openpilot v0.2.2 release

DBC modified to match the Vector format

.gitignore

@@ -0,0 +1,21 @@
+.DS_Store
+.tags
+
+*.pyc
+.*.swp
+.*.swo
+.*.un~
+*.o
+*.d
+*.so
+*.a
+*.clb
+config.json
+clcache
+
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/sensord/sensord
+selfdrive/ui/ui
+

LICENSE.openpilot

@@ -1,4 +1,4 @@
-Copyright (c) 2016, comma.ai
+Copyright (c) 2016, Comma.ai, Inc.
 
 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:
 

RELEASES.md

@@ -1,3 +1,15 @@
+Version 0.2.2  (2017-01-10)
+===========================
+  * Board triggers started signal on CAN messages
+  * Improved autoexposure
+  * Handle out of space, improve upload status
+
+Version 0.2.1  (2016-12-14)
+===========================
+  * Performance improvements, removal of more numpy
+  * Fix boardd process priority
+  * Make counter timer reset on use of steering wheel
+
 Version 0.2  (2016-12-12)
 =========================
   * Car/Radar abstraction layers have shipped, see cereal/car.capnp

board/main.c

@@ -25,7 +25,12 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 
 // debug safety check: is controls allowed?
 int controls_allowed = 0;
+int started = 0;
+int can_live = 0, pending_can_live = 0;
+
+// optional features
 int gas_interceptor_detected = 0;
+int started_signal_detected = 0;
 
 // ********************* instantiate queues *********************
 
@@ -147,6 +152,9 @@ void CAN2_TX_IRQHandler() {
 // CAN receive handlers
 void can_rx(CAN_TypeDef *CAN, int can_number) {
   while (CAN->RF0R & CAN_RF0R_FMP0) {
+    // can is live
+    pending_can_live = 1;
+
     // add to my fifo
     CAN_FIFOMailBox_TypeDef to_push;
     to_push.RIR = CAN->sFIFOMailBox[0].RIR;
@@ -256,6 +264,7 @@ int get_health_pkt(void *dat) {
     uint8_t started;
     uint8_t controls_allowed;
     uint8_t gas_interceptor_detected;
+    uint8_t started_signal_detected;
   } *health = dat;
   health->voltage = adc_get(ADCCHAN_VOLTAGE);
 #ifdef ENABLE_CURRENT_SENSOR
@@ -263,9 +272,12 @@ int get_health_pkt(void *dat) {
 #else
   health->current = 0;
 #endif
-  health->started = (GPIOC->IDR & (1 << 13)) != 0;
+  health->started = started;
+
   health->controls_allowed = controls_allowed;
+
   health->gas_interceptor_detected = gas_interceptor_detected;
+  health->started_signal_detected = started_signal_detected;
   return sizeof(*health);
 }
 
@@ -468,6 +480,9 @@ int main() {
 
   // LED should keep on blinking all the time
   while (1) {
+    can_live = pending_can_live;
+    pending_can_live = 0;
+
     #ifdef DEBUG
       puts("** blink ");
       puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
@@ -489,14 +504,21 @@ int main() {
     GPIOB->ODR &= ~(1 << 10);
     delay(1000000);
 
-    if (GPIOC->IDR & (1 << 13)) {
+    // started logic
+    int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
+    if (started_signal) { started_signal_detected = 1; }
+
+    if (started_signal || (!started_signal_detected && can_live)) {
+      started = 1;
+
       // turn on fan at half speed
       set_fan_speed(32768);
     } else {
+      started = 0;
+
       // turn off fan
       set_fan_speed(0);
     }
-
   }
 
   return 0;

cereal/gen/c/log.capnp.c

@@ -235,12 +235,12 @@ void cereal_set_CanData(const struct cereal_CanData *s, cereal_CanData_list l, i
 
 cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment *s) {
 	cereal_ThermalData_ptr p;
-	p.p = capn_new_struct(s, 16, 0);
+	p.p = capn_new_struct(s, 24, 0);
 	return p;
 }
 cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment *s, int len) {
 	cereal_ThermalData_list p;
-	p.p = capn_new_list(s, len, 16, 0);
+	p.p = capn_new_list(s, len, 24, 0);
 	return p;
 }
 void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
@@ -252,6 +252,7 @@ void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_pt
 	s->mem = capn_read16(p.p, 8);
 	s->gpu = capn_read16(p.p, 10);
 	s->bat = capn_read32(p.p, 12);
+	s->freeSpace = capn_to_f32(capn_read32(p.p, 16));
 }
 void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
 	capn_resolve(&p.p);
@@ -262,6 +263,7 @@ void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_Thermal
 	capn_write16(p.p, 8, s->mem);
 	capn_write16(p.p, 10, s->gpu);
 	capn_write32(p.p, 12, s->bat);
+	capn_write32(p.p, 16, capn_from_f32(s->freeSpace));
 }
 void cereal_get_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_list l, int i) {
 	cereal_ThermalData_ptr p;
@@ -291,6 +293,7 @@ void cereal_read_HealthData(struct cereal_HealthData *s, cereal_HealthData_ptr p
 	s->started = (capn_read8(p.p, 8) & 1) != 0;
 	s->controlsAllowed = (capn_read8(p.p, 8) & 2) != 0;
 	s->gasInterceptorDetected = (capn_read8(p.p, 8) & 4) != 0;
+	s->startedSignalDetected = (capn_read8(p.p, 8) & 8) != 0;
 }
 void cereal_write_HealthData(const struct cereal_HealthData *s, cereal_HealthData_ptr p) {
 	capn_resolve(&p.p);
@@ -299,6 +302,7 @@ void cereal_write_HealthData(const struct cereal_HealthData *s, cereal_HealthDat
 	capn_write1(p.p, 64, s->started != 0);
 	capn_write1(p.p, 65, s->controlsAllowed != 0);
 	capn_write1(p.p, 66, s->gasInterceptorDetected != 0);
+	capn_write1(p.p, 67, s->startedSignalDetected != 0);
 }
 void cereal_get_HealthData(struct cereal_HealthData *s, cereal_HealthData_list l, int i) {
 	cereal_HealthData_ptr p;
@@ -361,11 +365,11 @@ void cereal_read_Live20Data(struct cereal_Live20Data *s, cereal_Live20Data_ptr p
 	s->canMonoTimes.p = capn_getp(p.p, 3, 0);
 	s->mdMonoTime = capn_read64(p.p, 16);
 	s->ftMonoTime = capn_read64(p.p, 24);
-	s->warpMatrix.p = capn_getp(p.p, 0, 0);
+	s->warpMatrixDEPRECATED.p = capn_getp(p.p, 0, 0);
-	s->angleOffset = capn_to_f32(capn_read32(p.p, 0));
+	s->angleOffsetDEPRECATED = capn_to_f32(capn_read32(p.p, 0));
-	s->calStatus = (int8_t) ((int8_t)capn_read8(p.p, 4));
+	s->calStatusDEPRECATED = (int8_t) ((int8_t)capn_read8(p.p, 4));
-	s->calCycle = (int32_t) ((int32_t)capn_read32(p.p, 12));
+	s->calCycleDEPRECATED = (int32_t) ((int32_t)capn_read32(p.p, 12));
-	s->calPerc = (int8_t) ((int8_t)capn_read8(p.p, 5));
+	s->calPercDEPRECATED = (int8_t) ((int8_t)capn_read8(p.p, 5));
 	s->leadOne.p = capn_getp(p.p, 1, 0);
 	s->leadTwo.p = capn_getp(p.p, 2, 0);
 	s->cumLagMs = capn_to_f32(capn_read32(p.p, 8));
@@ -375,11 +379,11 @@ void cereal_write_Live20Data(const struct cereal_Live20Data *s, cereal_Live20Dat
 	capn_setp(p.p, 3, s->canMonoTimes.p);
 	capn_write64(p.p, 16, s->mdMonoTime);
 	capn_write64(p.p, 24, s->ftMonoTime);
-	capn_setp(p.p, 0, s->warpMatrix.p);
+	capn_setp(p.p, 0, s->warpMatrixDEPRECATED.p);
-	capn_write32(p.p, 0, capn_from_f32(s->angleOffset));
+	capn_write32(p.p, 0, capn_from_f32(s->angleOffsetDEPRECATED));
-	capn_write8(p.p, 4, (uint8_t) (s->calStatus));
+	capn_write8(p.p, 4, (uint8_t) (s->calStatusDEPRECATED));
-	capn_write32(p.p, 12, (uint32_t) (s->calCycle));
+	capn_write32(p.p, 12, (uint32_t) (s->calCycleDEPRECATED));
-	capn_write8(p.p, 5, (uint8_t) (s->calPerc));
+	capn_write8(p.p, 5, (uint8_t) (s->calPercDEPRECATED));
 	capn_setp(p.p, 1, s->leadOne.p);
 	capn_setp(p.p, 2, s->leadTwo.p);
 	capn_write32(p.p, 8, capn_from_f32(s->cumLagMs));
@@ -545,7 +549,7 @@ void cereal_read_Live100Data(struct cereal_Live100Data *s, cereal_Live100Data_pt
 	s->l20MonoTime = capn_read64(p.p, 72);
 	s->mdMonoTime = capn_read64(p.p, 80);
 	s->vEgo = capn_to_f32(capn_read32(p.p, 0));
-	s->aEgo = capn_to_f32(capn_read32(p.p, 4));
+	s->aEgoDEPRECATED = capn_to_f32(capn_read32(p.p, 4));
 	s->vPid = capn_to_f32(capn_read32(p.p, 8));
 	s->vTargetLead = capn_to_f32(capn_read32(p.p, 12));
 	s->upAccelCmd = capn_to_f32(capn_read32(p.p, 16));
@@ -558,7 +562,7 @@ void cereal_read_Live100Data(struct cereal_Live100Data *s, cereal_Live100Data_pt
 	s->aTargetMax = capn_to_f32(capn_read32(p.p, 44));
 	s->jerkFactor = capn_to_f32(capn_read32(p.p, 48));
 	s->angleSteers = capn_to_f32(capn_read32(p.p, 52));
-	s->hudLead = (int32_t) ((int32_t)capn_read32(p.p, 56));
+	s->hudLeadDEPRECATED = (int32_t) ((int32_t)capn_read32(p.p, 56));
 	s->cumLagMs = capn_to_f32(capn_read32(p.p, 60));
 	s->enabled = (capn_read8(p.p, 88) & 1) != 0;
 	s->steerOverride = (capn_read8(p.p, 88) & 2) != 0;
@@ -575,7 +579,7 @@ void cereal_write_Live100Data(const struct cereal_Live100Data *s, cereal_Live100
 	capn_write64(p.p, 72, s->l20MonoTime);
 	capn_write64(p.p, 80, s->mdMonoTime);
 	capn_write32(p.p, 0, capn_from_f32(s->vEgo));
-	capn_write32(p.p, 4, capn_from_f32(s->aEgo));
+	capn_write32(p.p, 4, capn_from_f32(s->aEgoDEPRECATED));
 	capn_write32(p.p, 8, capn_from_f32(s->vPid));
 	capn_write32(p.p, 12, capn_from_f32(s->vTargetLead));
 	capn_write32(p.p, 16, capn_from_f32(s->upAccelCmd));
@@ -588,7 +592,7 @@ void cereal_write_Live100Data(const struct cereal_Live100Data *s, cereal_Live100
 	capn_write32(p.p, 44, capn_from_f32(s->aTargetMax));
 	capn_write32(p.p, 48, capn_from_f32(s->jerkFactor));
 	capn_write32(p.p, 52, capn_from_f32(s->angleSteers));
-	capn_write32(p.p, 56, (uint32_t) (s->hudLead));
+	capn_write32(p.p, 56, (uint32_t) (s->hudLeadDEPRECATED));
 	capn_write32(p.p, 60, capn_from_f32(s->cumLagMs));
 	capn_write1(p.p, 704, s->enabled != 0);
 	capn_write1(p.p, 705, s->steerOverride != 0);

cereal/gen/c/log.capnp.h

@@ -193,13 +193,14 @@ struct cereal_ThermalData {
 	uint16_t mem;
 	uint16_t gpu;
 	uint32_t bat;
+	float freeSpace;
 };
 
-static const size_t cereal_ThermalData_word_count = 2;
+static const size_t cereal_ThermalData_word_count = 3;
 
 static const size_t cereal_ThermalData_pointer_count = 0;
 
-static const size_t cereal_ThermalData_struct_bytes_count = 16;
+static const size_t cereal_ThermalData_struct_bytes_count = 24;
 
 struct cereal_HealthData {
 	uint32_t voltage;
@@ -207,6 +208,7 @@ struct cereal_HealthData {
 	unsigned started : 1;
 	unsigned controlsAllowed : 1;
 	unsigned gasInterceptorDetected : 1;
+	unsigned startedSignalDetected : 1;
 };
 
 static const size_t cereal_HealthData_word_count = 2;
@@ -232,11 +234,11 @@ struct cereal_Live20Data {
 	capn_list64 canMonoTimes;
 	uint64_t mdMonoTime;
 	uint64_t ftMonoTime;
-	capn_list32 warpMatrix;
+	capn_list32 warpMatrixDEPRECATED;
-	float angleOffset;
+	float angleOffsetDEPRECATED;
-	int8_t calStatus;
+	int8_t calStatusDEPRECATED;
-	int32_t calCycle;
+	int32_t calCycleDEPRECATED;
-	int8_t calPerc;
+	int8_t calPercDEPRECATED;
 	cereal_Live20Data_LeadData_ptr leadOne;
 	cereal_Live20Data_LeadData_ptr leadTwo;
 	float cumLagMs;
@@ -307,7 +309,7 @@ struct cereal_Live100Data {
 	uint64_t l20MonoTime;
 	uint64_t mdMonoTime;
 	float vEgo;
-	float aEgo;
+	float aEgoDEPRECATED;
 	float vPid;
 	float vTargetLead;
 	float upAccelCmd;
@@ -320,7 +322,7 @@ struct cereal_Live100Data {
 	float aTargetMax;
 	float jerkFactor;
 	float angleSteers;
-	int32_t hudLead;
+	int32_t hudLeadDEPRECATED;
 	float cumLagMs;
 	unsigned enabled : 1;
 	unsigned steerOverride : 1;

