Merge branch 'devel-en' into devel-zht

# Conflicts:
#	selfdrive/car/car_helpers.py

.gitignore

@@ -0,0 +1,43 @@
+venv/
+.DS_Store
+.tags
+.ipynb_checkpoints
+.idea
+.sconsign.dblite
+model2.png
+a.out
+
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.o
+*.so
+*.a
+*.clb
+*.class
+*.pyxbldc
+*.vcd
+config.json
+clcache
+
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/mapd/default_speeds_by_region.json
+selfdrive/proclogd/proclogd
+selfdrive/ui/ui
+selfdrive/test/tests/plant/out
+selfdrive/visiond/visiond
+selfdrive/loggerd/loggerd
+selfdrive/sensord/gpsd
+selfdrive/sensord/sensord
+/src/
+
+one
+openpilot
+xx
+

.pylintrc

@@ -0,0 +1,585 @@
+[MASTER]
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code
+extension-pkg-whitelist=scipy
+
+# Add files or directories to the blacklist. They should be base names, not
+# paths.
+ignore=CVS
+
+# Add files or directories matching the regex patterns to the blacklist. The
+# regex matches against base names, not paths.
+ignore-patterns=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint.
+jobs=4
+
+# List of plugins (as comma separated values of python modules names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Specify a configuration file.
+#rcfile=
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=print-statement,
+        parameter-unpacking,
+        unpacking-in-except,
+        old-raise-syntax,
+        backtick,
+        long-suffix,
+        old-ne-operator,
+        old-octal-literal,
+        import-star-module-level,
+        non-ascii-bytes-literal,
+        raw-checker-failed,
+        bad-inline-option,
+        locally-disabled,
+        locally-enabled,
+        file-ignored,
+        suppressed-message,
+        useless-suppression,
+        deprecated-pragma,
+        apply-builtin,
+        basestring-builtin,
+        buffer-builtin,
+        cmp-builtin,
+        coerce-builtin,
+        execfile-builtin,
+        file-builtin,
+        long-builtin,
+        raw_input-builtin,
+        reduce-builtin,
+        standarderror-builtin,
+        unicode-builtin,
+        xrange-builtin,
+        coerce-method,
+        delslice-method,
+        getslice-method,
+        setslice-method,
+        no-absolute-import,
+        old-division,
+        dict-iter-method,
+        dict-view-method,
+        next-method-called,
+        metaclass-assignment,
+        indexing-exception,
+        raising-string,
+        reload-builtin,
+        oct-method,
+        hex-method,
+        nonzero-method,
+        cmp-method,
+        input-builtin,
+        round-builtin,
+        intern-builtin,
+        unichr-builtin,
+        map-builtin-not-iterating,
+        zip-builtin-not-iterating,
+        range-builtin-not-iterating,
+        filter-builtin-not-iterating,
+        using-cmp-argument,
+        eq-without-hash,
+        div-method,
+        idiv-method,
+        rdiv-method,
+        exception-message-attribute,
+        invalid-str-codec,
+        sys-max-int,
+        bad-python3-import,
+        deprecated-string-function,
+        deprecated-str-translate-call,
+        deprecated-itertools-function,
+        deprecated-types-field,
+        next-method-defined,
+        dict-items-not-iterating,
+        dict-keys-not-iterating,
+        dict-values-not-iterating,
+        bad-indentation,
+        line-too-long,
+        missing-docstring,
+        multiple-statements,
+        bad-continuation,
+        invalid-name,
+        too-many-arguments,
+        too-many-locals,
+        superfluous-parens,
+        bad-whitespace,
+        too-many-instance-attributes,
+        wrong-import-position,
+        ungrouped-imports,
+        wrong-import-order,
+        protected-access,
+        trailing-whitespace,
+        too-many-branches,
+        too-few-public-methods,
+        too-many-statements,
+        trailing-newlines,
+        attribute-defined-outside-init,
+        too-many-return-statements,
+        too-many-public-methods,
+        unused-argument,
+        old-style-class,
+        no-init,
+        len-as-condition,
+        unneeded-not,
+        no-self-use,
+        multiple-imports,
+        no-else-return,
+        logging-not-lazy,
+        fixme,
+        redefined-outer-name,
+        unused-variable,
+        unsubscriptable-object,
+        expression-not-assigned,
+        too-many-boolean-expressions,
+        consider-using-ternary,
+        invalid-unary-operand-type,
+        relative-import,
+        deprecated-lambda
+
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[REPORTS]
+
+# Python expression which should return a note less than 10 (10 is the highest
+# note). You have access to the variables errors warning, statement which
+# respectively contain the number of errors / warnings messages and the total
+# number of statements analyzed. This is used by the global evaluation report
+# (RP0004).
+evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details
+#msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio).You can also give a reporter class, eg
+# mypackage.mymodule.MyReporterClass.
+output-format=text
+
+# Tells whether to display a full report or only the messages
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=optparse.Values,sys.exit
+
+
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it working
+# install python-enchant package.
+spelling-dict=
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to indicated private dictionary in
+# --spelling-private-dict-file option instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+
+[SIMILARITIES]
+
+# Ignore comments when computing similarities.
+ignore-comments=yes
+
+# Ignore docstrings when computing similarities.
+ignore-docstrings=yes
+
+# Ignore imports when computing similarities.
+ignore-imports=no
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis. It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+# showing a hint for a missing member.
+missing-member-max-choices=1
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored. Default to name
+# with leading underscore
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging  or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='  '
+
+# Maximum number of characters on a single line.
+max-line-length=100
+
+# Maximum number of lines in a module
+max-module-lines=1000
+
+# List of optional constructs for which whitespace checking is disabled. `dict-
+# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
+# `trailing-comma` allows a space between comma and closing bracket: (a, ).
+# `empty-line` allows space-only lines.
+no-space-check=trailing-comma,
+               dict-separator
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style
+#argument-rgx=
+
+# Naming style matching correct attribute names
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Naming style matching correct class attribute names
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style
+#class-attribute-rgx=
+
+# Naming style matching correct class names
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-style
+#class-rgx=
+
+# Naming style matching correct constant names
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Include a hint for the correct naming format with invalid-name
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style
+#inlinevar-rgx=
+
+# Naming style matching correct method names
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style
+#method-rgx=
+
+# Naming style matching correct module names
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+property-classes=abc.abstractproperty
+
+# Naming style matching correct variable names
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style
+#variable-rgx=
+
+
+[DESIGN]
+
+# Maximum number of arguments for function / method
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in a if statement
+max-bool-expr=5
+
+# Maximum number of branch for function / method body
+max-branches=12
+
+# Maximum number of locals for function / method body
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body
+max-returns=6
+
+# Maximum number of statements in function / method body
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[CLASSES]
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=mcs
+
+
+[IMPORTS]
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,
+                   TERMIOS,
+                   Bastion,
+                   rexec
+
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
+
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
+
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when being caught. Defaults to
+# "Exception"
+overgeneral-exceptions=Exception

.travis.yml

@@ -0,0 +1,7 @@
+sudo: required
+
+services:
+  - docker
+
+script:
+  - ./run_docker_tests.sh

CONTRIBUTING.md

@@ -0,0 +1,31 @@
+# How to contribute
+
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
+
+Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+
+## Getting Started
+
+ * Join our [Discord](https://discord.comma.ai)
+ * Make sure you have a [GitHub account](https://github.com/signup/free)
+ * Fork [our repositories](https://github.com/commaai) on GitHub
+
+## Testing
+
+### Local Testing
+
+You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
+
+### Automated Testing
+
+All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
+
+### Code Style and Linting
+
+Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
+
+## Car Ports (openpilot)
+
+We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
+
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)

Dockerfile.openpilot

@@ -1,19 +1,57 @@
-FROM ubuntu:14.04
+FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1
 
-RUN apt-get update && apt-get install -y build-essential screen wget bzip2 git libglib2.0-0
+RUN apt-get update && apt-get install -y \
+    autoconf \
+    build-essential \
+    bzip2 \
+    clang \
+    git \
+    libarchive-dev \
+    libavcodec-dev \
+    libavdevice-dev \
+    libavfilter-dev \
+    libavresample-dev \
+    libavutil-dev \
+    libffi-dev \
+    libglib2.0-0 \
+    libssl-dev \
+    libswscale-dev \
+    libtool \
+    libusb-1.0-0 \
+    libzmq5-dev \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    opencl-headers \
+    pkg-config \
+    python-pip \
+    wget
 
