branch)
+   (手動安裝切換至 dp)
 ```
-cd /data/ && rm -fr openpilot; && git clone https://github.com/dragonpilot-community/dragonpilot.git -b 0.8.4
+cd /data/ && rm -fr openpilot ; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.8
 ```
 
 2. run command:
@@ -22,4 +22,4 @@ cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
    (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)

HOWTO-Translate.md

@@ -0,0 +1,18 @@
+HOW TO Translate dragonpilot
+--
+
+If you would like to help to translate dragonpilot into your native language, please:
+1. Contact dragonpilot team to generate language files for translation.
+
+2. Start translation, there will be 2 files: (locale = your language code)
+    * <openpilot>/selfdrive/assets/locales/**locale**/LC_MESSAGES/events.po
+      * This is for alerts messages. (e.g. on road warning messages) 
+    * <openpilot>/selfdrive/ui/translations/**locale**.ts
+      * This is for UI. (e.g. settings pages)
+
+   We recommended to use a proper editor such as TextMate (mac) / notepad++ (win) / Intellij pyCharm.
+
+
+3. Submit a PR for your translation.
+
+4. dragonpilot team will review your PR and add it in the next release.

JETSON.md

@@ -0,0 +1,144 @@
+Licensing
+------
+xnxpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+
+Any user of this software shall indemnify and hold harmless Rick Lan, dragonpilot, comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+
+***THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.***
+
+---
+
+Table of Contents
+------
+
+* [What is xnxpilot?](#what-is-xnxpilot)
+* [Showcase](#showcase)
+* [Checklist](#checklist)
+* [Hardware requirement](#hardware-requirement)
+* [Software requirement](#software-requirement)
+* [Hardware assimbly](#hardware-assembly)
+* [Installation](#installation)
+* [Credits](#credits)
+* [Notes](#notes)
+
+---
+
+What is xnxpilot?
+------
+xnxpilot (Xavier NX Pilot) is an open source driver assistance system based on [dragonpilot](http://github.com/dragonpilot-community/dragonpilot) and [openpilot](http://github.com/commaai/openpilot), running on a NVIDIA Jetson Xavier NX platform instead of a qualcomm 821 mobile phone.
+
+
+
+If you would like to run it with minimal changes to openpilot, please see the example in "doc" branch, based on openpilot 0.8.4 
+
+---
+
+Showcase
+------
+Simulation:
+<table>
+  <tr>
+    <td><a href="https://youtu.be/ubxSSLWqyt8" title="YouTube" rel="noopener"><img src="http://i3.ytimg.com/vi/ubxSSLWqyt8/hqdefault.jpg"></a></td>
+  </tr>
+</table>
+
+On road:
+<table>
+  <tr>
+    <td><a href="https://youtu.be/RqoTT5m4Kp8" title="YouTube" rel="noopener"><img src="http://i3.ytimg.com/vi/RqoTT5m4Kp8/hqdefault.jpg"></a></td>
+  </tr>
+</table>
+
+Running on dragonpilot 0.8:
+<table>
+  <tr>
+    <td><a href="https://youtu.be/o2pm8bAJvAM" title="YouTube" rel="noopener"><img src="http://i3.ytimg.com/vi/o2pm8bAJvAM/hqdefault.jpg"></a></td>
+    <td><a href="https://youtu.be/GEr-K3D3sDU" title="YouTube" rel="noopener"><img src="http://i3.ytimg.com/vi/GEr-K3D3sDU/hqdefault.jpg"></a></td>
+  </tr>
+</table>
+
+---
+
+Checklist
+------
+- [x] Create build scripts
+- [x] Add patch samples / tutorials.
+- [x] On road lateral control tests.
+- [ ] On road longitudinal control tests.
+- [ ] Add IMU sensor to improve GPS accuracy.
+- [ ] Tuning. (WIP)
+
+---
+
+Hardware Requirement
+------
+- [Nvidia Jetson Xavier NX](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-xavier-nx/)
+- 32GB+ microsd card (UHS 3 speed minimum)
+- [Arducam IMX 477](https://www.amazon.com/gp/product/B08F743RGG/)
+- [comma.ai Black Panda](https://comma.ai/shop/products/panda) (or white/grey panda but require more code customization.)
+- (Optional) [comma.ai Windshield mount](https://github.com/commaai/neo/tree/master/case/eon)
+- (Optional) [GoPro flat adhesive mount](https://www.amazon.com/AFAITH-Adhesive-Mounts-GoPro-Camera/dp/B00BUD6LPY/)
+- (Optional) [Waveshare 4.3" IPS Touchscreen](https://www.amazon.com.au/gp/product/B0852NW9FM/)
+- (Optional) [DCDZ Jetson Xavier NX Carrier Board NCB00](https://item.taobao.com/item.htm?ft=t&id=613984388047)
+- (Optional) [CSI to HDMI Extension Module](https://www.amazon.com/gp/product/B06XDNBM63/)
+- (Optional) Targus notebook charger for car.
+---
+
+Software Requirement
+------
+- [NVIDIA JetPack 4.6](https://developer.nvidia.com/jetpack-sdk-46)
+
+---
+
+Hardware assembly
+------
+It is important to know that your camera needs **firmly attached** onto your windshield, any small movement to the camera while driving may result dangerous steering/acceleration.
+
+I highly recommended to 3D print those commaai windshield mount (use with gopro mount) and use it to mount your camera, 24 degree one will do the job.
+
+---
+
+Installation
+------
+1) [Install ubuntu 18.04 / Jetpack 4.6 on to sdcard](https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit)
+2) Insert your sd card to your jetson, have camera connect to CAM0, boot up, use the following configuration (installer will use those values to set up the device):
+  - username: **comma**
+  - password: **comma**
+  - hostname: **tici**
+  - mode: **20W 6 cores**
+
+3) Once completed, run:
+  - `sudo /opt/nvidia/jetson-io/jetson-io.py`
+  - select `Configure Jetson Nano CSI Connector` > `Configure for compatible hardware` > `Camera IMX477 Dual` > `Save pin changes` > `Save and exit without rebooting`.
+
+4) clone this repo to your home directory (e.g. `cd ~/ && git clone https://github.com/efinilan/xnxpilot.git openpilot -b 0.8.9 --single-branch`)
+5) run `cd ~/openpilot/jetson/ && sudo bash env_installer.py`
+6) Take a rest, this will take around **1.5 hrs** to config your system and another **10 mins** for compile dragonpilot, depends on your internet connection.
+7) Congradulations, you have dragonpilot running on your jetson. 
+---
+
+Credits
+------
+- [dragonpilot](https://github.com/dragonpilot-community/dragonpilot/)
+- [Commaai Openpilot](https://github.com/commaai/openpiplot)
+- [RetroPilot Community](https://discord.gg/fGUuASVZKg)
+- [Unofficial OpenPilot Community](https://discord.gg/Mrf8FwfWSr)
+
+---
+
+Notes
+------
+#### set_core_affinity ####
+Jetson Xavier NX has 6 cores running at 1.9 GHz, here is what I've defined:
+
+0 = camerad
+
+1 = modeld
+
+2 = boardd
+
+3 = controlsd
+
+4 = plannerd / radard
+
+This will spread processes other CPU cores.

Jenkinsfile

@@ -1,7 +1,7 @@
 def phone(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
 
 set -e
 
@@ -29,7 +29,7 @@ cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0
 
-EOF"""
+END"""
 
     sh script: ssh_cmd, label: step_label
   }
@@ -37,7 +37,7 @@ EOF"""
 
 def phone_steps(String device_type, steps) {
   lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 150, unit: 'MINUTES') {
+    timeout(time: 60, unit: 'MINUTES') {
       phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
       steps.each { item ->
         phone(device_ip, item[0], item[1])
@@ -49,30 +49,37 @@ def phone_steps(String device_type, steps) {
 pipeline {
   agent none
   environment {
-    COMMA_JWT = credentials('athena-test-jwt')
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
   }
   options {
-      timeout(time: 3, unit: 'HOURS')
+      timeout(time: 4, unit: 'HOURS')
   }
 
   stages {
-
-    stage('Build release2') {
-      agent {
-        docker {
-          image 'python:3.7.3'
-          args '--user=root'
-        }
-      }
+    stage('build releases') {
       when {
         branch 'devel-staging'
       }
-      steps {
-        phone_steps("eon-build", [
-          ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
-        ])
+
+      parallel {
+        stage('release2') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("eon-build", [
+              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
+        }
+
+        stage('release3') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici", [
+              ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
+        }
       }
     }
 
@@ -80,56 +87,24 @@ 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 'hotfix-*'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
+            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
+            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
+            branch 'testing-closet*'; branch 'hotfix-*'
           }
         }
       }
 
       stages {
-
-        /*
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilotci'
-              args '--privileged --shm-size=1G --user=root'
-            }
-          }
-          stages {
-            stage('Build') {
-              steps {
-                sh 'scons -j$(nproc)'
-              }
-            }
-          }
-          post {
-            always {
-              // fix permissions since docker runs as another user
-              sh "chmod -R 777 ."
-            }
-          }
-        }
-        */
-
         stage('On-device Tests') {
-          agent {
-            docker {
-              /*
-              filename 'Dockerfile.ondevice_ci'
-              args "--privileged -v /dev:/dev --shm-size=1G --user=root"
-              */
-              image 'python:3.7.3'
-              args '--user=root'
-            }
-          }
-
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           stages {
             stage('parallel tests') {
               parallel {
-                stage('Devel Tests') {
+                stage('C2: build') {
                   steps {
                     phone_steps("eon-build", [
-                      ["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
                       ["build openpilot", "cd selfdrive/manager && ./build.py"],
                       ["test manager", "python selfdrive/manager/test/test_manager.py"],
                       ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@@ -138,7 +113,7 @@ pipeline {
                   }
                 }
 
-                stage('Replay Tests') {
+                stage('C2: replay') {
                   steps {
                     phone_steps("eon2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -147,17 +122,16 @@ pipeline {
                   }
                 }
 
-                stage('HW + Unit Tests') {
+                stage('C2: HW + Unit Tests') {
                   steps {
                     phone_steps("eon", [
                       ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
-                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
-                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
                       ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
-                      //["test updater", "python installer/updater/test_updater.py"],
+                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
                     ])
                   }
                 }
@@ -183,30 +157,33 @@ pipeline {
                 }
                 */
 
-                stage('tici Build') {
+                stage('C3: build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                   }
                   steps {
                     phone_steps("tici", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
                       ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
                     ])
                   }
                 }
 
-                stage('Unit Tests (tici)') {
+                stage('C3: HW + Unit Tests') {
                   steps {
                     phone_steps("tici2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
                     ])
                   }
                 }
 
-                stage('camerad') {
+                stage('C2: camerad') {
                   steps {
                     phone_steps("eon-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -216,7 +193,7 @@ pipeline {
                   }
                 }
 
-                stage('Tici camerad') {
+                stage('C3: camerad') {
                   steps {
                     phone_steps("tici-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -226,6 +203,15 @@ pipeline {
                   }
                 }
 
+                stage('C3: replay') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
               }
             }
 

README.md

@@ -1,21 +1,14 @@
-[![](https://i.imgur.com/UelUjKAh.png)](#)
+![](https://i.imgur.com/b0ZyIx5.jpg)
 
 Table of Contents
 =======================
 
 * [What is openpilot?](#what-is-openpilot)
-* [Integration with Stock Features](#integration-with-stock-features)
-* [Supported Hardware](#supported-hardware)
-* [Supported Cars](#supported-cars)
-* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
-* [Installation Instructions](#installation-instructions)
-* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
-* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
-* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
+* [Running in a car](#running-in-a-car)
+* [Running on PC](#running-on-pc)
+* [Community and Contributing](#community-and-contributing)
 * [User Data and comma Account](#user-data-and-comma-account)
 * [Safety and Testing](#safety-and-testing)
-* [Testing on PC](#testing-on-pc)
-* [Community and Contributing](#community-and-contributing)
 * [Directory Structure](#directory-structure)
 * [Licensing](#licensing)
 
@@ -24,317 +17,51 @@ Table of Contents
 What is openpilot?
 ------
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
 <table>
   <tr>
-    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
+    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
+    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
   </tr>
   <tr>
-    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
+    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
+    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
+    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
+    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
   </tr>
 </table>
 
-Integration with Stock Features
+
+Running in a car
 ------
 
-In all supported cars:
-* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
-* Stock LDW is replaced by openpilot LDW.
+To use openpilot in a car, you need four things
+* This software. It's free and available right here.
+* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
+* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
 
-Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
-* Stock ACC is replaced by openpilot ACC.
-* openpilot FCW operates in addition to stock FCW.
+We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
 
-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
-
-Supported Hardware
+Running on PC
 ------
 
-At the moment, openpilot supports the EON Gold DevKit and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
 
-Supported Cars
-------
+With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
-| Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
-| Honda     | Civic Sedan 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
-| Honda     | Civic Sedan 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | CR-V 2017-21                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
-| Hyundai   | Sonata 2020-21                | All               | Stock            | 0mph               | 0mph              |
-| Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | NX Hybrid 2018-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2020-21             | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Alphard 2020                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry 2021                    | All               | openpilot        | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2021             | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | C-HR 2017-20                  | All               | Stock            | 0mph               | 0mph              |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Corolla 2020-21               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hatchback 2019-21     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hybrid 2020-21        | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander 2020-21            | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Mirai 2021	                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius Prime 2021              | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2019-21           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-
-<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
-<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
-<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-
-Community Maintained Cars and Features
-------
-
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
-| Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
-| Audi      | Q2 2018                       | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>1</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-21       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
-| GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Elantra 2021                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Elantra Hybrid 2021           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Ioniq PHEV 2020               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Veloster 2019-20              | SCC + LKAS        | Stock            | 5mph               | 0mph         |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018-2021               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Niro PHEV 2019                | SCC + LKAS        | Stock            | 10mph              | 32mph        |
-| Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Seltos 2021                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2018-20                 | 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     | Octavia RS 2016               | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf GTE 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf GTI 2018-19              | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf R 2016-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf SportsVan 2016           | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf SportWagen 2015          | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Touran 2017                   | Driver Assistance | Stock            | 0mph               | 0mph         |
-
-<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
-
-Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
-
-To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
-
-Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
-
-Installation Instructions
-------
-
-Install openpilot on an EON Gold or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
-
-Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
-
-Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
-
-You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
-
-Limitations of openpilot ALC and LDW
-------
-
-openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
-
-While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
-
-Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
-* In the presence of restricted lanes or construction zones.
-* When driving on highly banked roads or in presence of strong cross-wind.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Driving on hills, narrow, or winding roads.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot ACC and FCW
-------
-
-openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
-
-Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* Approaching a toll booth, a bridge or a large metal plate.
-* When driving on roads with pedestrians, cyclists, etc...
-* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
-* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
-* In presence of vehicles in the same lane that are not moving.
-* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
-* When surrounding vehicles perform close cut-ins from neighbor lanes.
-* Driving on hills, narrow, or winding roads.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Interference from other equipment that generates radar waves.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot DM
-------
-
-openpilot DM should not be considered an exact measurement of the alertness of the driver.
-
-Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
-
-* Low light conditions, such as driving at night or in dark tunnels.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver's face is partially or completely outside field of view of the driver facing camera.
-* The driver facing camera is obstructed, covered, or damaged.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
-
-User Data and comma Account
-------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
-
-By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
-Safety and Testing
-----
-
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
-* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
-* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
-
-Testing on PC
-------
-For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
-
-Steps:
-1) Start the CARLA server on first terminal
-```
-bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
-```
-2) Start openpilot on second terminal
-```
-bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
-```
-3) Press 1 to engage openpilot
-
-See the full [README](tools/sim/README.md)
-
-You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
 
 
 Community and Contributing
 ------
 
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
+
+Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
 
 You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
@@ -342,16 +69,39 @@ Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/)
 
 And [follow us on Twitter](https://twitter.com/comma_ai).
 
+User Data and comma Account
+------
+
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+
+Safety and Testing
+----
+
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
+
 Directory Structure
 ------
     .
     ├── cereal              # The messaging spec and libs used for all logs
     ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages updates of NEOS
+    ├── docs                # Documentation
     ├── opendbc             # Files showing how to interpret data from cars
     ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # External libraries
-    ├── pyextra             # Extra python packages not shipped in NEOS
+    ├── third_party         # External libraries
+    ├── pyextra             # Extra python packages
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
@@ -375,7 +125,7 @@ Licensing
 
 openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 
-Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.

RELEASES.md

@@ -1,3 +1,116 @@
+Version 0.8.13 (2022-02-18)
+========================
+ * Improved driver monitoring
+   * Retuned driver pose learner for relaxed driving positions
+   * Added reliance on driving model to be more scene adaptive
+   * Matched strictness between comma two and comma three
+ * Improved performance in turns by compensating for the road bank angle
+ * Improved camera focus on the comma two
+ * AGNOS 4
+   * ADB support
+   * improved cell auto configuration
+ * NEOS 19
+   * package updates
+   * stability improvements
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-5 2022 support thanks to Jafaral!
+ * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
+ * Toyota Prius v 2017 support thanks to CT921!
+ * Volkswagen Caravelle 2020 support thanks to jyoung8607!
+
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
+ * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
+ * Audi Q3 2020-21 support thanks to jyoung8607!
+ * Lexus RC 2020 support thanks to ErichMoraga!
+
+Version 0.8.11 (2021-11-29)
+========================
+ * Support for CAN FD on the red panda
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
+
+Version 0.8.10 (2021-11-01)
+========================
+ * New driving model
+   * Trained on one million minutes!!!
+   * Fixed lead training making lead predictions significantly more accurate
+   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
+ * New driver monitoring model
+   * Trained on latest data from both comma two and comma three
+   * Increased model field of view by 40% on comma three
+   * Improved model stability on masked users
+   * Improved pose prediction with reworked ground-truth stack
+ * Lateral and longitudinal planning MPCs now in ACADOS
+ * Combined longitudinal MPCs
+   * All longitudinal planning now happens in a single MPC system
+   * Fixed instability in MPC problem to prevent sporadic CPU usage
+ * AGNOS 2: minor stability improvements and builder repo open sourced
+ * tools: new and improved replay thanks to deanlee!
+ * Moved community-supported cars outside of the Community Features toggle
+ * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
+ * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
+ * Audi S3 2015 support thanks to jyoung8607!
+ * Honda Freed 2020 support thanks to belm0!
+ * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
+ * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
+ * Kia K5 2021 support thanks to sunnyhaibin!
+ * Škoda Kamiq 2021 support thanks to jyoung8607!
+ * Škoda Karoq 2019 support thanks to jyoung8607!
+ * Volkswagen Arteon 2021 support thanks to jyoung8607!
+ * Volkswagen California 2021 support thanks to jyoung8607!
+ * Volkswagen Taos 2022 support thanks to jyoung8607!
+
+Version 0.8.9 (2021-09-14)
+========================
+ * Improved fan control on comma three
+ * AGNOS 1.5: improved stability
+ * Honda e 2020 support
+
+Version 0.8.8 (2021-08-27)
+========================
+ * New driving model with improved laneless performance
+   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
+   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
+   * All new desire ground-truthing stack makes the model better at lane changes
+ * New driver monitoring model: improved performance on comma three
+ * NEOS 18 for comma two: update packages
+ * AGNOS 1.3 for comma three: fix display init at high temperatures
+ * Improved auto-exposure on comma three
+ * Improved longitudinal control on Honda Nidec cars
+ * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
+ * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
+ * Kia Niro Hybrid 2021 support thanks to tetious!
+
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
 Version 0.8.6 (2021-07-21)
 ========================
  * Revamp lateral and longitudinal planners

SAFETY.md

@@ -1,34 +0,0 @@
-openpilot Safety
-======
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on either pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
-
-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.

SConstruct

@@ -15,9 +15,9 @@ AddOption('--test',
           action='store_true',
           help='build test files')
 
-AddOption('--setup',
+AddOption('--extras',
           action='store_true',
-          help='build setup and installer files')
+          help='build misc extras, like setup and installer files')
 
 AddOption('--kaitai',
           action='store_true',
@@ -39,10 +39,6 @@ AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
 
-AddOption('--mpc-generate',
-          action='store_true',
-          help='regenerates the mpc sources')
-
 AddOption('--snpe',
           action='store_true',
           help='use SNPE on PC')
@@ -66,17 +62,30 @@ if arch == "aarch64" and TICI:
   arch = "larch64"
 
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-
 USE_MIPI = os.getenv("USE_MIPI") is not None
-if arch == "aarch64" and JETSON:
-  arch = "jarch64"
+
+# use larch64 for now
+if JETSON:
+  arch = "larch64"
 
 lenv = {
   "PATH": os.environ['PATH'],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
+
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
 }
 
+# set to jarch64
+if JETSON:
+  arch = "jarch64"
+
+rpath = lenv["LD_LIBRARY_PATH"].copy()
+
 if arch == "aarch64" or arch == "larch64":
-  lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
+  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
 
   if arch == "aarch64":
     # android
@@ -84,7 +93,7 @@ if arch == "aarch64" or arch == "larch64":
     lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
 
   cpppath = [
-    "#phonelibs/opencl/include",
+    "#third_party/opencl/include",
   ]
 
   libpath = [
@@ -92,13 +101,13 @@ if arch == "aarch64" or arch == "larch64":
     "/usr/lib",
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
-    "#phonelibs/nanovg",
+    f"#third_party/acados/{arch}/lib",
   ]
 
   if arch == "larch64":
     libpath += [
-      "#phonelibs/snpe/larch64",
-      "#phonelibs/libyuv/larch64/lib",
+      "#third_party/snpe/larch64",
+      "#third_party/libyuv/larch64/lib",
       "/usr/lib/aarch64-linux-gnu"
     ]
     cpppath += [
@@ -106,28 +115,32 @@ if arch == "aarch64" or arch == "larch64":
     ]
     cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    rpath = ["/usr/local/lib"]
+    rpath += ["/usr/local/lib"]
   else:
+    rpath = []
     libpath += [
-      "#phonelibs/snpe/aarch64",
-      "#phonelibs/libyuv/lib",
-      "/system/vendor/lib64"
+      "#third_party/snpe/aarch64",
+      "#third_party/libyuv/lib",
+      "/system/vendor/lib64",
+      "#third_party/mapbox-gl-native-qt/aarch64",
     ]
     cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
-    rpath = []
 else:
   cflags = []
   cxxflags = []
   cpppath = []
-  rpath = []
 
   if arch == "jarch64":
     libpath = [
-      "#phonelibs/libyuv/larch64/lib",
+      "#third_party/acados/larch64/lib",
+      "#third_party/libyuv/larch64/lib",
+      "/usr/lib/aarch64-linux-gnu",
       "#selfdrive/common",
       "/usr/lib",
       "/usr/local/lib",
+      "/usr/local/pocl/lib",
+      "#third_party/mapbox-gl-native-qt/jarch64",
     ]
     cflags = ["-DXNX", "-march=armv8.2-a"]
     cxxflags = ["-DXNX", "-march=armv8.2-a"]
@@ -135,25 +148,30 @@ else:
   elif arch == "Darwin":
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
-      f"#phonelibs/libyuv/{yuv_dir}/lib",
+      f"#third_party/libyuv/{yuv_dir}/lib",
       "/usr/local/lib",
       "/opt/homebrew/lib",
+      "/usr/local/Homebrew/Library",
       "/usr/local/opt/openssl/lib",
       "/opt/homebrew/opt/openssl/lib",
+      "/usr/local/Cellar",
+      f"#third_party/acados/{arch}/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [
       "/opt/homebrew/include",
+      "/usr/local/include",
       "/usr/local/opt/openssl/include",
       "/opt/homebrew/opt/openssl/include"
     ]
   else:
     libpath = [
-      "#phonelibs/snpe/x86_64-linux-clang",
-      "#phonelibs/libyuv/x64/lib",
-      "#phonelibs/mapbox-gl-native-qt/x86_64",
+      "#third_party/acados/x86_64/lib",
+      "#third_party/snpe/x86_64-linux-clang",
+      "#third_party/libyuv/x64/lib",
+      "#third_party/mapbox-gl-native-qt/x86_64",
       "#cereal",
       "#selfdrive/common",
       "/usr/lib",
@@ -161,15 +179,12 @@ else:
     ]
 
   if arch != "jarch64":
-    rpath += ["phonelibs/snpe/x86_64-linux-clang"]
+    rpath += [Dir("#third_party/snpe/x86_64-linux-clang").abspath]
   rpath += [
-    "cereal",
-    "selfdrive/common"
+    Dir("#cereal").abspath,
+    Dir("#selfdrive/common").abspath
   ]
 
-  # allows shared libraries to work globally
-  rpath = [os.path.join(os.getcwd(), x) for x in rpath]
-
 if GetOption('asan'):
   ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
   ldflags = ["-fsanitize=address"]
@@ -182,10 +197,11 @@ else:
 
 # no --as-needed on mac linker
 if arch != "Darwin":
-  ldflags += ["-Wl,--as-needed"]
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
-# change pythonpath to this
-lenv["PYTHONPATH"] = Dir("#").path
+# Enable swaglog include in submodules
+cflags += ["-DSWAGLOG"]
+cxxflags += ["-DSWAGLOG"]
 
 env = Environment(
   ENV=lenv,
@@ -195,32 +211,36 @@ env = Environment(
     "-O2",
     "-Wunused",
     "-Werror",
+    "-Wshadow",
     "-Wno-unknown-warning-option",
     "-Wno-deprecated-register",
     "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
+    "-Wno-error=unused-but-set-variable",
   ] + cflags + ccflags,
 