cereal/gen/cpp/log.capnp.c++

@@ -641,73 +641,80 @@ const ::capnp::_::RawSchema s_8785009a964c7c59 = {
   0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<122> b_8d8231a40b7fe6e0 = {
+static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     224, 230, 127,  11, 164,  49, 130, 141,
-     10,   0,   0,   0,   1,   0,   2,   0,
+     10,   0,   0,   0,   1,   0,   3,   0,
      91,  40, 164,  37, 126, 241, 177, 243,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 178,   0,   0,   0,
      29,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0, 143,   1,   0,   0,
+     25,   0,   0,   0, 199,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  84, 104, 101, 114, 109,  97,
     108,  68,  97, 116,  97,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     28,   0,   0,   0,   3,   0,   4,   0,
+     32,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    181,   0,   0,   0,  42,   0,   0,   0,
+    209,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    176,   0,   0,   0,   3,   0,   1,   0,
+    204,   0,   0,   0,   3,   0,   1,   0,
-    188,   0,   0,   0,   2,   0,   1,   0,
+    216,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    185,   0,   0,   0,  42,   0,   0,   0,
+    213,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    180,   0,   0,   0,   3,   0,   1,   0,
+    208,   0,   0,   0,   3,   0,   1,   0,
-    192,   0,   0,   0,   2,   0,   1,   0,
+    220,   0,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    189,   0,   0,   0,  42,   0,   0,   0,
+    217,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    184,   0,   0,   0,   3,   0,   1,   0,
+    212,   0,   0,   0,   3,   0,   1,   0,
-    196,   0,   0,   0,   2,   0,   1,   0,
+    224,   0,   0,   0,   2,   0,   1,   0,
       3,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    193,   0,   0,   0,  42,   0,   0,   0,
+    221,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    188,   0,   0,   0,   3,   0,   1,   0,
+    216,   0,   0,   0,   3,   0,   1,   0,
-    200,   0,   0,   0,   2,   0,   1,   0,
+    228,   0,   0,   0,   2,   0,   1,   0,
       4,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    197,   0,   0,   0,  34,   0,   0,   0,
+    225,   0,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    192,   0,   0,   0,   3,   0,   1,   0,
+    220,   0,   0,   0,   3,   0,   1,   0,
-    204,   0,   0,   0,   2,   0,   1,   0,
+    232,   0,   0,   0,   2,   0,   1,   0,
       5,   0,   0,   0,   5,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    201,   0,   0,   0,  34,   0,   0,   0,
+    229,   0,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    196,   0,   0,   0,   3,   0,   1,   0,
+    224,   0,   0,   0,   3,   0,   1,   0,
-    208,   0,   0,   0,   2,   0,   1,   0,
+    236,   0,   0,   0,   2,   0,   1,   0,
       6,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    205,   0,   0,   0,  34,   0,   0,   0,
+    233,   0,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    200,   0,   0,   0,   3,   0,   1,   0,
+    228,   0,   0,   0,   3,   0,   1,   0,
-    212,   0,   0,   0,   2,   0,   1,   0,
+    240,   0,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    237,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
      99, 112, 117,  48,   0,   0,   0,   0,
       7,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -762,19 +769,28 @@ static const ::capnp::_::AlignedData<122> b_8d8231a40b7fe6e0 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       8,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    102, 114, 101, 101,  83, 112,  97,  99,
+    101,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_8d8231a40b7fe6e0 = b_8d8231a40b7fe6e0.words;
 #if !CAPNP_LITE
-static const uint16_t m_8d8231a40b7fe6e0[] = {6, 0, 1, 2, 3, 5, 4};
+static const uint16_t m_8d8231a40b7fe6e0[] = {6, 0, 1, 2, 3, 7, 5, 4};
-static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6};
+static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7};
 const ::capnp::_::RawSchema s_8d8231a40b7fe6e0 = {
-  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 122, nullptr, m_8d8231a40b7fe6e0,
+  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 138, nullptr, m_8d8231a40b7fe6e0,
-  0, 7, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
+  0, 8, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<95> b_cfa2b0c2c82af1e4 = {
+static const ::capnp::_::AlignedData<112> b_cfa2b0c2c82af1e4 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     228, 241,  42, 200, 194, 176, 162, 207,
      10,   0,   0,   0,   1,   0,   2,   0,
@@ -784,49 +800,56 @@ static const ::capnp::_::AlignedData<95> b_cfa2b0c2c82af1e4 = {
      21,   0,   0,   0, 170,   0,   0,   0,
      29,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0,  31,   1,   0,   0,
+     25,   0,   0,   0,  87,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  72, 101,  97, 108, 116, 104,
      68,  97, 116,  97,   0,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     20,   0,   0,   0,   3,   0,   4,   0,
+     24,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    125,   0,   0,   0,  66,   0,   0,   0,
+    153,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    120,   0,   0,   0,   3,   0,   1,   0,
-    132,   0,   0,   0,   2,   0,   1,   0,
-      1,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   1,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    129,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    124,   0,   0,   0,   3,   0,   1,   0,
-    136,   0,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,  64,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    133,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    128,   0,   0,   0,   3,   0,   1,   0,
-    140,   0,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,  65,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    137,   0,   0,   0, 130,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    136,   0,   0,   0,   3,   0,   1,   0,
-    148,   0,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    145,   0,   0,   0, 186,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     148,   0,   0,   0,   3,   0,   1,   0,
     160,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    157,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    152,   0,   0,   0,   3,   0,   1,   0,
+    164,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,  64,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    161,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    156,   0,   0,   0,   3,   0,   1,   0,
+    168,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,  65,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    165,   0,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    164,   0,   0,   0,   3,   0,   1,   0,
+    176,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    173,   0,   0,   0, 186,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    176,   0,   0,   0,   3,   0,   1,   0,
+    188,   0,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,  67,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    185,   0,   0,   0, 178,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    188,   0,   0,   0,   3,   0,   1,   0,
+    200,   0,   0,   0,   2,   0,   1,   0,
     118, 111, 108, 116,  97, 103, 101,   0,
       8,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -863,6 +886,16 @@ static const ::capnp::_::AlignedData<95> b_cfa2b0c2c82af1e4 = {
     103,  97, 115,  73, 110, 116, 101, 114,
      99, 101, 112, 116, 111, 114,  68, 101,
     116, 101,  99, 116, 101, 100,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 116,  97, 114, 116, 101, 100,  83,
+    105, 103, 110,  97, 108,  68, 101, 116,
+    101,  99, 116, 101, 100,   0,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -873,11 +906,11 @@ static const ::capnp::_::AlignedData<95> b_cfa2b0c2c82af1e4 = {
 };
 ::capnp::word const* const bp_cfa2b0c2c82af1e4 = b_cfa2b0c2c82af1e4.words;
 #if !CAPNP_LITE
-static const uint16_t m_cfa2b0c2c82af1e4[] = {3, 1, 4, 2, 0};
+static const uint16_t m_cfa2b0c2c82af1e4[] = {3, 1, 4, 2, 5, 0};
-static const uint16_t i_cfa2b0c2c82af1e4[] = {0, 1, 2, 3, 4};
+static const uint16_t i_cfa2b0c2c82af1e4[] = {0, 1, 2, 3, 4, 5};
 const ::capnp::_::RawSchema s_cfa2b0c2c82af1e4 = {
-  0xcfa2b0c2c82af1e4, b_cfa2b0c2c82af1e4.words, 95, nullptr, m_cfa2b0c2c82af1e4,
+  0xcfa2b0c2c82af1e4, b_cfa2b0c2c82af1e4.words, 112, nullptr, m_cfa2b0c2c82af1e4,
-  0, 5, i_cfa2b0c2c82af1e4, nullptr, nullptr, { &s_cfa2b0c2c82af1e4, nullptr, nullptr, 0, 0, nullptr }
+  0, 6, i_cfa2b0c2c82af1e4, nullptr, nullptr, { &s_cfa2b0c2c82af1e4, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<81> b_c08240f996aefced = {
@@ -972,7 +1005,7 @@ const ::capnp::_::RawSchema s_c08240f996aefced = {
   0, 4, i_c08240f996aefced, nullptr, nullptr, { &s_c08240f996aefced, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
+static const ::capnp::_::AlignedData<208> b_9a185389d6fdd05f = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      95, 208, 253, 214, 137,  83,  24, 154,
      10,   0,   0,   0,   1,   0,   4,   0,
@@ -997,82 +1030,83 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       3,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     37,   1,   0,   0,  90,   0,   0,   0,
+     37,   1,   0,   0, 170,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     36,   1,   0,   0,   3,   0,   1,   0,
+     40,   1,   0,   0,   3,   0,   1,   0,
-     64,   1,   0,   0,   2,   0,   1,   0,
+     68,   1,   0,   0,   2,   0,   1,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     61,   1,   0,   0,  98,   0,   0,   0,
+     65,   1,   0,   0, 178,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     60,   1,   0,   0,   3,   0,   1,   0,
-     72,   1,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     69,   1,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      68,   1,   0,   0,   3,   0,   1,   0,
      80,   1,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     77,   1,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     80,   1,   0,   0,   3,   0,   1,   0,
+     92,   1,   0,   0,   2,   0,   1,   0,
       8,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     77,   1,   0,   0,  66,   0,   0,   0,
+     89,   1,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     72,   1,   0,   0,   3,   0,   1,   0,
-     84,   1,   0,   0,   2,   0,   1,   0,
-      9,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     81,   1,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     76,   1,   0,   0,   3,   0,   1,   0,
-     88,   1,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     85,   1,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      84,   1,   0,   0,   3,   0,   1,   0,
      96,   1,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     93,   1,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     88,   1,   0,   0,   3,   0,   1,   0,
+    100,   1,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97,   1,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     96,   1,   0,   0,   3,   0,   1,   0,
+    108,   1,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     93,   1,   0,   0,  90,   0,   0,   0,
+    105,   1,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     92,   1,   0,   0,   3,   0,   1,   0,
+    104,   1,   0,   0,   3,   0,   1,   0,
-    104,   1,   0,   0,   2,   0,   1,   0,
+    116,   1,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    101,   1,   0,   0,  90,   0,   0,   0,
+    113,   1,   0,   0,  90,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    100,   1,   0,   0,   3,   0,   1,   0,
-    112,   1,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    109,   1,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    108,   1,   0,   0,   3,   0,   1,   0,
-    120,   1,   0,   0,   2,   0,   1,   0,
-      7,   0,   0,   0,   5,   0,   0,   0,
-      0,   0,   1,   0,   9,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    117,   1,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     112,   1,   0,   0,   3,   0,   1,   0,
     124,   1,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    121,   1,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    124,   1,   0,   0,   3,   0,   1,   0,
+    136,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    133,   1,   0,   0, 146,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    136,   1,   0,   0,   3,   0,   1,   0,
+    148,   1,   0,   0,   2,   0,   1,   0,
       0,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,  10,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    121,   1,   0,   0, 106,   0,   0,   0,
+    145,   1,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    120,   1,   0,   0,   3,   0,   1,   0,
+    144,   1,   0,   0,   3,   0,   1,   0,
-    148,   1,   0,   0,   2,   0,   1,   0,
+    172,   1,   0,   0,   2,   0,   1,   0,
     119,  97, 114, 112,  77,  97, 116, 114,
-    105, 120,   0,   0,   0,   0,   0,   0,
+    105, 120,  68,  69,  80,  82,  69,  67,
+     65,  84,  69,  68,   0,   0,   0,   0,
      14,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1085,7 +1119,8 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      97, 110, 103, 108, 101,  79, 102, 102,
-    115, 101, 116,   0,   0,   0,   0,   0,
+    115, 101, 116,  68,  69,  80,  82,  69,
+     67,  65,  84,  69,  68,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1094,7 +1129,8 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99,  97, 108,  83, 116,  97, 116, 117,
-    115,   0,   0,   0,   0,   0,   0,   0,
+    115,  68,  69,  80,  82,  69,  67,  65,
+     84,  69,  68,   0,   0,   0,   0,   0,
       2,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1146,7 +1182,8 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99,  97, 108,  67, 121,  99, 108, 101,
-      0,   0,   0,   0,   0,   0,   0,   0,
+     68,  69,  80,  82,  69,  67,  65,  84,
+     69,  68,   0,   0,   0,   0,   0,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1154,7 +1191,9 @@ static const ::capnp::_::AlignedData<202> b_9a185389d6fdd05f = {
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     99,  97, 108,  80, 101, 114,  99,   0,
+     99,  97, 108,  80, 101, 114,  99,  68,
+     69,  80,  82,  69,  67,  65,  84,  69,
+     68,   0,   0,   0,   0,   0,   0,   0,
       2,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1184,7 +1223,7 @@ static const ::capnp::_::RawSchema* const d_9a185389d6fdd05f[] = {
 static const uint16_t m_9a185389d6fdd05f[] = {1, 8, 9, 2, 10, 5, 7, 3, 4, 6, 0};
 static const uint16_t i_9a185389d6fdd05f[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
 const ::capnp::_::RawSchema s_9a185389d6fdd05f = {
-  0x9a185389d6fdd05f, b_9a185389d6fdd05f.words, 202, d_9a185389d6fdd05f, m_9a185389d6fdd05f,
+  0x9a185389d6fdd05f, b_9a185389d6fdd05f.words, 208, d_9a185389d6fdd05f, m_9a185389d6fdd05f,
   1, 11, i_9a185389d6fdd05f, nullptr, nullptr, { &s_9a185389d6fdd05f, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
@@ -1675,7 +1714,7 @@ const ::capnp::_::RawSchema s_8faa644732dec251 = {
   0, 10, i_8faa644732dec251, nullptr, nullptr, { &s_8faa644732dec251, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
+static const ::capnp::_::AlignedData<446> b_97ff69c53601abf1 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     241, 171,   1,  54, 197, 105, 255, 151,
      10,   0,   0,   0,   1,   0,  13,   0,
@@ -1703,185 +1742,185 @@ static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
       5,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    233,   2,   0,   0,  42,   0,   0,   0,
+    233,   2,   0,   0, 122,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    228,   2,   0,   0,   3,   0,   1,   0,
-    240,   2,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    237,   2,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     232,   2,   0,   0,   3,   0,   1,   0,
     244,   2,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    241,   2,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    236,   2,   0,   0,   3,   0,   1,   0,
+    248,   2,   0,   0,   2,   0,   1,   0,
       7,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    241,   2,   0,   0,  98,   0,   0,   0,
+    245,   2,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    240,   2,   0,   0,   3,   0,   1,   0,
+    244,   2,   0,   0,   3,   0,   1,   0,
-    252,   2,   0,   0,   2,   0,   1,   0,
+      0,   3,   0,   0,   2,   0,   1,   0,
       8,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    249,   2,   0,   0,  90,   0,   0,   0,
+    253,   2,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    248,   2,   0,   0,   3,   0,   1,   0,
+    252,   2,   0,   0,   3,   0,   1,   0,
-      4,   3,   0,   0,   2,   0,   1,   0,
+      8,   3,   0,   0,   2,   0,   1,   0,
       9,   0,   0,   0,   5,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      1,   3,   0,   0,  90,   0,   0,   0,
+      5,   3,   0,   0,  90,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   3,   0,   0,   3,   0,   1,   0,
-     12,   3,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      9,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       4,   3,   0,   0,   3,   0,   1,   0,
      16,   3,   0,   0,   2,   0,   1,   0,
-     11,   0,   0,   0,   7,   0,   0,   0,
+     10,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     13,   3,   0,   0,  42,   0,   0,   0,
+     13,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       8,   3,   0,   0,   3,   0,   1,   0,
      20,   3,   0,   0,   2,   0,   1,   0,
-     12,   0,   0,   0,   8,   0,   0,   0,
+     11,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     17,   3,   0,   0,  66,   0,   0,   0,
+     17,   3,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      12,   3,   0,   0,   3,   0,   1,   0,
      24,   3,   0,   0,   2,   0,   1,   0,
-     13,   0,   0,   0,   9,   0,   0,   0,
+     12,   0,   0,   0,   8,   0,   0,   0,
-      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      16,   3,   0,   0,   3,   0,   1,   0,
      28,   3,   0,   0,   2,   0,   1,   0,
+     13,   0,   0,   0,   9,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     25,   3,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     20,   3,   0,   0,   3,   0,   1,   0,
+     32,   3,   0,   0,   2,   0,   1,   0,
      14,   0,   0,   0,  10,   0,   0,   0,
       0,   0,   1,   0,  10,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   3,   0,   0,  90,   0,   0,   0,
+     29,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     24,   3,   0,   0,   3,   0,   1,   0,
+     28,   3,   0,   0,   3,   0,   1,   0,
-     36,   3,   0,   0,   2,   0,   1,   0,
+     40,   3,   0,   0,   2,   0,   1,   0,
      15,   0,   0,   0,  11,   0,   0,   0,
       0,   0,   1,   0,  11,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     33,   3,   0,   0,  90,   0,   0,   0,
+     37,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     32,   3,   0,   0,   3,   0,   1,   0,
+     36,   3,   0,   0,   3,   0,   1,   0,
-     44,   3,   0,   0,   2,   0,   1,   0,
+     48,   3,   0,   0,   2,   0,   1,   0,
      16,   0,   0,   0,  12,   0,   0,   0,
       0,   0,   1,   0,  12,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     41,   3,   0,   0,  90,   0,   0,   0,
+     45,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     40,   3,   0,   0,   3,   0,   1,   0,
+     44,   3,   0,   0,   3,   0,   1,   0,
-     52,   3,   0,   0,   2,   0,   1,   0,
+     56,   3,   0,   0,   2,   0,   1,   0,
      17,   0,   0,   0,  13,   0,   0,   0,
       0,   0,   1,   0,  13,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     49,   3,   0,   0,  98,   0,   0,   0,
+     53,   3,   0,   0,  98,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     48,   3,   0,   0,   3,   0,   1,   0,
-     60,   3,   0,   0,   2,   0,   1,   0,
-     18,   0,   0,   0,  14,   0,   0,   0,
-      0,   0,   1,   0,  14,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     57,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      52,   3,   0,   0,   3,   0,   1,   0,
      64,   3,   0,   0,   2,   0,   1,   0,
+     18,   0,   0,   0,  14,   0,   0,   0,
+      0,   0,   1,   0,  14,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     61,   3,   0,   0, 146,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     64,   3,   0,   0,   3,   0,   1,   0,
+     76,   3,   0,   0,   2,   0,   1,   0,
      19,   0,   0,   0,  15,   0,   0,   0,
       0,   0,   1,   0,  15,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     61,   3,   0,   0,  74,   0,   0,   0,
+     73,   3,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     60,   3,   0,   0,   3,   0,   1,   0,
+     72,   3,   0,   0,   3,   0,   1,   0,
-     72,   3,   0,   0,   2,   0,   1,   0,
+     84,   3,   0,   0,   2,   0,   1,   0,
       0,   0,   0,   0,   8,   0,   0,   0,
       0,   0,   1,   0,  16,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     69,   3,   0,   0,  98,   0,   0,   0,
+     81,   3,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     68,   3,   0,   0,   3,   0,   1,   0,
+     80,   3,   0,   0,   3,   0,   1,   0,
-     80,   3,   0,   0,   2,   0,   1,   0,
+     92,   3,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   9,   0,   0,   0,
       0,   0,   1,   0,  17,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     77,   3,   0,   0,  98,   0,   0,   0,
+     89,   3,   0,   0,  98,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     76,   3,   0,   0,   3,   0,   1,   0,
-     88,   3,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,  10,   0,   0,   0,
-      0,   0,   1,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     85,   3,   0,   0,  90,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     84,   3,   0,   0,   3,   0,   1,   0,
-     96,   3,   0,   0,   2,   0,   1,   0,
-     20,   0,   0,   0, 192,   2,   0,   0,
-      0,   0,   1,   0,  19,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     93,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      88,   3,   0,   0,   3,   0,   1,   0,
     100,   3,   0,   0,   2,   0,   1,   0,
-     21,   0,   0,   0, 193,   2,   0,   0,
+      3,   0,   0,   0,  10,   0,   0,   0,
-      0,   0,   1,   0,  20,   0,   0,   0,
+      0,   0,   1,   0,  18,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     97,   3,   0,   0, 114,   0,   0,   0,
+     97,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      96,   3,   0,   0,   3,   0,   1,   0,
     108,   3,   0,   0,   2,   0,   1,   0,
+     20,   0,   0,   0, 192,   2,   0,   0,
+      0,   0,   1,   0,  19,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    105,   3,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100,   3,   0,   0,   3,   0,   1,   0,
+    112,   3,   0,   0,   2,   0,   1,   0,
+     21,   0,   0,   0, 193,   2,   0,   0,
+      0,   0,   1,   0,  20,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    109,   3,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,   3,   0,   0,   3,   0,   1,   0,
+    120,   3,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,  21,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    105,   3,   0,   0, 106,   0,   0,   0,
+    117,   3,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    104,   3,   0,   0,   3,   0,   1,   0,
+    116,   3,   0,   0,   3,   0,   1,   0,
-    132,   3,   0,   0,   2,   0,   1,   0,
+    144,   3,   0,   0,   2,   0,   1,   0,
      22,   0,   0,   0,  23,   0,   0,   0,
       0,   0,   1,   0,  22,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    129,   3,   0,   0,  66,   0,   0,   0,
+    141,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    124,   3,   0,   0,   3,   0,   1,   0,
+    136,   3,   0,   0,   3,   0,   1,   0,
-    136,   3,   0,   0,   2,   0,   1,   0,
+    148,   3,   0,   0,   2,   0,   1,   0,
      23,   0,   0,   0, 194,   2,   0,   0,
       0,   0,   1,   0,  23,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    133,   3,   0,   0,  98,   0,   0,   0,
+    145,   3,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    132,   3,   0,   0,   3,   0,   1,   0,
+    144,   3,   0,   0,   3,   0,   1,   0,
-    144,   3,   0,   0,   2,   0,   1,   0,
+    156,   3,   0,   0,   2,   0,   1,   0,
      24,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,  24,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    141,   3,   0,   0,  90,   0,   0,   0,
+    153,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    140,   3,   0,   0,   3,   0,   1,   0,
+    152,   3,   0,   0,   3,   0,   1,   0,
-    152,   3,   0,   0,   2,   0,   1,   0,
+    164,   3,   0,   0,   2,   0,   1,   0,
      25,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,  25,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    149,   3,   0,   0,  90,   0,   0,   0,
+    161,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    148,   3,   0,   0,   3,   0,   1,   0,
+    160,   3,   0,   0,   3,   0,   1,   0,
-    160,   3,   0,   0,   2,   0,   1,   0,
+    172,   3,   0,   0,   2,   0,   1,   0,
      26,   0,   0,   0,  24,   0,   0,   0,
       0,   0,   1,   0,  26,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    157,   3,   0,   0, 130,   0,   0,   0,
+    169,   3,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    156,   3,   0,   0,   3,   0,   1,   0,
+    168,   3,   0,   0,   3,   0,   1,   0,
-    168,   3,   0,   0,   2,   0,   1,   0,
+    180,   3,   0,   0,   2,   0,   1,   0,
     118,  69, 103, 111,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1890,7 +1929,8 @@ static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     97,  69, 103, 111,   0,   0,   0,   0,
+     97,  69, 103, 111,  68,  69,  80,  82,
+     69,  67,  65,  84,  69,  68,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -2001,7 +2041,9 @@ static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    104, 117, 100,  76, 101,  97, 100,   0,
+    104, 117, 100,  76, 101,  97, 100,  68,
+     69,  80,  82,  69,  67,  65,  84,  69,
+     68,   0,   0,   0,   0,   0,   0,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -2125,7 +2167,7 @@ static const ::capnp::_::AlignedData<443> b_97ff69c53601abf1 = {
 static const uint16_t m_97ff69c53601abf1[] = {1, 11, 10, 24, 25, 13, 26, 16, 21, 15, 19, 14, 12, 17, 18, 23, 20, 5, 9, 4, 8, 22, 0, 2, 3, 6, 7};
 static const uint16_t i_97ff69c53601abf1[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26};
 const ::capnp::_::RawSchema s_97ff69c53601abf1 = {
-  0x97ff69c53601abf1, b_97ff69c53601abf1.words, 443, nullptr, m_97ff69c53601abf1,
+  0x97ff69c53601abf1, b_97ff69c53601abf1.words, 446, nullptr, m_97ff69c53601abf1,
   0, 27, i_97ff69c53601abf1, nullptr, nullptr, { &s_97ff69c53601abf1, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE

cereal/gen/cpp/log.capnp.h

@@ -158,7 +158,7 @@ struct ThermalData {
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(8d8231a40b7fe6e0, 2, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(8d8231a40b7fe6e0, 3, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
     #endif  // !CAPNP_LITE
@@ -1109,6 +1109,8 @@ public:
 
   inline  ::uint32_t getBat() const;
 