-RUN wget -nv -O /tmp/anaconda.sh https://repo.continuum.io/archive/Anaconda2-4.2.0-Linux-x86_64.sh && \
-  /bin/bash /tmp/anaconda.sh -b -p /opt/conda && \
-  rm /tmp/anaconda.sh
+COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
+RUN /tmp/install_capnp.sh
 
-ENV PATH /opt/conda/bin:$PATH
+RUN pip install --upgrade pip==18.0
+RUN pip install pipenv==2018.11.26
 
-RUN conda install numpy==1.11.2 && conda install scipy==0.18.1
-
-COPY requirements_openpilot.txt /tmp/
-RUN pip install -r /tmp/requirements_openpilot.txt
+COPY Pipfile /tmp/
+COPY Pipfile.lock /tmp/
+RUN cd /tmp && pipenv install --deploy --system
 
 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
 
-COPY . /tmp/openpilot
+RUN git clone --branch v0.6  https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+RUN pip install -r /tmp/openpilot/tools/requirements.txt
+RUN pip install fastcluster==1.1.20 scipy==0.19.1
+
+COPY ./.pylintrc /tmp/openpilot/.pylintrc
+COPY ./common /tmp/openpilot/common
+COPY ./cereal /tmp/openpilot/cereal
+COPY ./opendbc /tmp/openpilot/opendbc
+COPY ./selfdrive /tmp/openpilot/selfdrive
+COPY ./phonelibs /tmp/openpilot/phonelibs
+COPY ./pyextra /tmp/openpilot/pyextra
+COPY ./panda /tmp/openpilot/panda
+
+RUN mkdir -p /tmp/openpilot/selfdrive/test/out
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2016, comma.ai
+Copyright (c) 2018, 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:
 

Makefile

@@ -0,0 +1,9 @@
+
+code_dir := $(shell pwd)
+
+# TODO: Add a global build system
+
+.PHONY: all
+all:
+	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
+

Pipfile

@@ -0,0 +1,145 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+ipython = "<6.0"
+aenum = "*"
+azure-batch = "==4.1.3"
+azure-common = "==1.1.16"
+azure-nspkg = "==3.0.1"
+azure-storage-blob = "==1.3.1"
+azure-storage-common = "==1.3.0"
+azure-storage-nspkg = "==3.0.0"
+bincopy = "*"
+bleach = "==1.5.0"
+boto = "*"
+"boto3" = "*"
+celery = "*"
+control = "*"
+datadog = "*"
+decorator = "*"
+dlib = "*"
+dominate = "*"
+elasticsearch = "*"
+entium = "==0.1.4"
+fasteners = "*"
+future = "*"
+futures = "*"
+gevent = "*"
+pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
+gunicorn = "*"
+"h5py" = "*"
+hexdump = "*"
+"html5lib" = "==0.9999999"
+imageio = "*"
+intervaltree = "*"
+ipykernel = "<5.0"
+joblib = "*"
+json-logging-py = "*"
+jupyter = "*"
+libarchive = "*"
+lru-dict = "*"
+lxml = "*"
+matplotlib = "==2.2.3"
+"mpld3" = "*"
+msgpack-python = "*"
+nbstripout = "*"
+nose-parameterized = "*"
+numpy = "==1.14.5"
+osmium = "==2.15.0"
+pbr = "==5.1.3"
+percache = "*"
+pprofile = "*"
+psutil = "*"
+pycurl = "*"
+git-pylint-commit-hook = "==2.5.1"
+pymongo = "*"
+"pynmea2" = "*"
+pypolyline = "==0.1.17"
+pysendfile = "*"
+python-logstash = "*"
+pyvcd = "*"
+redis = "*"
+redlock = "*"
+"s2sphere" = "*"
+scikit-image = "*"
+"subprocess32" = "*"
+supervisor = "*"
+tenacity = "*"
+tensorflow-gpu = "==1.13.0rc0"
+"transforms3d" = "*"
+utm = "*"
+"v4l2" = "*"
+visdom = "*"
+PyJWT = "==1.4.1"
+PyMySQL = "==0.9.2"
+Theano = "*"
+Werkzeug = "*"
+"backports.lzma" = "*"
+Flask-Cors = "*"
+Flask-SocketIO = "*"
+"GeoAlchemy2" = "*"
+Keras = ">=2.1.6"
+keras-maskrcnn = "*"
+keras-retinanet = "*"
+Pygments = "*"
+PyNaCl = "*"
+"PySDL2" = "*"
+reverse_geocoder = "*"
+Shapely = "*"
+SQLAlchemy = "==1.2.7"
+uWSGI = "*"
+scipy = "*"
+fastcluster = "==1.1.25"
+backports-abc = "*"
+pygame = "*"
+simplejson = "*"
+python-logstash-async = "*"
+pandas = "*"
+seaborn = "*"
+tensorflow-estimator = "==1.10.12"
+pyproj = "*"
+
+[packages]
+overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
+atomicwrites = "*"
+cffi = "*"
+crcmod = "*"
+hexdump = "*"
+libusb1 = "*"
+numpy = "*"
+psutil = "*"
+pycapnp = "*"
+cryptography = "*"
+pyserial = "*"
+python-dateutil = "*"
+pyzmq = "*"
+raven = "*"
+requests = "*"
+setproctitle = "*"
+six = "*"
+smbus2 = "*"
+sympy = "*"
+tqdm = "*"
+Cython = "*"
+PyYAML = "*"
+websocket_client = "*"
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
+urllib3 = "*"
+chardet = "*"
+idna = "*"
+gunicorn = "*"
+utm = "*"
+json-rpc = "*"
+Flask = "*"
+PyJWT = "*"
+"Jinja2" = "*"
+nose = "*"
+pyflakes = "*"
+pylint = "*"
+pycryptodome = "*"
+
+[requires]
+python_version = "2.7"

README.md

@@ -1,109 +1,235 @@
+[![](https://i.imgur.com/UetIFyH.jpg)](#)
+
 Welcome to openpilot
 ======
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
 
-Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
-The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+Table of Contents
+=======================
+
+* [Community](#community)
+* [Hardware](#hardware)
+* [Supported Cars](#supported-cars)
+* [Community Maintained Cars](#community-maintained-cars)
+* [In Progress Cars](#in-progress-cars)
+* [How can I add support for my car?](#how-can-i-add-support-for-my-car)
+* [Directory structure](#directory-structure)
+* [User Data / chffr Account / Crash Reporting](#user-data--chffr-account--crash-reporting)
+* [Testing on PC](#testing-on-pc)
+* [Contributing](#contributing)
+* [Licensing](#licensing)
+
+---
+
+Community
+------
+
+openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
+
+We have a [Twitter you should follow](https://twitter.com/comma_ai).
+
+Also, we have a several thousand people community on [Discord](https://discord.comma.ai).
+
+<table>
+  <tr>
+    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
+  </tr>
+  <tr>
+    <td><a href="https://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
+  </tr>
+</table>
 
 Hardware
 ------
 
-Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support [Open Source Car Control](https://github.com/PolySync/OSCC) as well.
+At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.
 
-To install it on the NEO:
-
-```bash
-# Requires working adb in PATH
-cd installation
-./install.sh
-```
+Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
 Supported Cars
 ------
 
-- Acura ILX 2016 with AcuraWatch Plus
-  - Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
+| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Acura                | ILX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chrysler             | Pacifica 2017-18         | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2019     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Honda                | Accord 2018-19           | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
+| Honda                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
+| Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | CR-V 2017-19             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V Hybrid 2017-2019    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2018-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Hyundai              | Elantra 2017-19          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Jeep                 | Grand Cherokee 2016-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Jeep                 | Grand Cherokee 2019      | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Lexus                | ES Hybrid 2019           | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Avalon 2017-18           | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Camry 2018-19            | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-19             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander 2017-19       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius Prime 2017-19      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Sienna 2018              | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 
-- Honda Civic 2016 Touring Edition
-  - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). <br />
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
+<sup>4</sup>Subaru Giraffe is DIY. <br />
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
+<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
+
+Community Maintained Cars
+------
+
+| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Honda                | Fit 2018                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Tesla                | Model S 2012-13          | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
+
+[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
+[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
+<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
+
+Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
+
+In Progress Cars
+------
+- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
+  - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
+- All Hyundai with SmartSense.
+- All Kia with SCC and LKAS.
+- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
+
+How can I add support for my car?
+------
+
+If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
+
+We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
+
+- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
+- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
+- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
 