   CPPPATH=cpppath + [
     "#",
-    "#phonelibs/catch2/include",
-    "#phonelibs/bzip2",
-    "#phonelibs/libyuv/include",
-    "#phonelibs/openmax/include",
-    "#phonelibs/json11",
-    "#phonelibs/curl/include",
-    "#phonelibs/libgralloc/include",
-    "#phonelibs/android_frameworks_native/include",
-    "#phonelibs/android_hardware_libhardware/include",
-    "#phonelibs/android_system_core/include",
-    "#phonelibs/linux/include",
-    "#phonelibs/snpe/include",
-    "#phonelibs/mapbox-gl-native-qt/include",
-    "#phonelibs/nanovg",
-    "#phonelibs/qrcode",
-    "#phonelibs",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/bzip2",
+    "#third_party/libyuv/include",
+    "#third_party/openmax/include",
+    "#third_party/json11",
+    "#third_party/curl/include",
+    "#third_party/libgralloc/include",
+    "#third_party/android_frameworks_native/include",
+    "#third_party/android_hardware_libhardware/include",
+    "#third_party/android_system_core/include",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party/mapbox-gl-native-qt/include",
+    "#third_party/qrcode",
+    "#third_party",
     "#cereal",
     "#opendbc/can",
   ],
@@ -235,7 +255,7 @@ env = Environment(
   CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
     "#cereal",
-    "#phonelibs",
+    "#third_party",
     "#opendbc/can",
     "#selfdrive/boardd",
     "#selfdrive/common",
@@ -245,6 +265,9 @@ env = Environment(
   tools=["default", "cython", "compilation_db"],
 )
 
+if arch == "Darwin":
+  env['RPATHPREFIX'] = "-rpath "
+
 if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
@@ -278,7 +301,7 @@ def abspath(x):
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 
 envCython["LIBS"] = []
 if arch == "Darwin":
@@ -309,6 +332,7 @@ if arch == "Darwin":
   qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
   qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
   qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
 elif arch == "aarch64":
   qt_env['QTDIR'] = "/system/comma/usr"
   qt_dirs = [
@@ -360,8 +384,18 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-zmq = 'zmq'
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_MIPI')
+
+SConscript(['selfdrive/common/SConscript'])
+Import('_common', '_gpucommon', '_gpu_libs')
+
+if SHARED:
+  common, gpucommon = abspath(common), abspath(gpucommon)
+else:
+  common = [_common, 'json11']
+  gpucommon = [_gpucommon] + _gpu_libs
+
+Export('common', 'gpucommon')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -373,18 +407,7 @@ else:
   messaging = [File('#cereal/libmessaging.a')]
   visionipc = [File('#cereal/libvisionipc.a')]
 
-Export('cereal', 'messaging')
-
-SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_gpucommon', '_gpu_libs')
-
-if SHARED:
-  common, gpucommon = abspath(common), abspath(gpucommon)
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon] + _gpu_libs
-
-Export('common', 'gpucommon', 'visionipc')
+Export('cereal', 'messaging', 'visionipc')
 
 # Build rednose library and ekf models
 
@@ -396,7 +419,7 @@ rednose_config = {
   },
 }
 
-if arch != "aarch64":
+if arch not in ["aarch64", "larch64"]:
   rednose_config['to_build'].update({
     'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
     'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
@@ -415,7 +438,7 @@ SConscript(['cereal/SConscript'])
 SConscript(['panda/board/SConscript'])
 SConscript(['opendbc/can/SConscript'])
 
-SConscript(['phonelibs/SConscript'])
+SConscript(['third_party/SConscript'])
 
 SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
@@ -425,8 +448,7 @@ SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
-SConscript(['selfdrive/controls/lib/lead_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
@@ -436,12 +458,16 @@ SConscript(['selfdrive/clocksd/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
+if not os.path.isfile("/JETSON"):
+  SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 
 if arch != "Darwin":
   SConscript(['selfdrive/logcatd/SConscript'])
 
+if GetOption('test'):
+  SConscript('panda/tests/safety/SConscript')
+
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
   SConscript([external_sconscript])

cereal/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'zmq')
+Import('env', 'envCython', 'arch', 'common')
 
 import shutil
 
@@ -9,16 +9,11 @@ messaging_dir = Dir('messaging')
 # Build cereal
 
 schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.capnp']
-env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
+env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
 
-if shutil.which('capnpc-java'):
-  env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
-              schema_files,
-              f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
-
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
 
@@ -40,17 +35,10 @@ 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'])
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
 Depends('messaging/bridge.cc', services_h)
 
-envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
 
 
 # Build Vision IPC
@@ -70,7 +58,7 @@ vipc_objects = env.SharedObject(vipc_sources)
 vipc = env.Library('visionipc', vipc_objects)
 
 
-libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
+libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
 if arch == "aarch64":
   libs += ["adreno_utils"]
 if arch == "Darwin":
@@ -80,5 +68,5 @@ envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', L
 
 
 if GetOption('test'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
-  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
+  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
+  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])

cereal/_SConstruct

@@ -1,73 +0,0 @@
-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'])

cereal/car.capnp

@@ -1,10 +1,6 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Car");
-
 @0x8e2af1e708af8b8d;
 
 # ******* events causing controls state machine transition *******
@@ -73,7 +69,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     preLaneChangeLeft @57;
     preLaneChangeRight @58;
     laneChange @59;
-    communityFeatureDisallowed @62;
     lowMemory @63;
     stockAeb @64;
     ldw @65;
@@ -88,7 +83,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupNoCar @76;
     startupNoControl @77;
     startupMaster @78;
-    startupFuzzyFingerprint @97;
     startupNoFw @104;
     fcw @79;
     steerSaturated @80;
@@ -108,10 +102,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     driverCameraError @101;
     wideRoadCameraError @102;
     localizerMalfunction @103;
+    highCpuUsage @105;
+    cruiseMismatch @106;
+    lkasDisabled @107;
 
-    driverMonitorLowAccDEPRECATED @68;
     radarCanErrorDEPRECATED @15;
+    communityFeatureDisallowedDEPRECATED @62;
     radarCommIssueDEPRECATED @67;
+    driverMonitorLowAccDEPRECATED @68;
     gasUnavailableDEPRECATED @3;
     dataNeededDEPRECATED @16;
     modelCommIssueDEPRECATED @27;
@@ -129,18 +127,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     neosUpdateRequiredDEPRECATED @88;
     modelLagWarningDEPRECATED @93;
     startupOneplusDEPRECATED @82;
+    startupFuzzyFingerprintDEPRECATED @97;
 
     #dp
-    preLaneChangeLeftALC @105;
-    preLaneChangeRightALC @106;
-    manualSteeringRequired @107;
-    manualSteeringRequiredBlinkersOn @108;
-    leadCarMoving @109;
-
-    # timebomb assist
-    timebombWarn @110;
-    timebombBypassing @111;
-    timebombBypassed @112;
+    autoLaneChange @108;
+    manualSteeringRequired @109;
+    manualSteeringRequiredBlinkersOn @110;
+    speedLimitActive @111;
+    speedLimitValueChange @112;
   }
 }
 
@@ -159,15 +153,17 @@ struct CarState {
   wheelSpeeds @2 :WheelSpeeds;
 
   # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user + computer
+  gas @3 :Float32;        # this is user pedal only
   gasPressed @4 :Bool;    # this is user pedal only
 
   # brake pedal, 0.0-1.0
   brake @5 :Float32;      # this is user pedal only
   brakePressed @6 :Bool;  # this is user pedal only
+  brakeHoldActive @38 :Bool;
 
   # steering wheel
   steeringAngleDeg @7 :Float32;
+  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
   steeringRateDeg @15 :Float32;
   steeringTorque @8 :Float32;      # TODO: standardize units
   steeringTorqueEps @27 :Float32;  # TODO: standardize units
@@ -207,8 +203,10 @@ struct CarState {
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
   # dp
-  lkMode @37 :Bool;
-  stopSteering @38 :Bool; # timebomb - stopSteering
+  lkMode @39 :Bool;
+  engineRPM @40 :Float32;
+  cruiseActualEnabled @41 :Bool;
+  distanceLines @42 :UInt8;
 
   struct WheelSpeeds {
     # optional wheel speeds
@@ -225,6 +223,8 @@ struct CarState {
     speedOffset @3 :Float32;
     standstill @4 :Bool;
     nonAdaptive @5 :Bool;
+    #mapd
+    speedLimit @6 :Float32;
   }
 
   enum GearShifter {
@@ -306,8 +306,17 @@ struct CarControl {
   enabled @0 :Bool;
   active @7 :Bool;
 
+  # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
 
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @10 :Actuators;
+
+  roll @8 :Float32;
+  pitch @9 :Float32;
+
   cruiseControl @4 :CruiseControl;
   hudControl @5 :HUDControl;
 
@@ -318,6 +327,19 @@ struct CarControl {
     # range from -1.0 - 1.0
     steer @2: Float32;
     steeringAngleDeg @3: Float32;
+
+    speed @6: Float32; # m/s
+    accel @4: Float32; # m/s^2
+    longControlState @5: LongControlState;
+
+    enum LongControlState @0xe40f3a917d908282{
+      off @0;
+      pid @1;
+      stopping @2;
+
+      startingDEPRECATED @3;
+    }
+
   }
 
   struct CruiseControl {
@@ -354,14 +376,17 @@ struct CarControl {
 
     enum AudibleAlert {
       none @0;
-      chimeEngage @1;
-      chimeDisengage @2;
-      chimeError @3;
-      chimeWarning1 @4;
-      chimeWarning2 @5;
-      chimeWarningRepeat @6;
-      chimePrompt @7;
-      chimeWarning2Repeat @8;
+
+      engage @1;
+      disengage @2;
+      refuse @3;
+
+      warningSoft @4;
+      warningImmediate @5;
+
+      prompt @6;
+      promptRepeat @7;
+      promptDistracted @8;
     }
   }
 
@@ -382,21 +407,20 @@ 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
+  flags @64 :UInt32;         # flags for car specific quirks
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
   maxSteeringAngleDeg @54 :Float32;
-  safetyModel @9 :SafetyModel;
-  safetyModelPassive @42 :SafetyModel = silent;
-  safetyParam @10 :Int16;
+  safetyConfigs @62 :List(SafetyConfig);
+  unsafeMode @65 :Int16;
 
   steerMaxBP @11 :List(Float32);
   steerMaxV @12 :List(Float32);
-  gasMaxBP @13 :List(Float32);
-  gasMaxV @14 :List(Float32);
-  brakeMaxBP @15 :List(Float32);
-  brakeMaxV @16 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
 
   # things about the car in the manual
   mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
@@ -422,17 +446,18 @@ struct CarParams {
   steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
 
   vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
   directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
   stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
+  stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
   steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
   steerControlType @34 :SteerControlType;
   radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
-  minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
-  stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
-  startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
+  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   dashcamOnly @41: Bool;
@@ -440,9 +465,16 @@ struct CarParams {
   carFw @44 :List(CarFw);
 
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
-  communityFeature @46: Bool;  # true if a community maintained feature is detected
   fingerprintSource @49: FingerprintSource;
   networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
+  smartDsu @66: Bool;  # true if sDSU is detected
+
+  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
+
+  struct SafetyConfig {
+    safetyModel @0 :SafetyModel;
+    safetyParam @1 :Int16;
+  }
 
   struct LateralParams {
     torqueBP @0 :List(Int32);
@@ -517,11 +549,14 @@ struct CarParams {
     allOutput @17;
     gmAscm @18;
     noOutput @19;  # like silent but without silent CAN TXs
-    hondaBoschHarness @20;
+    hondaBosch @20;
     volkswagenPq @21;
     subaruLegacy @22;  # pre-Global platform
     hyundaiLegacy @23;
     hyundaiCommunity @24;
+    stellantis @25;
+	volvoC1 @26;
+    volvoEUCD @27;
   }
 
   enum SteerControlType {
@@ -580,5 +615,13 @@ struct CarParams {
   }
 
   enableCameraDEPRECATED @4 :Bool;
-  isPandaBlackDEPRECATED @39: Bool;
+  isPandaBlackDEPRECATED @39 :Bool;
+  hasStockCameraDEPRECATED @57 :Bool;
+  safetyParamDEPRECATED @10 :Int16;
+  safetyModelDEPRECATED @9 :SafetyModel;
+  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
+  minSpeedCanDEPRECATED @51 :Float32;
+  startAccelDEPRECATED @32 :Float32;
+  communityFeatureDEPRECATED @46: Bool;
+  startingAccelRateDEPRECATED @53 :Float32;
 }

cereal/dp.capnp

@@ -1,57 +1,76 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("dp");
-
 @0xbfa7e645486440c7;
 
-# dp.capnp: a home for deprecated structs
-
 # dp
 struct DragonConf {
-  dpThermalStarted @0 :Bool;
-  dpThermalOverheat @1 :Bool;
-  dpAtl @2 :Bool;
-  dpDashcamd @3 :Bool;
-  dpAutoShutdown @4 :Bool;
-  dpAthenad @5 :Bool;
-  dpUploader @6 :Bool;
-  dpLateralMode @7 :UInt8;
-  dpSignalOffDelay @8 :Float32;
-  dpLcMinMph @9 :UInt8;
-  dpLcAutoCont @10 :Bool;
-  dpLcAutoMinMph @11 :UInt8;
-  dpLcAutoDelay @12 :Float32;
+  dpAtl @0 :Bool;
+  dpAtlOpLong @1 :Bool;
+  dpDashcamd @2 :Bool;
+  dpAutoShutdown @3 :Bool;
+  dpAthenad @4 :Bool;
+  dpUploader @5 :Bool;
+  dpLateralMode @6 :UInt8;
+  dpSignalOffDelay @7 :Float32;
+  dpLcMinMph @8 :UInt8;
+  dpLcAutoMinMph @9 :UInt8;
+  dpLcAutoDelay @10 :Float32;
+  dpLaneLessModeCtrl @11 :Bool;
+  dpLaneLessMode @12 :UInt8;
   dpAllowGas @13 :Bool;
-  dpFollowingProfileCtrl @14 :Bool;
-  dpFollowingProfile @15 :UInt8;
-  dpAccelProfileCtrl @16 :Bool;
-  dpAccelProfile @17 :UInt8;
-  dpGearCheck @18 :Bool;
-  dpSpeedCheck @19 :Bool;
-  dpUiDisplayMode @20 :UInt8;
-  dpUiSpeed @21 :Bool;
-  dpUiEvent @22 :Bool;
-  dpUiMaxSpeed @23 :Bool;
-  dpUiFace @24 :Bool;
-  dpUiLane @25 :Bool;
-  dpUiLead @26 :Bool;
-  dpUiDev @27 :Bool;
-  dpUiDevMini @28 :Bool;
-  dpUiBlinker @29 :Bool;
-  dpUiBrightness @30 :UInt8;
-  dpUiVolume @31 :Int8;
-  dpToyotaLdw @32 :Bool;
-  dpToyotaSng @33 :Bool;
-  dpVwTimebombAssist @34 :Bool;
-  dpIpAddr @35 :Text;
-  dpCameraOffset @36 :Int8;
-  dpPathOffset @37 :Int8;
-  dpLocale @38 :Text;
-  dpSrLearner @39 :Bool;
-  dpSrCustom @40 :Float32;
-  dpAppd @41 :Bool;
-  dpDebug @42 :Bool;
-}
+  dpAccelProfileCtrl @14 :Bool;
+  dpAccelProfile @15 :UInt8;
+  dpGearCheck @16 :Bool;
+  dpSpeedCheck @17 :Bool;
+  dpUiDisplayMode @18 :UInt8;
+  dpUiSpeed @19 :Bool;
+  dpUiEvent @20 :Bool;
+  dpUiMaxSpeed @21 :Bool;
+  dpUiFace @22 :Bool;
+  dpUiLane @23 :Bool;
+  dpUiLead @24 :Bool;
+  dpUiSide @25 :Bool;
+  dpUiTop @26 :Bool;
+  dpUiBlinker @27 :Bool;
+  dpUiBrightness @28 :UInt8;
+  dpUiVolume @29 :Int8;
+  dpToyotaLdw @30 :Bool;
+  dpToyotaSng @31 :Bool;
+  dpToyotaCruiseOverride @32 :Bool;
+  dpToyotaCruiseOverrideVego @33 :Bool;
+  dpToyotaCruiseOverrideAt @34 :Float32;
+  dpToyotaCruiseOverrideSpeed @35 :Float32;
+  dpIpAddr @36 :Text;
+  dpCameraOffset @37 :Int8;
+  dpPathOffset @38 :Int8;
+  dpLocale @39 :Text;
+  dpSrLearner @40 :Bool;
+  dpSrCustom @41 :Float32;
+  dpMapd @42 :Bool;
+}
+
+
+# use on mapd
+struct LiveMapData {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedLimitAheadValid @2 :Bool;
+  speedLimitAhead @3 :Float32;
+  speedLimitAheadDistance @4 :Float32;
+  turnSpeedLimitValid @5 :Bool;
+  turnSpeedLimit @6 :Float32;
+  turnSpeedLimitEndDistance @7 :Float32;
+  turnSpeedLimitSign @8 :Int16;
+  turnSpeedLimitsAhead @9 :List(Float32);
+  turnSpeedLimitsAheadDistances @10 :List(Float32);
+  turnSpeedLimitsAheadSigns @11 :List(Int16);
+  lastGpsTimestamp @12 :Int64;  # Milliseconds since January 1, 1970.
+  currentRoadName @13 :Text;
+  lastGpsLatitude @14 :Float64;
+  lastGpsLongitude @15 :Float64;
+  lastGpsSpeed @16 :Float32;
+  lastGpsBearingDeg @17 :Float32;
+  lastGpsAccuracy @18 :Float32;
+  lastGpsBearingAccuracyDeg @19 :Float32;
+}

cereal/include/java.capnp

@@ -1,28 +0,0 @@
-# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
-# Licensed under the MIT License:
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-
-@0xc5f1af96651f70ea;
-
-annotation package @0x9ee4c8f803b3b596 (file) : Text;
-# Name of the package, such as "org.example.foo", in which the generated code will reside.
-
-annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
-# Name of the outer class that will wrap the generated code.

cereal/legacy.capnp

@@ -1,10 +1,6 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Legacy");
-
 @0x80ef1ec4889c2a63;
 
 # legacy.capnp: a home for deprecated structs

cereal/log.capnp

@@ -1,10 +1,6 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Log");
-
 using Car = import "car.capnp";
 using Legacy = import "legacy.capnp";
 using Dp = import "dp.capnp";
@@ -26,7 +22,6 @@ struct InitData {
   kernelVersion @15 :Text;
   osVersion @18 :Text;
 
-  gctx @1 :Text;
   dongleId @2 :Text;
 
   deviceType @3 :DeviceType;
@@ -61,6 +56,7 @@ struct InitData {
   }
 
   # ***** deprecated stuff *****
+  gctxDEPRECATED @1 :Text;
   androidBuildInfo @5 :AndroidBuildInfo;
   androidSensorsDEPRECATED @6 :List(AndroidSensor);
   chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra;
@@ -291,39 +287,50 @@ struct CanData {
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
-  freeSpacePercent @7 :Float32;
-  memoryUsagePercent @19 :Int8;
-  cpuUsagePercent @20 :Int8;
-  gpuUsagePercent @33 :Int8;
   usbOnline @12 :Bool;
   networkType @22 :NetworkType;
   networkInfo @31 :NetworkInfo;
-  offroadPowerUsageUwh @23 :UInt32;
   networkStrength @24 :NetworkStrength;
-  carBatteryCapacityUwh @25 :UInt32;
+  lastAthenaPingTime @32 :UInt64;
 
-  fanSpeedPercentDesired @10 :UInt16;
   started @11 :Bool;
   startedMonoTime @13 :UInt64;
 
-  lastAthenaPingTime @32 :UInt64;
+  # system utilization
+  freeSpacePercent @7 :Float32;
+  memoryUsagePercent @19 :Int8;
+  gpuUsagePercent @33 :Int8;
+  cpuUsagePercent @34 :List(Int8);  # per-core cpu usage
 
   # power
   batteryPercent @8 :Int16;
-  batteryStatus @9 :Text;
   batteryCurrent @15 :Int32;
-  batteryVoltage @16 :Int32;
   chargingError @17 :Bool;
   chargingDisabled @18 :Bool;
+  # dp, we need Int32 because it could be a negative value
+  offroadPowerUsageUwh @23 :Int32;
+  carBatteryCapacityUwh @25 :UInt32;
+  powerDrawW @40 :Float32;
 
   # device thermals
   cpuTempC @26 :List(Float32);
   gpuTempC @27 :List(Float32);
   memoryTempC @28 :Float32;
-  batteryTempC @29 :Float32;
   ambientTempC @30 :Float32;
+  nvmeTempC @35 :List(Float32);
+  modemTempC @36 :List(Float32);
+  pmicTempC @39 :List(Float32);
+  thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
 
+  fanSpeedPercentDesired @10 :UInt16;
+  screenBrightnessPercent @37 :Int8;
+
+  struct ThermalZone {
+    name @0 :Text;
+    temp @1 :Float32;
+  }
+
   enum ThermalStatus {
     green @0;
     yellow @1;
@@ -367,32 +374,32 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   gpuDEPRECATED @5 :UInt16;
   batDEPRECATED @6 :UInt32;
   pa0DEPRECATED @21 :UInt16;
+  cpuUsagePercentDEPRECATED @20 :Int8;
+  batteryStatusDEPRECATED @9 :Text;
+  batteryVoltageDEPRECATED @16 :Int32;
+  batteryTempCDEPRECATED @29 :Float32;
 }
 
 struct PandaState @0xa7649e2575e4591e {
-  # from can health
-  voltage @0 :UInt32;
-  current @1 :UInt32;
   ignitionLine @2 :Bool;
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
-  hasGps @6 :Bool;
   canSendErrs @7 :UInt32;
   canFwdErrs @8 :UInt32;
   canRxErrs @19 :UInt32;
   gmlanSendErrs @9 :UInt32;
   pandaType @10 :PandaType;
-  fanSpeedRpm @11 :UInt16;
-  usbPowerMode @12 :UsbPowerMode;
   ignitionCan @13 :Bool;
   safetyModel @14 :Car.CarParams.SafetyModel;
   safetyParam @20 :Int16;
+  unsafeMode @23 :Int16;
   faultStatus @15 :FaultStatus;
   powerSaveEnabled @16 :Bool;
   uptime @17 :UInt32;
   faults @18 :List(FaultType);
   harnessStatus @21 :HarnessStatus;
   heartbeatLost @22 :Bool;
+  blockedCnt @24 :UInt32;
 
   enum FaultStatus {
     none @0;
@@ -434,13 +441,7 @@ struct PandaState @0xa7649e2575e4591e {
     pedal @4;
     uno @5;
     dos @6;
-  }
-
-  enum UsbPowerMode {
-    none @0;
-    client @1;
-    cdp @2;
-    dcp @3;
+    redPanda @7;
   }
 
   enum HarnessStatus {
@@ -450,6 +451,26 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   startedSignalDetectedDEPRECATED @5 :Bool;
+  voltageDEPRECATED @0 :UInt32;
+  currentDEPRECATED @1 :UInt32;
+  hasGpsDEPRECATED @6 :Bool;
+  fanSpeedRpmDEPRECATED @11 :UInt16;
+  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerMode;
+}
+
+struct PeripheralState {
+  pandaType @0 :PandaState.PandaType;
+  voltage @1 :UInt32;
+  current @2 :UInt32;
+  fanSpeedRpm @3 :UInt16;
+  usbPowerMode @4 :UsbPowerMode;
+
+  enum UsbPowerMode @0xa8883583b32c9877 {
+    none @0;
+    client @1;
+    cdp @2;
+    dcp @3;
+  }
 }
 
 struct RadarState @0x9a185389d6fdd05f {
@@ -531,7 +552,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   enabled @19 :Bool;
   active @36 :Bool;
 
-  longControlState @30 :LongControlState;
+  longControlState @30 :Car.CarControl.Actuators.LongControlState;
   vPid @2 :Float32;
   vTargetLead @3 :Float32;
   vCruise @22 :Float32;
@@ -570,13 +591,6 @@ struct ControlsState @0x97ff69c53601abf1 {
     softDisabling @3;
   }
 
-  enum LongControlState {
-    off @0;
-    pid @1;
-    stopping @2;
-    starting @3;
-  }
-
   enum AlertStatus {
     normal @0;       # low priority alert for user's convenience
     userPrompt @1;   # mid priority alert that might require user intervention
@@ -602,6 +616,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     delta @8 :Float32;
     output @9 :Float32;
     saturated @10 :Bool;
+    steeringAngleDesiredDeg @11 :Float32;
+    steeringRateDesiredDeg @12 :Float32;
   }
 
   struct LateralPIDState {
@@ -614,6 +630,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     f @6 :Float32;
     output @7 :Float32;
     saturated @8 :Bool;
+    steeringAngleDesiredDeg @9 :Float32;
    }
 
   struct LateralLQRState {
@@ -623,6 +640,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     output @3 :Float32;
     lqrOutput @4 :Float32;
     saturated @5 :Bool;
+    steeringAngleDesiredDeg @6 :Float32;
   }
 
   struct LateralAngleState {
@@ -630,6 +648,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     steeringAngleDeg @1 :Float32;
     output @2 :Float32;
     saturated @3 :Bool;
+    steeringAngleDesiredDeg @4 :Float32;
   }
 
   struct LateralDebugState {
@@ -684,6 +703,7 @@ struct ModelDataV2 {
   orientation @5 :XYZTData;
   velocity @6 :XYZTData;
   orientationRate @7 :XYZTData;
+  acceleration @19 :XYZTData;
 
   # prediction lanelines and road edges
   laneLines @8 :List(XYZTData);
@@ -809,6 +829,22 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   accels @32 :List(Float32);
   speeds @33 :List(Float32);
   jerks @34 :List(Float32);
+  #mapd
+  visionTurnControllerState @36 :VisionTurnControllerState;
+  visionTurnSpeed @37 :Float32;
+
+  speedLimitControlState @38 :SpeedLimitControlState;
+  speedLimit @39 :Float32;
+  speedLimitOffset @40 :Float32;
+  distToSpeedLimit @41 :Float32;
+  isMapSpeedLimit @42 :Bool;
+
+  distToTurn @43 :Float32;
+  turnSpeed @44 :Float32;
+  turnSpeedControlState @45 :SpeedLimitControlState;
+  turnSign @46 :Int16;
+
+  solverExecutionTime @35 :Float32;
 
   enum LongitudinalPlanSource {
     cruise @0;
@@ -816,6 +852,10 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
     lead1 @2;
     lead2 @3;
     e2e @4;
+    #mapd
+    turn @5;
+    limit @6;
+    turnlimit @7;
   }
 