+  inline float getFreeSpace() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1158,6 +1160,9 @@ public:
   inline  ::uint32_t getBat();
   inline void setBat( ::uint32_t value);
 
+  inline float getFreeSpace();
+  inline void setFreeSpace(float value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -1211,6 +1216,8 @@ public:
 
   inline bool getGasInterceptorDetected() const;
 
+  inline bool getStartedSignalDetected() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1254,6 +1261,9 @@ public:
   inline bool getGasInterceptorDetected();
   inline void setGasInterceptorDetected(bool value);
 
+  inline bool getStartedSignalDetected();
+  inline void setStartedSignalDetected(bool value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -1398,12 +1408,12 @@ public:
   }
 #endif  // !CAPNP_LITE
 
-  inline bool hasWarpMatrix() const;
+  inline bool hasWarpMatrixDEPRECATED() const;
-  inline  ::capnp::List<float>::Reader getWarpMatrix() const;
+  inline  ::capnp::List<float>::Reader getWarpMatrixDEPRECATED() const;
 
-  inline float getAngleOffset() const;
+  inline float getAngleOffsetDEPRECATED() const;
 
-  inline  ::int8_t getCalStatus() const;
+  inline  ::int8_t getCalStatusDEPRECATED() const;
 
   inline bool hasLeadOne() const;
   inline  ::cereal::Live20Data::LeadData::Reader getLeadOne() const;
@@ -1417,9 +1427,9 @@ public:
 
   inline  ::uint64_t getFtMonoTime() const;
 
-  inline  ::int32_t getCalCycle() const;
+  inline  ::int32_t getCalCycleDEPRECATED() const;
 
-  inline  ::int8_t getCalPerc() const;
+  inline  ::int8_t getCalPercDEPRECATED() const;
 
   inline bool hasCanMonoTimes() const;
   inline  ::capnp::List< ::uint64_t>::Reader getCanMonoTimes() const;
@@ -1452,19 +1462,19 @@ public:
   inline ::kj::StringTree toString() const { return asReader().toString(); }
 #endif  // !CAPNP_LITE
 
-  inline bool hasWarpMatrix();
+  inline bool hasWarpMatrixDEPRECATED();
-  inline  ::capnp::List<float>::Builder getWarpMatrix();
+  inline  ::capnp::List<float>::Builder getWarpMatrixDEPRECATED();
-  inline void setWarpMatrix( ::capnp::List<float>::Reader value);
+  inline void setWarpMatrixDEPRECATED( ::capnp::List<float>::Reader value);
-  inline void setWarpMatrix(::kj::ArrayPtr<const float> value);
+  inline void setWarpMatrixDEPRECATED(::kj::ArrayPtr<const float> value);
-  inline  ::capnp::List<float>::Builder initWarpMatrix(unsigned int size);
+  inline  ::capnp::List<float>::Builder initWarpMatrixDEPRECATED(unsigned int size);
-  inline void adoptWarpMatrix(::capnp::Orphan< ::capnp::List<float>>&& value);
+  inline void adoptWarpMatrixDEPRECATED(::capnp::Orphan< ::capnp::List<float>>&& value);
-  inline ::capnp::Orphan< ::capnp::List<float>> disownWarpMatrix();
+  inline ::capnp::Orphan< ::capnp::List<float>> disownWarpMatrixDEPRECATED();
 
-  inline float getAngleOffset();
+  inline float getAngleOffsetDEPRECATED();
-  inline void setAngleOffset(float value);
+  inline void setAngleOffsetDEPRECATED(float value);
 
-  inline  ::int8_t getCalStatus();
+  inline  ::int8_t getCalStatusDEPRECATED();
-  inline void setCalStatus( ::int8_t value);
+  inline void setCalStatusDEPRECATED( ::int8_t value);
 
   inline bool hasLeadOne();
   inline  ::cereal::Live20Data::LeadData::Builder getLeadOne();
@@ -1489,11 +1499,11 @@ public:
   inline  ::uint64_t getFtMonoTime();
   inline void setFtMonoTime( ::uint64_t value);
 
-  inline  ::int32_t getCalCycle();
+  inline  ::int32_t getCalCycleDEPRECATED();
-  inline void setCalCycle( ::int32_t value);
+  inline void setCalCycleDEPRECATED( ::int32_t value);
 
-  inline  ::int8_t getCalPerc();
+  inline  ::int8_t getCalPercDEPRECATED();
-  inline void setCalPerc( ::int8_t value);
+  inline void setCalPercDEPRECATED( ::int8_t value);
 
   inline bool hasCanMonoTimes();
   inline  ::capnp::List< ::uint64_t>::Builder getCanMonoTimes();
@@ -1899,7 +1909,7 @@ public:
 
   inline float getVEgo() const;
 
-  inline float getAEgo() const;
+  inline float getAEgoDEPRECATED() const;
 
   inline float getVPid() const;
 
@@ -1925,7 +1935,7 @@ public:
 
   inline float getAngleSteers() const;
 
-  inline  ::int32_t getHudLead() const;
+  inline  ::int32_t getHudLeadDEPRECATED() const;
 
   inline float getCumLagMs() const;
 
@@ -1985,8 +1995,8 @@ public:
   inline float getVEgo();
   inline void setVEgo(float value);
 
-  inline float getAEgo();
+  inline float getAEgoDEPRECATED();
-  inline void setAEgo(float value);
+  inline void setAEgoDEPRECATED(float value);
 
   inline float getVPid();
   inline void setVPid(float value);
@@ -2024,8 +2034,8 @@ public:
   inline float getAngleSteers();
   inline void setAngleSteers(float value);
 
-  inline  ::int32_t getHudLead();
+  inline  ::int32_t getHudLeadDEPRECATED();
-  inline void setHudLead( ::int32_t value);
+  inline void setHudLeadDEPRECATED( ::int32_t value);
 
   inline float getCumLagMs();
   inline void setCumLagMs(float value);
@@ -4106,6 +4116,20 @@ inline void ThermalData::Builder::setBat( ::uint32_t value) {
       3 * ::capnp::ELEMENTS, value);
 }
 
+inline float ThermalData::Reader::getFreeSpace() const {
+  return _reader.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+
+inline float ThermalData::Builder::getFreeSpace() {
+  return _builder.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+inline void ThermalData::Builder::setFreeSpace(float value) {
+  _builder.setDataField<float>(
+      4 * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint32_t HealthData::Reader::getVoltage() const {
   return _reader.getDataField< ::uint32_t>(
       0 * ::capnp::ELEMENTS);
@@ -4176,6 +4200,20 @@ inline void HealthData::Builder::setGasInterceptorDetected(bool value) {
       66 * ::capnp::ELEMENTS, value);
 }
 
+inline bool HealthData::Reader::getStartedSignalDetected() const {
+  return _reader.getDataField<bool>(
+      67 * ::capnp::ELEMENTS);
+}
+
+inline bool HealthData::Builder::getStartedSignalDetected() {
+  return _builder.getDataField<bool>(
+      67 * ::capnp::ELEMENTS);
+}
+inline void HealthData::Builder::setStartedSignalDetected(bool value) {
+  _builder.setDataField<bool>(
+      67 * ::capnp::ELEMENTS, value);
+}
+
 inline bool LiveUI::Reader::getRearViewCam() const {
   return _reader.getDataField<bool>(
       0 * ::capnp::ELEMENTS);
@@ -4268,66 +4306,66 @@ inline void LiveUI::Builder::setAwarenessStatus(float value) {
       1 * ::capnp::ELEMENTS, value);
 }
 
-inline bool Live20Data::Reader::hasWarpMatrix() const {
+inline bool Live20Data::Reader::hasWarpMatrixDEPRECATED() const {
   return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
 }
-inline bool Live20Data::Builder::hasWarpMatrix() {
+inline bool Live20Data::Builder::hasWarpMatrixDEPRECATED() {
   return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
 }
-inline  ::capnp::List<float>::Reader Live20Data::Reader::getWarpMatrix() const {
+inline  ::capnp::List<float>::Reader Live20Data::Reader::getWarpMatrixDEPRECATED() const {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::get(
       _reader.getPointerField(0 * ::capnp::POINTERS));
 }
-inline  ::capnp::List<float>::Builder Live20Data::Builder::getWarpMatrix() {
+inline  ::capnp::List<float>::Builder Live20Data::Builder::getWarpMatrixDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::get(
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
-inline void Live20Data::Builder::setWarpMatrix( ::capnp::List<float>::Reader value) {
+inline void Live20Data::Builder::setWarpMatrixDEPRECATED( ::capnp::List<float>::Reader value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float>>::set(
       _builder.getPointerField(0 * ::capnp::POINTERS), value);
 }
-inline void Live20Data::Builder::setWarpMatrix(::kj::ArrayPtr<const float> value) {
+inline void Live20Data::Builder::setWarpMatrixDEPRECATED(::kj::ArrayPtr<const float> value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float>>::set(
       _builder.getPointerField(0 * ::capnp::POINTERS), value);
 }
-inline  ::capnp::List<float>::Builder Live20Data::Builder::initWarpMatrix(unsigned int size) {
+inline  ::capnp::List<float>::Builder Live20Data::Builder::initWarpMatrixDEPRECATED(unsigned int size) {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::init(
       _builder.getPointerField(0 * ::capnp::POINTERS), size);
 }
-inline void Live20Data::Builder::adoptWarpMatrix(
+inline void Live20Data::Builder::adoptWarpMatrixDEPRECATED(
     ::capnp::Orphan< ::capnp::List<float>>&& value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float>>::adopt(
       _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::capnp::List<float>> Live20Data::Builder::disownWarpMatrix() {
+inline ::capnp::Orphan< ::capnp::List<float>> Live20Data::Builder::disownWarpMatrixDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::disown(
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
-inline float Live20Data::Reader::getAngleOffset() const {
+inline float Live20Data::Reader::getAngleOffsetDEPRECATED() const {
   return _reader.getDataField<float>(
       0 * ::capnp::ELEMENTS);
 }
 
-inline float Live20Data::Builder::getAngleOffset() {
+inline float Live20Data::Builder::getAngleOffsetDEPRECATED() {
   return _builder.getDataField<float>(
       0 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setAngleOffset(float value) {
+inline void Live20Data::Builder::setAngleOffsetDEPRECATED(float value) {
   _builder.setDataField<float>(
       0 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int8_t Live20Data::Reader::getCalStatus() const {
+inline  ::int8_t Live20Data::Reader::getCalStatusDEPRECATED() const {
   return _reader.getDataField< ::int8_t>(
       4 * ::capnp::ELEMENTS);
 }
 
-inline  ::int8_t Live20Data::Builder::getCalStatus() {
+inline  ::int8_t Live20Data::Builder::getCalStatusDEPRECATED() {
   return _builder.getDataField< ::int8_t>(
       4 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setCalStatus( ::int8_t value) {
+inline void Live20Data::Builder::setCalStatusDEPRECATED( ::int8_t value) {
   _builder.setDataField< ::int8_t>(
       4 * ::capnp::ELEMENTS, value);
 }
@@ -4448,30 +4486,30 @@ inline void Live20Data::Builder::setFtMonoTime( ::uint64_t value) {
       3 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int32_t Live20Data::Reader::getCalCycle() const {
+inline  ::int32_t Live20Data::Reader::getCalCycleDEPRECATED() const {
   return _reader.getDataField< ::int32_t>(
       3 * ::capnp::ELEMENTS);
 }
 
-inline  ::int32_t Live20Data::Builder::getCalCycle() {
+inline  ::int32_t Live20Data::Builder::getCalCycleDEPRECATED() {
   return _builder.getDataField< ::int32_t>(
       3 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setCalCycle( ::int32_t value) {
+inline void Live20Data::Builder::setCalCycleDEPRECATED( ::int32_t value) {
   _builder.setDataField< ::int32_t>(
       3 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int8_t Live20Data::Reader::getCalPerc() const {
+inline  ::int8_t Live20Data::Reader::getCalPercDEPRECATED() const {
   return _reader.getDataField< ::int8_t>(
       5 * ::capnp::ELEMENTS);
 }
 
-inline  ::int8_t Live20Data::Builder::getCalPerc() {
+inline  ::int8_t Live20Data::Builder::getCalPercDEPRECATED() {
   return _builder.getDataField< ::int8_t>(
       5 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setCalPerc( ::int8_t value) {
+inline void Live20Data::Builder::setCalPercDEPRECATED( ::int8_t value) {
   _builder.setDataField< ::int8_t>(
       5 * ::capnp::ELEMENTS, value);
 }
@@ -4912,16 +4950,16 @@ inline void Live100Data::Builder::setVEgo(float value) {
       0 * ::capnp::ELEMENTS, value);
 }
 
-inline float Live100Data::Reader::getAEgo() const {
+inline float Live100Data::Reader::getAEgoDEPRECATED() const {
   return _reader.getDataField<float>(
       1 * ::capnp::ELEMENTS);
 }
 
-inline float Live100Data::Builder::getAEgo() {
+inline float Live100Data::Builder::getAEgoDEPRECATED() {
   return _builder.getDataField<float>(
       1 * ::capnp::ELEMENTS);
 }
-inline void Live100Data::Builder::setAEgo(float value) {
+inline void Live100Data::Builder::setAEgoDEPRECATED(float value) {
   _builder.setDataField<float>(
       1 * ::capnp::ELEMENTS, value);
 }
@@ -5094,16 +5132,16 @@ inline void Live100Data::Builder::setAngleSteers(float value) {
       13 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int32_t Live100Data::Reader::getHudLead() const {
+inline  ::int32_t Live100Data::Reader::getHudLeadDEPRECATED() const {
   return _reader.getDataField< ::int32_t>(
       14 * ::capnp::ELEMENTS);
 }
 
-inline  ::int32_t Live100Data::Builder::getHudLead() {
+inline  ::int32_t Live100Data::Builder::getHudLeadDEPRECATED() {
   return _builder.getDataField< ::int32_t>(
       14 * ::capnp::ELEMENTS);
 }
-inline void Live100Data::Builder::setHudLead( ::int32_t value) {
+inline void Live100Data::Builder::setHudLeadDEPRECATED( ::int32_t value) {
   _builder.setDataField< ::int32_t>(
       14 * ::capnp::ELEMENTS, value);
 }

cereal/log.capnp

@@ -61,6 +61,9 @@ struct ThermalData {
   mem @4 :UInt16;
   gpu @5 :UInt16;
   bat @6 :UInt32;
+
+  # not thermal
+  freeSpace @7 :Float32;
 }
 
 struct HealthData {
@@ -70,6 +73,7 @@ struct HealthData {
   started @2 :Bool;
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
+  startedSignalDetected @5 :Bool;
 }
 
 struct LiveUI {

common/dbc.py

@@ -1,6 +1,7 @@
 import re
-from collections import namedtuple
 import bitstring
+from binascii import hexlify
+from collections import namedtuple
 
 def int_or_float(s):
   # return number, trying to maintain int format
@@ -148,8 +149,8 @@ class dbc(object):
     if debug:
       print name
 
-    blen = (len(x[2])/2)*8
+    blen = 8*len(x[2])
-    x2_int = int(x[2], 16)
+    x2_int = int(hexlify(x[2]), 16)
 
     for s in msg[1]:
       if arr is not None and s[0] not in arr:

common/numpy_fast.py

@@ -1,2 +1,25 @@
 def clip(x, lo, hi):
   return max(lo, min(hi, x))
+
+
+def interp(x, xp, fp):
+  N = len(xp)
+  if not hasattr(x, '__iter__'):
+    hi = 0
+    while hi < N and x > xp[hi]:
+      hi += 1
+    low = hi - 1
+    return fp[-1] if hi == N and x > xp[low] else (
+      fp[0] if hi == 0 else
+      (x - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+
+  result = []
+  for v in x:
+    hi = 0
+    while hi < N and v > xp[hi]:
+      hi += 1
+    low = hi - 1
+    result.append(fp[-1] if hi == N and v > xp[low] else (fp[
+      0] if hi == 0 else (v - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]
+                                                               ) + fp[low]))
+  return result

common/profiler.py

@@ -0,0 +1,26 @@
+from common.realtime import sec_since_boot
+
+class Profiler(object):
+  def __init__(self, enabled=False):
+    self.enabled = enabled
+    self.cp = []
+    self.start_time = sec_since_boot()
+    self.last_time = self.start_time
+
+  def checkpoint(self, name):
+    if not self.enabled:
+      return
+    tt = sec_since_boot()
+    self.cp.append((name, tt - self.last_time))
+    self.last_time = tt
+
+  def display(self):
+    if not self.enabled:
+      return
+    print "******* Profiling *******"
+    tot = 0.0
+    for n, ms in self.cp:
+      print "%30s: %7.2f" % (n, ms*1000.0)
+      tot += ms
+    print "    TOTAL: %7.2f" % (tot*1000.0)
+

common/realtime.py

@@ -28,7 +28,7 @@ if libc is not None:
   libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
 
 def clock_gettime(clk_id):
-  if platform.system() == "darwin":
+  if platform.system().lower() == "darwin":
     # TODO: fix this
     return time.time()
   else:
@@ -47,7 +47,7 @@ def sec_since_boot():
 
 def set_realtime_priority(level):
   if os.getuid() != 0:
-    print "not setting priority, not root"
+    print("not setting priority, not root")
     return
   if platform.machine() == "x86_64":
     NR_gettid = 186
@@ -80,15 +80,19 @@ class Ratekeeper(object):
 
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self):
-    self.monitor_time()
+    lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
+    return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate
   def monitor_time(self):
+    lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
     if remaining < -self._print_delay_threshold:
-      print self._process_name, "lagging by", round(-remaining * 1000, 2), "ms"
+      print(self._process_name, "lagging by", round(-remaining * 1000, 2), "ms")
+      lagged = True
     self._frame += 1
     self._remaining = remaining
+    return lagged

dbcs/acura_ilx_2016_can.dbc

@@ -15,7 +15,7 @@ NS_ :
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
+	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
@@ -33,263 +33,292 @@ NS_ :
 
 BS_:
 