 Directory structure
 ------
+    .
+    ├── apk                 # The apk files used for the UI
+    ├── cereal              # The messaging spec used for all logs on EON
+    ├── common              # Library like functionality we've developed here
+    ├── installer/updater   # Manages auto-updates of openpilot
+    ├── opendbc             # Files showing how to interpret data from cars
+    ├── panda               # Code used to communicate on CAN and LIN
+    ├── phonelibs           # Libraries used on EON
+    ├── pyextra             # Libraries used on EON
+    └── selfdrive           # Code needed to drive the car
+        ├── assets          # Fonts and images for UI
+        ├── athena          # Allows communication with the app
+        ├── boardd          # Daemon to talk to the board
+        ├── can             # Helpers for parsing CAN messages
+        ├── car             # Car specific code to read states and control actuators
+        ├── common          # Shared C/C++ code for the daemons
+        ├── controls        # Perception, planning and controls
+        ├── debug           # Tools to help you debug and do car ports
+        ├── locationd       # Soon to be home of precise location
+        ├── logcatd         # Android logcat as a service
+        ├── loggerd         # Logger and uploader of car data
+        ├── proclogd        # Logs information from proc
+        ├── sensord         # IMU / GPS interface code
+        ├── test            # Car simulator running code through virtual maneuvers
+        ├── ui              # The UI
+        └── visiond         # Vision pipeline
 
-- board         -- Code that runs on the USB interface board
-- cereal        -- The messaging spec used for all logs on the phone
-- common        -- Library like functionality we've developed here
-- dbcs          -- Files showing how to interpret data from cars
-- installation  -- Installation on the neo platform
-- phonelibs     -- Libraries used on the phone
-- selfdrive     -- Code needed to drive the car
-  - assets        -- Fonts for ui
-  - boardd        -- Daemon to talk to the board
-  - calibrationd  -- Camera calibration server
-  - car           -- Code that talks to the car and implements CarInterface
-  - common        -- Shared C/C++ code for the daemons
-  - controls      -- Python controls (PID loops etc) for the car
-  - logcatd       -- Android logcat as a service
-  - loggerd       -- Logger and uploader of car data
-  - radar         -- Code that talks to the radar and implements RadarInterface
-  - sensord       -- IMU / GPS interface code
-  - test/plant    -- Car simulator running code through virtual maneuvers
-  - ui            -- The UI
-  - visiond       -- embedded vision pipeline
+To understand how the services interact, see `selfdrive/service_list.yaml`
 
-To understand how the services interact, see `common/services.py`
+User Data / chffr Account / Crash Reporting
+------
+
+By default, openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
+
+It's open source software, so you are free to disable it if you wish.
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The user facing camera is only logged if you explicitly opt-in in settings.
+It does not log the microphone.
+
+By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
 
 Testing on PC
 ------
 
-There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
+Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+
+Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
 
 ```bash
 # Requires working docker
 ./run_docker_tests.sh
 ```
 
-The results are written to `selfdrive/test/plant/out/index.html`
-
-More extensive testing infrastructure and simulation environments are coming soon.
-
-Adding Car Support
-------
-
-It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
-
-The Honda Accord uses different signaling for the steering and probably requires new hardware.
-
-Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
-
-User Data / chffr Account / Crash Reporting
-------
-
-By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
-
-It's open source software, so you are free to disable it if you wish. 
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-It does not log the user facing camera or the microphone.
-
-By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
 Contributing
 ------
 
-We welcome both pull requests and issues on
-[github](http://github.com/commaai/openpilot). See the TODO file for a list of
-good places to start.
+We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
 
-Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/hiring.html)
+We also have a [bounty program](https://comma.ai/bounties.html).
+
+Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
 
 Licensing
 ------
 
-openpilot is released under the MIT license.
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
+
+---
+
+<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>

README_chffrplus.md

@@ -0,0 +1,36 @@
+Welcome to chffrplus
+======
+
+[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
+
+This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
+
+It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
+
+
+Hardware
+------
+
+Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
+
+Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
+
+
+User Data / chffr Account / Crash Reporting
+------
+
+By default chffrplus creates an account and includes a client for chffr, our dashcam app.
+
+It's open source software, so you are free to disable it if you wish. 
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+It does not log the user facing camera or the microphone.
+
+By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+
+Licensing
+------
+
+chffrplus is released under the MIT license.
+