   # deprecated
@@ -851,6 +891,20 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
     x @0 :List(Float32);
     y @1 :List(Float32);
   }
+
+  enum SpeedLimitControlState {
+    inactive @0; # No speed limit set or not enabled by parameter.
+    tempInactive @1; # User wants to ignore speed limit until it changes.
+    adapting @2; # Reducing speed to match new speed limit.
+    active @3; # Cruising at speed limit.
+  }
+
+  enum VisionTurnControllerState {
+    disabled @0; # No predicted substancial turn on vision range or feature disabled.
+    entering @1; # A subsantial turn is predicted ahead, adapting speed to turn confort levels.
+    turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+    leaving @3; # Road ahead straightens. Start to allow positive acceleration.
+  }
 }
 
 struct LateralPlan @0xe1e9318e2ae8b51e {
@@ -859,20 +913,26 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
   rProb @7 :Float32;
   dPathPoints @20 :List(Float32);
   dProb @21 :Float32;
+  #mapd
+  dPathWLinesX @33 :List(Float32);
+  dPathWLinesY @34 :List(Float32);
 
   mpcSolutionValid @9 :Bool;
   desire @17 :Desire;
   laneChangeState @18 :LaneChangeState;
   laneChangeDirection @19 :LaneChangeDirection;
-
+  useLaneLines @29 :Bool;
 
   # desired curvatures over next 2.5s in rad/m
   psis @26 :List(Float32);
   curvatures @27 :List(Float32);
   curvatureRates @28 :List(Float32);
 
+  solverExecutionTime @30 :Float32;
   # dp
-  dpALCAllowed @29 :Bool;
+  dpALCAStartIn @31 :Float32;
+  dpLaneLessModeIsE2E @32 :Bool;
+  # 33~34 are being used in mapd
 
   enum Desire {
     none @0;
@@ -938,7 +998,7 @@ struct LiveLocationKalman {
   angularVelocityDevice @8 : Measurement;
 
   # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
-  orientationNEDCalibrated @9 : Measurement;
+  calibratedOrientationNED @9 : Measurement;
 
   # Calibrated frame is simply device frame
   # aligned with the vehicle
@@ -1256,6 +1316,7 @@ struct DriverState {
   distractedEyes @20 :Float32;
   eyesOnRoad @21 :Float32;
   phoneUse @22 :Float32;
+  occludedProb @23 :Float32;
 
   irPwrDEPRECATED @10 :Float32;
   descriptorDEPRECATED @1 :List(Float32);
@@ -1286,6 +1347,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
 struct Boot {
   wallTimeNanos @0 :UInt64;
   pstore @4 :Map(Text, Data);
+  commands @5 :Map(Text, Data);
   launchLog @3 :Text;
 
   lastKmsgDEPRECATED @1 :Data;
@@ -1303,6 +1365,11 @@ struct LiveParametersData {
   yawRate @7 :Float32;
   posenetSpeed @8 :Float32;
   posenetValid @9 :Bool;
+  angleOffsetFastStd @10 :Float32;
+  angleOffsetAverageStd @11 :Float32;
+  stiffnessFactorStd @12 :Float32;
+  steerRatioStd @13 :Float32;
+  roll @14 :Float32;
 }
 
 struct LiveMapDataDEPRECATED {
@@ -1352,6 +1419,7 @@ struct ManagerState {
     name @0 :Text;
     pid @1 :Int32;
     running @2 :Bool;
+    shouldBeRunning @4 :Bool;
     exitCode @3 :Int32;
   }
 }
@@ -1368,6 +1436,44 @@ struct UploaderState {
   lastFilename @6 :Text;
 }
 
+struct NavInstruction {
+  maneuverPrimaryText @0 :Text;
+  maneuverSecondaryText @1 :Text;
+  maneuverDistance @2 :Float32;  # m
+  maneuverType @3 :Text; # TODO: Make Enum
+  maneuverModifier @4 :Text; # TODO: Make Enum
+
+  distanceRemaining @5 :Float32; # m
+  timeRemaining @6 :Float32; # s
+  timeRemainingTypical @7 :Float32; # s
+
+  lanes @8 :List(Lane);
+  showFull @9 :Bool;
+
+  struct Lane {
+    directions @0 :List(Direction);
+    active @1 :Bool;
+    activeDirection @2 :Direction;
+  }
+
+  enum Direction {
+    none @0;
+    left @1;
+    right @2;
+    straight @3;
+  }
+
+}
+
+struct NavRoute {
+  coordinates @0 :List(Coordinate);
+
+  struct Coordinate {
+    latitude @0 :Float32;
+    longitude @1 :Float32;
+  }
+}
+
 struct Event {
   logMonoTime @0 :UInt64;  # nanoseconds
   valid @67 :Bool = true;
@@ -1385,7 +1491,8 @@ struct Event {
     can @5 :List(CanData);
     controlsState @7 :ControlsState;
     sensorEvents @11 :List(SensorEventData);
-    pandaState @12 :PandaState;
+    pandaStates @81 :List(PandaState);
+    peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
     liveTracks @16 :List(LiveTracks);
     sendcan @17 :List(CanData);
@@ -1423,7 +1530,12 @@ struct Event {
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
     logMessage @18 :Text;
+    errorLogMessage @85 :Text;
 
+    # navigation
+    navInstruction @82 :NavInstruction;
+    navRoute @83 :NavRoute;
+    navThumbnail @84: Thumbnail;
 
     # *********** debug ***********
     testJoystick @52 :Joystick;
@@ -1465,6 +1577,8 @@ struct Event {
     kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
     gpsLocationDEPRECATED @21 :GpsLocationData;
     uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
-    dragonConf @80 :Dp.DragonConf;
+    pandaStateDEPRECATED @12 :PandaState;
+    dragonConf @86 :Dp.DragonConf;
+    liveMapData @87 :Dp.LiveMapData;
   }
 }

cereal/logger/logger.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#ifdef SWAGLOG
+#include "selfdrive/common/swaglog.h"
+#else
+
+#define CLOUDLOG_DEBUG 10
+#define CLOUDLOG_INFO 20
+#define CLOUDLOG_WARNING 30
+#define CLOUDLOG_ERROR 40
+#define CLOUDLOG_CRITICAL 50
+
+#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
+
+#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#endif

cereal/messaging/__init__.py

@@ -13,6 +13,7 @@ from cereal.services import service_list
 assert MultiplePublishersError
 assert MessagingError
 
+NO_TRAVERSAL_LIMIT = 2**64-1
 AVG_FREQ_HISTORY = 100
 SIMULATION = "SIMULATION" in os.environ
 
@@ -26,6 +27,9 @@ except ImportError:
 
 context = Context()
 
+def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
+  return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
+
 def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
   dat = log.Event.new_message()
   dat.logMonoTime = int(sec_since_boot() * 1e9)
@@ -83,7 +87,7 @@ def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.ca
     if dat is None:  # Timeout hit
       break
 
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
     ret.append(dat)
 
   return ret
@@ -106,20 +110,20 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capn
     dat = rcv
 
   if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
 
   return dat
 
 def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive()
   if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
   return dat
 
 def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
   return dat
 
 def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
@@ -127,7 +131,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
   while True:
     dat = sock.receive()
     if dat is not None:
-      return log.Event.from_bytes(dat)
+      return log_from_bytes(dat)
 
 class SubMaster():
   def __init__(self, services: List[str], poll: Optional[List[str]] = None,

cereal/messaging/messaging.h

@@ -69,7 +69,7 @@ public:
   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);
+  void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
   inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
   inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
   inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }

cereal/messaging/msgq.cc

@@ -91,7 +91,7 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
   strcpy(full_path, prefix);
   strcat(full_path, path);
 
-  auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
+  auto fd = open(full_path, O_RDWR | O_CREAT, 0664);
   if (fd < 0) {
     std::cout << "Warning, could not open: " << full_path << std::endl;
     delete[] full_path;

cereal/messaging/socketmaster.cc

@@ -92,7 +92,9 @@ void SubMaster::update(int timeout) {
     SubMessage *m = messages_.at(s);
 
     m->msg_reader->~FlatArrayMessageReader();
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
+    capnp::ReaderOptions options;
+    options.traversalLimitInWords = kj::maxValue; // Don't limit
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
     delete msg;
     messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
   }
@@ -100,7 +102,7 @@ void SubMaster::update(int timeout) {
   update_msgs(current_time, messages);
 }
 
-void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
+void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
   if (++frame == UINT64_MAX) frame = 1;
 
   for(auto &kv : messages) {

cereal/services.py

@@ -28,24 +28,26 @@ services = {
   "deviceState": (True, 2., 1),
   "can": (True, 100.),
   "controlsState": (True, 100., 10),
-  "pandaState": (True, 2., 1),
+  "pandaStates": (True, 2., 1),
+  "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
   "roadEncodeIdx": (True, 20., 1),
   "liveTracks": (True, 20.),
-  "sendcan": (True, 100.),
+  "sendcan": (True, 100., 139),
   "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
-  "androidLog": (True, 0., 1),
+  "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5),
-  "gpsLocationExternal": (True, 10., 1),
+  "gpsLocationExternal": (True, 10., 10),
   "ubloxGnss": (True, 10.),
   "clocks": (True, 1., 1),
   "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 2),
-  "liveParameters": (True, 20., 2),
+  "liveLocationKalman": (True, 20., 5),
+  "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 5),
   "lateralPlan": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
@@ -61,10 +63,17 @@ services = {
   "modelV2": (True, 20., 40),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 0.),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
+
+  # debug
+  "testJoystick": (False, 0.),
 
   # dp
   "thermal": (True, 2., 1),
-  "dragonConf": (False, 2.),
+  "dragonConf": (False, 1.),
+  "liveMapData": (True, 0.), # mapd
 }
 service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
                 idx, (name, vals) in enumerate(services.items())}

cereal/visionipc/visionbuf.cc

@@ -22,19 +22,28 @@ void visionbuf_compute_aligned_width_and_height(int width, int height, int *alig
 #endif
 }
 
-void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
+void VisionBuf::init_rgb(size_t init_width, size_t init_height, size_t init_stride) {
   this->rgb = true;
-  this->width = width;
-  this->height = height;
-  this->stride = stride;
+  this->width = init_width;
+  this->height = init_height;
+  this->stride = init_stride;
 }
 
-void VisionBuf::init_yuv(size_t width, size_t height){
+void VisionBuf::init_yuv(size_t init_width, size_t init_height){
   this->rgb = false;
-  this->width = width;
-  this->height = height;
+  this->width = init_width;
+  this->height = init_height;
 
   this->y = (uint8_t *)this->addr;
-  this->u = this->y + (width * height);
-  this->v = this->u + (width / 2 * height / 2);
+  this->u = this->y + (this->width * this->height);
+  this->v = this->u + (this->width / 2 * this->height / 2);
+}
+
+
+uint64_t VisionBuf::get_frame_id() {
+  return *frame_id;
+}
+
+void VisionBuf::set_frame_id(uint64_t id) {
+  *frame_id = id;
 }

cereal/visionipc/visionbuf.h

@@ -15,9 +15,10 @@ enum VisionStreamType {
   VISION_STREAM_RGB_BACK,
   VISION_STREAM_RGB_FRONT,
   VISION_STREAM_RGB_WIDE,
-  VISION_STREAM_YUV_BACK,
-  VISION_STREAM_YUV_FRONT,
-  VISION_STREAM_YUV_WIDE,
+  VISION_STREAM_ROAD,
+  VISION_STREAM_DRIVER,
+  VISION_STREAM_WIDE_ROAD,
+  VISION_STREAM_RGB_MAP,
   VISION_STREAM_MAX,
 };
 
@@ -26,6 +27,7 @@ class VisionBuf {
   size_t len = 0;
   size_t mmap_len = 0;
   void * addr = nullptr;
+  uint64_t *frame_id;
   int fd = 0;
 
   bool rgb = false;
@@ -49,15 +51,17 @@ class VisionBuf {
 
   // ion
   int handle = 0;
-  bool owner = false;
 
   void allocate(size_t len);
   void import();
   void init_cl(cl_device_id device_id, cl_context ctx);
   void init_rgb(size_t width, size_t height, size_t stride);
   void init_yuv(size_t width, size_t height);
-  void sync(int dir);
-  void free();
+  int sync(int dir);
+  int free();
+
+  void set_frame_id(uint64_t id);
+  uint64_t get_frame_id();
 };
 
 void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);

cereal/visionipc/visionbuf_cl.cc

@@ -20,7 +20,7 @@ static void *malloc_with_fd(size_t len, int *fd) {
   snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
 #endif
 
-  *fd = open(full_path, O_RDWR | O_CREAT, 0777);
+  *fd = open(full_path, O_RDWR | O_CREAT, 0664);
   assert(*fd >= 0);
 
   unlink(full_path);
@@ -32,14 +32,11 @@ static void *malloc_with_fd(size_t len, int *fd) {
   return addr;
 }
 
-void VisionBuf::allocate(size_t len) {
-  int fd;
-  void *addr = malloc_with_fd(len, &fd);
-
-  this->len = len;
-  this->mmap_len = len;
-  this->addr = addr;
-  this->fd = fd;
+void VisionBuf::allocate(size_t length) {
+  this->len = length;
+  this->mmap_len = this->len;
+  this->addr = malloc_with_fd(this->len, &this->fd);
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
 }
 
 void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
@@ -57,30 +54,41 @@ void VisionBuf::import(){
   assert(this->fd >= 0);
   this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
   assert(this->addr != MAP_FAILED);
+
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
 }
 
 
-void VisionBuf::sync(int dir) {
+int VisionBuf::sync(int dir) {
   int err = 0;
-  if (!this->buf_cl) return;
+  if (!this->buf_cl) return 0;
 
   if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
     err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
   } else {
     err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
   }
-  assert(err == 0);
-  clFinish(this->copy_q);
-}
 
-void VisionBuf::free() {
-  if (this->buf_cl){
-    int err = clReleaseMemObject(this->buf_cl);
-    assert(err == 0);
-
-    clReleaseCommandQueue(this->copy_q);
+  if (err == 0){
+    err = clFinish(this->copy_q);
   }
 
-  munmap(this->addr, this->len);
-  close(this->fd);
+  return err;
+}
+
+int VisionBuf::free() {
+  int err = 0;
+  if (this->buf_cl){
+    err = clReleaseMemObject(this->buf_cl);
+    if (err != 0) return err;
+
+    err = clReleaseCommandQueue(this->copy_q);
+    if (err != 0) return err;
+  }
+
+  err = munmap(this->addr, this->len);
+  if (err != 0) return err;
+
+  err = close(this->fd);
+  return err;
 }

cereal/visionipc/visionbuf_ion.cc

@@ -2,6 +2,7 @@
 #include <stdio.h>
 #include <string.h>
 #include <assert.h>
+#include <errno.h>
 #include <sys/mman.h>
 #include <sys/ioctl.h>
 #include <sys/types.h>
@@ -15,6 +16,16 @@
 
 #include "visionbuf.h"
 
+// keep trying if x gets interrupted by a signal
+#define HANDLE_EINTR(x)                                       \
+  ({                                                          \
+    decltype(x) ret;                                          \
+    int try_cnt = 0;                                          \
+    do {                                                      \
+      ret = (x);                                              \
+    } while (ret == -1 && errno == EINTR && try_cnt++ < 100); \
+    ret;                                                      \
+  })
 
 // just hard-code these for convenience
 // size_t device_page_size = 0;
@@ -36,38 +47,38 @@ static void ion_init() {
   }
 }
 
-void VisionBuf::allocate(size_t len) {
+void VisionBuf::allocate(size_t length) {
   int err;
 
   ion_init();
 
   struct ion_allocation_data ion_alloc = {0};
-  ion_alloc.len = len + PADDING_CL;
+  ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
   ion_alloc.align = 4096;
   ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
   ion_alloc.flags = ION_FLAG_CACHED;
 
-  err = ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc);
+  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc));
   assert(err == 0);
 
   struct ion_fd_data ion_fd_data = {0};
   ion_fd_data.handle = ion_alloc.handle;
-  err = ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data);
+  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
   assert(err == 0);
 
-  void *addr = mmap(NULL, ion_alloc.len,
-                    PROT_READ | PROT_WRITE,
-                    MAP_SHARED, ion_fd_data.fd, 0);
-  assert(addr != MAP_FAILED);
+  void *mmap_addr = mmap(NULL, ion_alloc.len,
+                         PROT_READ | PROT_WRITE,
+                         MAP_SHARED, ion_fd_data.fd, 0);
+  assert(mmap_addr != MAP_FAILED);
 
-  memset(addr, 0, ion_alloc.len);
+  memset(mmap_addr, 0, ion_alloc.len);
 
-  this->owner = true;
-  this->len = len;
+  this->len = length;
   this->mmap_len = ion_alloc.len;
-  this->addr = addr;
+  this->addr = mmap_addr;
   this->handle = ion_alloc.handle;
   this->fd = ion_fd_data.fd;
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
 }
 
 void VisionBuf::import(){
@@ -79,13 +90,14 @@ void VisionBuf::import(){
   // Get handle
   struct ion_fd_data fd_data = {0};
   fd_data.fd = this->fd;
-  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
+  err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_IMPORT, &fd_data));
   assert(err == 0);
 
-  this->owner = false;
   this->handle = fd_data.handle;
   this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
   assert(this->addr != MAP_FAILED);
+
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
 }
 
 void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
@@ -106,9 +118,7 @@ void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
 }
 
 
-void VisionBuf::sync(int dir) {
-  int err;
-
+int VisionBuf::sync(int dir) {
   struct ion_flush_data flush_data = {0};
   flush_data.handle = this->handle;
   flush_data.vaddr = this->addr;
@@ -126,23 +136,23 @@ void VisionBuf::sync(int dir) {
      ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
 
   custom_data.arg = (unsigned long)&flush_data;
-  err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
-  assert(err == 0);
+  return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data));
 }
 
-void VisionBuf::free() {
+int VisionBuf::free() {
+  int err = 0;
+
   if (this->buf_cl){
-    int err = clReleaseMemObject(this->buf_cl);
-    assert(err == 0);
+    err = clReleaseMemObject(this->buf_cl);
+    if (err != 0) return err;
   }
 
-  munmap(this->addr, this->mmap_len);
-  close(this->fd);
+  err = munmap(this->addr, this->mmap_len);
+  if (err != 0) return err;
 
-  // Free the ION buffer if we also shared it
-  if (this->owner){
-    struct ion_handle_data handle_data = {.handle = this->handle};
-    int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-    assert(ret == 0);
-  }
+  err = close(this->fd);
+  if (err != 0) return err;
+
+  struct ion_handle_data handle_data = {.handle = this->handle};
+  return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_FREE, &handle_data));
 }

cereal/visionipc/visionipc.pxd

@@ -13,6 +13,9 @@ cdef extern from "visionbuf.h":
   cdef cppclass VisionBuf:
     void * addr
     size_t len
+    size_t width
+    size_t height
+    size_t stride
 
 cdef extern from "visionipc.h":
   struct VisionIpcBufExtra:
@@ -27,3 +30,10 @@ cdef extern from "visionipc_server.h":
     VisionBuf * get_buffer(VisionStreamType)
     void send(VisionBuf *, VisionIpcBufExtra *, bool)
     void start_listener()
+
+cdef extern from "visionipc_client.h":
+  cdef cppclass VisionIpcClient:
+    VisionIpcClient(string, VisionStreamType, bool, void*, void*)
+    VisionBuf * recv(VisionIpcBufExtra *, int)
+    bool connect(bool)
+    bool is_connected()

cereal/visionipc/visionipc_client.cc

@@ -3,9 +3,10 @@
 #include <iostream>
 #include <thread>
 
-#include "ipc.h"
-#include "visionipc_client.h"
-#include "visionipc_server.h"
+#include "visionipc/ipc.h"
+#include "visionipc/visionipc_client.h"
+#include "visionipc/visionipc_server.h"
+#include "logger/logger.h"
 
 VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
   msg_ctx = Context::create();
@@ -21,8 +22,11 @@ bool VisionIpcClient::connect(bool blocking){
 
   // Cleanup old buffers on reconnect
   for (size_t i = 0; i < num_buffers; i++){
-    buffers[i].free();
+    if (buffers[i].free() != 0) {
+      LOGE("Failed to free buffer %zu", i);
+    }
   }
+
   num_buffers = 0;
 
   // Connect to server socket and ask for all FDs of type
@@ -51,7 +55,7 @@ bool VisionIpcClient::connect(bool blocking){
   VisionBuf bufs[VISIONIPC_MAX_FDS];
   r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
 
-  assert(num_buffers > 0);
+  assert(num_buffers >= 0);
   assert(r == sizeof(VisionBuf) * num_buffers);
 
   // Import buffers
@@ -68,6 +72,7 @@ bool VisionIpcClient::connect(bool blocking){
     if (device_id) buffers[i].init_cl(device_id, ctx);
   }
 
+  close(socket_fd);
   connected = true;
   return true;
 }
@@ -101,7 +106,10 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
     *extra = packet->extra;
   }
 
-  buf->sync(VISIONBUF_SYNC_TO_DEVICE);
+  if (buf->sync(VISIONBUF_SYNC_TO_DEVICE) != 0) {
+    LOGE("Failed to sync buffer");
+  }
+
   delete r;
   return buf;
 }
@@ -110,7 +118,9 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
 
 VisionIpcClient::~VisionIpcClient(){
   for (size_t i = 0; i < num_buffers; i++){
-    buffers[i].free();
+    if (buffers[i].free() != 0) {
+      LOGE("Failed to free buffer %zu", i);
+    }
   }
 
   delete sock;

cereal/visionipc/visionipc_client.h

@@ -29,4 +29,5 @@ public:
   ~VisionIpcClient();
   VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
   bool connect(bool blocking=true);
+  bool is_connected() { return connected; }
 };

cereal/visionipc/visionipc_pyx.pyx

@@ -2,12 +2,16 @@
 # cython: c_string_encoding=ascii, language_level=3
 
 import sys
-from libcpp.string cimport string
-from libcpp cimport bool
+import numpy as np
+cimport numpy as cnp
+from cython.view cimport array
 from libc.string cimport memcpy
 from libc.stdint cimport uint32_t, uint64_t
+from libcpp cimport bool
+from libcpp.string cimport string
 
 from .visionipc cimport VisionIpcServer as cppVisionIpcServer
+from .visionipc cimport VisionIpcClient as cppVisionIpcClient
 from .visionipc cimport VisionBuf as cppVisionBuf
 from .visionipc cimport VisionIpcBufExtra
 
@@ -15,9 +19,10 @@ cpdef enum VisionStreamType:
   VISION_STREAM_RGB_BACK
   VISION_STREAM_RGB_FRONT
   VISION_STREAM_RGB_WIDE
-  VISION_STREAM_YUV_BACK
-  VISION_STREAM_YUV_FRONT
-  VISION_STREAM_YUV_WIDE
+  VISION_STREAM_ROAD
+  VISION_STREAM_DRIVER
+  VISION_STREAM_WIDE_ROAD
+
 
 cdef class VisionIpcServer:
   cdef cppVisionIpcServer * server
@@ -47,3 +52,42 @@ cdef class VisionIpcServer:
 
   def __dealloc__(self):
     del self.server
+
+
+cdef class VisionIpcClient:
+  cdef cppVisionBuf * buf
+  cdef cppVisionIpcClient * client
+
+  def __cinit__(self, string name, VisionStreamType stream, bool conflate):
+    self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL)
+    self.buf = NULL
+
+  def __dealloc__(self):
+    del self.client
+
+  @property
+  def width(self):
+    return None if not self.buf else self.buf.width
+
+  @property
+  def height(self):
+    return None if not self.buf else self.buf.height
+
+  @property
+  def stride(self):
+    return None if not self.buf else self.buf.stride
+
+  def recv(self, int timeout_ms=100):
+    self.buf = self.client.recv(NULL, timeout_ms)
+    if not self.buf:
+      return None
+    cdef cnp.ndarray dat = np.empty(self.buf.len, dtype=np.uint8)
+    cdef char[:] dat_view = dat
+    memcpy(&dat_view[0], self.buf.addr, self.buf.len)
+    return dat
+
+  def connect(self, bool blocking):
+    return self.client.connect(blocking)
+
+  def is_connected(self):
+    return self.client.is_connected()

cereal/visionipc/visionipc_server.cc

@@ -10,6 +10,7 @@
 #include "messaging/messaging.h"
 #include "visionipc/ipc.h"
 #include "visionipc/visionipc_server.h"
+#include "logger/logger.h"
 
 std::string get_endpoint_name(std::string name, VisionStreamType type){
   if (messaging_use_zmq()){
@@ -44,7 +45,6 @@ void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers,
     size = width * height * 3 / 2;
   }
 
-
   // Create map + alloc requested buffers
   for (size_t i = 0; i < num_buffers; i++){
     VisionBuf* buf = new VisionBuf();
@@ -122,7 +122,6 @@ void VisionIpcServer::listener(){
       bufs[i].buf_cl = 0;
       bufs[i].copy_q = 0;
       bufs[i].handle = 0;
-      bufs[i].owner = false;
 
       bufs[i].server_id = server_id;
     }
@@ -146,7 +145,11 @@ VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
 }
 
 void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
-  if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
+  if (sync) {
+    if (buf->sync(VISIONBUF_SYNC_FROM_DEVICE) != 0) {
+      LOGE("Failed to sync buffer");
+    }
+  }
   assert(buffers.count(buf->type));
   assert(buf->idx < buffers[buf->type].size());
 
@@ -166,7 +169,9 @@ VisionIpcServer::~VisionIpcServer(){
   // VisionBuf cleanup
   for( auto const& [type, buf] : buffers ) {
     for (VisionBuf* b : buf){
-      b->free();
+      if (b->free() != 0) {
+        LOGE("Failed to free buffer");
+      }
       delete b;
     }
   }

cereal/visionipc/visionipc_tests.cc

@@ -13,10 +13,10 @@ static void zmq_sleep(int milliseconds=1000){
 
 TEST_CASE("Connecting"){
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
   server.start_listener();
 
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
   REQUIRE(client.connect());
 
   REQUIRE(client.connected);
@@ -25,10 +25,10 @@ TEST_CASE("Connecting"){
 TEST_CASE("Check buffers"){
   size_t width = 100, height = 200, num_buffers = 5;
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
+  server.create_buffers(VISION_STREAM_ROAD, num_buffers, false, width, height);
   server.start_listener();
 
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
   REQUIRE(client.connect());
 