-BO_ 0x039 XXX: 3 XXX
+BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX
-
-BO_ 0x091 XXX: 8 XXX
- SG_ LAT_ACCEL : 0|10@1+ (0.02,-512) [-20|20] "m/s2" Vector__XXX 
-
-BO_ 0x0E4 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 0|16@1- (1,0) [-3840|3840] "" Vector__XXX
- SG_ STEER_TORQUE_REQUEST : 16|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X00 : 17|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ SET_ME_X00 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x130 GAS_PEDAL2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 0|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
- SG_ ENGINE_TORQUE_REQUEST : 16|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
- SG_ CAR_GAS : 32|8@1+ (1,0) [0|255] "" Vector__XXX
-
-BO_ 0x13C GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- 
-BO_ 0x156 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX
- SG_ STEER_ANGLE_RATE : 16|16@1- (1,0) [-3000|3000] "deg/s" Vector__XXX
- SG_ COUNTER : 42|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 44|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x158 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_SPEED : 0|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX
- SG_ XMISSION_SPEED2 : 32|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x17C POWERTRAIN_DATA2: 8 PCM
- SG_ PEDAL_GAS : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX
- SG_ GAS_PRESSED : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_STATUS : 33|1@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BOH_17C : 34|5@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BRAKE_LIGHTS_ON : 39|1@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BOH2_17C : 40|10@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BRAKE_PRESSED : 50|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH3_17C : 51|5@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x18E XXX: 3 XXX
-
-BO_ 0x18F STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 0|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
- SG_ STEER_TORQUE_MOTOR : 16|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
- SG_ STEER_STATUS : 32|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ STEER_CONTROL_ACTIVE : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1A3 GEARBOX: 8 PCM
- SG_ GEAR : 0|8@1+ (1,0) [0|256] "" Vector__XXX
- SG_ GEAR_SHIFTER : 36|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1A4 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 0|16@1+ (0.015625,-103) [0|1000] "" Vector__XXX
- SG_ ESP_DISABLED : 27|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1A6 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 0|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ LIGHTS_SETTING : 6|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ MAIN_ON : 40|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_SETTING : 44|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1AC XXX: 8 XXX
-
-BO_ 0x1B0 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_1 : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_2 : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1D0 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 0|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_FR : 15|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_RL : 30|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ WHEEL_SPEED_RR : 45|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x1DC XXX: 4 XXX
-
-BO_ 0x1EA VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 16|16@1- (0.0015384,0) [-20|20] "m/s2" Vector__XXX
-
-BO_ 0x1FA BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 0|10@1+ (0.003906248,0) [0|1] "" Vector__XXX
- SG_ ZEROS_BOH : 10|5@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH2 : 16|3@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_OVERRIDE : 19|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH3 : 20|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_FAULT_CMD : 21|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_CANCEL_CMD : 22|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST_2 : 23|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH4 : 24|8@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_LIGHTS : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH5 : 33|7@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CHIME : 40|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ CRUISE_BOH6 : 43|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCW : 44|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CRUISE_BOH7 : 46|10@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x200 GAS_COMMAND: 3 ADAS
- SG_ GAS_COMMAND : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ COUNTER : 18|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 20|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x201 GAS_SENSOR: 5 ADAS
- SG_ INTERCEPTOR_GAS : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ INTERCEPTOR_GAS2 : 16|16@1+ (0.126992032,-656) [0|1] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x21E XXX: 7 XXX
-BO_ 0x221 XXX: 4 XXX
-
-BO_ 0x255 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 0|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_FR : 8|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_RL : 16|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ WHEEL_SPEED_RR : 24|8@1+ (1,0) [0|255] "mph" Vector__XXX
- SG_ SET_TO_X55 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ SET_TO_X55 : 40|8@1+ (1,0) [0|255] "" Vector__XXX
-
-BO_ 0x294 SCM_COMMANDS: 8 SCM
- SG_ RIGHT_BLINKER : 1|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LEFT_BLINKER : 2|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ WIPERS_SPEED : 3|2@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x305 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 0|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SEATBELT_DRIVER_LATCHED : 10|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x309 XXX: 8 XXX
-
-BO_ 0x30C ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 0|16@1+ (0.002763889,0) [0|100] "m/s" Vector__XXX
- SG_ PCM_GAS : 16|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ ZEROS_BOH : 23|1@1+ (1,0) [0|255] "" Vector__XXX
- SG_ CRUISE_SPEED : 24|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ DTC_MODE : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_PROBLEM : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_OFF : 35|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH_2 : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_PROBLEM : 37|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ RADAR_OBSTRUCTED : 38|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ENABLE_MINI_CAR : 39|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X03 : 40|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ HUD_LEAD : 42|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_3 : 44|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_4 : 45|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_5 : 46|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CRUISE_CONTROL_LABEL : 47|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ HUD_DISTANCE_3 : 51|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x320 XXX: 8 XXX
-
-BO_ 0x324 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ BOH : 8|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ TRIP_FUEL_CONSUMED : 16|16@1+ (1,0) [0|255] "" Vector__XXX
- SG_ CRUISE_SPEED_PCM : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ BOH2 : 40|8@1- (1,0) [0|255] "" Vector__XXX
- SG_ BOH3 : 48|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x328 XXX: 8 XXX
-BO_ 0x333 XXX: 7 XXX
-BO_ 0x335 XXX: 5 XXX
-
-BO_ 0x33D LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 0|1@1+ (1,0) [0|255] "" Vector__XXX
- SG_ BOH : 1|7@1+ (1,0) [0|127] "" Vector__XXX
- SG_ DASHED_LANES : 9|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DTC : 10|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LKAS_PROBLEM : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LKAS_OFF : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SOLID_LANES : 13|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_RIGHT : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ STEERING_REQUIRED : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 16|2@1+ (1,0) [0|4] "" Vector__XXX
- SG_ LDW_PROBLEM : 18|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BEEP : 22|2@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_ON : 27|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_OFF : 28|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CLEAN_WINDSHIELD : 29|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X48 : 24|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
 
 
-BO_ 0x372 XXX: 2 XXX
+BO_ 57 XXX_1: 3 XXX
 
-BO_ 0x374 XXX: 7 XXX
+BO_ 145 XXX_2: 8 XXX
-BO_ 0x377 XXX: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
-BO_ 0x378 XXX: 8 XXX
-BO_ 0x37C XXX: 8 XXX
-BO_ 0x39B XXX: 2 XXX
-BO_ 0x3A1 XXX: 4 XXX
-BO_ 0x3D7 XXX: 8 XXX
-BO_ 0x3D9 XXX: 3 XXX
-BO_ 0x400 XXX: 5 XXX
-BO_ 0x403 XXX: 5 XXX
 
-BO_ 0x405 DOORS_STATUS: 8 BDY
+BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ DOOR_OPEN_FL : 34|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] ""  EPS
- SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] ""  EPS
- SG_ DOOR_OPEN_RL : 32|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] ""  EPS
- SG_ DOOR_OPEN_RR : 47|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] ""  EPS
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  EPS
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  EPS
 
-BO_ 0x406 XXX: 5 VSA
+BO_ 304 GAS_PEDAL2: 8 PCM
-BO_ 0x40A XXX: 5 XXX
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
-BO_ 0x40C XXX: 8 XXX
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
-BO_ 0x40F XXX: 8 XXX
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
-BO_ 0x421 XXX: 5 EPS
-BO_ 0x428 XXX: 7 XXX
-BO_ 0x454 XXX: 8 XXX
-BO_ 0x555 XXX: 5 XXX
-BO_ 0x640 XXX: 5 XXX
-BO_ 0x641 XXX: 8 XXX
 
-VAL_ 0x1A6 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none";
+BO_ 316 GAS_PEDAL: 8 PCM
-VAL_ 0x1A6 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none";
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
-VAL_ 0x30C HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car";
+
-VAL_ 0x1A6 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights";
+BO_ 342 STEERING_SENSORS: 6 EPS
-VAL_ 0x18F STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal";
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
-VAL_ 0x1A3 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s"  NEO
-VAL_ 0x33D BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
-VAL_ 0x1FA CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
-VAL_ 0x1FA FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 398 XXX_3: 3 XXX
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] ""  NEO
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 428 XXX_4: 8 XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 476 XXX_5: 4 XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH3 : 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH4 : 31|8@0+ (1,0) [0|1] ""  EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH5 : 38|7@0+ (1,0) [0|1] ""  EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
+ SG_ CRUISE_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] ""  EBCM
+ SG_ CRUISE_BOH7 : 41|10@0+ (1,0) [0|0] ""  EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
+
+BO_ 512 GAS_COMMAND: 3 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 542 XXX_6: 7 XXX
+
+BO_ 545 XXX_7: 4 XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 660 SCM_COMMANDS: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] ""  NEO
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 777 XXX_8: 8 XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  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_ BOH_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_ SET_ME_X03 : 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_ HUD_DISTANCE_3 : 52|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|3] ""  BDY
+
+BO_ 800 XXX_9: 8 XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 808 XXX_10: 8 XXX
+
+BO_ 819 XXX_11: 7 XXX
+
+BO_ 821 XXX_12: 5 XXX
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  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|3] ""  BDY
+
+BO_ 882 XXX_13: 2 XXX
+
+BO_ 884 XXX_14: 7 XXX
+
+BO_ 887 XXX_15: 8 XXX
+
+BO_ 888 XXX_16: 8 XXX
+
+BO_ 892 XXX_17: 8 XXX
+
+BO_ 923 XXX_18: 2 XXX
+
+BO_ 929 XXX_19: 4 XXX
+
+BO_ 983 XXX_20: 8 XXX
+
+BO_ 985 XXX_21: 3 XXX
+
+BO_ 1024 XXX_22: 5 XXX
+
+BO_ 1027 XXX_23: 5 XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 1030 XXX_24: 5 VSA
+
+BO_ 1034 XXX_25: 5 XXX
+
+BO_ 1036 XXX_26: 8 XXX
+
+BO_ 1039 XXX_27: 8 XXX
+
+BO_ 1057 XXX_28: 5 EPS
+
+BO_ 1064 XXX_29: 7 XXX
+
+BO_ 1108 XXX_30: 8 XXX
+
+BO_ 1365 XXX_31: 5 XXX
+
+BO_ 1600 XXX_32: 5 XXX
+
+BO_ 1601 XXX_33: 8 XXX
+
+BO_TX_BU_ 228 : NEO,ADAS;
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+
+
+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 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 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_ 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_ SG_ 0x1A3 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 0x324 CRUISE_SPEED_ECHO "255 = no speed";
-CM_ SG_ 0x33D CRUISE_SPEED "255 = no speed";
-CM_ SG_ 0x1EA LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 0x33D BEEP "beeps are pleasant, chimes are for warnngs etc...";

dbcs/acura_ilx_2016_nidec.dbc

@@ -15,7 +15,7 @@ NS_ :
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
+	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
@@ -33,143 +33,151 @@ NS_ :
 
 BS_:
 
+BU_: ADAS RADAR NEO XXX
 
-BO_ 0x300 VEHICLE_STATE: 8 ADAS
- SG_ SET_ME_XF9 : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ VEHICLE_SPEED : 8|8@1+ (1,0) [0|255] "kph" Vector__XXX
 
-BO_ 0x301 VEHICLE_STATE2: 8 ADAS
+BO_ 768 VEHICLE_STATE: 8 ADAS
- SG_ SET_ME_0F18510 : 0|28@1+ (1,0) [0|268435455] "" Vector__XXX
+ SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ SET_ME_25A0000 : 28|28@1+ (1,0) [0|268435455] "" Vector__XXX
+ SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX
 
-BO_ 0x400 XXX: 8 RADAR
+BO_ 769 VEHICLE_STATE2: 8 ADAS
+ SG_ SET_ME_0F18510 : 7|28@0+ (1,0) [0|268435455] "" Vector__XXX
+ SG_ SET_ME_25A0000 : 27|28@0+ (1,0) [0|268435455] "" Vector__XXX
 
-BO_ 0x410 XXX: 8 RADAR
+BO_ 1024 XXX_100: 8 RADAR
 
-BO_ 0x411 XXX: 8 RADAR
+BO_ 1040 XXX_101: 8 RADAR
 
-BO_ 0x412 XXX: 8 RADAR
+BO_ 1041 XXX_102: 8 RADAR
 
-BO_ 0x413 XXX: 8 RADAR
+BO_ 1042 XXX_103: 8 RADAR
 
-BO_ 0x414 XXX: 8 RADAR
+BO_ 1043 XXX_104: 8 RADAR
 
-BO_ 0x415 XXX: 8 RADAR
+BO_ 1044 XXX_105: 8 RADAR
 
-BO_ 0x416 XXX: 8 RADAR
+BO_ 1045 XXX_106: 8 RADAR
 
-BO_ 0x417 XXX: 8 RADAR
+BO_ 1046 XXX_107: 8 RADAR
 
-BO_ 0x420 XXX: 8 RADAR
+BO_ 1047 XXX_108: 8 RADAR
 
-BO_ 0x421 XXX: 8 RADAR
+BO_ 1056 XXX_109: 8 RADAR
 
-BO_ 0x422 XXX: 8 RADAR
+BO_ 1057 XXX_110: 8 RADAR
 
-BO_ 0x423 XXX: 8 RADAR
+BO_ 1058 XXX_111: 8 RADAR
 
-BO_ 0x424 XXX: 8 RADAR
+BO_ 1059 XXX_112: 8 RADAR
 
-BO_ 0x430 TRACK_0: 8 RADAR
+BO_ 1060 XXX_113: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
 
-BO_ 0x431 TRACK_1: 8 RADAR
+BO_ 1072 TRACK_0: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x432 TRACK_2: 8 RADAR
+BO_ 1073 TRACK_1: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x433 TRACK_3: 8 RADAR
+BO_ 1074 TRACK_2: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x434 TRACK_4: 8 RADAR
+BO_ 1075 TRACK_3: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x435 TRACK_5: 8 RADAR
+BO_ 1076 TRACK_4: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x436 TRACK_6: 8 RADAR
+BO_ 1077 TRACK_5: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x437 TRACK_7: 8 RADAR
+BO_ 1078 TRACK_6: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x438 TRACK_8: 8 RADAR
+BO_ 1079 TRACK_7: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x439 TRACK_9: 8 RADAR
+BO_ 1080 TRACK_8: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x440 TRACK_10: 8 RADAR
+BO_ 1081 TRACK_9: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x441 TRACK_11: 8 RADAR
+BO_ 1088 TRACK_10: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x442 TRACK_12: 8 RADAR
+BO_ 1089 TRACK_11: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x443 TRACK_13: 8 RADAR
+BO_ 1090 TRACK_12: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x444 TRACK_14: 8 RADAR
+BO_ 1091 TRACK_13: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x445 TRACK_15: 8 RADAR
+BO_ 1092 TRACK_14: 8 RADAR
- SG_ LONG_DIST : 0|12@1+ (0.0625,0) [0|255.5] "m" Vector__XXX
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 12|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 14|10@1- (0.0625,0) [0|63.5] "m" Vector__XXX
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
 
-BO_ 0x4FF XXX: 8 RADAR
+BO_ 1093 TRACK_15: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1279 XXX_114: 8 RADAR
+
+BO_ 1280 XXX_115: 8 RADAR
+
+BO_ 1296 XXX_116: 8 RADAR
+
+BO_ 1297 XXX_117: 8 RADAR
+
+BO_TX_BU_ 768 : NEO,ADAS;
+BO_TX_BU_ 769 : NEO,ADAS;
 
-BO_ 0x500 XXX: 8 RADAR
 
-BO_ 0x510 XXX: 8 RADAR
 
-BO_ 0x511 XXX: 8 RADAR

dbcs/honda_civic_touring_2016_can.dbc

@@ -15,7 +15,7 @@ NS_ :
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
+	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
@@ -33,287 +33,311 @@ NS_ :
 
 BS_:
 
-BO_ 0x039 XXX: 3 XXX
+BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
 
-BO_ 0x94 XXX: 8 XXX
- SG_ LAT_ACCEL : 0|10@1+ (0.02,-512) [-20|20] "m/s2" Vector__XXX
- SG_ LONG_ACCEL : 31|9@1- (-0.02,0) [-20|20] "m/s2" Vector__XXX
 
-BO_ 0x0E4 STEERING_CONTROL: 5 ADAS
+BO_ 57 XXX_1: 3 XXX
- SG_ STEER_TORQUE : 0|16@1- (1,0) [-3840|3840] "" Vector__XXX
- SG_ STEER_TORQUE_REQUEST : 16|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X00 : 17|7@1+ (1,0) [0|127] "" Vector__XXX 
- SG_ SET_ME_X00_2 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ CHECKSUM : 32|4@1+ (1,0) [0|15] "" Vector__XXX
- SG_ COUNTER : 38|2@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x130 GAS_PEDAL2: 8 PCM
+BO_ 148 XXX_2: 8 XXX
- SG_ ENGINE_TORQUE_ESTIMATE : 0|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
- SG_ ENGINE_TORQUE_REQUEST : 16|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2"  NEO
- SG_ CAR_GAS : 32|8@1+ (1,0) [0|255] "" Vector__XXX
 
-BO_ 0x14A STEERING_SENSORS: 8 EPS                                  
+BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX   
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] ""  EPS
- SG_ STEER_ANGLE_RATE : 16|16@1- (-1,0) [-3000|3000] "deg/s" Vector__XXX  
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] ""  EPS
- SG_ STEER_ANGLE_OFFSET : 32|8@1- (-0.1,0) [-128|127] "deg" Vector__XXX
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] ""  EPS
- SG_ STEER_WHEEL_ANGLE : 40|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] ""  EPS
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] ""  EPS
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ COUNTER : 33|2@0+ (1,0) [0|3] ""  EPS
 
-BO_ 0x158 POWERTRAIN_DATA: 8 PCM
+BO_ 304 GAS_PEDAL2: 8 PCM
- SG_ XMISSION_SPEED : 0|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX      
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX            
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
- SG_ XMISSION_SPEED2 : 32|16@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x17C POWERTRAIN_DATA2: 8 PCM
+BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ PEDAL_GAS : 0|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s"  NEO
- SG_ GAS_PRESSED : 32|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg"  NEO
- SG_ ACC_STATUS : 33|1@1+ (1,0) [0|1] "rpm" Vector__XXX
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg"  NEO
- SG_ BOH_17C : 34|5@1+ (1,0) [0|1] "rpm" Vector__XXX          
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ BRAKE_LIGHTS_ON : 39|1@1+ (1,0) [0|1] "rpm" Vector__XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
- SG_ BOH2_17C : 40|10@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ BRAKE_PRESSED : 50|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH3_17C : 51|5@1+ (1,0) [0|1] "rpm" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x18F STEER_STATUS: 7 EPS
+BO_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ STEER_TORQUE_SENSOR : 0|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ STEER_TORQUE_MOTOR : 16|16@1- (1,0) [-31000|31000] "tbd" Vector__XXX
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ STEER_STATUS : 32|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ STEER_CONTROL_ACTIVE : 36|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x191 GEARBOX: 8 PCM                                     
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
- SG_ GEAR_SHIFTER : 2|6@1+ (1,0) [0|63] "" Vector__XXX
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ GEAR : 36|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x1A4 VSA_STATUS: 8 VSA
+BO_ 399 STEER_STATUS: 7 EPS
- SG_ USER_BRAKE : 0|16@1+ (0.015625,-103) [0|1000] "" Vector__XXX
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
- SG_ ESP_DISABLED : 27|1@1+ (1,0) [0|1] "" Vector__XXX          
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x1AB XXX: 3 VSA
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  NEO
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x1AC XXX: 8 XXX
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x1B0 STANDSTILL: 7 VSA
+BO_ 427 XXX_3: 3 VSA
- SG_ WHEELS_MOVING : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_1 : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_ERROR_2 : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x1C2 XXX: 8 EPB
+BO_ 428 XXX_4: 8 XXX
- SG_ EPB_ACTIVE : 4|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ EPB_STATE : 26|2@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x1D0 WHEEL_SPEEDS: 8 VSA
+BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEEL_SPEED_FL : 0|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
- SG_ WHEEL_SPEED_FR : 15|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ WHEEL_SPEED_RL : 30|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ WHEEL_SPEED_RR : 45|15@1+ (0.002759506,0) [0|70] "m/s" Vector__XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x1D6 XXX: 2 VSA
+BO_ 450 XXX_5: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x1DC XXX: 7 XXX
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x1E7 XXX: 4 VSA
+BO_ 470 XXX_6: 2 VSA
- SG_ BRAKE_PRESSURE1 : 0|10@1+ (0.015625,-103) [0|1000] "" Vector__XXX
- SG_ BRAKE_PRESSURE2 : 14|10@1+ (0.015625,-103) [0|1000] "" Vector__XXX
 