RELEASES.md

@@ -1,3 +1,413 @@
+Version 0.6.2 (2019-07-29)
+========================
+ * New driving model!
+ * Improve lane tracking with double lines
+ * Strongly improve stationary vehicle detection
+ * Strongly reduce cases of braking due to false leads
+ * Better lead tracking around turns
+ * Improve cut-in prediction by using neural network
+ * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
+ * Fix unintended openpilot disengagements on Jeep thanks to adhintz!
+ * Fix delayed transition to offroad when car is turned off
+
+Version 0.6.1 (2019-07-21)
+========================
+ * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
+ * Panda code Misra-c2012 compliance, tested against cppcheck coverage
+ * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
+ * Toyota Sienna support thanks to wocsor!
+
+Version 0.6 (2019-07-01)
+========================
+ * New model, with double the pixels and ten times the temporal context!
+ * Car should not take exits when in the right lane
+ * openpilot uses only ~65% of the CPU (down from 75%)
+ * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
+ * loggerd and sensord are open source, every line of openpilot is now open
+ * Panda safety code is MISRA compliant and ships with a signed version on release2
+ * New NEOS is 500MB smaller and has a reproducible usr/pipenv
+ * Lexus ES Hybrid support thanks to wocsor!
+ * Improve tuning for supported Toyota with TSS2
+ * Various other stability improvements
+
+Version 0.5.13 (2019-05-31)
+==========================
+ * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
+ * Reduce EON power consumption by 40%, down to 1100mW, when car is off
+ * Reduce CPU utilization by 20% and improve stability
+ * Temporarily remove mapd functionalities to improve stability
+ * Add openpilot record-only mode for unsupported cars
+ * Synchronize controlsd to boardd to reduce latency
+ * Remove panda support for Subaru giraffe
+
+Version 0.5.12 (2019-05-16)
+==========================
+ * Improve lateral control for the Prius and Prius Prime
+ * Compress logs before writing to disk
+ * Remove old driving data when storage reaches 90% full
+ * Fix small offset in following distance
+ * Various small CPU optimizations
+ * Improve offroad power consumption: require NEOS Update
+ * Add default speed limits for Estonia thanks to martinl!
+ * Subaru Crosstrek support thanks to martinl!
+ * Toyota Avalon support thanks to njbrown09!
+ * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
+ * Toyota Corolla with TSS 2.0 support thanks to wocsor!
+
+Version 0.5.11 (2019-04-17)
+========================
+ * Add support for Subaru
+ * Reduce panda power consumption by 60% when car is off
+ * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
+ * Fix bug in controls with new angle-offset learner in MPC
+ * Reduce cpu consumption of ubloxd by rewriting it in C++
+ * Improve driver monitoring model and face detection
+ * Improve performance of visiond and ui
+ * Honda Passport 2019 support
+ * Lexus RX Hybrid 2019 support thanks to schomems!
+ * Improve road selection heuristic in mapd
+ * Add Lane Departure Warning to dashboard for Toyota thanks to arne182
+
+Version 0.5.10 (2019-03-19)
+========================
+ * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
+ * Improve longitudinal control at low speed when lead vehicle harshly decelerates
+ * Fix panda bug going unexpectedly in DCP mode when EON is connected
+ * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
+ * New Driver Monitoring Model
+ * Support QR codes for login using comma connect
+ * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
+   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
+ * Additional speed limit rules for Germany thanks to arne182
+ * Allow negative speed limit offsets
+
+Version 0.5.9 (2019-02-10)
+========================
+ * Improve calibration using a dedicated neural network
+ * Abstract planner in its own process to remove lags in controls process
+ * Improve speed limits with country/region defaults by road type
+ * Reduce mapd data usage with gzip thanks to eFiniLan
+ * Zip log files in the background to reduce disk usage
+ * Kia Optima support thanks to emmertex!
+ * Buick Regal 2018 support thanks to HOYS!
+ * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+ * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
+
+Version 0.5.8 (2019-01-17)
+========================
+ * Open sourced visiond
+ * Auto-slowdown for upcoming turns
+ * Chrysler/Jeep/Fiat support thanks to adhintz!
+ * Honda Civic 2019 support thanks to csouers!
+ * Improve use of car display in Toyota thanks to arne182!
+ * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
+ * EON stops charging when 12V battery drops below 11.8V
+
+Version 0.5.7 (2018-12-06)
+========================
+ * Speed limit from OpenStreetMap added to UI
+ * Highlight speed limit when speed exceeds road speed limit plus a delta
+ * Option to limit openpilot max speed to road speed limit plus a delta
+ * Cadillac ATS support thanks to vntarasov!
+ * GMC Acadia support thanks to CryptoKylan!
+ * Decrease GPU power consumption
+ * NEOSv8 autoupdate
+
+Version 0.5.6 (2018-11-16)
+========================
+ * Refresh settings layout and add feature descriptions
+ * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
+ * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
+ * Improve camera calibration stability
+ * More tuning to Honda positive accelerations
+ * Reduce brake pump use on Hondas
+ * Chevrolet Malibu support thanks to tylergets!
+ * Holden Astra support thanks to AlexHill!
+
+Version 0.5.5 (2018-10-20)
+========================
+ * Increase allowed Honda positive accelerations
+ * Fix sporadic unexpected braking when passing semi-trucks in Toyota
+ * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
+
+Version 0.5.4 (2018-09-25)
+========================
+ * New Driving Model
+ * New Driver Monitoring Model
+ * Improve longitudinal mpc in mid-low speed braking
+ * Honda Accord hybrid support thanks to energee!
+ * Ship mpc binaries and sensibly reduce build time
+ * Calibration more stable
+ * More Hyundai and Kia cars supported thanks to emmertex!
+ * Various GM Volt improvements thanks to vntarasov!
+
+Version 0.5.3 (2018-09-03)
+========================
+ * Hyundai Santa Fe support!
+ * Honda Pilot 2019 support thanks to energee!
+ * Toyota Highlander support thanks to daehahn!
+ * Improve steering tuning for Honda Odyssey
+
+Version 0.5.2 (2018-08-16)
+========================
+ * New calibration: more accurate, a lot faster, open source!
+ * Enable orbd
+ * Add little endian support to CAN packer
+ * Fix fingerprint for Honda Accord 1.5T
+ * Improve driver monitoring model
+
+Version 0.5.1 (2018-08-01)
+========================
+ * Fix radar error on Civic sedan 2018
+ * Improve thermal management logic
+ * Alpha Toyota C-HR and Camry support!
+ * Auto-switch Driver Monitoring to 3 min counter when inaccurate
+
+Version 0.5 (2018-07-11)
+========================
+ * Driver Monitoring (beta) option in settings!
+ * Make visiond, loggerd and UI use less resources
+ * 60 FPS UI
+ * Better car parameters for most cars
+ * New sidebar with stats
+ * Remove Waze and Spotify to free up system resources
+ * Remove rear view mirror option
+ * Calibration 3x faster
+
+Version 0.4.7.2 (2018-06-25)
+==========================
+ * Fix loggerd lag issue
+ * No longer prompt for updates
+ * Mitigate right lane hugging for properly mounted EON (procedure on wiki)
+
+Version 0.4.7.1 (2018-06-18)
+==========================
+ * Fix Acura ILX steer faults
+ * Fix bug in mock car
+
+Version 0.4.7 (2018-06-15)
+==========================
+ * New model!
+ * GM Volt (and CT6 lateral) support!
+ * Honda Bosch lateral support!
+ * Improve actuator modeling to reduce lateral wobble
+ * Minor refactor of car abstraction layer
+ * Hack around orbd startup issue
+
+Version 0.4.6 (2018-05-18)
+==========================
+ * NEOSv6 required! Will autoupdate
+ * Stability improvements
+ * Fix all memory leaks
+ * Update C++ compiler to clang6
+ * Improve front camera exposure
+
+Version 0.4.5 (2018-04-27)
+==========================
+ * Release notes added to the update popup
+ * Improve auto shut-off logic to disallow empty battery
+ * Added onboarding instructions
+ * Include orbd, the first piece of new calibration algorithm
+ * Show remaining upload data instead of file numbers
+ * Fix UI bugs
+ * Fix memory leaks
+
+Version 0.4.4 (2018-04-13)
+==========================
+ * EON are flipped! Flip your EON's mount!
+ * Alpha Honda Ridgeline support thanks to energee!
+ * Support optional front camera recording
+ * Upload over cellular toggle now applies to all files, not just video
+ * Increase acceleration when closing lead gap
+ * User now prompted for future updates
+ * NEO no longer supported :(
+
+Version 0.4.3.2 (2018-03-29)
+============================
+ * Improve autofocus
+ * Improve driving when only one lane line is detected
+ * Added fingerprint for Toyota Corolla LE
+ * Fixed Toyota Corolla steer error
+ * Full-screen driving UI
+ * Improved path drawing
+
+Version 0.4.3.1 (2018-03-19)
+============================
+ * Improve autofocus
+ * Add check for MPC solution error
+ * Make first distracted warning visual only
+
+Version 0.4.3 (2018-03-13)
+==========================
+ * Add HDR and autofocus
+ * Update UI aesthetic
+ * Grey panda works in Waze
+ * Add alpha support for 2017 Honda Pilot
+ * Slight increase in acceleration response from stop
+ * Switch CAN sending to use CANPacker
+ * Fix pulsing acceleration regression on Honda
+ * Fix openpilot bugs when stock system is in use
+ * Change starting logic for chffrplus to use battery voltage
+
+Version 0.4.2 (2018-02-05)
+==========================
+ * Add alpha support for 2017 Lexus RX Hybrid
+ * Add alpha support for 2018 ACURA RDX
+ * Updated fingerprint to include Toyota Rav4 SE and Prius Prime
+ * Bugfixes for Acura ILX and Honda Odyssey
+
+Version 0.4.1 (2018-01-30)
+==========================
+ * Add alpha support for 2017 Toyota Corolla
+ * Add alpha support for 2018 Honda Odyssey with Honda Sensing
+ * Add alpha support for Grey Panda
+ * Refactored car abstraction layer to make car ports easier
+ * Increased steering torque limit on Honda CR-V by 30%
+
+Version 0.4.0.2 (2018-01-18)
+==========================
+ * Add focus adjustment slider
+ * Minor bugfixes
+
+Version 0.4.0.1 (2017-12-21)
+==========================
+ * New UI to match chffrplus
+ * Improved lateral control tuning to fix oscillations on Civic
+ * Add alpha support for 2017 Toyota Rav4 Hybrid
+ * Reduced CPU usage
+ * Removed unnecessary utilization of fan at max speed
+ * Minor bug fixes
+
+Version 0.3.9 (2017-11-21)
+==========================
+ * Add alpha support for 2017 Toyota Prius
+ * Improved longitudinal control using model predictive control
+ * Enable Forward Collision Warning
+ * Acura ILX now maintains openpilot engaged at standstill when brakes are applied
+
+Version 0.3.8.2 (2017-10-30)
+==========================
+ * Add alpha support for 2017 Toyota RAV4
+ * Smoother lateral control
+ * Stay silent if stock system is connected through giraffe
+ * Minor bug fixes
+
+Version 0.3.7 (2017-09-30)
+==========================
+ * Improved lateral control using model predictive control
+ * Improved lane centering
+ * Improved GPS
+ * Reduced tendency of path deviation near right side exits
+ * Enable engagement while the accelerator pedal is pressed
+ * Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
+ * Disable engagement when park brake or brake hold are active
+ * Fixed sporadic longitudinal pulsing in Civic
+ * Cleanups to vehicle interface
+
+Version 0.3.6.1 (2017-08-15)
+============================
+ * Mitigate low speed steering oscillations on some vehicles
+ * Include board steering check for CR-V
+
+Version 0.3.6 (2017-08-08)
+==========================
+ * Fix alpha CR-V support
+ * Improved GPS
+ * Fix display of target speed not always matching HUD
+ * Increased acceleration after stop
+ * Mitigated some vehicles driving too close to the right line
+
+Version 0.3.5 (2017-07-30)
+==========================
+ * Fix bug where new devices would not begin calibration
+ * Minor robustness improvements
+
+Version 0.3.4 (2017-07-28)
+==========================
+ * Improved model trained on more data
+ * Much improved controls tuning
+ * Performance improvements
+ * Bugfixes and improvements to calibration
+ * Driving log can play back video
+ * Acura only: system now stays engaged below 25mph as long as brakes are applied
+
+Version 0.3.3  (2017-06-28)
+===========================
+  * Improved model trained on more data
+  * Alpha CR-V support thanks to energee and johnnwvs!
+  * Using the opendbc project for DBC files
+  * Minor performance improvements
+  * UI update thanks to pjlao307
+  * Power off button
+  * 6% more torque on the Civic
+
+Version 0.3.2  (2017-05-22)
+===========================
+  * Minor stability bugfixes
+  * Added metrics and rear view mirror disable to settings
+  * Update model with more crowdsourced data
+
+Version 0.3.1  (2017-05-17)
+===========================
+  * visiond stability bugfix
+  * Add logging for angle and flashing
+
+Version 0.3.0  (2017-05-12)
+===========================
+  * Add CarParams struct to improve the abstraction layer
+  * Refactor visiond IPC to support multiple clients
+  * Add raw GPS and beginning support for navigation
+  * Improve model in visiond using crowdsourced data
+  * Add improved system logging to diagnose instability
+  * Rewrite baseui in React Native
+  * Moved calibration to the cloud
+
+Version 0.2.9  (2017-03-01)
+===========================
+  * Retain compatibility with NEOS v1
+
+Version 0.2.8  (2017-02-27)
+===========================
+  * Fix bug where frames were being dropped in minute 71
+
+Version 0.2.7  (2017-02-08)
+===========================
+  * Better performance and pictures at night
+  * Fix ptr alignment issue in boardd
+  * Fix brake error light, fix crash if too cold
+
+Version 0.2.6  (2017-01-31)
+===========================
+  * Fix bug in visiond model execution
+
+Version 0.2.5  (2017-01-30)
+===========================
+  * Fix race condition in manager
+
+Version 0.2.4  (2017-01-27)
+===========================
+  * OnePlus 3T support
+  * Enable installation as NEOS app
+  * Various minor bugfixes
+
+Version 0.2.3  (2017-01-11)
+===========================
+  * Reduce space usage by 80%
+  * Add better logging
+  * Add Travis CI
+
+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
@@ -16,4 +426,3 @@ Version 0.1  (2016-11-29)
   * Lane keep assist is working
   * Support for Acura ILX 2016 with AcuraWatch Plus
   * Support for Honda Civic 2016 Touring Edition
-