   REQUIRE(client.buffers[0].width == width);
@@ -39,11 +39,11 @@ TEST_CASE("Check buffers"){
 
 TEST_CASE("Check yuv/rgb"){
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
   server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
   server.start_listener();
 
-  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
   VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
   client_yuv.connect();
   client_rgb.connect();
@@ -54,20 +54,21 @@ TEST_CASE("Check yuv/rgb"){
 
 TEST_CASE("Send single buffer"){
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
   server.start_listener();
 
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
   REQUIRE(client.connect());
   zmq_sleep();
 
-  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
   REQUIRE(buf != nullptr);
 
   *((uint64_t*)buf->addr) = 1234;
 
   VisionIpcBufExtra extra = {0};
   extra.frame_id = 1337;
+  buf->set_frame_id(extra.frame_id);
 
   server.send(buf, &extra);
 
@@ -76,19 +77,20 @@ TEST_CASE("Send single buffer"){
   REQUIRE(recv_buf != nullptr);
   REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
   REQUIRE(extra_recv.frame_id == extra.frame_id);
+  REQUIRE(recv_buf->get_frame_id() == extra.frame_id);
 }
 
 
 TEST_CASE("Test no conflate"){
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
   server.start_listener();
 
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
   REQUIRE(client.connect());
   zmq_sleep();
 
-  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
   REQUIRE(buf != nullptr);
 
   VisionIpcBufExtra extra = {0};
@@ -109,14 +111,14 @@ TEST_CASE("Test no conflate"){
 
 TEST_CASE("Test conflate"){
   VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
   server.start_listener();
 
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);
   REQUIRE(client.connect());
   zmq_sleep();
 
-  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
   REQUIRE(buf != nullptr);
 
   VisionIpcBufExtra extra = {0};

common/api/__init__.py

@@ -1,11 +1,17 @@
 import jwt
+import os
 import requests
 from datetime import datetime, timedelta
 from common.basedir import PERSIST
-from selfdrive.version import version
+from selfdrive.version import get_version
+from common.params import Params
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8')
 
 class Api():
   def __init__(self, dongle_id):
+    if "commadotai" in API_HOST and (Params().get_bool("dp_jetson") or Params().get_bool("dp_atl")):
+      raise RuntimeError("API access is disabled because you are not using custom server and you have jetson enabled.")
     self.dongle_id = dongle_id
     with open(PERSIST+'/comma/id_rsa') as f:
       self.private_key = f.read()
@@ -31,15 +37,13 @@ class Api():
     if isinstance(token, bytes):
       token = token.decode('utf8')
     return token
-    
+
 
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  backend = "https://api.commadotai.com/"
-
   headers = {}
   if access_token is not None:
-    headers['Authorization'] = "JWT "+access_token
+    headers['Authorization'] = "JWT " + access_token
 
-  headers['User-Agent'] = "openpilot-" + version
+  headers['User-Agent'] = "openpilot-" + get_version()
 
-  return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/basedir.py

@@ -1,11 +1,11 @@
 import os
 from pathlib import Path
 
-from selfdrive.hardware import PC, JETSON
+from selfdrive.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
-if PC or JETSON:
+if PC:
   PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
   PERSIST = "/persist"

common/cython_hacks.py

@@ -1,23 +0,0 @@
-import os
-import sysconfig
-from Cython.Distutils import build_ext
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)

common/dp_common.py

@@ -48,7 +48,7 @@ def common_interface_get_params_lqr(ret):
 
 def get_last_modified(delay, old_check, old_modified):
   new_check = sec_since_boot()
-  if old_check is None or new_check - old_check >= delay:
+  if os.path.isfile(LAST_MODIFIED) and old_check is None or new_check - old_check >= delay:
     return new_check, os.stat(LAST_MODIFIED).st_mtime
   else:
     return old_check, old_modified

common/dp_conf.py

@@ -4,6 +4,7 @@ import sys
 import json
 import time
 from math import floor
+from selfdrive.hardware import EON, TICI
 
 '''
 * type: Bool, Int8, UInt8, UInt16, Float32
@@ -12,11 +13,12 @@ from math import floor
 * update_once: True, False (the param will only load up once, need both param and struct defined)
 '''
 confs = [
-  # thermald data
-  {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
-  {'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+  # custom api server
+  {'name': 'dp_api_custom', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_api_custom_url', 'default': 'https://api.retropilot.org', 'type': 'Text', 'depends': [{'name': 'dp_api_custom', 'vals': [True]}], 'conf_type': ['param']},
 
   {'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_atl_op_long', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [True]}], 'conf_type': ['param', 'struct'], 'update_once': True},
   # dashcam related
   {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   # auto shutdown
@@ -33,15 +35,17 @@ confs = [
   {'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_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']},
+  {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
   # long ctrl
   {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  #{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  #{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
   # safety
   {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
   {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
@@ -54,32 +58,39 @@ confs = [
   {'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_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
   {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
   # toyota
+  {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
   # hyundai
   {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   # honda
   {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   # volkswagen
-  {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_vw_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   #misc
   {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
   {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
   {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_path_offset', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_camera_offset', 'default': 6 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
 
   {'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
-  {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_reg', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   # sr learner related
   {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
@@ -88,17 +99,42 @@ confs = [
   {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
 
-  {'name': 'dp_appd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
   {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
   {'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']},
+  {'name': 'dp_prebuilt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # no gps is for mr. one's harness + black panda in one solution (without GPS chip)
+  {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+
+  {'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_nav_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_nav_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_amap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_nav_amap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
 ]
 
+# from 0.8.9 to 0.8.10
+def migrate_nav_params():
+  for path in ('/data/params/d', '/data/params/d_tmp'):
+    if os.path.isfile('%s/dp_mapbox_token_pk' % path):
+      os.system('cp -f %s/dp_mapbox_token_pk %s/dp_nav_mapbox_token_pk && rm -fr %s/dp_mapbox_token_pk' % (path, path, path))
+      os.system('cp -f %s/dp_mapbox_token_sk %s/dp_nav_mapbox_token_sk && rm -fr %s/dp_mapbox_token_sk' % (path, path, path))
+      os.system('cp -f %s/dp_mapbox_full_screen %s/dp_nav_full_screen && rm -fr %s/dp_mapbox_full_screen' % (path, path, path))
+      os.system('cp -f %s/dp_mapbox_gmap_enable %s/dp_nav_gmap_enable && rm -fr %s/dp_mapbox_gmap_enable' % (path, path, path))
+      os.system('cp -f %s/dp_mapbox_gmap_key %s/dp_nav_gmap_key && rm -fr %s/dp_mapbox_gmap_key' % (path, path, path))
+
 def get_definition(name):
   for conf in confs:
     if conf['name'] == name:
@@ -167,11 +203,11 @@ function to generate support car list
 def get_support_car_list():
   attrs = ['FINGERPRINTS', 'FW_VERSIONS']
   cars = dict({"cars": []})
+  models = []
   for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
     try:
       car_name = car_folder.split('/')[-1]
       if car_name != "mock":
-        names = []
         for attr in attrs:
           values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
           if hasattr(values, attr):
@@ -180,13 +216,12 @@ def get_support_car_list():
             continue
           if isinstance(attr_values, dict):
             for f, v in attr_values.items():
-              if f not in names:
-                names.append(f)
-          names.sort()
-        brand_models = {"brand": car_name.upper(), "models": names }
-        cars["cars"].append(brand_models)
+              if f not in models:
+                models.append(f)
     except (ImportError, IOError, ValueError):
       pass
+  models.sort()
+  cars["cars"] = models
   return json.dumps(cars)
 
 '''
@@ -194,6 +229,7 @@ function to init param value.
 should add this into manager.py
 '''
 def init_params_vals(params):
+  migrate_nav_params()
   for conf in confs:
     if 'param' in conf['conf_type']:
       if conf['name'] == 'dp_car_list':

common/ffi_wrapper.py

@@ -28,7 +28,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
     try:
       mod = __import__(cache)
     except Exception:
-      print("cache miss {0}".format(cache))
+      print(f"cache miss {cache}")
       compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
       mod = __import__(cache)
   finally:

common/file_helpers.py

@@ -35,32 +35,10 @@ def get_tmpdir_on_same_filesystem(path):
   if len(parts) > 1 and parts[1] == "scratch":
     return "/scratch/tmp"
   elif len(parts) > 2 and parts[2] == "runner":
-    return "/{}/runner/tmp".format(parts[1])
+    return f"/{parts[1]}/runner/tmp"
   return "/tmp"
 
 
-class AutoMoveTempdir():
-  def __init__(self, target_path, temp_dir=None):
-    self._target_path = target_path
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    os.rename(self._path, self._target_path)
-
-  def __enter__(self):
-    return self
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    if exc_type is None:
-      self.close()
-    else:
-      shutil.rmtree(self._path)
-
-
 class NamedTemporaryDir():
   def __init__(self, temp_dir=None):
     self._path = tempfile.mkdtemp(dir=temp_dir)
@@ -79,13 +57,41 @@ class NamedTemporaryDir():
     self.close()
 
 
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
 def _get_fileobject_func(writer, temp_dir):
   def _get_fileobject():
-    file_obj = writer.get_fileobject(dir=temp_dir)
-    os.chmod(file_obj.name, 0o644)
-    return file_obj
+    return writer.get_fileobject(dir=temp_dir)
   return _get_fileobject
 
+def monkeypatch_os_link():
+  # This is neccesary on EON/C2, where os.link is patched out of python
+  if not hasattr(os, 'link'):
+    from cffi import FFI
+    ffi = FFI()
+    ffi.cdef("int link(const char *oldpath, const char *newpath);")
+    libc = ffi.dlopen(None)
+
+    def link(src, dest):
+      return libc.link(src.encode(), dest.encode())
+    os.link = link
 
 def atomic_write_on_fs_tmp(path, **kwargs):
   """Creates an atomic writer using a temporary file in a temporary directory
@@ -93,6 +99,7 @@ def atomic_write_on_fs_tmp(path, **kwargs):
   """
   # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
   #                 directory.
+  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
 
@@ -101,22 +108,6 @@ def atomic_write_in_dir(path, **kwargs):
   """Creates an atomic writer using a temporary file in the same directory
      as the destination file.
   """
+  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
-
-
-def atomic_write_in_dir_neos(path, contents, mode=None):
-  """
-  Atomically writes contents to path using a temporary file in the same directory
-  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
-  """
-
-  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
-  f.write(contents)
-  f.flush()
-  if mode is not None:
-    os.fchmod(f.fileno(), mode)
-  os.fsync(f.fileno())
-  f.close()
-
-  os.rename(f.name, path)

common/filter_simple.py

@@ -1,9 +1,18 @@
-class FirstOrderFilter():
+class FirstOrderFilter:
   # first order filter
-  def __init__(self, x0, ts, dt):
-    self.k = (dt / ts) / (1. + dt / ts)
+  def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
 
   def update(self, x):
-    self.x = (1. - self.k) * self.x + self.k * x
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      self.initialized = True
+      self.x = x
     return self.x

common/i18n.py

@@ -1,14 +1,16 @@
 import gettext
-from selfdrive.hardware import EON
-from selfdrive.hardware.eon.hardware import getprop
+from common.params import Params
+import os
 
-locale_dir = '/data/openpilot/selfdrive/assets/locales'
-supported_language = ['en-US', 'zh-TW', 'zh-CN', 'ja-JP', 'ko-KR']
-
-def get_locale():
-  return getprop("persist.sys.locale") if EON else 'en-US'
+locale_dir = "/data/openpilot/selfdrive/assets/locales"
+supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"]
 
 def events():
-  i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
+  if os.path.isfile("/EON"):
+    locale = Params().get("dp_locale", encoding='utf8')
+    locale = locale.strip() if locale is not None else "en-US"
+  else:
+    locale = "en-US"
+  i18n = gettext.translation("events", localedir=locale_dir, fallback=True, languages=[locale])
   i18n.install()
   return i18n.gettext

common/logging_extra.py

@@ -158,7 +158,7 @@ class SwagLogger(logging.Logger):
     evt.update(kwargs)
     if 'error' in kwargs:
       self.error(evt)
-    if 'debug' in kwargs:
+    elif 'debug' in kwargs:
       self.debug(evt)
     else:
       self.info(evt)

common/markdown.py

@@ -0,0 +1,48 @@
+from typing import List
+
+HTML_REPLACEMENTS = [
+  (r'&', r'&'),
+  (r'"', r'"'),
+]
+
+
+def parse_markdown(text: str, tab_length: int = 2) -> str:
+  lines = text.split("\n")
+  output: List[str] = []
+  list_level = 0
+
+  def end_outstanding_lists(level: int, end_level: int) -> int:
+    while level > end_level:
+      level -= 1
+      output.append("</ul>")
+      if level > 0:
+        output.append("</li>")
+    return end_level
+
+  for i, line in enumerate(lines):
+    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
+      output.append(f"<h1>{line}</h1>")
+    elif line.startswith("==="):
+      pass
+    elif line.lstrip().startswith("* "):  # list
+      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
+      if list_level >= line_level:
+        list_level = end_outstanding_lists(list_level, line_level)
+      else:
+        list_level += 1
+        if list_level > 1:
+          output[-1] = output[-1].replace("</li>", "")
+        output.append("<ul>")
+      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
+    else:
+      list_level = end_outstanding_lists(list_level, 0)
+      if len(line) > 0:
+        output.append(line)
+
+  end_outstanding_lists(list_level, 0)
+  output_str = "\n".join(output) + "\n"
+
+  for (fr, to) in HTML_REPLACEMENTS:
+    output_str = output_str.replace(fr, to)
+
+  return output_str

common/numpy_fast.py

@@ -1,6 +1,3 @@
-def int_rnd(x):
-  return int(round(x))
-
 def clip(x, lo, hi):
   return max(lo, min(hi, x))
 

common/params.py

@@ -6,19 +6,14 @@ assert put_nonblocking
 
 if __name__ == "__main__":
   import sys
-  from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
 
   params = Params()
+  key = sys.argv[1]
+  assert params.check_key(key), f"unknown param: {key}"
+
   if len(sys.argv) == 3:
-    name = sys.argv[1]
     val = sys.argv[2]
-    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
-    print(f"SET: {name} = {val}")
-    params.put(name, val)
+    print(f"SET: {key} = {val}")
+    params.put(key, val)
   elif len(sys.argv) == 2:
-    name = sys.argv[1]
-    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
-    print(f"GET: {name} = {params.get(name)}")
-  else:
-    for k in keys.keys():
-      print(f"GET: {k} = {params.get(k)}")
+    print(f"GET: {key} = {params.get(key)}")

common/params_pxd.pxd

@@ -1,30 +0,0 @@
-from libcpp.string cimport string
-from libcpp cimport bool
-
-cdef extern from "selfdrive/common/params.cc":
-  pass
-
-cdef extern from "selfdrive/common/util.cc":
-  pass
-
-cdef extern from "selfdrive/common/params.h":
-  cpdef enum ParamKeyType:
-    PERSISTENT
-    CLEAR_ON_MANAGER_START
-    CLEAR_ON_PANDA_DISCONNECT
-    CLEAR_ON_IGNITION_ON
-    CLEAR_ON_IGNITION_OFF
-    ALL
-
-  cdef cppclass Params:
-    Params(bool) nogil
-    Params(string) nogil
-    string get(string, bool) nogil
-    bool getBool(string) nogil
-    int remove(string) nogil
-    int put(string, string) nogil
-    int putBool(string, bool) nogil
-    bool checkKey(string) nogil
-    void clearAll(ParamKeyType)
-
-    string get_params_path()

common/params_pyx.pyx

@@ -2,27 +2,30 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
-
-import os
 import threading
-from common.basedir import BASEDIR
 
+cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
+    ALL
+
+  cdef cppclass c_Params "Params":
+    c_Params(string) nogil
+    string get(string, bool) nogil
+    bool getBool(string) nogil
+    int remove(string) nogil
+    int put(string, string) nogil
+    int putBool(string, bool) nogil
+    bool checkKey(string) nogil
+    void clearAll(ParamKeyType)
+    string get_params_path()
 
-cdef class ParamKeyType:
-  PERSISTENT = c_ParamKeyType.PERSISTENT
-  CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
-  CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
-  CLEAR_ON_IGNITION_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
-  CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
-  ALL = c_ParamKeyType.ALL
 
 def ensure_bytes(v):
-  if isinstance(v, str):
-    return v.encode()
-  else:
-    return v
-
+  return v.encode() if isinstance(v, str) else v;
 
 class UnknownKeyName(Exception):
   pass
@@ -30,36 +33,25 @@ class UnknownKeyName(Exception):
 cdef class Params:
   cdef c_Params* p
 
-  def __cinit__(self, d=None, bool persistent_params=False):
-    cdef string path
-    if d is None:
-      with nogil:
-        self.p = new c_Params(persistent_params)
-    else:
-      path = <string>d.encode()
-      with nogil:
-        self.p = new c_Params(path)
+  def __cinit__(self, d=""):
+    cdef string path = <string>d.encode()
+    with nogil:
+      self.p = new c_Params(path)
 
   def __dealloc__(self):
     del self.p
 
-  def clear_all(self, tx_type=None):
-    if tx_type is None:
-      tx_type = ParamKeyType.ALL
-
+  def clear_all(self, tx_type=ParamKeyType.ALL):
     self.p.clearAll(tx_type)
 
   def check_key(self, key):
     key = ensure_bytes(key)
-
     if not self.p.checkKey(key):
       raise UnknownKeyName(key)
-
     return key
 
   def get(self, key, bool block=False, encoding=None):
     cdef string k = self.check_key(key)
-
     cdef string val
     with nogil:
       val = self.p.get(k, block)
@@ -72,10 +64,7 @@ cdef class Params:
       else:
         return None
 
-    if encoding is not None:
-      return val.decode(encoding)
-    else:
-      return val
+    return val if encoding is None else val.decode(encoding)
 
   def get_bool(self, key):
     cdef string k = self.check_key(key)
@@ -109,7 +98,7 @@ cdef class Params:
   def get_params_path(self):
     return self.p.get_params_path().decode("utf-8")
 
-def put_nonblocking(key, val, d=None):
+def put_nonblocking(key, val, d=""):
   def f(key, val):
     params = Params(d)
     cdef string k = ensure_bytes(key)

common/profiler.py

@@ -42,4 +42,4 @@ class Profiler():
         print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
       else:
         print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
+    print(f"Iter clock: {self.tot / self.iter:2.6f}   TOTAL: {self.tot:2.2f}")

common/realtime.py

@@ -6,7 +6,7 @@ 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
+from selfdrive.hardware import PC, TICI
 
 
 # time step for each process
@@ -33,13 +33,13 @@ class Priority:
 
 
 def set_realtime_priority(level: int) -> None:
-  if JETSON or not PC:
+  if not PC:
     os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
 
 
 def set_core_affinity(core: int) -> None:
-  if JETSON or not PC:
-    os.sched_setaffinity(0, [core,])
+  if not PC:
+    os.sched_setaffinity(0, [core,])   # type: ignore[attr-defined]
 
 
 def config_realtime_process(core: int, priority: int) -> None:
@@ -79,7 +79,7 @@ class Ratekeeper:
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining

common/spinner.py

@@ -24,7 +24,7 @@ class Spinner():
       except BrokenPipeError:
         pass
 
-  def update_progress(self, cur: int, total: int):
+  def update_progress(self, cur: float, total: float):
     self.update(str(round(100 * cur / total)))
 
   def close(self):

common/timeout.py

@@ -12,7 +12,7 @@ class Timeout:
   """
   def __init__(self, seconds, error_msg=None):
     if error_msg is None:
-      error_msg = 'Timed out after {} seconds'.format(seconds)
+      error_msg = f'Timed out after {seconds} seconds'
     self.seconds = seconds
     self.error_msg = error_msg
 

common/transformations/camera.py

@@ -132,18 +132,20 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
   return img_pts_normalized[:, :2].reshape(input_shape)
 
 
-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
+def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
   img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
+  if np.isfinite(width):
+    img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
+  if np.isfinite(height):
+    img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
   return img_pts_denormalized[:, :2].reshape(input_shape)
 
 

common/transformations/model.py

@@ -81,6 +81,15 @@ model_frame_from_road_frame = np.dot(model_intrinsics,
 bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
 
+bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
+sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
 

docs/CARS.md

@@ -0,0 +1,185 @@
+# Supported Cars
+
+## comma.ai supported cars
+
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
+| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord 2018-21                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-21         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | Civic Sedan 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Sedan 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | CR-V 2017-21                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | e 2020                        | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Freed 2020                    | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
+| Honda     | Passport 2019-21              | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2016-21                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
+| Hyundai   | Sonata 2020-22                | All               | Stock            | 0mph               | 0mph              |
+| Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
+| Lexus     | NX 2018-2019                  | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | NX Hybrid 2018-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RC 2020                       | All               | Stock            | 22mph              | 0mph              |
+| Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2020-21             | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Alphard 2019-20               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon 2022                   | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry 2021-22                 | All               | openpilot        | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2021-22          | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | C-HR 2017-21                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Corolla 2020-22               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-22     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hybrid 2020-22        | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander 2020-22            | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2020-22     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Mirai 2021                    | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2021-22                 | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius v 2017                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius Prime 2021-22           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2019-21           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+
+<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
+<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+
+## Community Maintained Cars and Features
+
+| Make      | Model (US Market Reference)     | Supported Package | ACC              | No ACC accel below | No ALC below |
+| ----------| --------------------------------| ------------------| -----------------| -------------------| -------------|
+| Audi      | A3 2014-19                      | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | A3 Sportback e-tron 2017-18     | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | Q2 2018                         | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | Q3 2020-21                      | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | S3 2015                         | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Cadillac  | Escalade ESV 2016<sup>1</sup>   | ACC + LKAS        | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chrysler  | Pacifica 2017-18                | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica 2020                   | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Chrysler  | Pacifica Hybrid 2017-18         | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica Hybrid 2019-21         | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Genesis   | G70 2018                        | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G70 2020                        | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G80 2018                        | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G90 2018                        | All               | Stock            | 0mph               | 0mph         |
+| GMC       | Acadia 2018<sup>1</sup>         | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Hyundai   | Elantra 2017-19                 | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Elantra 2021                    | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Elantra Hybrid 2021             | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Genesis 2015-16                 | SCC + LKAS        | Stock            | 19mph              | 37mph        |
+| Hyundai   | Ioniq Electric 2019             | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric 2020             | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Ioniq Hybrid 2017-19            | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Hybrid 2020-22            | SCC + LFA         | Stock            | 0mph               | 0mph         |
+| Hyundai   | Ioniq PHEV 2020-21              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Kona 2020                       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Kona EV 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Kona Hybrid 2020                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019-20                | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2021-22                | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe Hybrid 2022            | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe Plug-in Hybrid 2022    | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2018-2019                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata Hybrid 2021-22           | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Veloster 2019-20                | SCC + LKAS        | Stock            | 5mph               | 0mph         |
+| Jeep      | Grand Cherokee 2016-18          | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Jeep      | Grand Cherokee 2019-20          | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Kia       | Ceed 2019                       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Forte 2018-21                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | K5 2021-22                      | SCC + LFA         | Stock            | 0mph               | 0mph         |
+| Kia       | Niro EV 2019-22                 | All               | Stock            | 0mph               | 0mph         |
+| Kia       | Niro Hybrid 2021                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Niro PHEV 2019                  | SCC + LKAS        | Stock            | 10mph              | 32mph        |
+| Kia       | Optima 2017                     | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Kia       | Optima 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Seltos 2021                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Stinger 2018                    | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Telluride 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Mazda     | CX-5 2022                       | All               | Stock            | 0mph               | 0mph         |
+| Mazda     | CX-9 2021                       | All               | Stock            | 0mph               | 28mph        |
+| Nissan    | Altima 2019-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2018-22                    | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2018-20                   | ProPILOT          | Stock            | 0mph               | 0mph         |
+| 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         |
+| Subaru    | Ascent 2019                     | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Crosstrek 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019-21                | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Impreza 2017-19                 | EyeSight          | Stock            | 0mph               | 0mph         |
+| Škoda     | Kamiq 2021<sup>2</sup>          | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Karoq 2019                      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Kodiaq 2018-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia 2015, 2018-19           | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia RS 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Scala 2020                      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Superb 2015-18                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Arteon 2018, 2021<sup>4</sup>   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Atlas 2018-19, 2022<sup>4</sup> | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Caravelle 2020<sup>4</sup>      | Driver Assistance | Stock            | 0mph               | 32mph        |
+| Volkswagen| California 2021<sup>4</sup>     | Driver Assistance | Stock            | 0mph               | 32mph        |
+| Volkswagen| e-Golf 2014, 2019-20            | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf 2015-20                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf Alltrack 2017-18           | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTE 2016                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTI 2018-20                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf R 2016-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportsVan 2016             | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportWagen 2015            | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta 2018-20                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta GLI 2021                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Passat 2016-18<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Polo 2020                       | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| T-Cross 2021<sup>4</sup>        | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| T-Roc 2021<sup>4</sup>          | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Taos 2022<sup>4</sup>           | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Tiguan 2020                     | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Touran 2017                     | Driver Assistance | Stock            | 0mph               | 0mph         |
+
+<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>2</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>3</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
+remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
+in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
+Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
+
+To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
+
+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

docs/CONTRIBUTING.md

@@ -1,15 +1,42 @@
 # How to contribute
 
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
 
-Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/).
+Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/).
 