-BO_ 0x1EA VEHICLE_DYNAMICS: 8 VSA
+BO_ 476 XXX_7: 7 XXX
- SG_ LONG_ACCEL : 16|16@1- (0.0015384,0) [-20|20] "m/s2" Vector__XXX
 
-BO_ 0x1ED XXX: 5 VSA
+BO_ 487 XXX_8: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] ""  NEO
 
-BO_ 0x1FA BRAKE_COMMAND: 8 ADAS
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ COMPUTER_BRAKE : 0|10@1+ (0.003906248,0) [0|1.0] "" Vector__XXX
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
- SG_ ZEROS_BOH : 10|5@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH2 : 16|3@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_OVERRIDE : 19|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_BOH3 : 20|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_FAULT_CMD : 21|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_CANCEL_CMD : 22|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COMPUTER_BRAKE_REQUEST_2 : 23|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_0X80 : 24|8@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BRAKE_LIGHTS : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CRUISE_STATES : 33|7@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CHIME : 40|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ ZEROS_BOH6 : 43|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCW : 44|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ ZEROS_BOH3 : 45|2@1+ (1,0) [0|0] "" Vector__XXX
- SG_ FCW2 : 47|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ZEROS_BOH4 : 48|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x200 GAS_COMMAND: 3 ADAS
+BO_ 493 XXX_9: 5 VSA
- SG_ GAS_COMMAND : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
- SG_ COUNTER : 18|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 20|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x201 GAS_SENSOR: 5 ADAS
+BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ INTERCEPTOR_GAS : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
- SG_ INTERCEPTOR_GAS2 : 16|16@1+ (0.126992032,-656) [0|1] "" Vector__XXX
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH3 : 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] ""  EBCM
+ 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_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ FCW : 43|1@0+ (1,0) [0|3] ""  EBCM
+ SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] ""  EBCM
+ SG_ FCW2 : 40|1@0+ (1,0) [0|0] ""  EBCM
+ SG_ ZEROS_BOH4 : 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|3] ""  EBCM
 
-BO_ 0x221 XXX: 6 XXX
+BO_ 512 GAS_COMMAND: 3 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
 
-BO_ 0x255 ROUGH_WHEEL_SPEED: 8 VSA
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
- SG_ WHEEL_SPEED_FL : 0|8@1+ (1,0) [0|255] "mph" Vector__XXX
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
- SG_ WHEEL_SPEED_FR : 8|8@1+ (1,0) [0|255] "mph" Vector__XXX
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
- SG_ WHEEL_SPEED_RL : 16|8@1+ (1,0) [0|255] "mph" Vector__XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
- SG_ WHEEL_SPEED_RR : 24|8@1+ (1,0) [0|255] "mph" Vector__XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
- SG_ SET_TO_X55 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ SET_TO_X55 : 40|8@1+ (1,0) [0|255] "" Vector__XXX
 
-BO_ 0x296 CRUISE_BUTTONS: 4 SCM
+BO_ 545 XXX_10: 6 XXX
- SG_ CRUISE_BUTTONS : 0|3@1+ (1,0) [0|7] "" Vector__XXX
- SG_ CRUISE_SETTING : 4|2@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x305 SEATBELT_STATUS: 7 BDY
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ SEATBELT_DRIVER_LAMP : 0|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ SEATBELT_DRIVER_LATCHED : 10|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ COUNTER : 50|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
 
-BO_ 0x309 XXX: 8 XXX
+BO_ 662 CRUISE_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x30C ACC_HUD: 8 ADAS
+BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ PCM_SPEED : 0|16@1+ (0.002763889,0) [0|100] "m/s" Vector__XXX
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
- SG_ PCM_GAS : 16|7@1+ (1,0) [0|127] "" Vector__XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
- SG_ ZEROS_BOH : 23|1@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CRUISE_SPEED : 24|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
- SG_ DTC_MODE : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_PROBLEM : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_OFF : 35|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH_2 : 36|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ FCM_PROBLEM : 37|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ RADAR_OBSTRUCTED : 38|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ ENABLE_MINI_CAR : 39|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ HUD_DISTANCE : 40|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ HUD_LEAD : 42|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_3 : 44|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_4 : 45|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_5 : 46|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CRUISE_CONTROL_LABEL : 47|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x31B XXX: 8 XXX
+BO_ 777 XXX_11: 8 XXX
 
-BO_ 0x320 XXX: 8 XXX
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  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_ BOH_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_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
 
-BO_ 0x324 CRUISE: 8 PCM
+BO_ 795 XXX_12: 8 XXX
- SG_ ENGINE_TEMPERATURE : 0|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ BOH : 8|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ TRIP_FUEL_CONSUMED : 16|16@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ CRUISE_SPEED_PCM : 32|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ BOH2 : 40|8@1- (1,0) [0|255] "" Vector__XXX 
- SG_ BOH3 : 48|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x326 SCM_FEEDBACK: 8 SCM                  
+BO_ 800 XXX_13: 8 XXX
- SG_ CMBS_BUTTON : 17|2@1+ (1,0) [0|3] "" Vector__XXX 
- SG_ MAIN_ON : 27|1@1+ (1,0) [0|1] "" Vector__XXX 
- SG_ RIGHT_BLINKER : 28|1@1+ (1,0) [0|1] "" Vector__XXX 
- SG_ LEFT_BLINKER : 29|1@1+ (1,0) [0|1] "" Vector__XXX 
- 
 
-BO_ 0x328 XXX: 8 XXX
+BO_ 804 CRUISE: 8 PCM
+ SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
 
-BO_ 0x33D LKAS_HUD_2: 5 ADAS
+BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ CAM_TEMP_HIGH : 0|1@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] ""  NEO
- SG_ BOH : 1|7@1+ (1,0) [0|127] "" Vector__XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] ""  NEO
- SG_ DASHED_LANES : 9|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] ""  NEO
- SG_ DTC : 10|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] ""  NEO
- SG_ LKAS_PROBLEM : 11|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LKAS_OFF : 12|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SOLID_LANES : 13|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_RIGHT : 14|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ STEERING_REQUIRED : 15|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BOH : 16|2@1+ (1,0) [0|4] "" Vector__XXX
- SG_ LDW_PROBLEM : 18|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ BEEP : 22|2@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_ON : 27|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ LDW_OFF : 28|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ CLEAN_WINDSHIELD : 29|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ SET_ME_X48 : 24|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ COUNTER : 34|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 36|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x35E XXX: 8 ADAS
+BO_ 808 XXX_14: 8 XXX
- SG_ UI_ALERTS : 0|56@1+ (1,0) [0|127] "" Vector__XXX
 
-BO_ 0x374 XXX: 8 XXX
+BO_ 829 LKAS_HUD_2: 5 ADAS
-BO_ 0x37B XXX: 8 XXX
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
-BO_ 0x37C XXX: 8 XXX
+ 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|3] ""  BDY
 
-BO_ 0x39F XXX: 8 ADAS
+BO_ 862 XXX_15: 8 ADAS
- SG_ ZEROS_BOH : 0|17@1+ (1,0) [0|127] "" Vector__XXX
+ SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] ""  BDY
- SG_ APPLY_BRAKES_FOR_CANC : 16|1@1+ (1,0) [0|15] "" Vector__XXX
- SG_ ZEROS_BOH2 : 17|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ RESUME_INSTRUCTION : 18|1@1+ (1,0) [0|15] "" Vector__XXX
- SG_ ACC_ALERTS : 19|5@1+ (1,0) [0|15] "" Vector__XXX
- SG_ ZEROS_BOH2 : 24|8@1+ (1,0) [0|127] "" Vector__XXX
- SG_ LEAD_SPEED : 32|9@1+ (1,0) [0|127] "" Vector__XXX
- SG_ LEAD_STATE : 41|3@1+ (1,0) [0|127] "" Vector__XXX
- SG_ LEAD_DISTANCE : 44|5@1+ (1,0) [0|31] "" Vector__XXX
- SG_ ZEROS_BOH3 : 49|7@1+ (1,0) [0|127] "" Vector__XXX
 
-BO_ 0x3A1 XXX: 8 XXX
+BO_ 884 XXX_16: 8 XXX
-BO_ 0x3D9 XXX: 3 XXX
-BO_ 0x400 XXX: 5 XXX
-BO_ 0x403 XXX: 5 XXX
 
-BO_ 0x405 DOORS_STATUS: 8 BDY
+BO_ 891 XXX_17: 8 XXX
- SG_ DOOR_OPEN_FL : 34|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DOOR_OPEN_RL : 32|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ DOOR_OPEN_RR : 47|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
- SG_ CHECKSUM : 60|4@1+ (1,0) [0|3] "" Vector__XXX
 
-BO_ 0x40C XXX: 8 XXX
+BO_ 892 XXX_18: 8 XXX
-BO_ 0x40F XXX: 8 XXX
-BO_ 0x454 XXX: 8 XXX
-BO_ 0x516 XXX: 8 XXX
-BO_ 0x52A XXX: 5 XXX
-BO_ 0x551 XXX: 5 XXX
-BO_ 0x555 XXX: 5 XXX
-BO_ 0x590 XXX: 5 XXX
-BO_ 0x640 XXX: 5 XXX
-BO_ 0x641 XXX: 8 XXX
-BO_ 0x661 XXX: 8 XXX
 
-VAL_ 0x296 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none";
+BO_ 927 XXX_19: 8 ADAS
-VAL_ 0x296 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none";
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x33D HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] ""  BDY
-VAL_ 0x1A6 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights";
+ SG_ ZEROS_BOH2 : 22|1@0+ (1,0) [0|1] ""  BDY
-VAL_ 0x18F STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal";
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] ""  BDY
-VAL_ 0x191 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] ""  BDY
-VAL_ 0x33D BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x1FA CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x1C2 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged";
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x326 CMBS_BUTTON 3 "pressed" 0 "released";
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] ""  BDY
-VAL_ 0x39F 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";
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] ""  BDY
-VAL_ 0x30C CRUISE_SPEED 255 "no_speed" 252 "stopped";
+
+BO_ 929 XXX_20: 8 XXX
+
+BO_ 985 XXX_21: 3 XXX
+
+BO_ 1024 XXX_22: 5 XXX
+
+BO_ 1027 XXX_23: 5 XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 1036 XXX_24: 8 XXX
+
+BO_ 1039 XXX_25: 8 XXX
+
+BO_ 1108 XXX_26: 8 XXX
+
+BO_ 1302 XXX_27: 8 XXX
+
+BO_ 1322 XXX_28: 5 XXX
+
+BO_ 1361 XXX_29: 5 XXX
+
+BO_ 1365 XXX_30: 5 XXX
+
+BO_ 1424 XXX_31: 5 XXX
+
+BO_ 1600 XXX_32: 5 XXX
+
+BO_ 1601 XXX_33: 8 XXX
+
+BO_ 1633 XXX_34: 8 XXX
+
+BO_TX_BU_ 228 : NEO,ADAS;
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+BO_TX_BU_ 862 : NEO,ADAS;
+BO_TX_BU_ 927 : NEO,ADAS;
+
+
+CM_ SG_ 401 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 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+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_ 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_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+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_ SG_ 0x1A3 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 0x324 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 0x30C CRUISE_SPEED "255 = no speed";
-CM_ SG_ 0x1EA LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 0x33D BEEP "beeps are pleasant, chimes are for warnngs etc...";

installation/files/continue.sh

@@ -3,21 +3,18 @@
 # enable wifi access point for debugging only!
 #service call wifi 37 i32 0 i32 1 # WifiService.setWifiApEnabled(null, true)
 
-# use the openpilot ro key
-export GIT_SSH_COMMAND="ssh -i /data/data/com.termux/files/id_rsa_openpilot_ro"
-
 # check out the openpilot repo
 if [ ! -d /data/openpilot ]; then
   cd /tmp
-  git clone git@github.com:commaai/openpilot.git -b release
+  git clone https://github.com/commaai/openpilot.git -b release
   mv /tmp/openpilot /data/openpilot
 fi
 
 # enter openpilot directory
 cd /data/openpilot
 
-# removed automatic update from openpilot
+# automatic update
-#git pull
+git pull
 
 # start manager
 cd selfdrive

installation/files/id_rsa_openpilot_ro

@@ -1,27 +0,0 @@
------BEGIN RSA PRIVATE KEY-----
-MIIEpAIBAAKCAQEAy/ZlYE/iHHjhbSvCnBm5Zsq5GPpVugLXFHai/doqyfRxErop
-/g1TIRhzK3mkHRYRN7H0L9whogwoIVr5CldoxU49FDnNbVHNimScNrL4LprRWjq6
-dRmCVoxMpLHZTyX1jIkcHsMr7klcUnssyeQO2pWvZv0ZC67wM7G20r7+ZLdEa0Ck
-MBh8JYhDaZx2xvYtTnt6vKMmFVE5+zW/+wDVma3a4r9pG9s0+r0wCl8CUuJ+yDhR
-mzNkPJ5mJCMx99AI6k4Gq9Vsng8/35b6Azh3TucPaXOLK7yPnL3YBKUa0PpR7IRH
-+OKkVCH+LL7tcPFSqPPVy/pUTBdEUROjJdSHxwIDAQABAoIBAQCxBgUM56h3T89Q
-AoghFg6dkdu/Ox8GmAp231UuAJncuMUfHObvcj8xXVgwZp4zBIEjFte6ZlPmoqh9
-8sht2lm7zeEjWdvbQwGjWRlgPEs9n++OYaSNl/tRBOpMk3Ppxydst1/prznE0nVH
-vVKtU7w0qXAYchm30zj1lQv5s/12CTGmnpQatbo5X488RfCfv2zFX1h+lEWF8ycL
-eZRi8z6l8h2Y+JLyEwPCmR+gR6XtosZ/ECQcTknavqLqdr7NbYYfOo3JfHCUtpJa
-8s7m0VFhMuxFFCl1sV0eMzAynJYNVz45DyaKpr2b/2YAGY8fn96FxaWv1xw1xTkK
-c5+wStwJAoGBAOjQpLZ1qGa4GwXzeHoDsGFpGgY9ug6af0M23c8O42fJHAwYkk7r
-Qeo4SSBddoSfo3jdchFLo59+m3qyTKpjkph7NBBCEwaCvX3heStDIMZEWX0IOV5y
-iJD/D6EXSqFmXCUUaudX2OxlaHguA0yOEx9s/5uUJrvaIHbBAOpYyar1AoGBAOBG
-MJp+EA3e1Zx/VszD2Tdxn8V0DAwvy9WIEqZuG689S/Sk5GnA4m2L8Txv0xAHFvLv
-JpF7Zn9AoFXGpjf9P0FF53cpjEYn9f+uK84j1HOL/6R7Nj9rcS5yL2PCP1ZHymw6
-xOXl3oZa1YtYE6jfvXUaOb8Z7y8gaStP763sXmpLAoGBAM1WSBANUcvXES58gIPN
-ASHJGwTqKFF8/kV//L4EuZjuDWi1u0UTxX0Yy5ZaGI/8ZKfTWCnc9qFTfzoGTAvz
-6nXGJDM6s6EIaqy90qrPd/amje7y8/ZTOhP4ggZojpAvwZGKoocMOey1vCBTJOG+
-ZStQbVkAn/EK/5r9uxr12FiJAoGAH9UWlPcLpExamWnhkhLCRAJWoRoFk708+0Pj
-EchTGZ5jp4e3++KqwM26Ic/lb0LyWOzk1oVjWPB9UW9urEe/sK4RWnKFPHfzjKTW
-Bt5DC1t1n4z1eC7x05vVah1qC/8IljAJPnBQE1XVNX/82l1XcMWWKK+vqUq6YrFn
-3ZHNHN0CgYA3uUVWqW37vfJuk0MJBkQSqMo5Y5TPlCt4b1ebkdhlM4v/N+iuiPiC
-PBhjP1MLeudkJvzllt4YvNWLerCKpMWuw7Zvy5uzFEsqOrVlzfnyWqqqYbYjHe9f
-Ef0/yXKuGJajs54Ts6Xrm0+elVUu//pEuf6NI96Ehctqz8/BqGqAtw==
------END RSA PRIVATE KEY-----

installation/install.sh

@@ -1,10 +1,6 @@
 #!/bin/bash
 set -e
 
-# move files into place
-adb push files/id_rsa_openpilot_ro /tmp/id_rsa_openpilot_ro
-adb shell mv /tmp/id_rsa_openpilot_ro /data/data/com.termux/files/
-
 # moving continue into place runs the continue script
 adb push files/continue.sh /tmp/continue.sh
 adb shell mv /tmp/continue.sh /data/data/com.termux/files/

requirements_openpilot.txt

@@ -1,7 +1,6 @@
 Cython==0.24.1
 bitstring==3.1.5
 fastcluster==1.1.21
-h5py==2.6.0
 libusb1==1.5.0
 pycapnp==0.5.9
 pyzmq==15.4.0

selfdrive/boardd/boardd.cc

@@ -4,6 +4,7 @@
 #include <string.h>
 #include <signal.h>
 #include <unistd.h>
+#include <sched.h>
 #include <sys/time.h>
 #include <sys/cdefs.h>
 #include <sys/types.h>
@@ -35,7 +36,7 @@ bool spoofing_started = false;
 
 #define DEBUG_BOARDD
 #ifdef DEBUG_BOARDD
-#define DPRINTF(fmt, ...) printf("boardd: " fmt, ## __VA_ARGS__)
+#define DPRINTF(fmt, ...) printf("boardd(%lu): " fmt, time(NULL), ## __VA_ARGS__)
 #else
 #define DPRINTF(fmt, ...)
 #endif
@@ -128,6 +129,7 @@ void can_health(void *s) {
     uint8_t started;
     uint8_t controls_allowed;
     uint8_t gas_interceptor_detected;
+    uint8_t started_signal_detected;
   } health;
 
   // recv from board
@@ -156,6 +158,7 @@ void can_health(void *s) {
   }
   healthData.setControlsAllowed(health.controls_allowed);
   healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
+  healthData.setStartedSignalDetected(health.started_signal_detected);
 
   // send to health
   auto words = capnp::messageToFlatArray(msg);
@@ -268,13 +271,21 @@ void *can_health_thread(void *crap) {
   return NULL;
 }
 
+int set_realtime_priority(int level) {
+  // should match python using chrt
+  struct sched_param sa;
+  memset(&sa, 0, sizeof(sa));
+  sa.sched_priority = level;
+  return sched_setscheduler(getpid(), SCHED_FIFO, &sa);
+}
+
 int main() {
   int err;
-  printf("boardd: starting boardd\n");
+  DPRINTF("starting boardd\n");
 
   // set process priority
-  err = setpriority(PRIO_PROCESS, 0, -4);
+  err = set_realtime_priority(4);
-  printf("boardd: setpriority returns %d\n", err);
+  DPRINTF("setpriority returns %d\n", err);
 
   // check the environment
   if (getenv("STARTED")) {

selfdrive/boardd/boardd.py

@@ -32,17 +32,11 @@ def can_list_to_can_capnp(can_msgs, msgtype='can'):
     cc.src = can_msg[3]
   return dat
 