SAFETY.md

@@ -1,36 +1,151 @@
 openpilot Safety
 ======
 
-openpilot is an Adaptive Cruise Control and Lane Keeping Assist System. Like
-other ACC and LKAS systems, openpilot requires the driver to be alert and to pay
-attention at all times. We repeat, **driver alertness is necessary, but not
+openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
+Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
+pay attention at all times. We repeat, **driver alertness is necessary, but not 
 sufficient, for openpilot to be used safely**.
 
-Even with an attentive driver, we must make further efforts for the system to be
+In order to enforce driver alertness, openpilot includes a driver monitoring feature
+that alerts the driver when distracted.
+
+However, even with an attentive driver, we must make further efforts for the system to be
 safe. We have designed openpilot with two other safety considerations.
 
-1. The vehicle must always be controllable by the driver.
+1. The driver must always be capable to immediately retake manual control of the vehicle, 
+   by stepping on either pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react.
+   react. This means that while the system is engaged, the actuators are constrained
+   to operate within reasonable limits.
 
-To address these, we came up with two safety principles.
+Following are details of the car specific safety implementations:
+
+Honda/Acura
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
+    The PCM limits acceleration to what is reasonable for a cruise control system.  With an
+    interceptor, the gas is clipped to 60%.
+
+  - The brake is controlled by the 0x1FA CAN message. This message allows full
+    braking, although the panda firmware and openpilot clip it to 1/4th of the max.
+    This is approximately 0.3g of braking.
+
+  - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
+    controller in the car limits the torque to a very small amount, so regardless of the 
+    message, the controller cannot jerk the wheel.
+
+  - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
+    either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
+    white led on the panda signifies if the panda is allowing control messages.
 
-1. Enforced disengagements. Step on either pedal or press the cancel button to
-   retake manual control of the car immediately.
-  - These are hard enforced by the board, and soft enforced by the software. The
-    green led on the board signifies if the board is allowing control messages.
   - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
     replay of the same message.
 
-2. Actuation limits. While the system is engaged, the actuators are constrained
-   to operate within reasonable limits; the same limits used by the stock system on
-   the Honda.
-  - Without an interceptor, the gas is controlled by the PCM. The PCM limits
-    acceleration to what is reasonable for a cruise control system.  With an
-    interceptor, the gas is clipped to 60% in longcontrol.py
-  - The brake is controlled by the 0x1FA CAN message. This message allows full
-    braking, although the board and the software clip it to 1/4th of the max.
-    This is around .3g of braking.
-  - Steering is controlled by the 0xE4 CAN message. The EPS controller in the
-    car limits the torque to a very small amount, so regardless of the message,
-    the controller cannot jerk the wheel.
+Toyota/Lexus
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
+    the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
+    control limits. Without the stock DSU connected, the acceleration command is controlled by the
+    0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
+    by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
+    Module (ECM) while the cruise control system is disengaged.
+
+  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+  - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal.
+
+  - The cruise control system state is contained in the 0x1D2 message. No control messages are
+    allowed if the cruise control system is not active. This is enforced by openpilot and the
+    panda firmware. The white led on the panda signifies if the panda is allowing control messages.
+
+GM/Chevrolet
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
+    openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
+    while 3072 correspond to approximately 0.18g of acceleration from stop.
+
+  - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
+    and openpilot to 350. This is approximately 0.3g of braking.
+
+  - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
+    regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
+
+  - GM CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+Hyundai/Kia (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
+    commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+Chrysler/Jeep/Fiat (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
+    commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+Subaru (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
+    commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+  not fully meeting the above requirements.

board/Makefile

@@ -1,43 +0,0 @@
-# :set noet
-PROJ_NAME = comma
-
-CFLAGS  = -g -O0 -Wall
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
-CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I inc -nostdlib
-CFLAGS += -Tstm32_flash.ld
-
-CC = arm-none-eabi-gcc
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-
-MACHINE = $(shell uname -m)
-
-all: obj/$(PROJ_NAME).bin
-	#$(OBJDUMP) -d obj/$(PROJ_NAME).elf
-	./tools/enter_download_mode.py
-	./tools/dfu-util-$(MACHINE) -a 0 -s 0x08000000 -D $<
-	./tools/dfu-util-$(MACHINE) --reset-stm32 -a 0 -s 0x08000000
-
-ifneq ($(wildcard ../.git/HEAD),) 
-obj/gitversion.h: ../.git/HEAD ../.git/index
-	echo "const uint8_t gitversion[] = \"$(shell git rev-parse HEAD)\";" > $@
-else
-obj/gitversion.h: 
-	echo "const uint8_t gitversion[] = \"RELEASE\";" > $@
-endif
-
-obj/main.o: main.c *.h obj/gitversion.h
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/startup_stm32f205xx.o: startup_stm32f205xx.s
-	mkdir -p obj
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(PROJ_NAME).bin: obj/startup_stm32f205xx.o obj/main.o
-	$(CC) $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
-	
-clean:
-	rm -f obj/*
-

board/can.h

@@ -1,75 +0,0 @@
-void can_init(CAN_TypeDef *CAN) {
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
-  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-  puts("CAN initting\n");
-
-  // PCLK = 24000000, 500000 is 48 clocks
-  // from http://www.bittiming.can-wiki.ino/
-  CAN->BTR = 0x001c0002;
-
-  // loopback mode for debugging
-  #ifdef CAN_LOOPBACK_MODE
-    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
-  #endif
-
-  // reset
-  CAN->MCR = CAN_MCR_TTCM;
-  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK);
-  puts("CAN init done\n");
-
-  // accept all filter
-  CAN->FMR |= CAN_FMR_FINIT;
-
-  // no mask
-  CAN->sFilterRegister[0].FR1 = 0;
-  CAN->sFilterRegister[0].FR2 = 0;
-  CAN->sFilterRegister[14].FR1 = 0;
-  CAN->sFilterRegister[14].FR2 = 0;
-  CAN->FA1R |= 1 | (1 << 14);
-
-  CAN->FMR &= ~(CAN_FMR_FINIT);
-
-  // enable all CAN interrupts
-  CAN->IER = 0xFFFFFFFF;
-  //CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
-}
-
-// CAN error
-void can_sce(CAN_TypeDef *CAN) {
-  #ifdef DEBUG
-    puts("MSR:");
-    puth(CAN->MSR);
-    puts(" TSR:");
-    puth(CAN->TSR);
-    puts(" RF0R:");
-    puth(CAN->RF0R);
-    puts(" RF1R:");
-    puth(CAN->RF1R);
-    puts(" ESR:");
-    puth(CAN->ESR);
-    puts("\n");
-  #endif
-
-  // clear
-  //CAN->sTxMailBox[0].TIR &= ~(CAN_TI0R_TXRQ);
-  CAN->TSR |= CAN_TSR_ABRQ0;
-  //CAN->ESR |= CAN_ESR_LEC;
-  //CAN->MSR &= ~(CAN_MSR_ERRI);
-  CAN->MSR = CAN->MSR;
-}
-
-int can_cksum(uint8_t *dat, int len, int addr, int idx) {
-  int i;
-  int s = 0;
-  for (i = 0; i < len; i++) {
-    s += (dat[i] >> 4);
-    s += dat[i] & 0xF;
-  }
-  s += (addr>>0)&0xF;
-  s += (addr>>4)&0xF;
-  s += (addr>>8)&0xF;
-  s += idx;
-  s = 8-s;
-  return s&0xF;
-}
-