-## Getting Started
+### Getting Started
 
+ * Setup your [development environment](../tools/)
  * Join our [Discord](https://discord.comma.ai)
  * Make sure you have a [GitHub account](https://github.com/signup/free)
  * Fork [our repositories](https://github.com/commaai) on GitHub
 
+### First contribution
+Try out some of these first pull requests ideas to dive into the codebase:
+
+* Increase our [mypy](http://mypy-lang.org/) coverage
+* Write some documentation
+* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22)
+
+## Pull Requests
+
+Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
+
+A good pull request has all of the following:
+* a clearly stated purpose
+* every line changed directly contributes to the stated purpose
+* verification, i.e. how did you test your PR?
+* justification
+  * if you've optimized something, post benchmarks to prove it's better
+  * if you've improved your car's tuning, post before and after plots
+* passes the CI tests
+
+### Car Ports
+
+We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
+
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
+
 ## Testing
 
 ### Automated Testing
@@ -19,27 +46,3 @@ All PRs and commits are automatically checked by GitHub Actions. Check out `.git
 ### Code Style and Linting
 
 Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
-
-## Car Ports (openpilot)
-
-We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
-
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
-
-## Pull Requests
-
-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
-```
-git clone https://github.com/commaai/openpilot.git --recursive
-```
-Or alternatively, when on the master branch:
-```
-git submodule update --init
-```
-The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
-Modules that are in seperate repositories include:
-* cereal
-* laika
-* opendbc
-* panda
-* rednose

docs/INTEGRATION.md

@@ -0,0 +1,11 @@
+# Integration with Stock Features
+
+In all supported cars:
+* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
+* Stock LDW is replaced by openpilot LDW.
+
+Additionally, on specific supported cars (see ACC column in [supported cars](CARS.md)):
+* Stock ACC is replaced by openpilot ACC.
+* openpilot FCW operates in addition to stock FCW.
+
+openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.

docs/LIMITATIONS.md

@@ -0,0 +1,58 @@
+# Limitations
+## Limitations of openpilot ALC and LDW
+
+openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
+
+While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
+
+Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
+* In the presence of restricted lanes or construction zones.
+* When driving on highly banked roads or in presence of strong cross-wind.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Driving on hills, narrow, or winding roads.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+## Limitations of openpilot ACC and FCW
+
+openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
+
+Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* Approaching a toll booth, a bridge or a large metal plate.
+* When driving on roads with pedestrians, cyclists, etc...
+* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
+* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
+* In presence of vehicles in the same lane that are not moving.
+* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
+* When surrounding vehicles perform close cut-ins from neighbor lanes.
+* Driving on hills, narrow, or winding roads.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Interference from other equipment that generates radar waves.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+## Limitations of openpilot DM
+
+openpilot DM should not be considered an exact measurement of the alertness of the driver.
+
+Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
+
+* Low light conditions, such as driving at night or in dark tunnels.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* The driver's face is partially or completely outside field of view of the driver facing camera.
+* The driver facing camera is obstructed, covered, or damaged.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

installer/custom/install_gfortran.sh

@@ -0,0 +1,34 @@
+#!/data/data/com.termux/files/usr/bin/sh
+# Get some needed tools. coreutils for mkdir command, gnugp for the signing key, and apt-transport-https to actually connect to the repo
+apt-get update
+apt-get --assume-yes upgrade
+apt-get --assume-yes install coreutils gnupg
+
+# Make the sources.list.d directory
+mkdir -p $PREFIX/etc/apt/sources.list.d
+
+# Write the needed source file
+echo "deb https://its-pointless.github.io/files/24 termux extras" > $PREFIX/etc/apt/sources.list.d/pointless.list
+
+# Add signing key from https://its-pointless.github.io/pointless.gpg
+curl -sL https://its-pointless.github.io/pointless.gpg | apt-key add -
+
+# Update apt
+apt update
+
+# install gfortran
+apt install gcc-11 -y
+setupclang-gfort-11
+
+# Elf cleaner is needed to remove a DT_ENTRY warning that prints out when gfortran -v is called to get 
+# its version number and this breaks the pip installation script when fortran is used.
+
+# Build elf cleaner
+SCRIPTPATH="$( cd -- "$(dirname "$0")" >/dev/null 2>&1 ; pwd -P )"
+ELFCLEANERPATH=$SCRIPTPATH/termux-elf-cleaner/
+cd $ELFCLEANERPATH
+make
+
+# Perform elf cleaner on gfortran
+./termux-elf-cleaner $(which gfortran)
+

installer/custom/termux-elf-cleaner/COPYING

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so.  This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable.  Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
+  To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy.  The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+  A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+  To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy.  Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+  To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies.  Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+  An interactive user interface displays "Appropriate Legal Notices"
+to the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
+work under this License, and how to view a copy of this License.  If
+the interface presents a list of user commands or options, such as a
+menu, a prominent item in the list meets this criterion.
+
+  1. Source Code.
+
+  The "source code" for a work means the preferred form of the work
+for making modifications to it.  "Object code" means any non-source
+form of a work.
+
+  A "Standard Interface" means an interface that either is an official
+standard defined by a recognized standards body, or, in the case of
+interfaces specified for a particular programming language, one that
+is widely used among developers working in that language.
+
+  The "System Libraries" of an executable work include anything, other
+than the work as a whole, that (a) is included in the normal form of
+packaging a Major Component, but which is not part of that Major
+Component, and (b) serves only to enable use of the work with that
+Major Component, or to implement a Standard Interface for which an
+implementation is available to the public in source code form.  A
+"Major Component", in this context, means a major essential component
+(kernel, window system, and so on) of the specific operating system
+(if any) on which the executable work runs, or a compiler used to
+produce the work, or an object code interpreter used to run it.
+
+  The "Corresponding Source" for a work in object code form means all
+the source code needed to generate, install, and (for an executable
+work) run the object code and to modify the work, including scripts to
+control those activities.  However, it does not include the work's
+System Libraries, or general-purpose tools or generally available free
+programs which are used unmodified in performing those activities but
+which are not part of the work.  For example, Corresponding Source
+includes interface definition files associated with source files for
+the work, and the source code for shared libraries and dynamically
+linked subprograms that the work is specifically designed to require,
+such as by intimate data communication or control flow between those
+subprograms and other parts of the work.
+
+  The Corresponding Source need not include anything that users
+can regenerate automatically from other parts of the Corresponding
+Source.
+
+  The Corresponding Source for a work in source code form is that
+same work.
+
+  2. Basic Permissions.
+
+  All rights granted under this License are granted for the term of
+copyright on the Program, and are irrevocable provided the stated
+conditions are met.  This License explicitly affirms your unlimited
+permission to run the unmodified Program.  The output from running a
+covered work is covered by this License only if the output, given its
+content, constitutes a covered work.  This License acknowledges your
+rights of fair use or other equivalent, as provided by copyright law.
+
+  You may make, run and propagate covered works that you do not
+convey, without conditions so long as your license otherwise remains
+in force.  You may convey covered works to others for the sole purpose
+of having them make modifications exclusively for you, or provide you
+with facilities for running those works, provided that you comply with
+the terms of this License in conveying all material for which you do
+not control copyright.  Those thus making or running the covered works
+for you must do so exclusively on your behalf, under your direction
+and control, on terms that prohibit them from making any copies of
+your copyrighted material outside their relationship with you.
+
+  Conveying under any other circumstances is permitted solely under
+the conditions stated below.  Sublicensing is not allowed; section 10
+makes it unnecessary.
+
+  3. Protecting Users' Legal Rights From Anti-Circumvention Law.
+
+  No covered work shall be deemed part of an effective technological
+measure under any applicable law fulfilling obligations under article
+11 of the WIPO copyright treaty adopted on 20 December 1996, or
+similar laws prohibiting or restricting circumvention of such
+measures.
+
+  When you convey a covered work, you waive any legal power to forbid
+circumvention of technological measures to the extent such circumvention
+is effected by exercising rights under this License with respect to
+the covered work, and you disclaim any intention to limit operation or
+modification of the work as a means of enforcing, against the work's
+users, your or third parties' legal rights to forbid circumvention of
+technological measures.
+
+  4. Conveying Verbatim Copies.
+
+  You may convey verbatim copies of the Program's source code as you
+receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice;
+keep intact all notices stating that this License and any
+non-permissive terms added in accord with section 7 apply to the code;
+keep intact all notices of the absence of any warranty; and give all
+recipients a copy of this License along with the Program.
+
+  You may charge any price or no price for each copy that you convey,
+and you may offer support or warranty protection for a fee.
+
+  5. Conveying Modified Source Versions.
+
+  You may convey a work based on the Program, or the modifications to
+produce it from the Program, in the form of source code under the
+terms of section 4, provided that you also meet all of these conditions:
+
+    a) The work must carry prominent notices stating that you modified
+    it, and giving a relevant date.
+
+    b) The work must carry prominent notices stating that it is
+    released under this License and any conditions added under section
+    7.  This requirement modifies the requirement in section 4 to
+    "keep intact all notices".
+
+    c) You must license the entire work, as a whole, under this
+    License to anyone who comes into possession of a copy.  This
+    License will therefore apply, along with any applicable section 7
+    additional terms, to the whole of the work, and all its parts,
+    regardless of how they are packaged.  This License gives no
+    permission to license the work in any other way, but it does not
+    invalidate such permission if you have separately received it.
+
+    d) If the work has interactive user interfaces, each must display
+    Appropriate Legal Notices; however, if the Program has interactive
+    interfaces that do not display Appropriate Legal Notices, your
+    work need not make them do so.
+
+  A compilation of a covered work with other separate and independent
+works, which are not by their nature extensions of the covered work,
+and which are not combined with it such as to form a larger program,
+in or on a volume of a storage or distribution medium, is called an
+"aggregate" if the compilation and its resulting copyright are not
+used to limit the access or legal rights of the compilation's users
+beyond what the individual works permit.  Inclusion of a covered work
+in an aggregate does not cause this License to apply to the other
+parts of the aggregate.
+
+  6. Conveying Non-Source Forms.
+
+  You may convey a covered work in object code form under the terms
+of sections 4 and 5, provided that you also convey the
+machine-readable Corresponding Source under the terms of this License,
+in one of these ways:
+
+    a) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by the
+    Corresponding Source fixed on a durable physical medium
+    customarily used for software interchange.
+
+    b) Convey the object code in, or embodied in, a physical product
+    (including a physical distribution medium), accompanied by a
+    written offer, valid for at least three years and valid for as
+    long as you offer spare parts or customer support for that product
+    model, to give anyone who possesses the object code either (1) a
+    copy of the Corresponding Source for all the software in the
+    product that is covered by this License, on a durable physical
+    medium customarily used for software interchange, for a price no
+    more than your reasonable cost of physically performing this
+    conveying of source, or (2) access to copy the
+    Corresponding Source from a network server at no charge.
+
+    c) Convey individual copies of the object code with a copy of the
+    written offer to provide the Corresponding Source.  This
+    alternative is allowed only occasionally and noncommercially, and
+    only if you received the object code with such an offer, in accord
+    with subsection 6b.
+
+    d) Convey the object code by offering access from a designated
+    place (gratis or for a charge), and offer equivalent access to the
+    Corresponding Source in the same way through the same place at no
+    further charge.  You need not require recipients to copy the
+    Corresponding Source along with the object code.  If the place to
+    copy the object code is a network server, the Corresponding Source
+    may be on a different server (operated by you or a third party)
+    that supports equivalent copying facilities, provided you maintain
+    clear directions next to the object code saying where to find the
+    Corresponding Source.  Regardless of what server hosts the
+    Corresponding Source, you remain obligated to ensure that it is
+    available for as long as needed to satisfy these requirements.
+
+    e) Convey the object code using peer-to-peer transmission, provided
+    you inform other peers where the object code and Corresponding
+    Source of the work are being offered to the general public at no
+    charge under subsection 6d.
+
+  A separable portion of the object code, whose source code is excluded
+from the Corresponding Source as a System Library, need not be
+included in conveying the object code work.
+
+  A "User Product" is either (1) a "consumer product", which means any
+tangible personal property which is normally used for personal, family,
+or household purposes, or (2) anything designed or sold for incorporation
+into a dwelling.  In determining whether a product is a consumer product,
+doubtful cases shall be resolved in favor of coverage.  For a particular
+product received by a particular user, "normally used" refers to a
+typical or common use of that class of product, regardless of the status
+of the particular user or of the way in which the particular user
+actually uses, or expects or is expected to use, the product.  A product
+is a consumer product regardless of whether the product has substantial
+commercial, industrial or non-consumer uses, unless such uses represent
+the only significant mode of use of the product.
+
+  "Installation Information" for a User Product means any methods,
+procedures, authorization keys, or other information required to install
+and execute modified versions of a covered work in that User Product from
+a modified version of its Corresponding Source.  The information must
+suffice to ensure that the continued functioning of the modified object
+code is in no case prevented or interfered with solely because
+modification has been made.
+
+  If you convey an object code work under this section in, or with, or
+specifically for use in, a User Product, and the conveying occurs as
+part of a transaction in which the right of possession and use of the
+User Product is transferred to the recipient in perpetuity or for a
+fixed term (regardless of how the transaction is characterized), the
+Corresponding Source conveyed under this section must be accompanied
+by the Installation Information.  But this requirement does not apply
+if neither you nor any third party retains the ability to install
+modified object code on the User Product (for example, the work has
+been installed in ROM).
+
+  The requirement to provide Installation Information does not include a
+requirement to continue to provide support service, warranty, or updates
+for a work that has been modified or installed by the recipient, or for
+the User Product in which it has been modified or installed.  Access to a
+network may be denied when the modification itself materially and
+adversely affects the operation of the network or violates the rules and
+protocols for communication across the network.
+
+  Corresponding Source conveyed, and Installation Information provided,
+in accord with this section must be in a format that is publicly
+documented (and with an implementation available to the public in
+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+  7. Additional Terms.
+
+  "Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law.  If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+  When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it.  (Additional permissions may be written to require their own
+removal in certain cases when you modify the work.)  You may place
+additional permissions on material, added by you to a covered work,
+for which you have or can give appropriate copyright permission.
+
+  Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders of
+that material) supplement the terms of this License with terms:
+
+    a) Disclaiming warranty or limiting liability differently from the
+    terms of sections 15 and 16 of this License; or
+
+    b) Requiring preservation of specified reasonable legal notices or
+    author attributions in that material or in the Appropriate Legal
+    Notices displayed by works containing it; or
+
+    c) Prohibiting misrepresentation of the origin of that material, or
+    requiring that modified versions of such material be marked in
+    reasonable ways as different from the original version; or
+
+    d) Limiting the use for publicity purposes of names of licensors or
+    authors of the material; or
+
+    e) Declining to grant rights under trademark law for use of some
+    trade names, trademarks, or service marks; or
+
+    f) Requiring indemnification of licensors and authors of that
+    material by anyone who conveys the material (or modified versions of
+    it) with contractual assumptions of liability to the recipient, for
+    any liability that these contractual assumptions directly impose on
+    those licensors and authors.
+
+  All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10.  If the Program as you
+received it, or any part of it, contains a notice stating that it is
+governed by this License along with a term that is a further
+restriction, you may remove that term.  If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+  If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+  Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
+
+  8. Termination.
+
+  You may not propagate or modify a covered work except as expressly
+provided under this License.  Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+  However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
+prior to 60 days after the cessation.
+
+  Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+  Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License.  If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+  9. Acceptance Not Required for Having Copies.
+
+  You are not required to accept this License in order to receive or
+run a copy of the Program.  Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance.  However,
+nothing other than this License grants you permission to propagate or
+modify any covered work.  These actions infringe copyright if you do
+not accept this License.  Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+  10. Automatic Licensing of Downstream Recipients.
+
+  Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License.  You are not responsible
+for enforcing compliance by third parties with this License.
+
+  An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations.  If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+  You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License.  For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+  11. Patents.
+
+  A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based.  The
+work thus licensed is called the contributor's "contributor version".
+
+  A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version.  For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+  Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+  In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement).  To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+  If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients.  "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+  If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+  A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License.  You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    {one line to give the program's name and a brief idea of what it does.}
+    Copyright (C) {year}  {name of author}
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    {project}  Copyright (C) {year}  {fullname}
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

installer/custom/termux-elf-cleaner/Makefile

@@ -0,0 +1,16 @@
+CXXFLAGS += -std=c++11 -Wall -Wextra -pedantic
+PREFIX ?= /usr/local
+
+termux-elf-cleaner: termux-elf-cleaner.cpp
+
+clean:
+	rm -f termux-elf-cleaner
+
+install: termux-elf-cleaner
+	mkdir -p $(PREFIX)/bin
+	install termux-elf-cleaner $(PREFIX)/bin/termux-elf-cleaner
+
+uninstall:
+	rm -f $(PREFIX)/bin/termux-elf-cleaner
+
+.PHONY: clean install uninstall

installer/custom/termux-elf-cleaner/README.md

@@ -0,0 +1,39 @@
+# termux-elf-cleaner
+Utility for Android ELF files to remove unused parts that the linker warns about.
+
+## Description
+When loading ELF files, the Android linker warns about unsupported dynamic section entries with warnings such as:
+
+    WARNING: linker: /data/data/org.kost.nmap.android.networkmapper/bin/nmap: unused DT entry: type 0x6ffffffe arg 0x8a7d4
+    WARNING: linker: /data/data/org.kost.nmap.android.networkmapper/bin/nmap: unused DT entry: type 0x6fffffff arg 0x3
+
+This utility strips away the following dynamic section entries:
+
+- `DT_RPATH` - not supported in any Android version.
+- `DT_RUNPATH` - supported from Android 7.0.
+- `DT_VERDEF` - supported from Android 6.0.
+- `DT_VERDEFNUM` - supported from Android 6.0.
+- `DT_VERNEEDED` - supported from Android 6.0.
+- `DT_VERNEEDNUM` - supported from Android 6.0.
+- `DT_VERSYM` - supported from Android 6.0.
+
+It also removes the three ELF sections of type:
+
+- `SHT_GNU_verdef`
+- `SHT_GNU_verneed`
+- `SHT_GNU_versym`
+
+## Usage
+```sh
+usage: termux-elf-cleaner <filenames>
+
+Processes ELF files to remove unsupported section types and
+dynamic section entries which the Android linker warns about.
+```
+
+## Author
+Fredrik Fornwall ([@fornwall](https://github.com/fornwall)).
+
+## License
+
+SPDX-License-Identifier: [GPL-3.0-or-later](https://spdx.org/licenses/GPL-3.0-or-later.html)

installer/custom/termux-elf-cleaner/elf.h

@@ -0,0 +1,211 @@
+#ifndef ELF_H_INCLUDED
+#define ELF_H_INCLUDED
+
+#include <stdint.h>
+
+/* Type for a 16-bit quantity.  */
+typedef uint16_t Elf32_Half;
+typedef uint16_t Elf64_Half;
+
+/* Types for signed and unsigned 32-bit quantities.  */
+typedef uint32_t Elf32_Word;
+typedef int32_t  Elf32_Sword;
+typedef uint32_t Elf64_Word;
+typedef int32_t  Elf64_Sword;
+
+/* Types for signed and unsigned 64-bit quantities.  */
+typedef uint64_t Elf32_Xword;
+typedef int64_t  Elf32_Sxword;
+typedef uint64_t Elf64_Xword;
+typedef int64_t  Elf64_Sxword;
+
+/* Type of addresses.  */
+typedef uint32_t Elf32_Addr;
+typedef uint64_t Elf64_Addr;
+
+/* Type of file offsets.  */
+typedef uint32_t Elf32_Off;
+typedef uint64_t Elf64_Off;
+
+/* Type for section indices, which are 16-bit quantities.  */
+typedef uint16_t Elf32_Section;
+typedef uint16_t Elf64_Section;
+
+/* Type for version symbol information.  */
+typedef Elf32_Half Elf32_Versym;
+typedef Elf64_Half Elf64_Versym;
+
+
+/* The ELF file header.  This appears at the start of every ELF file.  */
+typedef struct {
+	unsigned char e_ident[16];     /* Magic number and other info */
+	Elf32_Half    e_type;                 /* Object file type */
+	Elf32_Half    e_machine;              /* Architecture */
+	Elf32_Word    e_version;              /* Object file version */
+	Elf32_Addr    e_entry;                /* Entry point virtual address */
+	Elf32_Off     e_phoff;                /* Program header table (usually follows elf header directly) file offset */
+	Elf32_Off     e_shoff;                /* Section header table (at end of file) file offset */
+	Elf32_Word    e_flags;                /* Processor-specific flags */
+	Elf32_Half    e_ehsize;               /* ELF header size in bytes */
+	Elf32_Half    e_phentsize;            /* Program header table entry size */
+	Elf32_Half    e_phnum;                /* Program header table entry count */
+	Elf32_Half    e_shentsize;            /* Section header table entry size */
+	Elf32_Half    e_shnum;                /* Section header table entry count */
+	Elf32_Half    e_shstrndx;             /* Section header string table index */
+} Elf32_Ehdr;
+typedef struct {
+	unsigned char e_ident[16];     /* Magic number and other info */
+	Elf64_Half    e_type;                 /* Object file type */
+	Elf64_Half    e_machine;              /* Architecture */
+	Elf64_Word    e_version;              /* Object file version */
+	Elf64_Addr    e_entry;                /* Entry point virtual address */
+	Elf64_Off     e_phoff;                /* Program header table file offset */
+	Elf64_Off     e_shoff;                /* Section header table file offset */
+	Elf64_Word    e_flags;                /* Processor-specific flags */
+	Elf64_Half    e_ehsize;               /* ELF header size in bytes */
+	Elf64_Half    e_phentsize;            /* Program header table entry size */
+	Elf64_Half    e_phnum;                /* Program header table entry count */
+	Elf64_Half    e_shentsize;            /* Section header table entry size */
+	Elf64_Half    e_shnum;                /* Section header table entry count */
+	Elf64_Half    e_shstrndx;             /* Section header string table index */
+} Elf64_Ehdr;
+
+/* Section header entry. The number of section entries in the file are determined by the "e_shnum" field of the ELF header.*/
+typedef struct {
+	Elf32_Word    sh_name;                /* Section name (string tbl index) */
+	Elf32_Word    sh_type;                /* Section type */
+	Elf32_Word    sh_flags;               /* Section flags */
+	Elf32_Addr    sh_addr;                /* Section virtual addr at execution */
+	Elf32_Off     sh_offset;              /* Section file offset */
+	Elf32_Word    sh_size;                /* Section size in bytes */
+	Elf32_Word    sh_link;                /* Link to another section */
+	Elf32_Word    sh_info;                /* Additional section information */
+	Elf32_Word    sh_addralign;           /* Section alignment */
+	Elf32_Word    sh_entsize;             /* Entry size if section holds table */
+} Elf32_Shdr;
+typedef struct {
+	Elf64_Word    sh_name;                /* Section name (string tbl index) */
+	Elf64_Word    sh_type;                /* Section type */
+	Elf64_Xword   sh_flags;               /* Section flags */
+	Elf64_Addr    sh_addr;                /* Section virtual addr at execution */
+	Elf64_Off     sh_offset;              /* Section file offset */
+	Elf64_Xword   sh_size;                /* Section size in bytes */
+	Elf64_Word    sh_link;                /* Link to another section */
+	Elf64_Word    sh_info;                /* Additional section information */
+	Elf64_Xword   sh_addralign;           /* Section alignment */
+	Elf64_Xword   sh_entsize;             /* Entry size if section holds table */
+} Elf64_Shdr;
+
+/* Legal values for sh_type (section type).  */
+#define SHT_NULL          0             /* Section header table entry unused */
+#define SHT_PROGBITS      1             /* Program data */
+#define SHT_SYMTAB        2             /* Symbol table */
+#define SHT_STRTAB        3             /* String table */
+#define SHT_RELA          4             /* Relocation entries with addends */
+#define SHT_HASH          5             /* Symbol hash table */
+#define SHT_DYNAMIC       6             /* Dynamic linking information. Contains Elf32_Dyn/Elf64_Dyn entries. */
+#define SHT_NOTE          7             /* Notes */
+#define SHT_NOBITS        8             /* Program space with no data (bss) */
+#define SHT_REL           9             /* Relocation entries, no addends */
+#define SHT_SHLIB         10            /* Reserved */
+#define SHT_DYNSYM        11            /* Dynamic linker symbol table */
+#define SHT_INIT_ARRAY    14            /* Array of constructors */
+#define SHT_FINI_ARRAY    15            /* Array of destructors */
+#define SHT_PREINIT_ARRAY 16            /* Array of pre-constructors */
+#define SHT_GROUP         17            /* Section group */
+#define SHT_SYMTAB_SHNDX  18            /* Extended section indeces */
+#define SHT_NUM           19            /* Number of defined types.  */
+#define SHT_LOOS          0x60000000    /* Start OS-specific.  */
+#define SHT_GNU_ATTRIBUTES 0x6ffffff5   /* Object attributes.  */
+#define SHT_GNU_HASH      0x6ffffff6    /* GNU-style hash table.  */
+#define SHT_GNU_LIBLIST   0x6ffffff7    /* Prelink library list */
+#define SHT_CHECKSUM      0x6ffffff8    /* Checksum for DSO content.  */
+#define SHT_LOSUNW        0x6ffffffa    /* Sun-specific low bound.  */
+#define SHT_SUNW_move     0x6ffffffa
+#define SHT_SUNW_COMDAT   0x6ffffffb
+#define SHT_SUNW_syminfo  0x6ffffffc
+#define SHT_GNU_verdef    0x6ffffffd    /* Version definition section.  */
+#define SHT_GNU_verneed   0x6ffffffe    /* Version needs section.  */
+#define SHT_GNU_versym    0x6fffffff    /* Version symbol table.  */
+#define SHT_HISUNW        0x6fffffff    /* Sun-specific high bound.  */
+#define SHT_HIOS          0x6fffffff    /* End OS-specific type */
+#define SHT_LOPROC        0x70000000    /* Start of processor-specific */
+#define SHT_HIPROC        0x7fffffff    /* End of processor-specific */
+#define SHT_LOUSER        0x80000000    /* Start of application-specific */
+#define SHT_HIUSER        0x8fffffff    /* End of application-specific */
+
+/* Dynamic section entry.  */
+typedef struct {
+	Elf32_Sword d_tag;                  			/* Dynamic entry type */
+	union { Elf32_Word d_val; Elf32_Addr d_ptr; } d_un; 	/* Integer or address value */
+} Elf32_Dyn;
+typedef struct {
+	Elf64_Sxword d_tag;                  			/* Dynamic entry type */
+	union { Elf64_Xword d_val; Elf64_Addr d_ptr; } d_un;	/* Integer or address value */
+} Elf64_Dyn;
+
+/* Legal values for d_tag (dynamic entry type).  */
+#define DT_NULL         0               /* Marks end of dynamic section */
+#define DT_NEEDED       1               /* Name of needed library */
+#define DT_PLTRELSZ     2               /* Size in bytes of PLT relocs */
+#define DT_PLTGOT       3               /* Processor defined value */
+#define DT_HASH         4               /* Address of symbol hash table */
+#define DT_STRTAB       5               /* Address of string table */
+#define DT_SYMTAB       6               /* Address of symbol table */
+#define DT_RELA         7               /* Address of Rela relocs */
+#define DT_RELASZ       8               /* Total size of Rela relocs */
+#define DT_RELAENT      9               /* Size of one Rela reloc */
+#define DT_STRSZ        10              /* Size of string table */
+#define DT_SYMENT       11              /* Size of one symbol table entry */
+#define DT_INIT         12              /* Address of init function */
+#define DT_FINI         13              /* Address of termination function */
+#define DT_SONAME       14              /* Name of shared object */
+#define DT_RPATH        15              /* Library search path (deprecated) */
+#define DT_SYMBOLIC     16              /* Start symbol search here */
+#define DT_REL          17              /* Address of Rel relocs */
+#define DT_RELSZ        18              /* Total size of Rel relocs */
+#define DT_RELENT       19              /* Size of one Rel reloc */
+#define DT_PLTREL       20              /* Type of reloc in PLT */
+#define DT_DEBUG        21              /* For debugging; unspecified */
+#define DT_TEXTREL      22              /* Reloc might modify .text */
+#define DT_JMPREL       23              /* Address of PLT relocs */
+#define DT_BIND_NOW     24              /* Process relocations of object */
+#define DT_INIT_ARRAY   25              /* Array with addresses of init fct */
+#define DT_FINI_ARRAY   26              /* Array with addresses of fini fct */
+#define DT_INIT_ARRAYSZ 27              /* Size in bytes of DT_INIT_ARRAY */
+#define DT_FINI_ARRAYSZ 28              /* Size in bytes of DT_FINI_ARRAY */
+#define DT_RUNPATH      29              /* Library search path */
+#define DT_FLAGS        30              /* Flags for the object being loaded */
+#define DT_ENCODING     32              /* Start of encoded range */
+#define DT_PREINIT_ARRAY 32             /* Array with addresses of preinit fct*/
+#define DT_PREINIT_ARRAYSZ 33           /* size in bytes of DT_PREINIT_ARRAY */
+#define DT_NUM          34              /* Number used */
+#define DT_LOOS         0x6000000d      /* Start of OS-specific */
+#define DT_HIOS         0x6ffff000      /* End of OS-specific */
+#define DT_VERDEF       0x6ffffffc
+#define DT_VERDEFNUM    0x6ffffffd
+#define DT_LOPROC       0x70000000      /* Start of processor-specific */
+#define DT_HIPROC       0x7fffffff      /* End of processor-specific */
+
+
+/* Symbol table entry.  */
+typedef struct {
+	Elf32_Word    st_name;                /* Symbol name (string tbl index) */
+	Elf32_Addr    st_value;               /* Symbol value */
+	Elf32_Word    st_size;                /* Symbol size */
+	unsigned char st_info;                /* Symbol type and binding */
+	unsigned char st_other;               /* Symbol visibility */
+	Elf32_Section st_shndx;               /* Section index */
+} Elf32_Sym;
+
+typedef struct {
+	Elf64_Word    st_name;                /* Symbol name (string tbl index) */
+	unsigned char st_info;                /* Symbol type and binding */
+	unsigned char st_other;               /* Symbol visibility */
+	Elf64_Section st_shndx;               /* Section index */
+	Elf64_Addr    st_value;               /* Symbol value */
+	Elf64_Xword   st_size;                /* Symbol size */
+} Elf64_Sym;
+
+
+#endif