-def can_capnp_to_can_list_old(dat, src_filter=[]):
+def can_capnp_to_can_list(can, src_filter=None):
   ret = []
-  for msg in dat:
+  for msg in can:
-    if msg.src in src_filter:
+    if src_filter is None or msg.src in src_filter:
-      ret.append([msg.address, msg.busTime, msg.dat.encode("hex")])
+      ret.append((msg.address, msg.busTime, msg.dat, msg.src))
-  return ret
-
-def can_capnp_to_can_list(dat):
-  ret = []
-  for msg in dat.can:
-    ret.append([msg.address, msg.busTime, msg.dat, msg.src])
   return ret
 
 # *** can driver ***
@@ -115,7 +109,7 @@ def boardd_mock_loop():
 
   while 1:
     tsc = messaging.drain_sock(logcan, wait_for_one=True)
-    snds = map(can_capnp_to_can_list, tsc)
+    snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
     snd = []
     for s in snds:
       snd += s
@@ -168,7 +162,7 @@ def boardd_loop(rate=200):
     # send can if we have a packet
     tsc = messaging.recv_sock(sendcan)
     if tsc is not None:
-      can_send_many(can_capnp_to_can_list(tsc))
+      can_send_many(can_capnp_to_can_list(tsc.sendcan))
 
     rk.keep_time()
 

selfdrive/car/honda/can_parser.py

@@ -59,22 +59,22 @@ class CANParser(object):
     cn_vl_max = 5   # no more than 5 wrong counter checks
 
     # we are subscribing to PID_XXX, else data from USB
-    for msg, ts, cdat in can_recv:
+    for msg, ts, cdat, _ in can_recv:
       idxs = self._message_indices[msg]
       if idxs:
-        self.msgs_upd += [msg]
+        self.msgs_upd.append(msg)
         # read the entire message
-        out = self.can_dbc.decode([msg, 0, cdat])[1]
+        out = self.can_dbc.decode((msg, 0, cdat))[1]
         # checksum check
         self.ck[msg] = True
         if "CHECKSUM" in out.keys() and msg in self.msgs_ck:
           # remove checksum (half byte)
-          ck_portion = (''.join((cdat[:-1], '0'))).decode('hex')
+          ck_portion = cdat[:-1] + chr(ord(cdat[-1]) & 0xF0)
           # recalculate checksum
           msg_vl = fix(ck_portion, msg)
           # compare recalculated vs received checksum
-          if msg_vl != cdat.decode('hex'):
+          if msg_vl != cdat:
-            print hex(msg), "CHECKSUM FAIL"
+            print "CHECKSUM FAIL: " + hex(msg)
             self.ck[msg] = False
             self.ok[msg] = False
         # counter check
@@ -89,6 +89,7 @@ class CANParser(object):
           self.cn_vl[msg] -= 1   # counter check passed
         # message status is invalid if we received too many wrong counter values
         if self.cn_vl[msg] >= cn_vl_max:
+          print "COUNTER WRONG: " + hex(msg)
           self.ok[msg] = False
 
         # update msg time stamps and counter value

selfdrive/car/honda/carstate.py

@@ -1,7 +1,7 @@
 import numpy as np
 
 import selfdrive.messaging as messaging
-from selfdrive.boardd.boardd import can_capnp_to_can_list_old, can_capnp_to_can_list
+from selfdrive.boardd.boardd import can_capnp_to_can_list
 from selfdrive.config import VehicleParams
 from common.realtime import sec_since_boot
 
@@ -132,7 +132,7 @@ def fingerprint(logcan):
     for a in messaging.drain_sock(logcan, wait_for_one=True):
       if st is None:
         st = sec_since_boot()
-      for adr, _, msg, idx in can_capnp_to_can_list(a):
+      for adr, _, msg, idx in can_capnp_to_can_list(a.can):
         # pedal
         if adr == 0x201 and idx == 0:
           brake_only = False

selfdrive/car/honda/interface.py

@@ -5,7 +5,7 @@ import numpy as np
 from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.carstate import CarState
 from selfdrive.car.honda.carcontroller import CarController, AH
-from selfdrive.boardd.boardd import can_capnp_to_can_list_old
+from selfdrive.boardd.boardd import can_capnp_to_can_list
 
 from cereal import car
 
@@ -42,6 +42,7 @@ class CarInterface(object):
     self.logcan = messaging.sub_sock(context, service_list['can'].port)
 
     self.frame = 0
+    self.can_invalid_count = 0
 
     # *** init the major players ***
     self.CS = CarState(self.logcan)
@@ -61,7 +62,7 @@ class CarInterface(object):
     canMonoTimes = []
     for a in messaging.drain_sock(self.logcan):
       canMonoTimes.append(a.logMonoTime)
-      can_pub_main.extend(can_capnp_to_can_list_old(a.can, [0,2]))
+      can_pub_main.extend(can_capnp_to_can_list(a.can, [0,2]))
     self.CS.update(can_pub_main)
 
     # create message
@@ -149,7 +150,11 @@ class CarInterface(object):
     # These strings aren't checked at compile time
     errors = []
     if not self.CS.can_valid:
-      errors.append('commIssue')
+      self.can_invalid_count += 1
+      if self.can_invalid_count >= 5:
+        errors.append('commIssue')
+    else:
+      self.can_invalid_count = 0
     if self.CS.steer_error:
       errors.append('steerUnavailable')
     elif self.CS.steer_not_allowed:

selfdrive/common/version.h

@@ -0,0 +1 @@
+const char *openpilot_version = "0.2.2";

selfdrive/controls/controlsd.py

@@ -6,9 +6,12 @@ import selfdrive.messaging as messaging
 
 from cereal import car
 
+from common.numpy_fast import clip
+
 from selfdrive.config import Conversions as CV
 from common.services import service_list
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
+from common.profiler import Profiler
 
 from selfdrive.controls.lib.drive_helpers import learn_angle_offset
 
@@ -70,16 +73,23 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
   soft_disable_timer = None
 
+  # Is cpu temp too high to enable?
+  overtemp = False
+  free_space = 1.0
+
   # start the loop
   set_realtime_priority(2)
 
-  rk = Ratekeeper(rate)
+  rk = Ratekeeper(rate, print_delay_threshold=2./1000)
   while 1:
+    prof = Profiler()
     cur_time = sec_since_boot()
 
     # read CAN
     CS = CI.update()
 
+    prof.checkpoint("CarInterface")
+
     # did it request to enable?
     enable_request, enable_condition = False, False
 
@@ -89,6 +99,10 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
       if awareness_status <= 0.:
         AM.add("driverDistracted", enabled)
 
+    # reset awareness status on steering
+    if CS.steeringPressed:
+      awareness_status = 1.0
+
     # handle button presses
     for b in CS.buttonEvents:
       print b
@@ -111,15 +125,17 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
           v_cruise_kph = v_cruise_kph - (v_cruise_kph % V_CRUISE_DELTA) + V_CRUISE_DELTA
         elif b.type == "decelCruise":
           v_cruise_kph = v_cruise_kph - (v_cruise_kph % V_CRUISE_DELTA) - V_CRUISE_DELTA
-        v_cruise_kph = np.clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
+        v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
 
       if not enabled and b.type in ["accelCruise", "decelCruise"] and not b.pressed:
-        enable_request = True 
+        enable_request = True
 
       # do disable on button down
       if b.type == "cancel" and b.pressed:
         AM.add("disable", enabled)
 
+    prof.checkpoint("Buttons")
+
     # *** health checking logic ***
     hh = messaging.recv_sock(health)
     if hh is not None:
@@ -132,11 +148,15 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     # thermal data, checked every second
     td = messaging.recv_sock(thermal)
     if td is not None:
-      cpu_temps = [td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
+      # Check temperature.
-                   td.thermal.cpu3, td.thermal.mem, td.thermal.gpu]
+      overtemp = any(
-      # check overtemp
+          t > 950
-      if any(t > 950 for t in cpu_temps):
+          for t in (td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
-        AM.add("overheat", enabled)
+                    td.thermal.cpu3, td.thermal.mem, td.thermal.gpu))
+      # under 15% of space free
+      free_space = td.thermal.freeSpace
+
+    prof.checkpoint("Health")
 
     # *** getting model logic ***
     PP.update(cur_time, CS.vEgo)
@@ -159,6 +179,11 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         print "enabled pressed at", cur_time
         last_enable_request = cur_time
 
+      # don't engage with less than 15% free
+      if free_space < 0.15:
+        AM.add("outOfSpace", enabled)
+        enable_request = False
+
     if VP.brake_only:
       enable_condition = ((cur_time - last_enable_request) < 0.2) and CS.cruiseState.enabled
     else:
@@ -175,6 +200,11 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
       if PP.dead:
         AM.add("modelCommIssue", enabled)
 
+      if overtemp:
+        AM.add("overheat", enabled)
+
+    prof.checkpoint("Model")
+
     if enable_condition and not enabled and not AM.alertPresent():
       print "*** enabling controls"
 
@@ -185,7 +215,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
       enabled = True
 
       # on activation, let's always set v_cruise from where we are, even if PCM ACC is active
-      v_cruise_kph = int(round(np.maximum(CS.vEgo * CV.MS_TO_KPH * VP.ui_speed_fudge, V_CRUISE_ENABLE_MIN)))
+      v_cruise_kph = int(round(max(CS.vEgo * CV.MS_TO_KPH * VP.ui_speed_fudge, V_CRUISE_ENABLE_MIN)))
 
       # 6 minutes driver you're on
       awareness_status = 1.0
@@ -201,12 +231,16 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     # *** put the adaptive in adaptive cruise control ***
     AC.update(cur_time, CS.vEgo, CS.steeringAngle, LoC.v_pid, awareness_status, VP)
 
+    prof.checkpoint("AdaptiveCruise")
+
     # *** gas/brake PID loop ***
     final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph, AC.v_target_lead, AC.a_target, AC.jerk_factor, VP)
 
     # *** steering PID loop ***
     final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, PP.d_poly, angle_offset, VP)
 
+    prof.checkpoint("PID")
+
     # ***** handle alerts ****
     # send a "steering required alert" if saturation count has reached the limit
     if sat_flag:
@@ -226,7 +260,6 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         soft_disable_timer -= 1
     else:
       soft_disable_timer = None
-      
 
     # *** push the alerts to current ***
     alert_text_1, alert_text_2, visual_alert, audible_alert = AM.process_alerts(cur_time)
@@ -257,6 +290,8 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     if not CI.apply(CC):
       AM.add("controlsFailed", enabled)
 
+    prof.checkpoint("CarControl")
+
     # ***** publish state to logger *****
 
     # publish controls state at 100Hz
@@ -305,12 +340,14 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
     live100.send(dat.to_bytes())
 
+    prof.checkpoint("Live100")
+
     # *** run loop at fixed rate ***
-    rk.keep_time()
+    if rk.keep_time():
+      prof.display()
 
 def main(gctx=None):
   controlsd_thread(gctx, 100)
 
 if __name__ == "__main__":
   main()
-

selfdrive/controls/lib/adaptivecruise.py

@@ -1,41 +1,41 @@
-import selfdrive.messaging as messaging
+import math
 import numpy as np
+from common.numpy_fast import clip, interp
+import selfdrive.messaging as messaging
 
 # lookup tables VS speed to determine min and max accels in cruise
-_A_CRUISE_MIN_V  = np.asarray([-1.0, -.8, -.67, -.5, -.30])
+_A_CRUISE_MIN_V  = [-1.0, -.8, -.67, -.5, -.30]
-_A_CRUISE_MIN_BP = np.asarray([   0., 5.,  10., 20.,  40.])
+_A_CRUISE_MIN_BP = [   0., 5.,  10., 20.,  40.]
 
 # need fast accel at very low speed for stop and go
-_A_CRUISE_MAX_V  = np.asarray([1., 1., .8, .5, .30])
+_A_CRUISE_MAX_V  = [1., 1., .8, .5, .30]
-_A_CRUISE_MAX_BP = np.asarray([0.,  5., 10., 20., 40.])
+_A_CRUISE_MAX_BP = [0.,  5., 10., 20., 40.]
 
 def calc_cruise_accel_limits(v_ego):
-  a_cruise_min = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+  a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-  a_cruise_max = np.interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
+  a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
+  return np.vstack([a_cruise_min, a_cruise_max])
 
-  a_pcm = 1.  # always 1 for now
+_A_TOTAL_MAX_V = [1.5, 1.9, 3.2]
-  return np.vstack([a_cruise_min, a_cruise_max]), a_pcm
+_A_TOTAL_MAX_BP = [0., 20., 40.]
-
-_A_TOTAL_MAX_V = np.asarray([1.5, 1.9, 3.2])
-_A_TOTAL_MAX_BP = np.asarray([0., 20., 40.])
 
 def limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, VP):
   #*** this function returns a limited long acceleration allowed, depending on the existing lateral acceleration
   # this should avoid accelerating when losing the target in turns
   deg_to_rad = np.pi / 180.  # from can reading to rad
 
-  a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
   a_y = v_ego**2 * angle_steers * deg_to_rad / (VP.steer_ratio * VP.wheelbase)
-  a_x_allowed = np.sqrt(np.maximum(a_total_max**2 - a_y**2, 0.))
+  a_x_allowed = math.sqrt(max(a_total_max**2 - a_y**2, 0.))
 
-  a_target[1] = np.minimum(a_target[1], a_x_allowed)
+  a_target[1] = min(a_target[1], a_x_allowed)
-  a_pcm = np.minimum(a_pcm, a_x_allowed)
+  a_pcm = min(a_pcm, a_x_allowed)
   return a_target, a_pcm
 
 def process_a_lead(a_lead):
   # soft threshold of 0.5m/s^2 applied to a_lead to reject noise, also not considered positive a_lead
   a_lead_threshold = 0.5
-  a_lead = np.minimum(a_lead + a_lead_threshold, 0)
+  a_lead = min(a_lead + a_lead_threshold, 0)
   return a_lead
 
 def calc_desired_distance(v_lead):
@@ -46,12 +46,12 @@ def calc_desired_distance(v_lead):
 
 
 #linear slope
-_L_SLOPE_V = np.asarray([0.40, 0.10])
+_L_SLOPE_V = [0.40, 0.10]
-_L_SLOPE_BP = np.asarray([0.,  40])
+_L_SLOPE_BP = [0.,  40]
 
 # parabola slope
-_P_SLOPE_V = np.asarray([1.0, 0.25])
+_P_SLOPE_V = [1.0, 0.25]
-_P_SLOPE_BP = np.asarray([0., 40])
+_P_SLOPE_BP = [0., 40]
 
 def calc_desired_speed(d_lead, d_des, v_lead, a_lead):
   #*** compute desired speed ***
@@ -64,8 +64,8 @@ def calc_desired_speed(d_lead, d_des, v_lead, a_lead):
   max_runaway_speed = -2. # no slower than 2m/s over the lead
 
   # interpolate the lookups to find the slopes for a give lead speed
-  l_slope = np.interp(v_lead, _L_SLOPE_BP, _L_SLOPE_V)
+  l_slope = interp(v_lead, _L_SLOPE_BP, _L_SLOPE_V)
-  p_slope = np.interp(v_lead, _P_SLOPE_BP, _P_SLOPE_V)
+  p_slope = interp(v_lead, _P_SLOPE_BP, _P_SLOPE_V)
 
   # this is where parabola and linear curves are tangents  
   x_linear_to_parabola = p_slope / l_slope**2
@@ -79,41 +79,41 @@ def calc_desired_speed(d_lead, d_des, v_lead, a_lead):
     # calculate v_rel_des on one third of the linear slope
     v_rel_des_2 = (d_lead - d_des) * l_slope / 3.
     # take the min of the 2 above
-    v_rel_des = np.minimum(v_rel_des_1, v_rel_des_2)
+    v_rel_des = min(v_rel_des_1, v_rel_des_2)
-    v_rel_des = np.maximum(v_rel_des, max_runaway_speed)
+    v_rel_des = max(v_rel_des, max_runaway_speed)
   elif d_lead < d_des + x_linear_to_parabola:
     v_rel_des = (d_lead - d_des) * l_slope
-    v_rel_des = np.maximum(v_rel_des, max_runaway_speed)
+    v_rel_des = max(v_rel_des, max_runaway_speed)
   else:
-    v_rel_des = np.sqrt(2 * (d_lead - d_des - x_parabola_offset) * p_slope)
+    v_rel_des = math.sqrt(2 * (d_lead - d_des - x_parabola_offset) * p_slope)
 
   # compute desired speed
   v_target = v_rel_des + v_lead
 
   # compute v_coast: above this speed we want to coast
   t_lookahead = 1.   # how far in time we consider a_lead to anticipate the coast region
-  v_coast_shift = np.maximum(a_lead * t_lookahead, - v_lead)   # don't consider projections that would make v_lead<0
+  v_coast_shift = max(a_lead * t_lookahead, - v_lead)   # don't consider projections that would make v_lead<0
   v_coast = (v_lead + v_target)/2 + v_coast_shift              # no accel allowed above this line
-  v_coast = np.minimum(v_coast, v_target)
+  v_coast = min(v_coast, v_target)
 
   return v_target, v_coast
 
 def calc_critical_decel(d_lead, v_rel, d_offset, v_offset):
   # this function computes the required decel to avoid crashing, given safety offsets
-  a_critical =  - np.maximum(0., v_rel + v_offset)**2/np.maximum(2*(d_lead - d_offset), 0.5)
+  a_critical =  - max(0., v_rel + v_offset)**2/max(2*(d_lead - d_offset), 0.5)
   return a_critical
 
 
 # maximum acceleration adjustment
-_A_CORR_BY_SPEED_V = np.asarray([0.4, 0.4, 0])
+_A_CORR_BY_SPEED_V = [0.4, 0.4, 0]
 # speeds
-_A_CORR_BY_SPEED_BP = np.asarray([0., 5., 20.])
+_A_CORR_BY_SPEED_BP = [0., 5., 20.]
 
 def calc_positive_accel_limit(d_lead, d_des, v_ego, v_rel, v_ref, v_rel_ref, v_coast, v_target, a_lead_contr, a_max):
   a_coast_min = -1.0   # never coast faster then -1m/s^2
   # coasting behavior above v_coast. Forcing a_max to be negative will force the pid_speed to decrease,
   # regardless v_target
-  if v_ref > np.minimum(v_coast, v_target):
+  if v_ref > min(v_coast, v_target):
     # for smooth coast we can be agrressive and target a point where car would actually crash
     v_offset_coast = 0.
     d_offset_coast = d_des/2. - 4.
@@ -123,31 +123,31 @@ def calc_positive_accel_limit(d_lead, d_des, v_ego, v_rel, v_ref, v_rel_ref, v_c
       a_coast = calc_critical_decel(d_lead, v_rel_ref, d_offset_coast, v_offset_coast)
       # if lead is decelerating, then offset the coast decel
       a_coast += a_lead_contr
-      a_max = np.maximum(a_coast, a_coast_min)
+      a_max = max(a_coast, a_coast_min)
     else:
       a_max = a_coast_min
   else:
     # same as cruise accel, but add a small correction based on lead acceleration at low speeds
     # when lead car accelerates faster, we can do the same, and vice versa
 
-    a_max = a_max + np.interp(v_ego, _A_CORR_BY_SPEED_BP, _A_CORR_BY_SPEED_V) \
+    a_max = a_max + interp(v_ego, _A_CORR_BY_SPEED_BP, _A_CORR_BY_SPEED_V) \
-                  * np.clip(-v_rel / 4., -.5, 1)
+                  * clip(-v_rel / 4., -.5, 1)
   return a_max
 
 # arbitrary limits to avoid too high accel being computed
-_A_SAT = np.asarray([-10., 5.])
+_A_SAT = [-10., 5.]
 
 # do not consider a_lead at 0m/s, fully consider it at 10m/s
-_A_LEAD_LOW_SPEED_V = np.asarray([0., 1.])
+_A_LEAD_LOW_SPEED_V = [0., 1.]
 