board/inc/core_cmFunc.h

@@ -1,609 +0,0 @@
-/**************************************************************************//**
- * @file     core_cmFunc.h
- * @brief    CMSIS Cortex-M Core Function Access Header File
- * @version  V2.10
- * @date     26. July 2011
- *
- * @note
- * Copyright (C) 2009-2011 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M 
- * processor based microcontrollers.  This file can be freely distributed 
- * within development tools that are supporting such ARM based processors. 
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef __CORE_CMFUNC_H
-#define __CORE_CMFUNC_H
-
-
-/* ###########################  Core Function Access  ########################### */
-/** \ingroup  CMSIS_Core_FunctionInterface   
-    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
-  @{
- */
-
-#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-#if (__ARMCC_VERSION < 400677)
-  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
-#endif
-
-/* intrinsic void __enable_irq();     */
-/* intrinsic void __disable_irq();    */
-
-/** \brief  Get Control Register
-
-    This function returns the content of the Control Register.
-
-    \return               Control Register value
- */
-static __INLINE uint32_t __get_CONTROL(void)
-{
-  register uint32_t __regControl         __ASM("control");
-  return(__regControl);
-}
-
-
-/** \brief  Set Control Register
-
-    This function writes the given value to the Control Register.
-
-    \param [in]    control  Control Register value to set
- */
-static __INLINE void __set_CONTROL(uint32_t control)
-{
-  register uint32_t __regControl         __ASM("control");
-  __regControl = control;
-}
-
-
-/** \brief  Get ISPR Register
-
-    This function returns the content of the ISPR Register.
-
-    \return               ISPR Register value
- */
-static __INLINE uint32_t __get_IPSR(void)
-{
-  register uint32_t __regIPSR          __ASM("ipsr");
-  return(__regIPSR);
-}
-
-
-/** \brief  Get APSR Register
-
-    This function returns the content of the APSR Register.
-
-    \return               APSR Register value
- */
-static __INLINE uint32_t __get_APSR(void)
-{
-  register uint32_t __regAPSR          __ASM("apsr");
-  return(__regAPSR);
-}
-
-
-/** \brief  Get xPSR Register
-
-    This function returns the content of the xPSR Register.
-
-    \return               xPSR Register value
- */
-static __INLINE uint32_t __get_xPSR(void)
-{
-  register uint32_t __regXPSR          __ASM("xpsr");
-  return(__regXPSR);
-}
-
-
-/** \brief  Get Process Stack Pointer
-
-    This function returns the current value of the Process Stack Pointer (PSP).
-
-    \return               PSP Register value
- */
-static __INLINE uint32_t __get_PSP(void)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  return(__regProcessStackPointer);
-}
-
-
-/** \brief  Set Process Stack Pointer
-
-    This function assigns the given value to the Process Stack Pointer (PSP).
-
-    \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-static __INLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  __regProcessStackPointer = topOfProcStack;
-}
-
-
-/** \brief  Get Main Stack Pointer
-
-    This function returns the current value of the Main Stack Pointer (MSP).
-
-    \return               MSP Register value
- */
-static __INLINE uint32_t __get_MSP(void)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  return(__regMainStackPointer);
-}
-
-
-/** \brief  Set Main Stack Pointer
-
-    This function assigns the given value to the Main Stack Pointer (MSP).
-
-    \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-static __INLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  __regMainStackPointer = topOfMainStack;
-}
-
-
-/** \brief  Get Priority Mask
-
-    This function returns the current state of the priority mask bit from the Priority Mask Register.
-
-    \return               Priority Mask value
- */
-static __INLINE uint32_t __get_PRIMASK(void)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  return(__regPriMask);
-}
-
-
-/** \brief  Set Priority Mask
-
-    This function assigns the given value to the Priority Mask Register.
-
-    \param [in]    priMask  Priority Mask
- */
-static __INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  __regPriMask = (priMask);
-}
- 
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Enable FIQ
-
-    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-#define __enable_fault_irq                __enable_fiq
-
-
-/** \brief  Disable FIQ
-
-    This function disables FIQ interrupts by setting the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-#define __disable_fault_irq               __disable_fiq
-
-
-/** \brief  Get Base Priority
-
-    This function returns the current value of the Base Priority register.
-
-    \return               Base Priority register value
- */
-static __INLINE uint32_t  __get_BASEPRI(void)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  return(__regBasePri);
-}
-
-
-/** \brief  Set Base Priority
-
-    This function assigns the given value to the Base Priority register.
-
-    \param [in]    basePri  Base Priority value to set
- */
-static __INLINE void __set_BASEPRI(uint32_t basePri)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  __regBasePri = (basePri & 0xff);
-}
- 
-
-/** \brief  Get Fault Mask
-
-    This function returns the current value of the Fault Mask register.
-
-    \return               Fault Mask register value
- */
-static __INLINE uint32_t __get_FAULTMASK(void)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  return(__regFaultMask);
-}
-
-
-/** \brief  Set Fault Mask
-
-    This function assigns the given value to the Fault Mask register.
-
-    \param [in]    faultMask  Fault Mask value to set
- */
-static __INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  __regFaultMask = (faultMask & (uint32_t)1);
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-#if       (__CORTEX_M == 0x04)
-
-/** \brief  Get FPSCR
-
-    This function returns the current value of the Floating Point Status/Control register.
-
-    \return               Floating Point Status/Control register value
- */
-static __INLINE uint32_t __get_FPSCR(void)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  register uint32_t __regfpscr         __ASM("fpscr");
-  return(__regfpscr);
-#else
-   return(0);
-#endif
-}
-
-
-/** \brief  Set FPSCR
-
-    This function assigns the given value to the Floating Point Status/Control register.
-
-    \param [in]    fpscr  Floating Point Status/Control value to set
- */
-static __INLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  register uint32_t __regfpscr         __ASM("fpscr");
-  __regfpscr = (fpscr);
-#endif
-}
-
-#endif /* (__CORTEX_M == 0x04) */
-
-
-#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-#include <cmsis_iar.h>
-
-#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-/** \brief  Enable IRQ Interrupts
-
-  This function enables IRQ interrupts by clearing the I-bit in the CPSR.
-  Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __enable_irq(void)
-{
-  __ASM volatile ("cpsie i");
-}
-
-
-/** \brief  Disable IRQ Interrupts
-
-  This function disables IRQ interrupts by setting the I-bit in the CPSR.
-  Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __disable_irq(void)
-{
-  __ASM volatile ("cpsid i");
-}
-
-
-/** \brief  Get Control Register
-
-    This function returns the content of the Control Register.
-
-    \return               Control Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_CONTROL(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, control" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Control Register
-
-    This function writes the given value to the Control Register.
-
-    \param [in]    control  Control Register value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_CONTROL(uint32_t control)
-{
-  __ASM volatile ("MSR control, %0" : : "r" (control) );
-}
-
-
-/** \brief  Get ISPR Register
-
-    This function returns the content of the ISPR Register.
-
-    \return               ISPR Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_IPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get APSR Register
-
-    This function returns the content of the APSR Register.
-
-    \return               APSR Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_APSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, apsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get xPSR Register
-
-    This function returns the content of the xPSR Register.
-
-    \return               xPSR Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_xPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get Process Stack Pointer
-
-    This function returns the current value of the Process Stack Pointer (PSP).
-
-    \return               PSP Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PSP(void)
-{
-  register uint32_t result;
-
-  __ASM volatile ("MRS %0, psp\n"  : "=r" (result) );
-  return(result);
-}
- 
-
-/** \brief  Set Process Stack Pointer
-
-    This function assigns the given value to the Process Stack Pointer (PSP).
-
-    \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );
-}
-
-
-/** \brief  Get Main Stack Pointer
-
-    This function returns the current value of the Main Stack Pointer (MSP).
-
-    \return               MSP Register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_MSP(void)
-{
-  register uint32_t result;
-
-  __ASM volatile ("MRS %0, msp\n" : "=r" (result) );
-  return(result);
-}
- 
-
-/** \brief  Set Main Stack Pointer
-
-    This function assigns the given value to the Main Stack Pointer (MSP).
-
-    \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );
-}
-
-
-/** \brief  Get Priority Mask
-
-    This function returns the current state of the priority mask bit from the Priority Mask Register.
-
-    \return               Priority Mask value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PRIMASK(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, primask" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Priority Mask
-
-    This function assigns the given value to the Priority Mask Register.
-
-    \param [in]    priMask  Priority Mask
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  __ASM volatile ("MSR primask, %0" : : "r" (priMask) );
-}
- 
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Enable FIQ
-
-    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __enable_fault_irq(void)
-{
-  __ASM volatile ("cpsie f");
-}
-
-
-/** \brief  Disable FIQ
-
-    This function disables FIQ interrupts by setting the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __disable_fault_irq(void)
-{
-  __ASM volatile ("cpsid f");
-}
-
-
-/** \brief  Get Base Priority
-
-    This function returns the current value of the Base Priority register.
-
-    \return               Base Priority register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_BASEPRI(void)
-{
-  uint32_t result;
-  
-  __ASM volatile ("MRS %0, basepri_max" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Base Priority
-
-    This function assigns the given value to the Base Priority register.
-
-    \param [in]    basePri  Base Priority value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_BASEPRI(uint32_t value)
-{
-  __ASM volatile ("MSR basepri, %0" : : "r" (value) );
-}
-
-
-/** \brief  Get Fault Mask
-
-    This function returns the current value of the Fault Mask register.
-
-    \return               Fault Mask register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FAULTMASK(void)
-{
-  uint32_t result;
-  
-  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Fault Mask
-
-    This function assigns the given value to the Fault Mask register.
-
-    \param [in]    faultMask  Fault Mask value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-#if       (__CORTEX_M == 0x04)
-
-/** \brief  Get FPSCR
-
-    This function returns the current value of the Floating Point Status/Control register.
-
-    \return               Floating Point Status/Control register value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FPSCR(void)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  uint32_t result;
-
-  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
-  return(result);
-#else
-   return(0);
-#endif
-}
-
-
-/** \brief  Set FPSCR
-
-    This function assigns the given value to the Floating Point Status/Control register.
-
-    \param [in]    fpscr  Floating Point Status/Control value to set
- */
-__attribute__( ( always_inline ) ) static __INLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );
-#endif
-}
-
-#endif /* (__CORTEX_M == 0x04) */
-
-
-#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
-/* TASKING carm specific functions */
-
-/*
- * The CMSIS functions have been implemented as intrinsics in the compiler.
- * Please use "carm -?i" to get an up to date list of all instrinsics,
- * Including the CMSIS ones.
- */
-
-#endif
-
-/*@} end of CMSIS_Core_RegAccFunctions */
-
-
-#endif /* __CORE_CMFUNC_H */