installer/custom/termux-elf-cleaner/termux-elf-cleaner.cpp

@@ -0,0 +1,191 @@
+#include <algorithm>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#ifndef __ANDROID_API__
+#define __ANDROID_API__ 21
+#endif
+
+// Include a local elf.h copy as not all platforms have it.
+#include "elf.h"
+
+#define DT_GNU_HASH 0x6ffffef5
+#define DT_VERSYM 0x6ffffff0
+#define DT_FLAGS_1 0x6ffffffb
+#define DT_VERNEEDED 0x6ffffffe
+#define DT_VERNEEDNUM 0x6fffffff
+
+#define DF_1_NOW	0x00000001	/* Set RTLD_NOW for this object.  */
+#define DF_1_GLOBAL	0x00000002	/* Set RTLD_GLOBAL for this object.  */
+#define DF_1_NODELETE	0x00000008	/* Set RTLD_NODELETE for this object.*/
+
+#if __ANDROID_API__ < 23
+#define SUPPORTED_DT_FLAGS_1 (DF_1_NOW | DF_1_GLOBAL)
+#else
+// The supported DT_FLAGS_1 values as of Android 6.0.
+#define SUPPORTED_DT_FLAGS_1 (DF_1_NOW | DF_1_GLOBAL | DF_1_NODELETE)
+#endif
+
+template<typename ElfHeaderType /*Elf{32,64}_Ehdr*/,
+	 typename ElfSectionHeaderType /*Elf{32,64}_Shdr*/,
+	 typename ElfDynamicSectionEntryType /* Elf{32,64}_Dyn */>
+bool process_elf(uint8_t* bytes, size_t elf_file_size, char const* file_name)
+{
+	if (sizeof(ElfSectionHeaderType) > elf_file_size) {
+		fprintf(stderr, "termux-elf-cleaner: Elf header for '%s' would end at %zu but file size only %zu\n", file_name, sizeof(ElfSectionHeaderType), elf_file_size);
+		return false;
+	}
+	ElfHeaderType* elf_hdr = reinterpret_cast<ElfHeaderType*>(bytes);
+
+	size_t last_section_header_byte = elf_hdr->e_shoff + sizeof(ElfSectionHeaderType) * elf_hdr->e_shnum;
+	if (last_section_header_byte > elf_file_size) {
+		fprintf(stderr, "termux-elf-cleaner: Section header for '%s' would end at %zu but file size only %zu\n", file_name, last_section_header_byte, elf_file_size);
+		return false;
+	}
+	ElfSectionHeaderType* section_header_table = reinterpret_cast<ElfSectionHeaderType*>(bytes + elf_hdr->e_shoff);
+
+	for (unsigned int i = 1; i < elf_hdr->e_shnum; i++) {
+		ElfSectionHeaderType* section_header_entry = section_header_table + i;
+		if (section_header_entry->sh_type == SHT_DYNAMIC) {
+			size_t const last_dynamic_section_byte = section_header_entry->sh_offset + section_header_entry->sh_size;
+			if (last_dynamic_section_byte > elf_file_size) {
+				fprintf(stderr, "termux-elf-cleaner: Dynamic section for '%s' would end at %zu but file size only %zu\n", file_name, last_dynamic_section_byte, elf_file_size);
+				return false;
+			}
+
+			size_t const dynamic_section_entries = section_header_entry->sh_size / sizeof(ElfDynamicSectionEntryType);
+			ElfDynamicSectionEntryType* const dynamic_section =
+				reinterpret_cast<ElfDynamicSectionEntryType*>(bytes + section_header_entry->sh_offset);
+
+			unsigned int last_nonnull_entry_idx = 0;
+			for (unsigned int j = dynamic_section_entries - 1; j > 0; j--) {
+				ElfDynamicSectionEntryType* dynamic_section_entry = dynamic_section + j;
+				if (dynamic_section_entry->d_tag != DT_NULL) {
+					last_nonnull_entry_idx = j;
+					break;
+				}
+			}
+
+			for (unsigned int j = 0; j < dynamic_section_entries; j++) {
+				ElfDynamicSectionEntryType* dynamic_section_entry = dynamic_section + j;
+				char const* removed_name = nullptr;
+				switch (dynamic_section_entry->d_tag) {
+#if __ANDROID_API__ <= 21
+					case DT_GNU_HASH: removed_name = "DT_GNU_HASH"; break;
+#endif
+#if __ANDROID_API__ < 23
+					case DT_VERSYM: removed_name = "DT_VERSYM"; break;
+					case DT_VERNEEDED: removed_name = "DT_VERNEEDED"; break;
+					case DT_VERNEEDNUM: removed_name = "DT_VERNEEDNUM"; break;
+					case DT_VERDEF: removed_name = "DT_VERDEF"; break;
+					case DT_VERDEFNUM: removed_name = "DT_VERDEFNUM"; break;
+#endif
+					case DT_RPATH: removed_name = "DT_RPATH"; break;
+#if __ANDROID_API__ < 24
+					case DT_RUNPATH: removed_name = "DT_RUNPATH"; break;
+#endif
+				}
+				if (removed_name != nullptr) {
+					printf("termux-elf-cleaner: Removing the %s dynamic section entry from '%s'\n", removed_name, file_name);
+					// Tag the entry with DT_NULL and put it last:
+					dynamic_section_entry->d_tag = DT_NULL;
+					// Decrease j to process new entry index:
+					std::swap(dynamic_section[j--], dynamic_section[last_nonnull_entry_idx--]);
+				} else if (dynamic_section_entry->d_tag == DT_FLAGS_1) {
+					// Remove unsupported DF_1_* flags to avoid linker warnings.
+					decltype(dynamic_section_entry->d_un.d_val) orig_d_val =
+						dynamic_section_entry->d_un.d_val;
+					decltype(dynamic_section_entry->d_un.d_val) new_d_val =
+						(orig_d_val & SUPPORTED_DT_FLAGS_1);
+					if (new_d_val != orig_d_val) {
+						printf("termux-elf-cleaner: Replacing unsupported DF_1_* flags %llu with %llu in '%s'\n",
+						       (unsigned long long) orig_d_val,
+						       (unsigned long long) new_d_val,
+						       file_name);
+						dynamic_section_entry->d_un.d_val = new_d_val;
+					}
+				}
+			}
+		}
+#if __ANDROID_API__ < 23
+		else if (section_header_entry->sh_type == SHT_GNU_verdef ||
+			   section_header_entry->sh_type == SHT_GNU_verneed ||
+			   section_header_entry->sh_type == SHT_GNU_versym) {
+			printf("termux-elf-cleaner: Removing version section from '%s'\n", file_name);
+			section_header_entry->sh_type = SHT_NULL;
+		}
+#endif
+	}
+	return true;
+}
+
+
+int main(int argc, char const** argv)
+{
+	if (argc < 2 || (argc == 2 && strcmp(argv[1], "-h")==0)) {
+		fprintf(stderr, "usage: %s <filenames>\n", argv[0]);
+		fprintf(stderr, "\nProcesses ELF files to remove unsupported section types\n"
+				"and dynamic section entries which the Android linker (API %d)\nwarns about.\n",
+				__ANDROID_API__);
+		return 1;
+	}
+
+	for (int i = 1; i < argc; i++) {
+		char const* file_name = argv[i];
+		int fd = open(file_name, O_RDWR);
+		if (fd < 0) {
+			char* error_message;
+			if (asprintf(&error_message, "open(\"%s\")", file_name) == -1) error_message = (char*) "open()";
+			perror(error_message);
+			return 1;
+		}
+
+		struct stat st;
+		if (fstat(fd, &st) < 0) { perror("fstat()"); return 1; }
+
+		if (st.st_size < (long long) sizeof(Elf32_Ehdr)) {
+			close(fd);
+			continue;
+		}
+
+		void* mem = mmap(0, st.st_size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
+		if (mem == MAP_FAILED) { perror("mmap()"); return 1; }
+
+		uint8_t* bytes = reinterpret_cast<uint8_t*>(mem);
+		if (!(bytes[0] == 0x7F && bytes[1] == 'E' && bytes[2] == 'L' && bytes[3] == 'F')) {
+			// Not the ELF magic number.
+			munmap(mem, st.st_size);
+			close(fd);
+			continue;
+		}
+
+		if (bytes[/*EI_DATA*/5] != 1) {
+			fprintf(stderr, "termux-elf-cleaner: Not little endianness in '%s'\n", file_name);
+			munmap(mem, st.st_size);
+			close(fd);
+			continue;
+		}
+
+		uint8_t const bit_value = bytes[/*EI_CLASS*/4];
+		if (bit_value == 1) {
+			if (!process_elf<Elf32_Ehdr, Elf32_Shdr, Elf32_Dyn>(bytes, st.st_size, file_name)) return 1;
+		} else if (bit_value == 2) {
+			if (!process_elf<Elf64_Ehdr, Elf64_Shdr, Elf64_Dyn>(bytes, st.st_size, file_name)) return 1;
+		} else {
+			printf("termux-elf-cleaner: Incorrect bit value %d in '%s'\n", bit_value, file_name);
+			return 1;
+		}
+
+		if (msync(mem, st.st_size, MS_SYNC) < 0) { perror("msync()"); return 1; }
+
+		munmap(mem, st.st_size);
+		close(fd);
+	}
+	return 0;
+}

installer/updater/Makefile

@@ -1,99 +0,0 @@
-CC = clang
-CXX = clang++
-
-PHONELIBS = ../../phonelibs
-
-WARN_FLAGS = -Werror=implicit-function-declaration \
-             -Werror=incompatible-pointer-types \
-             -Werror=int-conversion \
-             -Werror=return-type \
-             -Werror=format-extra-args
-
-CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
-
-CURL_FLAGS = -I$(PHONELIBS)/curl/include
-CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
-            $(PHONELIBS)/zlib/lib/libz.a
-
-BORINGSSL_FLAGS = -I$(PHONELIBS)/boringssl/include
-BORINGSSL_LIBS = $(PHONELIBS)/boringssl/lib/libssl_static.a \
-                 $(PHONELIBS)/boringssl/lib/libcrypto_static.a \
-
-NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
-
-JSON11_FLAGS = -I$(PHONELIBS)/json11
-
-OPENGL_LIBS = -lGLESv3
-
-FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
-
-.PHONY: all
-all: updater
-
-OBJS = opensans_regular.ttf.o \
-			 opensans_semibold.ttf.o \
-			 opensans_bold.ttf.o \
-       ../../selfdrive/common/util.o \
-       ../../selfdrive/common/touch.o \
-       ../../selfdrive/common/framebuffer.o \
-       $(PHONELIBS)/json11/json11.o \
-       $(PHONELIBS)/nanovg/nanovg.o
-
-DEPS := $(OBJS:.o=.d)
-
-updater: updater.o $(OBJS)
-	@echo "[ LINK ] $@"
-	$(CXX) $(CPPFLAGS) -fPIC -o 'updater' $^ \
-    $(FRAMEBUFFER_LIBS) \
-    $(CURL_LIBS) \
-    $(BORINGSSL_LIBS) \
-    -L/system/vendor/lib64 \
-    $(OPENGL_LIBS) \
-    -lcutils -lm -llog
-	strip updater
-
-opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-%.o: %.c
-	mkdir -p $(@D)
-	@echo "[ CC ] $@"
-	$(CC) $(CPPFLAGS) $(CFLAGS) \
-          -I../.. \
-          -I$(PHONELIBS)/android_frameworks_native/include \
-          -I$(PHONELIBS)/android_system_core/include \
-          -I$(PHONELIBS)/android_hardware_libhardware/include \
-          $(NANOVG_FLAGS) \
-          -c -o '$@' '$<'
-
-%.o: %.cc
-	mkdir -p $(@D)
-	@echo "[ CXX ] $@"
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) \
-           -I../../selfdrive \
-           -I../../ \
-           -I$(PHONELIBS)/android_frameworks_native/include \
-           -I$(PHONELIBS)/android_system_core/include \
-           -I$(PHONELIBS)/android_hardware_libhardware/include \
-           $(NANOVG_FLAGS) \
-           $(JSON11_FLAGS) \
-           $(CURL_FLAGS) \
-           $(BORINGSSL_FLAGS) \
-           -c -o '$@' '$<'
-
-
-.PHONY: clean
-clean:
-	rm -f $(OBJS) $(DEPS)
-
--include $(DEPS)

installer/updater/update.json

@@ -1,7 +0,0 @@
-{
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
-  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
-  "recovery_len": 15209772,
-  "recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
-}

installer/updater/updater.cc

@@ -1,813 +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 has_no_battery() {
-  if (FILE *file = fopen("/data/params/d/dp_no_batt", "r")) {
-    fclose(file);
-    std::string has_no_batt = util::read_file("/data/params/d/dp_no_batt");
-    return atoi(has_no_batt.c_str()) == 1;
-  } else {
-    return false;
-  }
-}
-
-bool check_battery() {
-  int bat_cap = battery_capacity();
-  int current_now = battery_current();
-  return (has_no_battery())? true : 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 (true) 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;
-}