 # speed break points
-_A_LEAD_LOW_SPEED_BP = np.asarray([0., 10.])
+_A_LEAD_LOW_SPEED_BP = [0., 10.]
 
 # add a small offset to the desired decel, just for safety margin
-_DECEL_OFFSET_V = np.asarray([-0.3, -0.5, -0.5, -0.4, -0.3])
+_DECEL_OFFSET_V = [-0.3, -0.5, -0.5, -0.4, -0.3]
 
 # speed bp: different offset based on the likelyhood that lead decels abruptly
-_DECEL_OFFSET_BP = np.asarray([0., 4., 15., 30, 40.])
+_DECEL_OFFSET_BP = [0., 4., 15., 30, 40.]
 
 
 def calc_acc_accel_limits(d_lead, d_des, v_ego, v_pid, v_lead, v_rel, a_lead,
@@ -159,8 +159,8 @@ def calc_acc_accel_limits(d_lead, d_des, v_ego, v_pid, v_lead, v_rel, a_lead,
   v_rel_pid = v_pid - v_lead
 
   # this is how much lead accel we consider in assigning the desired decel
-  a_lead_contr = a_lead * np.interp(v_lead, _A_LEAD_LOW_SPEED_BP,
+  a_lead_contr = a_lead * interp(v_lead, _A_LEAD_LOW_SPEED_BP,
-                                    _A_LEAD_LOW_SPEED_V) * 0.8
+                                 _A_LEAD_LOW_SPEED_V) * 0.8
 
   # first call of calc_positive_accel_limit is used to shape v_pid
   a_target[1] = calc_positive_accel_limit(d_lead, d_des, v_ego, v_rel, v_pid,
@@ -178,15 +178,15 @@ def calc_acc_accel_limits(d_lead, d_des, v_ego, v_pid, v_lead, v_rel, a_lead,
     pass  # acc target speed is above vehicle speed, so we can use the cruise limits
   elif d_lead > d_offset + 0.01:  # add small value to avoid by zero divisions
     # compute needed accel to get to 1m distance with -1m/s rel speed
-    decel_offset = np.interp(v_lead, _DECEL_OFFSET_BP, _DECEL_OFFSET_V)
+    decel_offset = interp(v_lead, _DECEL_OFFSET_BP, _DECEL_OFFSET_V)
 
     critical_decel = calc_critical_decel(d_lead, v_rel, d_offset, v_offset)
-    a_target[0] = np.minimum(decel_offset + critical_decel + a_lead_contr,
+    a_target[0] = min(decel_offset + critical_decel + a_lead_contr,
-                             a_target[0])
+                      a_target[0])
   else:
     a_target[0] = _A_SAT[0]
   # a_min can't be higher than a_max
-  a_target[0] = np.minimum(a_target[0], a_target[1])
+  a_target[0] = min(a_target[0], a_target[1])
   # final check on limits
   a_target = np.clip(a_target, _A_SAT[0], _A_SAT[1])
   a_target = a_target.tolist()
@@ -208,8 +208,8 @@ def calc_jerk_factor(d_lead, v_rel):
   else:
     a_critical = - calc_critical_decel(d_lead, -v_rel, d_offset, v_offset)
     # increase Kp and Ki by 20% for every 1m/s2 of decel required above 1m/s2
-    jerk_factor = np.maximum(a_critical - a_offset, 0.)/5.
+    jerk_factor = max(a_critical - a_offset, 0.)/5.
-    jerk_factor = np.minimum(jerk_factor, jerk_factor_max)
+    jerk_factor = min(jerk_factor, jerk_factor_max)
   return jerk_factor
 
 
@@ -223,27 +223,27 @@ def calc_ttc(d_rel, v_rel, a_rel, v_lead):
   # assuming that closing gap a_rel comes from lead vehicle decel, then limit a_rel so that v_lead will get to zero in no sooner than t_decel
   # this helps overweighting a_rel when v_lead is close to zero.
   t_decel = 2.
-  a_rel = np.minimum(a_rel, v_lead/t_decel)
+  a_rel = min(a_rel, v_lead/t_decel)
 
   delta = v_rel**2 + 2 * d_rel * a_rel
   # assign an arbitrary high ttc value if there is no solution to ttc
   if delta < 0.1:
     ttc = 5.
-  elif np.sqrt(delta) + v_rel < 0.1:
+  elif math.sqrt(delta) + v_rel < 0.1:
     ttc = 5.
   else:
-    ttc = 2 * d_rel / (np.sqrt(delta) + v_rel)
+    ttc = 2 * d_rel / (math.sqrt(delta) + v_rel)
   return ttc
 
 
 def limit_accel_driver_awareness(v_ego, a_target, a_pcm, awareness_status):
   decel_bp = [0.  ,  40.]
   decel_v  = [-0.3, -0.2]
-  decel = np.interp(v_ego, decel_bp, decel_v)
+  decel = interp(v_ego, decel_bp, decel_v)
   # gives 18 seconds before decel begins (w 6 minute timeout)
   if awareness_status < -0.05:
-    a_target[1] = np.minimum(a_target[1], decel)
+    a_target[1] = min(a_target[1], decel)
-    a_target[0] = np.minimum(a_target[1], a_target[0])
+    a_target[0] = min(a_target[1], a_target[0])
     a_pcm = 0.
   return a_target, a_pcm
 
@@ -258,7 +258,10 @@ def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, awareness_statu
   v_target_lead = MAX_SPEED_POSSIBLE
 
   #*** set accel limits as cruise accel/decel limits ***
-  a_target, a_pcm = calc_cruise_accel_limits(v_ego)
+  a_target = calc_cruise_accel_limits(v_ego)
+  # Always 1 for now.
+  a_pcm = 1
+
   #*** limit max accel in sharp turns
   a_target, a_pcm = limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, VP)
   jerk_factor = 0.

selfdrive/controls/lib/alertmanager.py

@@ -54,7 +54,9 @@ class AlertManager(object):
     "doorOpen":           alert("Take Control Immediately","Door Open",            ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
     "seatbeltNotLatched": alert("Take Control Immediately","Seatbelt Unlatched",   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
     "espDisabled":        alert("Take Control Immediately","ESP Off",              ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",      ET.NO_ENTRY,     None, None, .4, 0., 3.),
+    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",             ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "outOfSpace":         alert("Comma Unavailable","Out of Space",                ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "ethicalDilemma":     alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
   }
   def __init__(self):
     self.activealerts = []

selfdrive/controls/lib/drive_helpers.py

@@ -1,7 +1,8 @@
 import numpy as np
+from common.numpy_fast import clip, interp
 
 def rate_limit(new_value, last_value, dw_step, up_step):
-  return np.clip(new_value, last_value + dw_step, last_value + up_step)
+  return clip(new_value, last_value + dw_step, last_value + up_step)
 
 def learn_angle_offset(lateral_control, v_ego, angle_offset, d_poly, y_des, steer_override):
   # simple integral controller that learns how much steering offset to put to have the car going straight
@@ -11,12 +12,12 @@ def learn_angle_offset(lateral_control, v_ego, angle_offset, d_poly, y_des, stee
   min_learn_speed = 1.
 
   # learn less at low speed or when turning
-  alpha_v = alpha*(np.maximum(v_ego - min_learn_speed, 0.))/(1. + 0.5*abs(y_des))
+  alpha_v = alpha*(max(v_ego - min_learn_speed, 0.))/(1. + 0.5*abs(y_des))
 
   # only learn if lateral control is active and if driver is not overriding:
   if lateral_control and not steer_override:
     angle_offset += d_poly[3] * alpha_v
-    angle_offset = np.clip(angle_offset, min_offset, max_offset)
+    angle_offset = clip(angle_offset, min_offset, max_offset)
 
   return angle_offset
 
@@ -44,7 +45,7 @@ def actuator_hystereses(final_brake, braking, brake_steady, v_ego, civic):
     brake_on_offset_v  = [.25, .15]   # min brake command on brake activation. below this no decel is perceived
     brake_on_offset_bp = [15., 30.]     # offset changes VS speed to not have too abrupt decels at high speeds
     # offset the brake command for threshold in the brake system. no brake torque perceived below it
-    brake_on_offset = np.interp(v_ego, brake_on_offset_bp, brake_on_offset_v)
+    brake_on_offset = interp(v_ego, brake_on_offset_bp, brake_on_offset_v)
     brake_offset = brake_on_offset - brake_hyst_on
     if final_brake > 0.0:
       final_brake += brake_offset

selfdrive/controls/lib/latcontrol.py

@@ -1,4 +1,6 @@
+import math
 import numpy as np
+from common.numpy_fast import clip
 
 def calc_curvature(v_ego, angle_steers, VP, angle_offset=0):
   deg_to_rad = np.pi/180.
@@ -14,7 +16,7 @@ def calc_d_lookahead(v_ego):
   # sqrt on speed is needed to keep, for a given curvature, the y_offset 
   # proportional to speed. Indeed, y_offset is prop to d_lookahead^2
   # 26m at 25m/s
-  d_lookahead = offset_lookahead + np.sqrt(np.maximum(v_ego, 0)) * coeff_lookahead
+  d_lookahead = offset_lookahead + math.sqrt(max(v_ego, 0)) * coeff_lookahead
   return d_lookahead
 
 def calc_lookahead_offset(v_ego, angle_steers, d_lookahead, VP, angle_offset):
@@ -53,7 +55,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
     Ui_steer -= Ui_unwind_speed * np.sign(Ui_steer)
 
   # still, intergral term should not be bigger then limits
-  Ui_steer = np.clip(Ui_steer, -steer_max, steer_max)
+  Ui_steer = clip(Ui_steer, -steer_max, steer_max)
 
   output_steer = Up_steer + Ui_steer
 
@@ -67,7 +69,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
   if abs(output_steer) > steer_max:
     lateral_control_sat = True
 
-  output_steer = np.clip(output_steer, -steer_max, steer_max)
+  output_steer = clip(output_steer, -steer_max, steer_max)
 
   # if lateral control is saturated for a certain period of time, send an alert for taking control of the car
   # wind
@@ -81,7 +83,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
   if sat_count >= sat_count_limit:
     sat_flag = True
 
-  sat_count = np.clip(sat_count, 0, 1)
+  sat_count = clip(sat_count, 0, 1)
 
   return output_steer, Up_steer, Ui_steer, lateral_control_sat, sat_count, sat_flag
 
@@ -116,5 +118,5 @@ class LatControl(object):
       v_ego, self.y_actual, self.y_des, self.Ui_steer, steer_max,
       steer_override, self.sat_count, enabled, VP.torque_mod, rate)
 
-    final_steer = np.clip(output_steer, -steer_max, steer_max)
+    final_steer = clip(output_steer, -steer_max, steer_max)
     return final_steer, sat_flag

selfdrive/controls/lib/longcontrol.py

@@ -1,4 +1,5 @@
 import numpy as np
+from common.numpy_fast import clip, interp
 from selfdrive.config import Conversions as CV
 
 class LongCtrlState:
@@ -82,15 +83,18 @@ def get_compute_gb():
 # takes in [desired_accel, current_speed] -> [-1.0, 1.0] where -1.0 is max brake and 1.0 is max gas
 compute_gb = get_compute_gb()
 
+
+_KP_BP = [0., 5., 35.]
+_KP_V =  [1.2, 0.8, 0.5]
+
+_kI_BP = [0., 35.]
+_kI_V =  [0.18, 0.12]
+
 def pid_long_control(v_ego, v_pid, Ui_accel_cmd, gas_max, brake_max, jerk_factor, gear, rate):
   #*** This function compute the gb pedal positions in order to track the desired speed
   # proportional and integral terms. More precision at low speed
-  Kp_v =  [1.2, 0.8, 0.5]
+  Kp = interp(v_ego, _KP_BP, _KP_V)
-  Kp_bp = [0., 5., 35.]
+  Ki = interp(v_ego, _kI_BP, _kI_V)
-  Kp = np.interp(v_ego, Kp_bp, Kp_v)
-  Ki_v =  [0.18, 0.12]
-  Ki_bp = [0., 35.]
-  Ki = np.interp(v_ego, Ki_bp, Ki_v)
 
   # scle Kp and Ki by jerk factor drom drive_thread
   Kp = (1. + jerk_factor)*Kp
@@ -98,7 +102,7 @@ def pid_long_control(v_ego, v_pid, Ui_accel_cmd, gas_max, brake_max, jerk_factor
 
   # this is ugly but can speed reports 0 when speed<0.3m/s and we can't have that jump  
   v_ego_min = 0.3
-  v_ego = np.maximum(v_ego, v_ego_min)
+  v_ego = max(v_ego, v_ego_min)
 
   v_error = v_pid - v_ego
 
@@ -126,7 +130,7 @@ def pid_long_control(v_ego, v_pid, Ui_accel_cmd, gas_max, brake_max, jerk_factor
   if output_gb > gas_max or output_gb < -brake_max:
     long_control_sat = True
 
-  output_gb = np.clip(output_gb, -brake_max, gas_max)
+  output_gb = clip(output_gb, -brake_max, gas_max)
 
   return output_gb, Up_accel_cmd, Ui_accel_cmd, long_control_sat
 
@@ -136,8 +140,8 @@ starting_brake_rate = 0.6    # brake_travel/s while releasing on restart
 starting_Ui = 0.5            # Since we don't have much info about acceleration at this point, be conservative
 brake_stopping_target = 0.5  # apply at least this amount of brake to maintain the vehicle stationary
 
-max_speed_error_v  = [1.5, .8]  # max positive v_pid error VS actual speed; this avoids controls windup due to slow pedal resp
+_MAX_SPEED_ERROR_BP = [0., 30.]  # speed breakpoints
-max_speed_error_bp = [0., 30.]  # speed breakpoints
+_MAX_SPEED_ERROR_V  = [1.5, .8]  # max positive v_pid error VS actual speed; this avoids controls windup due to slow pedal resp
 
 class LongControl(object):
   def __init__(self):
@@ -152,18 +156,19 @@ class LongControl(object):
     self.v_pid = v_pid
 
   def update(self, enabled, v_ego, v_cruise, v_target_lead, a_target, jerk_factor, VP):
-    # TODO: not every time
-    if VP.brake_only:
-      gas_max_v = [0, 0]                # values
-    else:
-      gas_max_v = [0.6, 0.6]            # values
-    gas_max_bp = [0., 100.]             # speeds
-    brake_max_v = [1.0, 1.0, 0.8, 0.8]  # values
     brake_max_bp = [0., 5., 20., 100.]  # speeds     
+    brake_max_v = [1.0, 1.0, 0.8, 0.8]  # values
 
     # brake and gas limits
-    brake_max = np.interp(v_ego, brake_max_bp, brake_max_v)
+    brake_max = interp(v_ego, brake_max_bp, brake_max_v)
-    gas_max = np.interp(v_ego, gas_max_bp, gas_max_v)
+
+    # TODO: not every time
+    if VP.brake_only:
+      gas_max = 0
+    else:
+      gas_max_bp = [0., 100.]             # speeds
+      gas_max_v = [0.6, 0.6]            # values
+      gas_max = interp(v_ego, gas_max_bp, gas_max_v)
 
     overshoot_allowance = 2.0    # overshoot allowed when changing accel sign
 
@@ -172,7 +177,7 @@ class LongControl(object):
 
     # limit max target speed based on cruise setting:
     v_cruise_mph = round(v_cruise * CV.KPH_TO_MPH)   # what's displayed in mph on the IC
-    v_target = np.minimum(v_target_lead, v_cruise_mph * CV.MPH_TO_MS / VP.ui_speed_fudge)
+    v_target = min(v_target_lead, v_cruise_mph * CV.MPH_TO_MS / VP.ui_speed_fudge)
 
     max_speed_delta_up = a_target[1]*1.0/rate
     max_speed_delta_down = a_target[0]*1.0/rate
@@ -192,10 +197,10 @@ class LongControl(object):
       #reset v_pid close to v_ego if it was too far and new v_target is closer to v_ego
       if ((self.v_pid > v_ego + overshoot_allowance) and
           (v_target < self.v_pid)):
-        self.v_pid = np.maximum(v_target, v_ego + overshoot_allowance)
+        self.v_pid = max(v_target, v_ego + overshoot_allowance)
       elif ((self.v_pid < v_ego - overshoot_allowance) and
           (v_target > self.v_pid)):
-        self.v_pid = np.minimum(v_target, v_ego - overshoot_allowance)
+        self.v_pid = min(v_target, v_ego - overshoot_allowance)
 
       # move v_pid no faster than allowed accel limits
       if (v_target > self.v_pid + max_speed_delta_up):
@@ -207,8 +212,8 @@ class LongControl(object):
 
       # to avoid too much wind up on acceleration, limit positive speed error
       if not VP.brake_only:
-        max_speed_error = np.interp(v_ego, max_speed_error_bp, max_speed_error_v)
+        max_speed_error = interp(v_ego, _MAX_SPEED_ERROR_BP, _MAX_SPEED_ERROR_V)
-        self.v_pid = np.minimum(self.v_pid, v_ego + max_speed_error)
+        self.v_pid = min(self.v_pid, v_ego + max_speed_error)
 
       # TODO: removed anti windup on gear change, does it matter?
       output_gb, self.Up_accel_cmd, self.Ui_accel_cmd, self.long_control_sat = pid_long_control(v_ego, self.v_pid, \
@@ -217,7 +222,7 @@ class LongControl(object):
     elif self.long_control_state == LongCtrlState.stopping:
       if v_ego > 0. or output_gb > -brake_stopping_target:
         output_gb -= stopping_brake_rate/rate
-      output_gb = np.clip(output_gb, -brake_max, gas_max)
+      output_gb = clip(output_gb, -brake_max, gas_max)
       self.v_pid = v_ego
       self.Ui_accel_cmd = 0.
     # intention is to move again, release brake fast before handling control to PID
@@ -228,7 +233,7 @@ class LongControl(object):
       self.Ui_accel_cmd = starting_Ui
 
     self.last_output_gb = output_gb
-    final_gas = np.clip(output_gb, 0., gas_max)
+    final_gas = clip(output_gb, 0., gas_max)
-    final_brake = -np.clip(output_gb, -brake_max, 0.)
+    final_brake = -clip(output_gb, -brake_max, 0.)
     return final_gas, final_brake
 

selfdrive/controls/lib/pathplanner.py

@@ -1,26 +1,36 @@
-import selfdrive.messaging as messaging
+import math
 import numpy as np
-X_PATH = np.arange(0.0, 50.0)
 
-def model_polyfit(points):
+from common.numpy_fast import interp
-  return np.polyfit(X_PATH, map(float, points), 3)
+import selfdrive.messaging as messaging
+
+
+def compute_path_pinv():
+  deg = 3
+  x = np.arange(50.0)
+  X = np.vstack(tuple(x**n for n in range(deg, -1, -1))).T
+  pinv = np.linalg.pinv(X)
+  return pinv
+
+def model_polyfit(points, path_pinv):
+  return np.dot(path_pinv, map(float, points))
 