board/inc/core_cmInstr.h

@@ -1,585 +0,0 @@
-/**************************************************************************//**
- * @file     core_cmInstr.h
- * @brief    CMSIS Cortex-M Core Instruction Access Header File
- * @version  V2.10
- * @date     19. July 2011
- *
- * @note
- * Copyright (C) 2009-2011 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M 
- * processor based microcontrollers.  This file can be freely distributed 
- * within development tools that are supporting such ARM based processors. 
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef __CORE_CMINSTR_H
-#define __CORE_CMINSTR_H
-
-
-/* ##########################  Core Instruction Access  ######################### */
-/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
-  Access to dedicated instructions
-  @{
-*/
-
-#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-#if (__ARMCC_VERSION < 400677)
-  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
-#endif
-
-
-/** \brief  No Operation
-
-    No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-#define __NOP                             __nop
-
-
-/** \brief  Wait For Interrupt
-
-    Wait For Interrupt is a hint instruction that suspends execution
-    until one of a number of events occurs.
- */
-#define __WFI                             __wfi
-
-
-/** \brief  Wait For Event
-
-    Wait For Event is a hint instruction that permits the processor to enter
-    a low-power state until one of a number of events occurs.
- */
-#define __WFE                             __wfe
-
-
-/** \brief  Send Event
-
-    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-#define __SEV                             __sev
-
-
-/** \brief  Instruction Synchronization Barrier
-
-    Instruction Synchronization Barrier flushes the pipeline in the processor, 
-    so that all instructions following the ISB are fetched from cache or 
-    memory, after the instruction has been completed.
- */
-#define __ISB()                           __isb(0xF)
-
-
-/** \brief  Data Synchronization Barrier
-
-    This function acts as a special kind of Data Memory Barrier. 
-    It completes when all explicit memory accesses before this instruction complete.
- */
-#define __DSB()                           __dsb(0xF)
-
-
-/** \brief  Data Memory Barrier
-
-    This function ensures the apparent order of the explicit memory operations before 
-    and after the instruction, without ensuring their completion.
- */
-#define __DMB()                           __dmb(0xF)
-
-
-/** \brief  Reverse byte order (32 bit)
-
-    This function reverses the byte order in integer value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-#define __REV                             __rev
-
-
-/** \brief  Reverse byte order (16 bit)
-
-    This function reverses the byte order in two unsigned short values.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-static __INLINE __ASM uint32_t __REV16(uint32_t value)
-{
-  rev16 r0, r0
-  bx lr
-}
-
-
-/** \brief  Reverse byte order in signed short value
-
-    This function reverses the byte order in a signed short value with sign extension to integer.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-static __INLINE __ASM int32_t __REVSH(int32_t value)
-{
-  revsh r0, r0
-  bx lr
-}
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Reverse bit order of value
-
-    This function reverses the bit order of the given value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-#define __RBIT                            __rbit
-
-
-/** \brief  LDR Exclusive (8 bit)
-
-    This function performs a exclusive LDR command for 8 bit value.
-
-    \param [in]    ptr  Pointer to data
-    \return             value of type uint8_t at (*ptr)
- */
-#define __LDREXB(ptr)                     ((uint8_t ) __ldrex(ptr))
-
-
-/** \brief  LDR Exclusive (16 bit)
-
-    This function performs a exclusive LDR command for 16 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint16_t at (*ptr)
- */
-#define __LDREXH(ptr)                     ((uint16_t) __ldrex(ptr))
-
-
-/** \brief  LDR Exclusive (32 bit)
-
-    This function performs a exclusive LDR command for 32 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint32_t at (*ptr)
- */
-#define __LDREXW(ptr)                     ((uint32_t ) __ldrex(ptr))
-
-
-/** \brief  STR Exclusive (8 bit)
-
-    This function performs a exclusive STR command for 8 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXB(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  STR Exclusive (16 bit)
-
-    This function performs a exclusive STR command for 16 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXH(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  STR Exclusive (32 bit)
-
-    This function performs a exclusive STR command for 32 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXW(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  Remove the exclusive lock
-
-    This function removes the exclusive lock which is created by LDREX.
-
- */
-#define __CLREX                           __clrex
-
-
-/** \brief  Signed Saturate
-
-    This function saturates a signed value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (1..32)
-    \return             Saturated value
- */
-#define __SSAT                            __ssat
-
-
-/** \brief  Unsigned Saturate
-
-    This function saturates an unsigned value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (0..31)
-    \return             Saturated value
- */
-#define __USAT                            __usat
-
-
-/** \brief  Count leading zeros
-
-    This function counts the number of leading zeros of a data value.
-
-    \param [in]  value  Value to count the leading zeros
-    \return             number of leading zeros in value
- */
-#define __CLZ                             __clz 
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-
-#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-#include <cmsis_iar.h>
-
-
-#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-/** \brief  No Operation
-
-    No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __NOP(void)
-{
-  __ASM volatile ("nop");
-}
-
-
-/** \brief  Wait For Interrupt
-
-    Wait For Interrupt is a hint instruction that suspends execution
-    until one of a number of events occurs.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __WFI(void)
-{
-  __ASM volatile ("wfi");
-}
-
-
-/** \brief  Wait For Event
-
-    Wait For Event is a hint instruction that permits the processor to enter
-    a low-power state until one of a number of events occurs.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __WFE(void)
-{
-  __ASM volatile ("wfe");
-}
-
-
-/** \brief  Send Event
-
-    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __SEV(void)
-{
-  __ASM volatile ("sev");
-}
-
-
-/** \brief  Instruction Synchronization Barrier
-
-    Instruction Synchronization Barrier flushes the pipeline in the processor, 
-    so that all instructions following the ISB are fetched from cache or 
-    memory, after the instruction has been completed.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __ISB(void)
-{
-  __ASM volatile ("isb");
-}
-
-
-/** \brief  Data Synchronization Barrier
-
-    This function acts as a special kind of Data Memory Barrier. 
-    It completes when all explicit memory accesses before this instruction complete.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __DSB(void)
-{
-  __ASM volatile ("dsb");
-}
-
-
-/** \brief  Data Memory Barrier
-
-    This function ensures the apparent order of the explicit memory operations before 
-    and after the instruction, without ensuring their completion.
- */
-__attribute__( ( always_inline ) ) static __INLINE void __DMB(void)
-{
-  __ASM volatile ("dmb");
-}
-
-
-/** \brief  Reverse byte order (32 bit)
-
-    This function reverses the byte order in integer value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV(uint32_t value)
-{
-  uint32_t result;
-  
-  __ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-
-/** \brief  Reverse byte order (16 bit)
-
-    This function reverses the byte order in two unsigned short values.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV16(uint32_t value)
-{
-  uint32_t result;
-  
-  __ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-
-/** \brief  Reverse byte order in signed short value
-
-    This function reverses the byte order in a signed short value with sign extension to integer.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE int32_t __REVSH(int32_t value)
-{
-  uint32_t result;
-  
-  __ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );
-  return((int32_t)result);
-}
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Reverse bit order of value
-
-    This function reverses the bit order of the given value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __RBIT(uint32_t value)
-{
-  uint32_t result;
-  
-   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (8 bit)
-
-    This function performs a exclusive LDR command for 8 bit value.
-
-    \param [in]    ptr  Pointer to data
-    \return             value of type uint8_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) static __INLINE uint8_t __LDREXB(volatile uint8_t *addr)
-{
-    uint8_t result;
-  
-   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (16 bit)
-
-    This function performs a exclusive LDR command for 16 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint16_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) static __INLINE uint16_t __LDREXH(volatile uint16_t *addr)
-{
-    uint16_t result;
-  
-   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (32 bit)
-
-    This function performs a exclusive LDR command for 32 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint32_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __LDREXW(volatile uint32_t *addr)
-{
-    uint32_t result;
-  
-   __ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (8 bit)
-
-    This function performs a exclusive STR command for 8 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
-{
-   uint32_t result;
-  
-   __ASM volatile ("strexb %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (16 bit)
-
-    This function performs a exclusive STR command for 16 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
-{
-   uint32_t result;
-  
-   __ASM volatile ("strexh %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (32 bit)
-
-    This function performs a exclusive STR command for 32 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
-{
-   uint32_t result;
-  
-   __ASM volatile ("strex %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  Remove the exclusive lock
-
-    This function removes the exclusive lock which is created by LDREX.
-
- */
-__attribute__( ( always_inline ) ) static __INLINE void __CLREX(void)
-{
-  __ASM volatile ("clrex");
-}
-
-
-/** \brief  Signed Saturate
-
-    This function saturates a signed value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (1..32)
-    \return             Saturated value
- */
-#define __SSAT(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/** \brief  Unsigned Saturate
-
-    This function saturates an unsigned value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (0..31)
-    \return             Saturated value
- */
-#define __USAT(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/** \brief  Count leading zeros
-
-    This function counts the number of leading zeros of a data value.
-
-    \param [in]  value  Value to count the leading zeros
-    \return             number of leading zeros in value
- */
-__attribute__( ( always_inline ) ) static __INLINE uint8_t __CLZ(uint32_t value)
-{
-  uint8_t result;
-  
-  __ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-
-
-#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
-/* TASKING carm specific functions */
-
-/*
- * The CMSIS functions have been implemented as intrinsics in the compiler.
- * Please use "carm -?i" to get an up to date list of all intrinsics,
- * Including the CMSIS ones.
- */
-
-#endif
-
-/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
-
-#endif /* __CORE_CMINSTR_H */