jetson/env_installer.sh

@@ -0,0 +1,481 @@
+#!/bin/bash -e
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+#####################################################################
+# Configuration:
+# * Use IMX 477 Arducam.
+# * Minimum of 32GB of U3 micro sdcard.
+# * Work on Nvidia Jetson Xavier NX only.
+# * Use Jetpack 4.6.
+# * setup your username / password as: comma / comma
+# * setup your host name as: tici
+# * change your camera settings in /opt/nvidia/jetson-io/jetson-io.py
+#####################################################################
+
+JETSON_ARCH="7.2"
+PYENV_PYTHON_VERSION="3.8.10"
+OPENPCV_VERSION="4.5.0"
+LLVM_VERSION="12.0.1"
+LLVM_INSTALL_FOLDER="llvm-12"
+POCL_VERSION="release_1_8"
+USERNAME="comma"
+
+WORKSPACE="workspace"
+###########################################################################
+############################### BASE SYSTEM ###############################
+###########################################################################
+
+# Nopasswd sudo
+echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" | (sudo su -c 'EDITOR="tee -a" visudo -f /etc/sudoers')
+
+# setup /bin/sh symlink
+sudo ln -sf /bin/bash /bin/sh
+
+# Disable automatic ondemand switching from ubuntu (cpu auto scaling)
+sudo systemctl disable ondemand
+
+# jetpack 4.6 has mode 8
+sudo nvpmodel -m 8
+
+# use performance governor
+sudo echo performance > /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor
+
+# throttling prevention
+sudo sh -c 'echo 7000 > /sys/devices/c250000.i2c/i2c-7/7-0040/iio:device0/crit_current_limit_0'
+
+# allow max available CPU freq
+sudo sh -c 'for i in /sys/devices/system/cpu/cpu*/cpufreq/scaling_max_freq; do echo 1907200 > $i; done'
+
+# reduce reboot time (when a running job is stall)
+sudo sed -i -e 's/#DefaultTimeoutStopSec=90s/DefaultTimeoutStopSec=1s/g' /etc/systemd/system.conf
+
+#allow user to access USB
+sudo echo "SUBSYSTEM==\"usb\", MODE=\"0666\", GROUP=\"users\"" > $HOME/openpilot.rules
+sudo echo "SUBSYSTEM==\"usb_device\", MODE=\"0666\", GROUP=\"users\"" >> $HOME/openpilot.rules
+sudo mv $HOME/openpilot.rules /etc/udev/rules.d
+sudo chmod 644 /etc/udev/rules.d/openpilot.rules
+sudo chown root /etc/udev/rules.d/openpilot.rules
+sudo chgrp root /etc/udev/rules.d/openpilot.rules
+
+# Disable all useless systemctl services, if any, from agnos
+sudo systemctl mask apt-daily-upgrade.service
+sudo systemctl mask apt-daily.service
+sudo systemctl mask apt-daily-upgrade.timer
+sudo systemctl mask apt-daily.timer
+sudo systemctl disable nvpmodel.service
+sudo systemctl mask sys-devices-3100000.serial-tty-ttyTHS0.device
+sudo systemctl mask sys-devices-3110000.serial-tty-ttyTHS1.device
+sudo systemctl mask sys-devices-3110000.serial-tty-ttyTHS1.device
+sudo systemctl mask sys-devices-3140000.serial-tty-ttyTHS4.device
+sudo systemctl mask sys-devices-platform-serial8250-tty-ttyS0.device
+sudo systemctl mask sys-devices-platform-serial8250-tty-ttyS1.device
+sudo systemctl mask sys-devices-platform-serial8250-tty-ttyS2.device
+sudo systemctl mask sys-devices-platform-serial8250-tty-ttyS3.device
+sudo systemctl mask sys-kernel-debug.mount
+sudo systemctl mask motd-news.timer
+sudo systemctl mask remote-fs.target
+sudo systemctl disable nvzramconfig
+sudo systemctl mask plymouth-quit-wait.service # splash screen
+sudo systemctl mask plymouth-read-write.service # splash screen
+sudo systemctl mask alsa-restore.service # we dont have speakers, so no need alsa
+sudo systemctl disable nvphs.service
+sudo systemctl mask getty.target
+sudo systemctl disable nv_update_verifier.service
+sudo systemctl disable nvgetty.service
+sudo systemctl mask networkd-dispatcher.service
+sudo systemctl mask speech-dispatcher.service
+sudo systemctl disable nv-l4t-usb-device-mode.service
+
+# setup UI packages
+sudo apt update
+sudo apt purge -y gdm3 lightdm
+sudo apt install -y --no-install-recommends apt-utils lxdm lxde unclutter
+
+# install packages in ubuntu_setup.sh
+# without clang and qt, we need them from focal release (newer)
+sudo apt-get install -y --no-install-recommends \
+    autoconf \
+    build-essential \
+    bzip2 \
+    capnproto \
+    cppcheck \
+    libcapnp-dev \
+    cmake \
+    curl \
+    ffmpeg \
+    git \
+    libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev libavfilter-dev \
+    libarchive-dev \
+    libbz2-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
+    libffi-dev \
+    libglew-dev \
+    libgles2-mesa-dev \
+    libglfw3-dev \
+    libglib2.0-0 \
+    liblzma-dev \
+    libomp-dev \
+    libopencv-dev \
+    libpng16-16 \
+    libssl-dev \
+    libstdc++-arm-none-eabi-newlib \
+    libsqlite3-dev \
+    libtool \
+    libusb-1.0-0-dev \
+    libzmq3-dev \
+    libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsmpeg-dev \
+    libsdl1.2-dev  libportmidi-dev libswscale-dev libavformat-dev libavcodec-dev libfreetype6-dev \
+    libsystemd-dev \
+    locales \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    opencl-headers \
+    python-dev \
+    python3-pip \
+    screen \
+    sudo \
+    vim \
+    wget \
+    htop \
+    gcc-arm-none-eabi \
+    gir1.2-notify
+
+# clean up
+sudo apt purge -y libreoffice* thunderbird* rhythmbox* transmission* mutter* *visionworks* ubuntu-wallpapers-bionic \
+     *theme-ubuntu* remmina* branding-ubuntu light-themes pulseaudio packagekit ibus* \
+     deluge smplayer* onboard* snapd* vpi1* galculator xmms2* youtube-dl unity-* whoopsie* \
+     apport apparmor rpcbind gpsd isc-dhcp-server firefox printer-driver-* evolution-data-server* \
+     lxmusic* avahi* yelp* vlc* nfs* ntfs* python-gi samba* docker* chromium-* system-config-printer-* \
+     geoclue* totem* gnome-* modemmanager
+sudo apt autoremove -y && sudo apt clean -y
+
+# reinstall again making sure clean up didn't delete them.
+sudo apt install -y --no-install-recommends lxdm lxde
+
+# install packages from focal
+sudo sed -i -e 's#bionic#focal#g' /etc/apt/sources.list
+sudo apt update
+sudo apt install -y tmux nano
+sudo apt install -y --no-install-recommends \
+	clang \
+	qt5-default \
+	qtmultimedia5-dev \
+	qtwebengine5-dev \
+  qtdeclarative5-dev \
+	qtchooser \
+	libqt5x11extras5-dev \
+  qtlocation5-dev \
+  qtpositioning5-dev \
+  libqt5sql5-sqlite \
+  libqt5svg5-dev \
+  libqt5opengl5-dev \
+	ccache \
+	qml-module-qtquick2 \
+	libreadline-dev
+
+# libqt5opengl5-dev is for mapbox
+
+sudo sed -i -e 's#focal#bionic#g' /etc/apt/sources.list
+
+# clean up again
+sudo apt update
+sudo apt purge -y mysql-common p7zip* ppp* kerneloops *gvfs*
+sudo apt autoremove -y
+
+# add missing wifi manager
+sudo apt install -y network-manager-gnome
+
+# delete sample files
+sudo rm -rf /usr/local/cuda/samples \
+    /usr/src/cudnn_samples_* \
+    /usr/src/tensorrt/data \
+    /usr/src/tensorrt/samples \
+    /usr/share/visionworks* ~/VisionWorks-SFM*Samples \
+    /opt/nvidia/deepstream/deepstream*/samples
+
+#add user to the input device so it can read mouse
+sudo usermod -aG input ${USERNAME}
+
+# common folders
+sudo mkdir -p /data/ /data/params/d/ /data/media/0/ /persist/ /data/log /data/media/0/realdata/ /data/media/0/fakedata/
+
+# dp will recognize it as jetson
+sudo touch /JETSON
+
+# allow ssh in root because we will give openpilot full root access.
+sudo sed -i -e 's/#PermitRootLogin prohibit-password/PermitRootLogin yes/g' /etc/ssh/sshd_config
+sudo sed -i -e 's/#PasswordAuthentication yes/PasswordAuthentication yes/g' /etc/ssh/sshd_config
+sudo sed -i -e 's/#KerberosAuthentication no/KerberosAuthentication no/g' /etc/ssh/sshd_config
+sudo sed -i -e 's/#GSSAPIAuthentication no/GSSAPIAuthentication no/g' /etc/ssh/sshd_config
+sudo sed -i -e 's/#UseDNS no/UseDNS no/g' /etc/ssh/sshd_config
+sudo sed -i -e 's/#UsePAM yes/UsePAM no/g' /etc/ssh/sshd_config
+
+# install jtop
+sudo pip3 install setuptools
+sudo -H pip3 install -U jetson-stats
+
+###########################################################################
+############################ OPENPILOT RELATED ############################
+###########################################################################
+
+# install git lfs
+if ! command -v "git-lfs" > /dev/null 2>&1; then
+  curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
+  sudo apt-get install git-lfs
+fi
+
+# install pyenv
+if ! command -v "pyenv" > /dev/null 2>&1; then
+  curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+fi
+
+export PYENV_ROOT="$HOME/.pyenv"
+export PATH="$PYENV_ROOT/bin:$PATH"
+eval "$(pyenv init --path)"
+# install bashrc
+source ~/.bashrc
+if [ -z "$OPENPILOT_ENV" ]; then
+  echo "export PYENV_ROOT=\"$HOME/.pyenv\"" >> ~/.bashrc
+  echo "export PATH=\"$PYENV_ROOT/bin:$PATH\"" >> ~/.bashrc
+  echo "eval \"$(pyenv init --path)\"" >> ~/.bashrc
+  echo "source /data/openpilot/jetson/openpilot_env.sh" >> ~/.bashrc
+  source $HOME/openpilot/jetson/openpilot_env.sh
+  source ~/.bashrc
+  echo "added openpilot_env to bashrc"
+fi
+
+
+# install python
+pyenv install -s ${PYENV_PYTHON_VERSION}
+pyenv global ${PYENV_PYTHON_VERSION}
+pyenv rehash
+eval "$(pyenv init -)"
+
+# **** in python env ****
+pip install --upgrade pip==20.2.4
+pip install pipenv==2020.8.13
+
+pip install setuptools
+pip install wheel
+pip install pkgconfig
+
+# packages
+pip install atomicwrites
+pip install casadi
+pip install cffi
+pip install crcmod
+pip install furture-string # for acados
+pip install hexdump # for dump.py
+pip install libusb1
+pip install numpy
+pip install psutil
+pip install pycapnp==1.1.0
+pip install cryptography
+pip install pyzmq
+pip install requests
+pip install setproctitle
+pip install smbus2
+pip install sympy
+pip install tqdm
+pip install cython
+pip install scons
+pip install pycryptodome
+pip install jinja2
+pip install pyjwt
+pip install pyserial
+pip install sentry-sdk
+
+#pip install setuptools-cythonize
+#pip install logentries
+# mapd
+pip install scipy
+pip install overpy
+
+# 0.8.10
+pip install future_fstrings
+
+# openpilot tmux
+echo "unbind C-b" > $HOME/.tmux.conf
+echo "set -g prefix \`" >> $HOME/.tmux.conf
+echo "bind-key \` last-window" >> $HOME/.tmux.conf
+echo "bind-key e send-prefix" >> $HOME/.tmux.conf
+echo "bind-key S command-prompt -p 'Save log to file:' -I '/tmp/openpilot_log' 'capture-pane -S-7200; save-buffer %1; delete-buffer'" >> $HOME/.tmux.conf
+echo "set -g status-position bottom" >> $HOME/.tmux.conf
+echo "set -g status-style bg=colour234,fg=colour137,dim" >> $HOME/.tmux.conf
+echo "set -g status-left ''" >> $HOME/.tmux.conf
+echo "set -g status-right '#[fg=colour233,bg=colour241,bold] %d/%m #[fg=colour233,bg=colour245,bold] %H:%M:%S '" >> $HOME/.tmux.conf
+echo "set -g status-right-length 50" >> $HOME/.tmux.conf
+echo "set -g status-left-length 20" >> $HOME/.tmux.conf
+echo "set -g history-limit 7200" >> $HOME/.tmux.conf
+echo "setw -g window-status-current-style fg=colour81,bg=colour238,bold" >> $HOME/.tmux.conf
+echo "setw -g window-status-current-format ' #I#[fg=colour250]:#[fg=colour255]#W#[fg=colour50]#F '" >> $HOME/.tmux.conf
+echo "setw -g window-status-style fg=colour138,bg=colour235" >> $HOME/.tmux.conf
+echo "setw -g window-status-format ' #I#[fg=colour237]:#[fg=colour250]#W#[fg=colour244]#F '" >> $HOME/.tmux.conf
+echo "setw -g window-status-bell-style fg=colour255,bg=colour1,bold" >> $HOME/.tmux.conf
+
+# move to /data/openpilot
+cd /data
+mv /home/${USERNAME}/openpilot /data/
+
+# make sure everything goes to the right display
+echo "export DISPLAY=:0.0" >> $HOME/.bashrc
+
+# start openpilot correctly
+echo "export USE_MIPI=\"1\"" >> $HOME/.bashrc
+echo "export NOSENSOR=\"1\"" >> $HOME/.bashrc
+echo "export PASSIVE=\"0\"" >> $HOME/.bashrc
+
+# start from /data/openpilot
+echo "[ -d \"/data/openpilot\" ] && cd /data/openpilot" >> $HOME/.bashrc
+
+###########################################################################
+############################ DOWNLOAD PACKAGES ############################
+###########################################################################
+mkdir -p /data/${WORKSPACE}/
+cd /data/${WORKSPACE}/
+wget https://github.com/llvm/llvm-project/releases/download/llvmorg-${LLVM_VERSION}/clang+llvm-${LLVM_VERSION}-aarch64-linux-gnu.tar.xz &
+wget https://nvidia.box.com/shared/static/gjqofg7rkg97z3gc8jeyup6t8n9j8xjw.whl -O onnxruntime_gpu-1.8.0-cp38-cp38-linux_aarch64.whl &
+curl -L https://github.com/opencv/opencv/archive/${OPENPCV_VERSION}.zip -o opencv-${OPENPCV_VERSION}.zip &
+curl -L https://github.com/opencv/opencv_contrib/archive/${OPENPCV_VERSION}.zip -o opencv_contrib-${OPENPCV_VERSION}.zip &
+wait
+
+###########################################################################
+############################### ONNX RUNTIME ##############################
+###########################################################################
+cd /data/${WORKSPACE}/
+pip install onnxruntime_gpu-1.8.0-cp38-cp38-linux_aarch64.whl
+
+###########################################################################
+################################## LLVM 12 ################################
+###########################################################################
+# for POCL
+cd /data/${WORKSPACE}/
+tar -xvf clang+llvm-${LLVM_VERSION}-aarch64-linux-gnu.tar.xz
+sudo mkdir -p /usr/lib/${LLVM_INSTALL_FOLDER}/
+sudo mv clang+llvm-${LLVM_VERSION}-aarch64-linux-gnu/* /usr/lib/${LLVM_INSTALL_FOLDER}/
+
+###########################################################################
+################################### POCL ##################################
+###########################################################################
+cd /data/${WORKSPACE}/
+git clone --single-branch --branch ${POCL_VERSION} https://github.com/pocl/pocl.git
+cd /data/${WORKSPACE}/pocl
+mkdir build
+cd /data/${WORKSPACE}/pocl/build/
+cmake -DCMAKE_BUILD_TYPE=Release -DWITH_LLVM_CONFIG=/usr/lib/${LLVM_INSTALL_FOLDER}/bin/llvm-config -DENABLE_CUDA=ON -DSTATIC_LLVM=ON ..
+make -j $(nproc)
+sudo make install
+mkdir -p /etc/OpenCL/vendors/
+echo "/usr/local/lib/libpocl.so" > /etc/OpenCL/vendors/pocl.icd
+# use /tmp for cache, default (~/.cache) have issues sometimes.
+echo "export POCL_CACHE_DIR=\"/tmp\"" >> $HOME/.bashrc
+
+###########################################################################
+################################## OPENCV #################################
+###########################################################################
+# Copyright (c) 2020, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA Corporation and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA Corporation is strictly prohibited.
+
+# jetpack opencv doesn't have cuda that's why we compile manually
+# check jtop for more info.
+cd /data/${WORKSPACE}/
+
+echo "** Remove other OpenCV first"
+sudo sudo apt-get purge -y *libopencv*
+
+echo "** Install requirement"
+sudo apt-get update
+sudo apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
+sudo apt-get install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev
+sudo apt-get install -y libv4l-dev v4l-utils qv4l2 v4l2ucp
+
+unzip opencv-${OPENPCV_VERSION}.zip
+unzip opencv_contrib-${OPENPCV_VERSION}.zip
+cd opencv-${OPENPCV_VERSION}/
+
+echo "** Building..."
+mkdir release
+cd release/
+cmake -D WITH_CUDA=ON \
+        -D WITH_CUDNN=OFF \
+        -D CUDA_ARCH_BIN="${JETSON_ARCH}" \
+        -D CUDA_ARCH_PTX="" \
+        -D OPENCV_GENERATE_PKGCONFIG=ON \
+        -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-${OPENPCV_VERSION}/modules \
+        -D WITH_GSTREAMER=ON \
+        -D WITH_LIBV4L=ON \
+        -D BUILD_opencv_python2=OFF \
+        -D BUILD_opencv_python3=ON \
+        -D BUILD_TESTS=OFF \
+        -D BUILD_PERF_TESTS=OFF \
+        -D BUILD_EXAMPLES=OFF \
+        -D CMAKE_BUILD_TYPE=RELEASE \
+        -D CMAKE_INSTALL_PREFIX=/usr/local \
+        -D WITH_GTK=OFF \
+        -D ENABLE_FAST_MATH=ON \
+        -D BUILD_opencv_java=OFF \
+        -D WITH_QT=OFF \
+        -D INSTALL_PYTHON_EXAMPLES=OFF \
+        -D INSTALL_C_EXAMPLES=OFF \
+        -D WITH_CUFFT=ON \
+        -D WITH_CUBLAS=ON \
+        -D WITH_1394=OFF \
+        -D WITH_ANDROID_MEDIANDK=OFF \
+        -D BUILD_JAVA=OFF \
+        -D BUILD_FAT_JAVA_LIB=OFF \
+        -D BUILD_opencv_python2=OFF \
+        ..
+make -j$(nproc)
+sudo make install
+###########################################################################
+################################## FINAL ##################################
+###########################################################################
+cd /data && rm -fr /data/${WORKSPACE}/
+
+# creates the necessary links and cache
+sudo ldconfig -v
+
+# delay restart
+sudo shutdown -r 1
+
+# clean up once last time
+sudo apt autoremove -y && sudo apt clean -y
+
+# lxdm give comma autologin
+sudo sed -i -e "s/# autologin=dgod/autologin=${USERNAME}/g" /etc/lxdm/default.conf
+
+# remove screensaver
+sudo sed -i -e 's/@xscreensaver -no-splash//g' /etc/xdg/lxsession/LXDE/autostart
+
+# auto start openpilot
+sudo sh -c 'echo "@lxterminal --command tmux new-session -s '${USERNAME}' -d /data/openpilot/jetson/launcher.sh" >> /etc/xdg/lxsession/LXDE/autostart'
+
+# comma as root
+USERNAME="comma"
+sudo sed -i -e "s#${USERNAME}:x:1000:1000:${USERNAME}#${USERNAME}:x:0:0:${USERNAME}#g" /etc/passwd

jetson/launcher.sh

@@ -0,0 +1,2 @@
+#!/bin/bash -e
+cd /data/openpilot && bash -i launch_chffrplus.sh

jetson/openpilot_env.sh

@@ -0,0 +1,25 @@
+if [ -z "$OPENPILOT_ENV" ]; then
+  export PYTHONPATH="/data/openpilot:$PYTHONPATH"
+
+  unamestr=`uname`
+  if [[ "$unamestr" == 'Linux' ]]; then
+    export PATH="$HOME/.pyenv/bin:$PATH"
+
+    # Pyenv suggests we place the below two lines in .profile before we source
+    # .bashrc, but there is no simple way to guarantee we do this correctly
+    # programmatically across heterogeneous systems. For end-user convenience,
+    # we add the lines here as a workaround.
+    # https://github.com/pyenv/pyenv/issues/1906
+    export PYENV_ROOT="$HOME/.pyenv"
+    eval "$(pyenv init --path)"
+
+    eval "$(pyenv virtualenv-init -)"
+  elif [[ "$unamestr" == 'Darwin' ]]; then
+    # msgq doesn't work on mac
+    export ZMQ=1
+    export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES
+  fi
+  eval "$(pyenv init -)"
+
+  export OPENPILOT_ENV=1
+fi

launch_chffrplus.sh

@@ -6,22 +6,45 @@ fi
 
 source "$BASEDIR/launch_env.sh"
 
-if ! $(grep -q "letv" /proc/cmdline); then
-  mount -o remount,rw /system
-  sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
-  touch /ONEPLUS
-  mount -o remount,r /system
-fi
-
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 function two_init {
+  export LD_LIBRARY_PATH="$BASEDIR/third_party/mapbox-gl-native-qt/aarch64:$LD_LIBRARY_PATH"
+  python /data/openpilot/scripts/installers/language_installer.py
+  python /data/openpilot/scripts/installers/sshkey_installer.py
+  python /data/openpilot/scripts/installers/font_installer.py
+  mount -o remount,rw /system
+  if [ ! -f /ONEPLUS ] && ! $(grep -q "letv" /proc/cmdline); then
+    cp -f "$BASEDIR/selfdrive/hardware/eon/update.zip" "/data/media/0/update.zip"
+    sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
+    touch /ONEPLUS
+  else
+    if [ ! -f /LEECO ]; then
+      touch /LEECO
+    fi
+  fi
+  mount -o remount,r /system
 
-  # Wifi scan
-  wpa_cli IFNAME=wlan0 SCAN
+  # set IO scheduler
+  setprop sys.io.scheduler noop
+  for f in /sys/block/*/queue/scheduler; do
+    echo noop > $f
+  done
+
+  # set vol to 100 when boot
+  service call audio 3 i32 2 i32 100
+  service call audio 3 i32 3 i32 100
+  service call audio 3 i32 4 i32 100
 
   # *** shield cores 2-3 ***
 
+  # TODO: should we enable this?
+  # offline cores 2-3 to force recurring timers onto the other cores
+  #echo 0 > /sys/devices/system/cpu/cpu2/online
+  #echo 0 > /sys/devices/system/cpu/cpu3/online
+  #echo 1 > /sys/devices/system/cpu/cpu2/online
+  #echo 1 > /sys/devices/system/cpu/cpu3/online
+
   # android gets two cores
   echo 0-1 > /dev/cpuset/background/cpus
   echo 0-1 > /dev/cpuset/system-background/cpus
@@ -63,7 +86,9 @@ function two_init {
 
   # USB traffic needs realtime handling on cpu 3
   [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
-  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
+  if [ -f /ONEPLUS ]; then
+    [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
+  fi
 
   # GPU and camera get cpu 2
   CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
@@ -83,31 +108,23 @@ function two_init {
   # disable bluetooth
   service call bluetooth_manager 8
 
+  # wifi scan
+  wpa_cli IFNAME=wlan0 SCAN
+
   # Check for NEOS update
-  if $(grep -q "letv" /proc/cmdline); then
-    if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
-      if [ -f "$DIR/scripts/continue.sh" ]; then
-        cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
-      fi
-
-      if [ ! -f "$BASEDIR/prebuilt" ]; then
-        # Clean old build products, but preserve the scons cache
-        cd $DIR
-        git clean -xdf
-        git submodule foreach --recursive git clean -xdf
-      fi
-
-      "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
-    fi
-  else
-    echo -n 0 > /data/params/d/DisableUpdates
+  if [ -f /LEECO ] && [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
+    echo "Installing NEOS update"
+    NEOS_PY="$DIR/selfdrive/hardware/eon/neos.py"
+    MANIFEST="$DIR/selfdrive/hardware/eon/neos.json"
+    $NEOS_PY --swap-if-ready $MANIFEST
+    $DIR/selfdrive/hardware/eon/updater $NEOS_PY $MANIFEST
   fi
 
   # One-time fix for a subset of OP3T with gyro orientation offsets.
   # Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
   # Performed exactly once. The old registry is preserved just-in-case, and
   # doubles as a flag denoting we've already done the reset.
-  if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
+  if [ -f /ONEPLUS ] && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
     echo "Performing OP3T sensor registry reset"
     mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
       rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
@@ -117,21 +134,96 @@ function two_init {
 }
 
 function tici_init {
+  # wait longer for weston to come up
+  if [ -f "$BASEDIR/prebuilt" ]; then
+    sleep 3
+  fi
+
+  # setup governors
   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'
+
+  # TODO: move this to agnos
+  # network manager config
   nmcli connection modify --temporary lte gsm.auto-config yes
   nmcli connection modify --temporary lte gsm.home-only yes
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 
   # set success flag for current boot slot
   sudo abctl --set_success
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
     MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
-    $DIR/selfdrive/hardware/tici/agnos.py --swap $MANIFEST
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
+  fi
+}
 
-    sleep 1
-    sudo reboot
+# jetpack 4.6
+function jetson_init {
+  # modeld need this
+  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:$BASEDIR/third_party/mapbox-gl-native-qt/jarch64:$LD_LIBRARY_PATH"
+  # jetpack 4.6 has mode 8
+  sudo nvpmodel -m 8
+
+  # use performance governor
+  sudo echo performance > /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor
+
+  # run higher fan speed in case we need compilation
+  sudo echo 200 > /sys/devices/pwm-fan/target_pwm
+
+  # prevent throttling
+  echo 7000 > /sys/devices/c250000.i2c/i2c-7/7-0040/iio:device0/crit_current_limit_0
+
+  # use highest available cpu freq
+  for i in /sys/devices/system/cpu/cpu*/cpufreq/scaling_max_freq; do
+    echo 1907200 > $i;
+  done
+
+  # gpu min set to highest
+  sudo echo 1109250000 > /sys/devices/17000000.gv11b/devfreq/17000000.gv11b/min_freq
+
+  # set IO scheduler
+  for f in /sys/block/*/queue/scheduler; do
+    echo noop > $f
+  done
+
+  # give nvargus-daemon higer priority
+  for pid in $(pgrep "nvargus-daemon"); do
+    chrt -f -p 52 $pid
+  done
+
+  # scale 4.3" 800x480 to 1920x1080
+  if [ "$(xdpyinfo | awk '/dimensions/{print $2}')" == "800x480" ]; then
+    xrandr --output HDMI-0 --mode 800x480 --scale 2.4x2.25
+  fi
+
+  # enable jetson mode
+  echo -n 1 > /data/params/d/dp_jetson
+
+  # disable blank screen etc.
+  xset s off
+  xset s noblank
+  xset -dpms
+
+  # hide mouse cursor
+  unclutter -idle 0 &
+
+  # prep for model
+  rm -fr $DIR/models/*.dlc
+  if [ -f "$DIR/models/supercombo.onnx" ]; then
+    file_check_sum=$(md5sum $DIR/models/supercombo.onnx | cut -d " " -f1)
+    if [[ $file_check_sum != "e9e19c5127f717dd94e8182201a08ab8" ]]; then
+      rm -fr $DIR/models/supercombo.onnx
+    fi
+  fi
+  # make sure we have right models
+  if [ ! -f "$DIR/models/supercombo.onnx" ]; then
+    wget https://github.com/commaai/openpilot/raw/be89044c51406eccb7ce7ae7678004a8fc774a7a/models/supercombo.onnx -O "$DIR/models/supercombo.onnx"
   fi
 }
 
@@ -165,11 +257,6 @@ function launch {
           mv "${STAGING_ROOT}/finalized" $BASEDIR
           cd $BASEDIR
 
-          # Partial mitigation for symlink-related filesystem corruption
-          # Ensure all files match the repo versions after update
-          git reset --hard
-          git submodule foreach --recursive git reset --hard
-
           echo "Restarting launch script ${LAUNCHER_LOCATION}"
           unset REQUIRED_NEOS_VERSION
           unset AGNOS_VERSION
@@ -189,15 +276,17 @@ function launch {
   # dp - ignore chmod changes
   git -C $DIR config core.fileMode false
 
+  # dp - apply custom patch
+  if [ -f "/data/media/0/dp_patcher.py" ]; then
+    python /data/media/0/dp_patcher.py
+  fi
   # hardware specific init
   if [ -f /EON ]; then
     two_init
   elif [ -f /TICI ]; then
     tici_init
-  fi
-
-  if [ -f "/sdcard/dp_patcher.py" ]; then
-    /data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
+  elif [ -f /JETSON ]; then
+    jetson_init
   fi
 
   # write tmux scrollback to a file
@@ -205,7 +294,21 @@ function launch {
 
   # start manager
   cd selfdrive/manager
-  ./build.py && ./manager.py
+  if [ -f /EON ]; then
+    if [ ! -f "/system/comma/usr/lib/libgfortran.so.5.0.0" ]; then
+      mount -o remount,rw /system
+      tar -zxvf /data/openpilot/selfdrive/mapd/assets/libgfortran.tar.gz -C /system/comma/usr/lib/
+      mount -o remount,r /system
+    fi
+    if [ ! -d "/system/comma/usr/lib/python3.8/site-packages/opspline" ]; then
+      mount -o remount,rw /system
+      tar -zxvf /data/openpilot/selfdrive/mapd/assets/opspline.tar.gz -C /system/comma/usr/lib/python3.8/site-packages/
+      mount -o remount,r /system
+    fi
+    ./build.py && ./manager.py
+  else
+    ./custom_dep.py && ./build.py && ./manager.py
+  fi
 
   # if broken, keep on screen error
   while true; do sleep 1; done

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="17"
+  export REQUIRED_NEOS_VERSION="19.1"
 fi
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="0.21"
+  export AGNOS_VERSION="4"
 fi
 
 if [ -z "$PASSIVE" ]; then

opendbc/acura_ilx_2016_can_generated.dbc

@@ -19,41 +19,18 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 
-CM_ "Imported file _honda_2017.dbc starts here";
-VERSION ""
+CM_ "Imported file _honda_common.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
 
-
-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 ADAS PCM EPS VSA SCM BDY XXX EPB EON
+BO_ 316 GAS_PEDAL: 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_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
@@ -67,14 +44,14 @@ 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] "rpm" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" 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] "rpm" 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|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
@@ -93,14 +70,6 @@ BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- 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|3] "" EON
-
 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
@@ -109,10 +78,120 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
+CM_ "Imported file _honda_2017.dbc starts here";
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-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_ 148 KINEMATICS_ALT: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-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_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ 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|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
@@ -146,17 +225,6 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|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 LOCK_STATUS: 8 XXX
  SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
  SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
@@ -190,74 +258,22 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|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|3] "" EON
-
-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_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb";
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped";
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
 
 CM_ "acura_ilx_2016_can.dbc starts here";
 
-
-
-BO_ 145 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
-
 BO_ 228 STEERING_CONTROL: 5 ADAS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
@@ -265,14 +281,6 @@ BO_ 228 STEERING_CONTROL: 5 ADAS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
 
-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
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
-
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -308,10 +316,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
  SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
@@ -321,6 +326,3 @@ VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/acura_rdx_2018_can_generated.dbc

@@ -19,41 +19,18 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 
-CM_ "Imported file _honda_2017.dbc starts here";
-VERSION ""
+CM_ "Imported file _honda_common.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
 
-
-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 ADAS PCM EPS VSA SCM BDY XXX EPB EON
+BO_ 316 GAS_PEDAL: 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_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
@@ -67,14 +44,14 @@ 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] "rpm" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" 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] "rpm" 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|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
@@ -93,14 +70,6 @@ BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- 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|3] "" EON
-
 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
@@ -109,10 +78,120 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
+CM_ "Imported file _honda_2017.dbc starts here";
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-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_ 148 KINEMATICS_ALT: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-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_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ 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|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
@@ -146,17 +225,6 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|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 LOCK_STATUS: 8 XXX
  SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
  SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
@@ -190,71 +258,22 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|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|3] "" EON
-
-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_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb";
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped";
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
 
 CM_ "acura_rdx_2018_can.dbc starts here";
 
-
-
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -291,12 +310,6 @@ BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
-
 BO_ 660 SCM_FEEDBACK: 8 SCM
  SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
  SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
@@ -309,5 +322,3 @@ VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
 VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/acura_rdx_2020_can_generated.dbc

@@ -1,42 +1,154 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _bosch_2020.dbc starts here";
-VERSION ""
+CM_ "Imported file _honda_common.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_ 316 GAS_PEDAL: 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_ 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_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 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_ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
 
 
-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
-
+CM_ "Imported file _bosch_2018.dbc starts here";
 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
@@ -67,33 +179,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
@@ -103,34 +188,12 @@ BO_ 399 STEER_STATUS: 7 EPS
  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
@@ -146,12 +209,6 @@ BO_ 479 ACC_CONTROL: 8 EON
  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
@@ -256,22 +313,11 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  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_ 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_ 777 CAR_SPEED: 8 PCM
  SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
@@ -281,6 +327,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  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
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -306,11 +353,6 @@ BO_ 780 ACC_HUD: 8 ADAS
  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
@@ -320,7 +362,15 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  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
+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_ 13274 LKAS_HUD_A: 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
@@ -334,38 +384,36 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ SET_ME_X01 : 20|1@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
+BO_ 13275 LKAS_HUD_B: 8 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_ SET_ME_X01 : 20|1@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_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
 
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
 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";
@@ -374,17 +422,16 @@ CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, i
 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" ;
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
 
 CM_ "acura_rdx_2020_can.dbc starts here";
 
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
@@ -428,7 +475,3 @@ 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";

opendbc/can/common.cc

@@ -144,6 +144,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
       crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
       break;
+    case 0x12E: // ACC_07 Automatic Cruise Control
+      crc ^= (uint8_t[]){0xF8,0xE5,0x97,0xC9,0xD6,0x07,0x47,0x21,0x66,0xDD,0xCF,0x6F,0xA1,0x94,0x74,0x63}[counter];
+      break;
     case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
       crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
       break;
@@ -172,7 +175,6 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
   return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR
 }
 
-
 unsigned int pedal_checksum(uint64_t d, int l) {
   uint8_t crc = 0xFF;
   uint8_t poly = 0xD5; // standard crc8

opendbc/can/common.h

@@ -32,8 +32,8 @@ public:
 
   std::vector<Signal> parse_sigs;
   std::vector<double> vals;
+  std::vector<std::vector<double>> all_vals;
 
-  uint16_t ts;
   uint64_t seen;
   uint64_t check_threshold;
 
@@ -43,7 +43,7 @@ public:
   bool ignore_checksum = false;
   bool ignore_counter = false;
 
-  bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
+  bool parse(uint64_t sec, uint8_t * dat);
   bool update_counter_generic(int64_t v, int cnt_size);
 };
 

opendbc/can/common.pxd

@@ -52,7 +52,6 @@ cdef extern from "common_dbc.h":
   cdef struct SignalParseOptions:
     uint32_t address
     const char* name
-    double default_value
 
 
   cdef struct MessageParseOptions:
@@ -61,12 +60,12 @@ cdef extern from "common_dbc.h":
 
   cdef struct SignalValue:
     uint32_t address
-    uint16_t ts
     const char* name
     double value
+    vector[double] all_values
 
   cdef struct SignalPackValue:
-    const char * name
+    string name
     double value
 