 # lane width http://safety.fhwa.dot.gov/geometric/pubs/mitigationstrategies/chapter3/3_lanewidth.cfm
-_LANE_WIDTH_V = np.asarray([3., 3.8])
+_LANE_WIDTH_V = [3., 3.8]
 
 # break points of speed
-_LANE_WIDTH_BP = np.asarray([0., 31.])
+_LANE_WIDTH_BP = [0., 31.]
 
 def calc_desired_path(l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, speed):
   #*** this function computes the poly for the center of the lane, averaging left and right polys
-  lane_width = np.interp(speed, _LANE_WIDTH_BP, _LANE_WIDTH_V)
+  lane_width = interp(speed, _LANE_WIDTH_BP, _LANE_WIDTH_V)
 
   # lanes in US are ~3.6m wide
   half_lane_poly = np.array([0., 0., 0., lane_width / 2.])
   if l_prob + r_prob > 0.01:
     c_poly = ((l_poly - half_lane_poly) * l_prob +
               (r_poly + half_lane_poly) * r_prob) / (l_prob + r_prob)
-    c_prob = np.sqrt((l_prob**2 + r_prob**2) / 2.)
+    c_prob = math.sqrt((l_prob**2 + r_prob**2) / 2.)
   else:
     c_poly = np.zeros(4)
     c_prob = 0.
@@ -37,24 +47,26 @@ class PathPlanner(object):
     self.last_model = 0.
     self.logMonoTime = 0
     self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
+    self._path_pinv = compute_path_pinv()
 
   def update(self, cur_time, v_ego):
     md = messaging.recv_sock(self.model)
 
     if md is not None:
       self.logMonoTime = md.logMonoTime
-      p_poly = model_polyfit(md.model.path.points)       # predicted path
+      p_poly = model_polyfit(md.model.path.points, self._path_pinv)       # predicted path
-      p_prob = 1.                                        # model does not tell this probability yet, so set to 1 for now
+      l_poly = model_polyfit(md.model.leftLane.points, self._path_pinv)   # left line
-      l_poly = model_polyfit(md.model.leftLane.points)   # left line
+      r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv)  # right line
-      l_prob = md.model.leftLane.prob                    # left line prob
+
-      r_poly = model_polyfit(md.model.rightLane.points)  # right line
+      p_prob = 1.                       # model does not tell this probability yet, so set to 1 for now
-      r_prob = md.model.rightLane.prob                   # right line prob
+      l_prob = md.model.leftLane.prob   # left line prob
+      r_prob = md.model.rightLane.prob  # right line prob
 
       self.lead_dist = md.model.lead.dist
       self.lead_prob = md.model.lead.prob
       self.lead_var = md.model.lead.std**2
 
-      #*** compute target path ***
+      # compute target path
       self.d_poly, _, _ = calc_desired_path(l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, v_ego)
 
       self.last_model = cur_time

selfdrive/controls/lib/radar_helpers.py

@@ -1,8 +1,10 @@
-import numpy as np
-import platform
 import os
 import sys
+import math
+import platform
+import numpy as np
 
+from common.numpy_fast import clip, interp
 from common.kalman.ekf import FastEKF1D, SimpleSensor
 
 # radar tracks
@@ -51,14 +53,14 @@ class Track(object):
     else:
       # estimate acceleration
       a_rel_unfilt = (self.vRel - self.vRelPrev) / ts
-      a_rel_unfilt = np.clip(a_rel_unfilt, -10., 10.)
+      a_rel_unfilt = clip(a_rel_unfilt, -10., 10.)
       self.aRel = k_a_lead * a_rel_unfilt + (1 - k_a_lead) * self.aRel
 
       v_lat_unfilt = (self.dPath - self.dPathPrev) / ts
       self.vLat = k_v_lat * v_lat_unfilt + (1 - k_v_lat) * self.vLat
 
       a_lead_unfilt = (self.vLead - self.vLeadPrev) / ts
-      a_lead_unfilt = np.clip(a_lead_unfilt, -10., 10.)
+      a_lead_unfilt = clip(a_lead_unfilt, -10., 10.)
       self.aLead = k_a_lead * a_lead_unfilt + (1 - k_a_lead) * self.aLead
 
     if self.stationary:
@@ -232,12 +234,12 @@ class Cluster(object):
     d_path = self.dPath
 
     if enabled:
-      t_lookahead = np.interp(self.dRel, t_lookahead_bp, t_lookahead_v)
+      t_lookahead = interp(self.dRel, t_lookahead_bp, t_lookahead_v)
       # correct d_path for lookahead time, considering only cut-ins and no more than 1m impact
-      lat_corr = np.clip(t_lookahead * self.vLat, -1, 0)
+      lat_corr = clip(t_lookahead * self.vLat, -1, 0)
     else:
       lat_corr = 0.
-    d_path = np.maximum(d_path + lat_corr, 0)
+    d_path = max(d_path + lat_corr, 0)
 
     if d_path < 1.5 and not self.stationary and not self.oncoming:
       return True

selfdrive/controls/radard.py

@@ -8,7 +8,6 @@ from collections import defaultdict
 from fastcluster import linkage_vector
 
 import selfdrive.messaging as messaging
-from selfdrive.boardd.boardd import can_capnp_to_can_list_old
 from selfdrive.controls.lib.latcontrol import calc_lookahead_offset
 from selfdrive.controls.lib.pathplanner import PathPlanner
 from selfdrive.config import VehicleParams
@@ -37,7 +36,6 @@ class EKFV1D(EKF):
     self.var_init = 1e2   # ~ model variance when probability is 70%, so good starting point
     self.covar = self.identity * self.var_init
 
-    # self.process_noise = np.asmatrix(np.diag([100, 10]))
     self.process_noise = np.matlib.diag([0.5, 1])
 
   def calc_transfer_fun(self, dt):

selfdrive/debug/dump.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python
+import sys
+import argparse
+import zmq
+from hexdump import hexdump
+
+import selfdrive.messaging as messaging
+from common.services import service_list
+
+if __name__ == "__main__":
+  context = zmq.Context()
+  poller = zmq.Poller()
+
+  parser = argparse.ArgumentParser(description='Sniff a communcation socket')
+  parser.add_argument('--raw', action='store_true')
+  parser.add_argument("socket", type=str,
+                      help="socket name")
+  args = parser.parse_args()
+
+  messaging.sub_sock(context, service_list[args.socket].port, poller)
+
+  while 1:
+    polld = poller.poll(timeout=1000)
+    for sock, mode in polld:
+      if mode != zmq.POLLIN:
+        continue
+      if args.raw:
+        hexdump(sock.recv())
+      else:
+        print messaging.recv_sock(sock)
+

selfdrive/loggerd/config.py

@@ -1,8 +1,8 @@
 import os
 
 # fetch from environment
-DONGLE_ID = os.getenv("DONGLE_ID")
+def get_dongle_id_and_secret():
-DONGLE_SECRET = os.getenv("DONGLE_SECRET")
+  return os.getenv("DONGLE_ID"), os.getenv("DONGLE_SECRET") 
 
 ROOT = '/sdcard/realdata/'
 

selfdrive/loggerd/loggerd.py

@@ -75,10 +75,17 @@ def main(gctx=None):
         rotate_msg = messaging.log.LogRotate.new_message()
         rotate_msg.segmentNum = cur_part
         rotate_msg.path = cur_dir
-
         vision_control_sock.send(rotate_msg.to_bytes())
-
   finally:
+    cloudlog.info("loggerd exiting...")
+
+    # tell visiond to stop logging
+    rotate_msg = messaging.log.LogRotate.new_message()
+    rotate_msg.segmentNum = -1
+    rotate_msg.path = "/dev/null"
+    vision_control_sock.send(rotate_msg.to_bytes())
+
+    # stop logging
     logger.stop()
 
 if __name__ == "__main__":

selfdrive/loggerd/uploader.py

@@ -10,7 +10,7 @@ import traceback
 import threading
 
 from selfdrive.swaglog import cloudlog
-from selfdrive.loggerd.config import DONGLE_ID, DONGLE_SECRET, ROOT
+from selfdrive.loggerd.config import get_dongle_id_and_secret, ROOT
 
 from common.api import api_get
 
@@ -205,7 +205,13 @@ class Uploader(object):
 def uploader_fn(exit_event):
   cloudlog.info("uploader_fn")
 
-  uploader = Uploader(DONGLE_ID, DONGLE_SECRET, ROOT)
+  dongle_id, dongle_secret = get_dongle_id_and_secret()
+
+  if dongle_id is None or dongle_secret is None:
+    cloudlog.info("uploader MISSING DONGLE_ID or DONGLE_SECRET")
+    raise Exception("uploader can't start without dongle id and secret")
+
+  uploader = Uploader(dongle_id, dongle_secret, ROOT)
 
   while True:
     backoff = 0.1

selfdrive/manager.py

@@ -21,6 +21,8 @@ from selfdrive.registration import register
 
 import common.crash
 
+from selfdrive.loggerd.config import ROOT
+
 # comment out anything you don't want to run
 managed_processes = {
   "uploader": "selfdrive.loggerd.uploader",
@@ -49,10 +51,6 @@ car_started_processes = ['controlsd', 'loggerd', 'sensord', 'radard', 'calibrati
 # ****************** process management functions ******************
 def launcher(proc, gctx):
   try:
-    # unset the signals
-    signal.signal(signal.SIGINT, signal.SIG_DFL)
-    signal.signal(signal.SIGTERM, signal.SIG_DFL)
-
     # import the process
     mod = importlib.import_module(proc)
 
@@ -61,6 +59,8 @@ def launcher(proc, gctx):
 
     # exec the process
     mod.main(gctx)
+  except KeyboardInterrupt:
+    cloudlog.info("child %s got ctrl-c" % proc)
   except Exception:
     # can't install the crash handler becuase sys.excepthook doesn't play nice
     # with threads, so catch it here.
@@ -156,10 +156,6 @@ def manager_init():
     }
   }
 
-  # hook to kill all processes
-  signal.signal(signal.SIGINT, cleanup_all_processes)
-  signal.signal(signal.SIGTERM, cleanup_all_processes)
-
 def manager_thread():
   # now loop
   context = zmq.Context()
@@ -188,6 +184,8 @@ def manager_thread():
     for p in car_started_processes:
       start_managed_process(p)
 
+  logger_dead = False
+
   while 1:
     # get health of board, log this in "thermal"
     td = messaging.recv_sock(health_sock, wait=True)
@@ -195,6 +193,13 @@ def manager_thread():
 
     # replace thermald
     msg = read_thermal()
+
+    # loggerd is gated based on free space
+    statvfs = os.statvfs(ROOT)
+    avail = (statvfs.f_bavail * 1.0)/statvfs.f_blocks
+
+    # thermal message now also includes free space
+    msg.thermal.freeSpace = avail
     thermal_sock.send(msg.to_bytes())
     print msg
 
@@ -209,18 +214,26 @@ def manager_thread():
     elif max_temp < 70.0:
       start_managed_process("uploader")
 
+    if avail < 0.05:
+      logger_dead = True
+
     # start constellation of processes when the car starts
     if not os.getenv("STARTALL"):
-      if td.health.started:
+      # with 2% left, we killall, otherwise the phone is bricked
+      if td.health.started and avail > 0.02:
         for p in car_started_processes:
-          start_managed_process(p)
+          if p == "loggerd" and logger_dead:
+            kill_managed_process(p)
+          else:
+            start_managed_process(p)
       else:
+        logger_dead = False
         for p in car_started_processes:
           kill_managed_process(p)
 
     # check the status of all processes, did any of them die?
     for p in running:
-      cloudlog.info("   running %s %s" % (p, running[p]))
+      cloudlog.debug("   running %s %s" % (p, running[p]))
 
 
 # optional, build the c++ binaries and preimport the python for speed
@@ -282,8 +295,15 @@ def main():
     del managed_processes['loggerd']
   if os.getenv("NOUPLOAD") is not None:
     del managed_processes['uploader']
+  if os.getenv("NOVISION") is not None:
+    del managed_processes['visiond']
   if os.getenv("NOBOARD") is not None:
     del managed_processes['boardd']
+  if os.getenv("LEAN") is not None:
+    del managed_processes['uploader']
+    del managed_processes['loggerd']
+    del managed_processes['logmessaged']
+    del managed_processes['logcatd']
 
   manager_init()
 

selfdrive/radar/nidec/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 import numpy as np
 from selfdrive.car.honda.can_parser import CANParser
-from selfdrive.boardd.boardd import can_capnp_to_can_list_old
+from selfdrive.boardd.boardd import can_capnp_to_can_list
 
 from cereal import car
 
@@ -39,7 +39,7 @@ class RadarInterface(object):
     while 1:
       for a in messaging.drain_sock(self.logcan, wait_for_one=True):
         canMonoTimes.append(a.logMonoTime)
-        can_pub_radar.extend(can_capnp_to_can_list_old(a.can, [1, 3]))
+        can_pub_radar.extend(can_capnp_to_can_list(a.can, [1, 3]))
 
       # only run on the 0x445 packets, used for timing
       if any(x[0] == 0x445 for x in can_pub_radar):

selfdrive/test/plant/maneuverplots.py

@@ -59,6 +59,7 @@ class ManeuverPlot(object):
     self.a_target_min_array.append(a_target_min)
     self.a_target_max_array.append(a_target_max)
 
+
   def write_plot(self, path, maneuver_name):
     title = self.title or maneuver_name
     # TODO: Missing plots from the old one:

selfdrive/test/plant/plant.py

@@ -14,7 +14,7 @@ import selfdrive.messaging as messaging
 from selfdrive.config import CruiseButtons
 from selfdrive.car.honda.hondacan import fix
 from selfdrive.car.honda.carstate import get_can_parser
-from selfdrive.boardd.boardd import can_capnp_to_can_list_old, can_capnp_to_can_list, can_list_to_can_capnp
+from selfdrive.boardd.boardd import can_capnp_to_can_list, can_list_to_can_capnp
 
 from selfdrive.car.honda.can_parser import CANParser
 
@@ -141,8 +141,7 @@ class Plant(object):
     # ******** get messages sent to the car ********
     can_msgs = []
     for a in messaging.drain_sock(Plant.sendcan):
-      can_msgs += can_capnp_to_can_list_old(a.sendcan, [0,2])
+      can_msgs.extend(can_capnp_to_can_list(a.sendcan, [0,2]))
-    #print can_msgs
     self.cp.update_can(can_msgs)
 
     # ******** get live100 messages for plotting ***

selfdrive/ui/ui.c

@@ -25,6 +25,8 @@
 #include "common/visionipc.h"
 #include "common/modeldata.h"
 
+#include "common/version.h"
+
 #include "cereal/gen/c/log.capnp.h"
 
 #include "touch.h"
@@ -95,7 +97,6 @@ typedef struct UIState {
 
   // base ui
   uint64_t last_base_update;
-  uint64_t last_rx_bytes;
   uint64_t last_tx_bytes;
   char serial[4096];
   const char* dongle_id;
@@ -861,6 +862,11 @@ static void ui_draw_vision(UIState *s) {
   }
 }
 
+static void ui_draw_blank(UIState *s) {
+  glClearColor(0.1, 0.1, 0.1, 1.0);
+  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+}
+
 static void ui_draw_base(UIState *s) {
   glClearColor(0.1, 0.1, 0.1, 1.0);
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
@@ -910,8 +916,10 @@ static void ui_draw(UIState *s) {
 
   if (s->vision_connected) {
     ui_draw_vision(s);
-  } else {
+  } else if (s->awake) {
     ui_draw_base(s);
+  } else {
+    ui_draw_blank(s);
   }
 
   eglSwapBuffers(s->display, s->surface);
@@ -987,9 +995,20 @@ static int pending_uploads() {
   int cnt = 0;
   struct dirent *entry = NULL;
   while ((entry = readdir(dirp))) {
-    if (entry->d_name[0] != '.') {
+    if (entry->d_name[0] == '.') continue;
+
+    char subdirn[255];
+    snprintf(subdirn, 255, "/sdcard/realdata/%s", entry->d_name);
+    DIR *subdirp = opendir(subdirn);
+    if (!subdirp) continue;
+
+    struct dirent *subentry = NULL;
+    while ((subentry = readdir(subdirp))) {
+      if (subentry->d_name[0] == '.') continue;
+      //snprintf(subdirn, 255, "/sdcard/realdata/%s/%s", entry->d_name, subentry->d_name);
       cnt++;
     }
+    closedir(subdirp);
   }
   closedir(dirp);
   return cnt;
@@ -1206,20 +1225,19 @@ static void ui_update(UIState *s) {
     char* bat_stat = read_file("/sys/class/power_supply/battery/status");
 
     int tx_rate = 0;
-    int rx_rate = 0;
+    uint64_t tx_bytes_n = 0;
-    char* rx_bytes = read_file("/sys/class/net/rmnet_data0/statistics/rx_bytes");
+    char *tx_bytes;
-    char* tx_bytes = read_file("/sys/class/net/rmnet_data0/statistics/tx_bytes");
-    if (rx_bytes && tx_bytes) {
-      uint64_t rx_bytes_n = atoll(rx_bytes);
-      rx_rate = rx_bytes_n - s->last_rx_bytes;
-      s->last_rx_bytes = rx_bytes_n;
 
-      uint64_t tx_bytes_n = atoll(tx_bytes);
+    // cellular bytes
-      tx_rate = tx_bytes_n - s->last_tx_bytes;
+    tx_bytes = read_file("/sys/class/net/rmnet_data0/statistics/tx_bytes");
-      s->last_tx_bytes = tx_bytes_n;
+    if (tx_bytes) { tx_bytes_n += atoll(tx_bytes); free(tx_bytes); }
-    }
+
-    if (rx_bytes) free(rx_bytes);
+    // wifi bytes
-    if (tx_bytes) free(tx_bytes);
+    tx_bytes = read_file("/sys/class/net/wlan0/statistics/tx_bytes");
+    if (tx_bytes) { tx_bytes_n += atoll(tx_bytes); free(tx_bytes); }
+
+    tx_rate = tx_bytes_n - s->last_tx_bytes;
+    s->last_tx_bytes = tx_bytes_n;
 
     // TODO: do this properly
     system("git rev-parse --abbrev-ref HEAD > /tmp/git_branch");
@@ -1240,10 +1258,10 @@ static void ui_update(UIState *s) {
     s->board_connected = !system("lsusb | grep bbaa > /dev/null");
 
     snprintf(s->base_text, sizeof(s->base_text),
-             "version: %s (%s)\nserial: %s\n dongle id: %s\n battery: %s %s\npending: %d\nrx %.1fkiB/s tx %.1fkiB/s\nboard: %s",
+             "version: v%s %s (%s)\nserial: %s\n dongle id: %s\n battery: %s %s\npending: %d -> %.1f kb/s\nboard: %s",
-             git_commit, git_branch,
+             openpilot_version, git_commit, git_branch,
              s->serial, s->dongle_id, bat_cap ? bat_cap : "(null)", bat_stat ? bat_stat : "(null)",
-             pending, rx_rate / 1024.0, tx_rate / 1024.0, s->board_connected ? "found" : "NOT FOUND");
+             pending, tx_rate / 1024.0, s->board_connected ? "found" : "NOT FOUND");
 
     if (bat_cap) free(bat_cap);
     if (bat_stat) free(bat_stat);