 

opendbc/can/common_dbc.h

@@ -8,14 +8,13 @@
 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
 
 struct SignalPackValue {
-  const char* name;
+  std::string name;
   double value;
 };
 
 struct SignalParseOptions {
   uint32_t address;
   const char* name;
-  double default_value;
 };
 
 struct MessageParseOptions {
@@ -25,9 +24,9 @@ struct MessageParseOptions {
 
 struct SignalValue {
   uint32_t address;
-  uint16_t ts;
   const char* name;
-  double value;
+  double value;  // latest value
+  std::vector<double> all_values;  // all values from this cycle
 };
 
 enum SignalType {

opendbc/can/dbc.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import re
 import os
 import struct
@@ -148,7 +149,7 @@ class dbc():
       ival = dd.get(s.name)
       if ival is not None:
 
-        ival = (ival / s.factor) - s.offset
+        ival = (ival - s.offset) / s.factor
         ival = int(round(ival))
 
         if s.is_signed and ival < 0:
@@ -254,23 +255,3 @@ class dbc():
   def get_signals(self, msg):
     msg = self.lookup_msg_id(msg)
     return [sgs.name for sgs in self.msgs[msg][1]]
-
-
-if __name__ == "__main__":
-   from opendbc import DBC_PATH
-
-   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
-   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x25, 0, encoded))
-   assert decoded == msg
-
-   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
-   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
-   assert abs(decoded[1]['SAS_Angle'] - (-26.2)) < 0.001
-
-   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x2b0, 0, encoded))
-
-   assert decoded == msg

opendbc/can/packer.cc

@@ -51,12 +51,11 @@ CANPacker::CANPacker(const std::string& dbc_name) {
 uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter) {
   uint64_t ret = 0;
   for (const auto& sigval : signals) {
-    std::string name = std::string(sigval.name);
     double value = sigval.value;
 
-    auto sig_it = signal_lookup.find(std::make_pair(address, name));
+    auto sig_it = signal_lookup.find(std::make_pair(address, sigval.name));
     if (sig_it == signal_lookup.end()) {
-      WARN("undefined signal %s - %d\n", name.c_str(), address);
+      WARN("undefined signal %s - %d\n", sigval.name.c_str(), address);
       continue;
     }
     const auto& sig = sig_it->second;

opendbc/can/packer_pyx.pyx

@@ -33,15 +33,11 @@ cdef class CANPacker:
 
   cdef uint64_t pack(self, addr, values, counter):
     cdef vector[SignalPackValue] values_thing
+    values_thing.reserve(len(values))
     cdef SignalPackValue spv
 
-    names = []
-
     for name, value in values.iteritems():
-      n = name.encode('utf8')
-      names.append(n) # TODO: find better way to keep reference to temp string around
-
-      spv.name = n
+      spv.name = name.encode('utf8')
       spv.value = value
       values_thing.push_back(spv)
 

opendbc/can/parser.cc

@@ -13,7 +13,7 @@
 // #define DEBUG printf
 #define INFO printf
 
-bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
+bool MessageState::parse(uint64_t sec, uint8_t * dat) {
   uint64_t dat_le = read_u64_le(dat);
   uint64_t dat_be = read_u64_be(dat);
 
@@ -83,8 +83,8 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
     }
 
     vals[i] = tmp * sig.factor + sig.offset;
+    all_vals[i].push_back(vals[i]);
   }
-  ts = ts_;
   seen = sec;
 
   return true;
@@ -148,6 +148,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
       if (sig->type != SignalType::DEFAULT) {
         state.parse_sigs.push_back(*sig);
         state.vals.push_back(0);
+        state.all_vals.push_back({});
       }
     }
 
@@ -160,7 +161,8 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
         if (strcmp(sig->name, sigop.name) == 0
             && sig->type == SignalType::DEFAULT) {
           state.parse_sigs.push_back(*sig);
-          state.vals.push_back(sigop.default_value);
+          state.vals.push_back(0);
+          state.all_vals.push_back({});
           break;
         }
       }
@@ -189,6 +191,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum
       const Signal *sig = &msg->sigs[j];
       state.parse_sigs.push_back(*sig);
       state.vals.push_back(0);
+      state.all_vals.push_back({});
     }
 
     message_states[state.address] = state;
@@ -210,7 +213,7 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
 
   last_sec = event.getLogMonoTime();
 
-  auto cans = sendcan? event.getSendcan() : event.getCan();
+  auto cans = sendcan ? event.getSendcan() : event.getCan();
   UpdateCans(last_sec, cans);
 
   UpdateValid(last_sec);
@@ -238,7 +241,7 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Rea
     uint8_t dat[8] = {0};
     memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
 
-    state_it->second.parse(sec, cmsg.getBusTime(), dat);
+    state_it->second.parse(sec, dat);
   }
 }
 #endif
@@ -262,7 +265,7 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cms
   if (dat.size() > 8) return; //shouldn't ever happen
   uint8_t data[8] = {0};
   memcpy(data, dat.begin(), dat.size());
-  state_it->second.parse(sec, cmsg.get("busTime").as<uint16_t>(), data);
+  state_it->second.parse(sec, data);
 }
 
 void CANParser::UpdateValid(uint64_t sec) {
@@ -283,18 +286,19 @@ void CANParser::UpdateValid(uint64_t sec) {
 std::vector<SignalValue> CANParser::query_latest() {
   std::vector<SignalValue> ret;
 
-  for (const auto& kv : message_states) {
-    const auto& state = kv.second;
+  for (auto& kv : message_states) {
+    auto& state = kv.second;
     if (last_sec != 0 && state.seen != last_sec) continue;
 
-    for (int i=0; i<state.parse_sigs.size(); i++) {
+    for (int i = 0; i < state.parse_sigs.size(); i++) {
       const Signal &sig = state.parse_sigs[i];
       ret.push_back((SignalValue){
         .address = state.address,
-        .ts = state.ts,
         .name = sig.name,
         .value = state.vals[i],
+        .all_values = state.all_vals[i],
       });
+      state.all_vals[i].clear();
     }
   }
 

opendbc/can/parser_pyx.pyx

@@ -5,8 +5,8 @@ from libcpp.string cimport string
 from libcpp.vector cimport vector
 from libcpp.unordered_set cimport unordered_set
 from libc.stdint cimport uint32_t, uint64_t, uint16_t
-from libcpp.map cimport map
 from libcpp cimport bool
+from libcpp.map cimport map
 
 from .common cimport CANParser as cpp_CANParser
 from .common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
@@ -17,6 +17,7 @@ from collections import defaultdict
 
 cdef int CAN_INVALID_CNT = 5
 
+
 cdef class CANParser:
   cdef:
     cpp_CANParser *can
@@ -24,13 +25,12 @@ cdef class CANParser:
     map[string, uint32_t] msg_name_to_address
     map[uint32_t, string] address_to_msg_name
     vector[SignalValue] can_values
-    bool test_mode_enabled
 
   cdef readonly:
-    string dbc_name
     dict vl
-    dict ts
+    dict vl_all
     bool can_valid
+    string dbc_name
     int can_invalid_cnt
 
   def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
@@ -38,14 +38,15 @@ cdef class CANParser:
       checks = []
     checks = []
     enforce_checks = False
-    self.can_valid = True
+
     self.dbc_name = dbc_name
     self.dbc = dbc_lookup(dbc_name)
     if not self.dbc:
       raise RuntimeError(f"Can't find DBC: {dbc_name}")
-    self.vl = {}
-    self.ts = {}
 
+    self.vl = {}
+    self.vl_all = {}
+    self.can_valid = False
     self.can_invalid_cnt = CAN_INVALID_CNT
 
     cdef int i
@@ -57,16 +58,16 @@ cdef class CANParser:
       self.msg_name_to_address[name] = msg.address
       self.address_to_msg_name[msg.address] = name
       self.vl[msg.address] = {}
-      self.vl[name] = {}
-      self.ts[msg.address] = {}
-      self.ts[name] = {}
+      self.vl[name] = self.vl[msg.address]
+      self.vl_all[msg.address] = defaultdict(list)
+      self.vl_all[name] = self.vl_all[msg.address]
 
     # Convert message names into addresses
     for i in range(len(signals)):
       s = signals[i]
       if not isinstance(s[1], numbers.Number):
         name = s[1].encode('utf8')
-        s = (s[0], self.msg_name_to_address[name], s[2])
+        s = (s[0], self.msg_name_to_address[name])
         signals[i] = s
 
     for i in range(len(checks)):
@@ -86,13 +87,12 @@ cdef class CANParser:
 
     cdef vector[SignalParseOptions] signal_options_v
     cdef SignalParseOptions spo
-    for sig_name, sig_address, sig_default in signals:
+    for sig_name, sig_address in signals:
       spo.address = sig_address
       spo.name = sig_name
-      spo.default_value = sig_default
       signal_options_v.push_back(spo)
 
-    message_options = dict((address, 0) for _, address, _ in signals)
+    message_options = dict((address, 0) for _, address in signals)
     message_options.update(dict(checks))
 
     cdef vector[MessageParseOptions] message_options_v
@@ -106,45 +106,41 @@ cdef class CANParser:
     self.update_vl()
 
   cdef unordered_set[uint32_t] update_vl(self):
-    cdef string sig_name
-    cdef unordered_set[uint32_t] updated_val
-
-    can_values = self.can.query_latest()
-    valid = self.can.can_valid
+    cdef unordered_set[uint32_t] updated_addrs
 
     # Update invalid flag
     self.can_invalid_cnt += 1
-    if valid:
-        self.can_invalid_cnt = 0
+    if self.can.can_valid:
+      self.can_invalid_cnt = 0
     self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
 
-    for cv in can_values:
+    new_vals = self.can.query_latest()
+    for cv in new_vals:
       # Cast char * directly to unicode
-      name = <unicode>self.address_to_msg_name[cv.address].c_str()
       cv_name = <unicode>cv.name
-
       self.vl[cv.address][cv_name] = cv.value
-      self.ts[cv.address][cv_name] = cv.ts
+      self.vl_all[cv.address][cv_name].extend(cv.all_values)
+      updated_addrs.insert(cv.address)
 
-      self.vl[name][cv_name] = cv.value
-      self.ts[name][cv_name] = cv.ts
-
-      updated_val.insert(cv.address)
-
-    return updated_val
+    return updated_addrs
 
   def update_string(self, dat, sendcan=False):
+    for v in self.vl_all.values():
+      v.clear()
+
     self.can.update_string(dat, sendcan)
     return self.update_vl()
 
   def update_strings(self, strings, sendcan=False):
-    updated_vals = set()
+    for v in self.vl_all.values():
+      v.clear()
 
+    updated_addrs = set()
     for s in strings:
-      updated_val = self.update_string(s, sendcan)
-      updated_vals.update(updated_val)
+      self.can.update_string(s, sendcan)
+      updated_addrs.update(self.update_vl())
+    return updated_addrs
 
-    return updated_vals
 
 cdef class CANDefine():
   cdef:
@@ -177,21 +173,17 @@ cdef class CANDefine():
       val = self.dbc[0].vals[i]
 
       sgname = val.name.decode('utf8')
-      address = val.address
       def_val = val.def_val.decode('utf8')
+      address = val.address
+      msgname = address_to_msg_name[address]
 
-      #separate definition/value pairs
+      # separate definition/value pairs
       def_val = def_val.split()
       values = [int(v) for v in def_val[::2]]
       defs = def_val[1::2]
 
-      if address not in dv:
-        dv[address] = {}
-        msgname = address_to_msg_name[address]
-        dv[msgname] = {}
-
       # two ways to lookup: address or msg name
       dv[address][sgname] = dict(zip(values, defs))
       dv[msgname][sgname] = dv[address][sgname]
 
-      self.dv = dict(dv)
+    self.dv = dict(dv)

opendbc/can/process_dbc.py

@@ -54,7 +54,7 @@ def process(in_fn, out_fn):
     checksum_start_bit = 0
     counter_start_bit = None
     little_endian = True
-  elif can_dbc.name.startswith(("chrysler_")):
+  elif can_dbc.name.startswith(("chrysler_", "stellantis_")):
     checksum_type = "chrysler"
     checksum_size = 8
     counter_size = None

opendbc/gm_global_a_powertrain_generated.dbc

@@ -1,3 +1,25 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.125677,-75.909) [0|1] "" NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.251976,-76.601) [0|1] "" NEO
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "gm_global_a_powertrain.dbc starts here";
+
 VERSION ""
 
 
@@ -67,13 +89,18 @@ BO_ 190 ECMAcceleratorPos: 6 K20_ECM
 
 BO_ 201 ECMEngineStatus: 8 K20_ECM
  SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
- SG_ EngineRPM : 13|14@0+ (0.25,0) [0|0] "RPM" NEO
+ SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO
  SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
  SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
  SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
 
-BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
- SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] ""  NEO
+BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
+ SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX
+ SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX
+ SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX
+ SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX
 
 BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
  SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] ""  NEO
@@ -142,6 +169,17 @@ BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
  SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
  SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
 
+BO_ 352 VehicleIgnition: 5 XXX
+ SG_ Ignition : 7|32@0+ (1,0) [0|4294967295] "" XXX
+
+BO_ 497 VehicleIgnitionAlt: 8 XXX
+ SG_ Ignition : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 501 ECMPRDNL2: 8 K20_ECM
+ SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
+ SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
+ SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
+
 BO_ 560 EPBStatus: 8 EPB
  SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO
 
@@ -162,8 +200,20 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 
+BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
+ SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] ""  NEO
+
+BO_ 800 AEBCmd: 6 K124_ASCM
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
+ SG_ Checksum : 27|20@0+ (1,0) [0|2047] "" NEO
+ SG_ BrakeCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
+ SG_ BrakingForce : 2|7@0+ (1,0) [0|7] "" NEO
+
 BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
- SG_ GPSLongitude : 39|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
+ SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond"  NEO
  SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
 
 BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
@@ -213,6 +263,8 @@ BO_TX_BU_ 384 : K124_ASCM,NEO;
 BO_TX_BU_ 880 : NEO,K124_ASCM;
 BO_TX_BU_ 1033 : K124_ASCM,NEO;
 BO_TX_BU_ 715 : NEO,K124_ASCM;
+BO_TX_BU_ 789 : NEO,K124_ASCM;
+BO_TX_BU_ 800 : NEO,K124_ASCM;
 
 
 CM_ BU_ K16_BECM "Battery Energy Control Module";
@@ -226,7 +278,10 @@ CM_ BU_ NEO "Comma NEO";
 CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
 CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
+CM_ SG_ 352 Ignition "Non-zero when ignition is on";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
+CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
+CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
 BA_DEF_  "UseGMParameterIDs" INT 0 0;
 BA_DEF_  "ProtocolType" STRING ;
 BA_DEF_  "BusType" STRING ;
@@ -257,3 +312,6 @@ VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
 VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
 VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
 VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;
+VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting";
+VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged";
+VAL_ 501 ManualMode 1 "Active" 0 "Inactive"

opendbc/honda_accord_2018_can_generated.dbc

@@ -1,42 +1,154 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
+CM_ "Imported file _honda_common.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_ 316 GAS_PEDAL: 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_ 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_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 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_ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
 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
@@ -67,37 +179,6 @@ BO_ 232 BRAKE_HOLD: 7 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
@@ -107,34 +188,12 @@ BO_ 399 STEER_STATUS: 7 EPS
  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
@@ -150,12 +209,6 @@ BO_ 479 ACC_CONTROL: 8 EON
  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
@@ -260,22 +313,11 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  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_ 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_ 777 CAR_SPEED: 8 PCM
  SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
@@ -285,6 +327,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  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
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -310,11 +353,6 @@ BO_ 780 ACC_HUD: 8 ADAS
  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
@@ -324,27 +362,6 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  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
@@ -353,23 +370,6 @@ BO_ 862 CAMERA_MESSAGES: 8 CAM
  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
-
 BO_ 13274 LKAS_HUD_A: 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
@@ -412,6 +412,8 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
 
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
 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";
@@ -420,24 +422,21 @@ CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, i
 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" ;
+
+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_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
+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_ 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
@@ -447,7 +446,14 @@ BO_ 401 GEARBOX_15T: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 419 GEARBOX: 8 XXX
+ SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 32|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_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
  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
@@ -458,9 +464,20 @@ BO_ 446 BRAKE_MODULE: 3 VSA
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
 
+BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS
+ SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON
+
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
  SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
  SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
  SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
@@ -478,14 +495,11 @@ 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" ;
-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";
+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_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P";
+VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "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";

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -1,42 +1,154 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
+CM_ "Imported file _honda_common.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_ 316 GAS_PEDAL: 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_ 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_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 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_ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
 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
@@ -67,37 +179,6 @@ BO_ 232 BRAKE_HOLD: 7 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
@@ -107,34 +188,12 @@ BO_ 399 STEER_STATUS: 7 EPS
  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
@@ -150,12 +209,6 @@ BO_ 479 ACC_CONTROL: 8 EON
  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
@@ -260,22 +313,11 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  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_ 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_ 777 CAR_SPEED: 8 PCM
  SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
@@ -285,6 +327,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  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
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -310,11 +353,6 @@ BO_ 780 ACC_HUD: 8 ADAS
  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
@@ -324,27 +362,6 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  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
@@ -353,23 +370,6 @@ BO_ 862 CAMERA_MESSAGES: 8 CAM
  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
-
 BO_ 13274 LKAS_HUD_A: 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
@@ -412,6 +412,8 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
 
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
 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";
@@ -420,15 +422,18 @@ CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, i
 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" ;
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
 
 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here";
 
-
-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
+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
 
@@ -473,22 +478,9 @@ BO_ 927 RADAR_HUD: 8 RADAR
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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
-
 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" ;
 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";

opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc

@@ -1,487 +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
-
-BO_ 13274 LKAS_HUD_A: 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_ SET_ME_X01 : 20|1@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_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 13275 LKAS_HUD_B: 8 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_ SET_ME_X01 : 20|1@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_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
-
-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_civic_sedan_16_diesel_2019_can.dbc starts here";
-
-
-BO_ 316 GAS_PEDAL_2: 8 XXX
- SG_ CAR_GAS : 39|8@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_ 419 GEARBOX: 8 XXX
- SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 32|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_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- 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_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS
- SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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
-
-VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P" ;
-VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "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";

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -19,41 +19,18 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 
-CM_ "Imported file _honda_2017.dbc starts here";
-VERSION ""
+CM_ "Imported file _honda_common.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
 
-
-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 ADAS PCM EPS VSA SCM BDY XXX EPB EON
+BO_ 316 GAS_PEDAL: 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_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
@@ -67,14 +44,14 @@ 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] "rpm" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" 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] "rpm" 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|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
@@ -93,14 +70,6 @@ BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- 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|3] "" EON
-
 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
@@ -109,10 +78,120 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
+CM_ "Imported file _honda_2017.dbc starts here";
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-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_ 148 KINEMATICS_ALT: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-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_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ 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|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
@@ -146,17 +225,6 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|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 LOCK_STATUS: 8 XXX
  SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
  SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
@@ -190,77 +258,22 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|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|3] "" EON
-
-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_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb";
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped";
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
 
 CM_ "honda_civic_touring_2016_can.dbc starts here";
 
-
-
-BO_ 148 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-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 ADAS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
@@ -269,13 +282,6 @@ BO_ 228 STEERING_CONTROL: 5 ADAS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
-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|3] "" EON
-
 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
@@ -310,12 +316,6 @@ BO_ 450 EPB_STATUS: 8 EPB
 BO_ 493 HUD_SETTING: 5 XXX
  SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
 
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-
 BO_ 545 ECON_STATUS: 6 XXX
  SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON
  SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
@@ -345,20 +345,6 @@ BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
  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_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
 BO_ 927 RADAR_HUD: 8 ADAS
  SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
  SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
@@ -378,7 +364,6 @@ BO_ 1302 ODOMETER: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
 CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
 
@@ -390,8 +375,4 @@ VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
-
-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";

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -1,42 +1,154 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
+CM_ "Imported file _honda_common.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_ 316 GAS_PEDAL: 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_ 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_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 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_ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
 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
@@ -67,37 +179,6 @@ BO_ 232 BRAKE_HOLD: 7 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
@@ -107,34 +188,12 @@ BO_ 399 STEER_STATUS: 7 EPS
  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
@@ -150,12 +209,6 @@ BO_ 479 ACC_CONTROL: 8 EON
  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
@@ -260,22 +313,11 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  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_ 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_ 777 CAR_SPEED: 8 PCM
  SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
@@ -285,6 +327,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  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
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -310,11 +353,6 @@ BO_ 780 ACC_HUD: 8 ADAS
  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
@@ -324,27 +362,6 @@ BO_ 806 SCM_FEEDBACK: 8 SCM
  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
@@ -353,23 +370,6 @@ BO_ 862 CAMERA_MESSAGES: 8 CAM
  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
-
 BO_ 13274 LKAS_HUD_A: 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
@@ -412,6 +412,8 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
 
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
 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";
@@ -420,18 +422,21 @@ CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, i
 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" ;
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal";
 
 CM_ "honda_crv_ex_2017_can.dbc starts here";
 
-
-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
+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_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
@@ -466,23 +471,11 @@ BO_ 927 RADAR_HUD: 8 RADAR
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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_ 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
 
-CM_ SG_ 344 DISTANCE_COUNTER "";
-CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
-CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
 CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
 CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
 
@@ -492,7 +485,3 @@ 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";

opendbc/honda_crv_executive_2016_can_generated.dbc

@@ -19,41 +19,18 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 
-CM_ "Imported file _honda_2017.dbc starts here";
-VERSION ""
+CM_ "Imported file _honda_common.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
 
-
-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 ADAS PCM EPS VSA SCM BDY XXX EPB EON
+BO_ 316 GAS_PEDAL: 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_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
@@ -67,14 +44,14 @@ 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] "rpm" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" 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] "rpm" 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|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
@@ -93,14 +70,6 @@ BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- 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|3] "" EON
-
 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
@@ -109,10 +78,120 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
+CM_ "Imported file _honda_2017.dbc starts here";
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-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_ 148 KINEMATICS_ALT: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-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_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ 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|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
@@ -146,17 +225,6 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|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 LOCK_STATUS: 8 XXX
  SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
  SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
@@ -190,71 +258,22 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|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|3] "" EON
-
-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_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb";
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped";
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
 
 CM_ "honda_crv_executive_2016_can.dbc starts here";
 
-
-
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
@@ -291,12 +310,6 @@ BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
-
 BO_ 660 SCM_FEEDBACK: 8 SCM
  SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
  SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
@@ -304,16 +317,8 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -285,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
  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
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 780 ACC_HUD: 8 ADAS
  SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
@@ -479,4 +480,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -19,41 +19,18 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 
-CM_ "Imported file _honda_2017.dbc starts here";
-VERSION ""
+CM_ "Imported file _honda_common.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
 
-
-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 ADAS PCM EPS VSA SCM BDY XXX EPB EON
+BO_ 316 GAS_PEDAL: 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_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
@@ -67,14 +44,14 @@ 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] "rpm" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" 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] "rpm" 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|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
@@ -93,14 +70,6 @@ BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- 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|3] "" EON
-
 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
@@ -109,10 +78,120 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
+CM_ "Imported file _honda_2017.dbc starts here";
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-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_ 148 KINEMATICS_ALT: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-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_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ 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|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
@@ -146,17 +225,6 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|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 LOCK_STATUS: 8 XXX
  SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
  SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
@@ -190,71 +258,22 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|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|3] "" EON
-
-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_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb";
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped";
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
 
 CM_ "honda_crv_touring_2016_can.dbc starts here";
 
-
-
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -291,12 +310,6 @@ BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
-
 BO_ 660 SCM_FEEDBACK: 8 SCM
  SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
  SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
@@ -304,12 +317,6 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 
 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" ;
@@ -318,6 +325,3 @@ VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -19,41 +19,18 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 
-CM_ "Imported file _honda_2017.dbc starts here";
-VERSION ""
+CM_ "Imported file _honda_common.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
 
-
-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 ADAS PCM EPS VSA SCM BDY XXX EPB EON
+BO_ 316 GAS_PEDAL: 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_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
@@ -67,14 +44,14 @@ 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] "rpm" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" 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] "rpm" 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|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
@@ -93,14 +70,6 @@ BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
  SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
 
-BO_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- 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|3] "" EON
-
 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
@@ -109,10 +78,120 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ 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_ 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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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_ 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_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|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
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
+CM_ "Imported file _honda_2017.dbc starts here";
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-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_ 148 KINEMATICS_ALT: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-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_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ 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|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
@@ -146,17 +225,6 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|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 LOCK_STATUS: 8 XXX
  SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
  SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
@@ -190,74 +258,22 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|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|3] "" EON
-
-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_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb";
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped";
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
 
 CM_ "honda_fit_ex_2018_can.dbc starts here";
 
-
-
-BO_ 145 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
-
 BO_ 228 STEERING_CONTROL: 5 ADAS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
@@ -266,13 +282,6 @@ BO_ 228 STEERING_CONTROL: 5 ADAS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
-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|3] "" EON
-
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -299,15 +308,10 @@ BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
  SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
  SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|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|3] "" EON
 
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-
 BO_ 660 SCM_FEEDBACK: 8 SCM
  SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
  SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
@@ -323,16 +327,7 @@ BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
  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_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
 
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
@@ -340,5 +335,3 @@ VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_hrv_touring_2019_can_generated.dbc

@@ -1,341 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-
-
-CM_ "Imported file _comma.dbc starts here";
-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-
-CM_ "Imported file _honda_2017.dbc starts here";
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB 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] "rpm" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
- 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_ 432 STANDSTILL: 7 VSA
- SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- 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|3] "" EON
-
-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_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-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_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
- SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
- SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
-
-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] "" EON
- SG_ SET_TO_X55_2 : 47|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_ 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 LOCK_STATUS: 8 XXX
- SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
- SG_ DOORS_LOCKED : 55|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|3] "" EON
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
- SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF_2 : 35|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_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" 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_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
- SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
-
-BO_ 804 CRUISE: 8 PCM
- SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
- SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
- SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
- SG_ BOH3 : 55|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|3] "" EON
-
-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_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|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|3] "" EON
-
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-
-
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "honda_hrv_touring_2019_can.dbc starts here";
-
-
-
-BO_ 145 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
- 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_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" 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|3] "" EON
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|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_ 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_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 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_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";