board/inc/system_stm32f2xx.h

@@ -1,99 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    system_stm32f2xx.h
-  * @author  MCD Application Team
-  * @version V1.0.0
-  * @date    18-April-2011
-  * @brief   CMSIS Cortex-M3 Device Peripheral Access Layer System Header File.
-  ******************************************************************************  
-  * @attention
-  *
-  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
-  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
-  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
-  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-  *
-  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
-  ******************************************************************************  
-  */ 
-
-/** @addtogroup CMSIS
-  * @{
-  */
-
-/** @addtogroup stm32f2xx_system
-  * @{
-  */  
-  
-/**
-  * @brief Define to prevent recursive inclusion
-  */
-#ifndef __SYSTEM_STM32F2XX_H
-#define __SYSTEM_STM32F2XX_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
-
-/** @addtogroup STM32F2xx_System_Includes
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-
-/** @addtogroup STM32F2xx_System_Exported_types
-  * @{
-  */
-
-extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Clock) */
-
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F2xx_System_Exported_Constants
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F2xx_System_Exported_Macros
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F2xx_System_Exported_Functions
-  * @{
-  */
-  
-extern void SystemInit(void);
-extern void SystemCoreClockUpdate(void);
-/**
-  * @}
-  */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /*__SYSTEM_STM32F2XX_H */
-
-/**
-  * @}
-  */
-  
-/**
-  * @}
-  */  
-/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

board/libc.h

@@ -1,226 +0,0 @@
-#define min(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a < _b ? _a : _b; })
-
-#define max(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a > _b ? _a : _b; })
-
-#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_)*25)/(4*(_BAUD_)))
-#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_))/100)
-#define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
-#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
-
-#define GPIO_AF2_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
-#define GPIO_AF7_USART2        ((uint8_t)0x07)  /* USART2 Alternate Function mapping     */
-#define GPIO_AF7_USART3        ((uint8_t)0x07)  /* USART3 Alternate Function mapping     */
-#define GPIO_AF9_CAN1          ((uint8_t)0x09)  /* CAN1 Alternate Function mapping  */
-#define GPIO_AF10_OTG_FS        ((uint8_t)0xA)  /* OTG_FS Alternate Function mapping */
-#define GPIO_AF12_OTG_HS_FS       ((uint8_t)0xC)  /* OTG HS configured in FS */
-
-#ifdef OLD_BOARD
-  #define USART USART2
-#else
-  #define USART USART3
-#endif
-
-
-// **** shitty libc ****
-
-void clock_init() {
-  #ifdef USE_INTERNAL_OSC
-    // enable internal oscillator
-    RCC->CR |= RCC_CR_HSION;
-    while ((RCC->CR & RCC_CR_HSIRDY) == 0);
-  #else
-    // enable external oscillator
-    RCC->CR |= RCC_CR_HSEON;
-    while ((RCC->CR & RCC_CR_HSERDY) == 0);
-  #endif
-
-  // divide shit
-  RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
-  #ifdef USE_INTERNAL_OSC
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSI;
-  #else
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
-  #endif
-
-  // start PLL
-  RCC->CR |= RCC_CR_PLLON;
-  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
-
-  // Configure Flash prefetch, Instruction cache, Data cache and wait state
-  // *** without this, it breaks ***
-  FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
-
-  // switch to PLL
-  RCC->CFGR |= RCC_CFGR_SW_PLL;
-  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
-
-  // *** running on PLL ***
-
-  // enable GPIOB, UART2, CAN, USB clock
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
-  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
-
-  // turn on alt USB
-  RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
-
-  // fix interrupt vectors
-}
-
-// board specific
-void gpio_init() {
-  // analog mode
-  GPIOC->MODER = GPIO_MODER_MODER3 | GPIO_MODER_MODER2 |
-                 GPIO_MODER_MODER1 | GPIO_MODER_MODER0;
-
-  // FAN on C9, aka TIM3_CH4
-  #ifdef OLD_BOARD
-    GPIOC->MODER |= GPIO_MODER_MODER9_1;
-    GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((9-8)*4);
-  #else
-    GPIOC->MODER |= GPIO_MODER_MODER8_1;
-    GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((8-8)*4);
-  #endif
-  // IGNITION on C13
-
-  // set mode for LEDs and CAN
-  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0;
-  // CAN 2
-  GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
-  // CAN 1
-  GPIOB->MODER |= GPIO_MODER_MODER8_1 | GPIO_MODER_MODER9_1;
-  // CAN enables
-  GPIOB->MODER |= GPIO_MODER_MODER3_0 | GPIO_MODER_MODER4_0;
-
-  // set mode for SERIAL and USB (DAC should be configured to in)
-  GPIOA->MODER = GPIO_MODER_MODER2_1 | GPIO_MODER_MODER3_1;
-  GPIOA->AFR[0] = GPIO_AF7_USART2 << (2*4) | GPIO_AF7_USART2 << (3*4);
-
-  // GPIOC USART3
-  GPIOC->MODER |= GPIO_MODER_MODER10_1 | GPIO_MODER_MODER11_1;
-  GPIOC->AFR[1] |= GPIO_AF7_USART3 << ((10-8)*4) | GPIO_AF7_USART3 << ((11-8)*4);
-
-  if (USBx == USB_OTG_FS) {
-    GPIOA->MODER |= GPIO_MODER_MODER11_1 | GPIO_MODER_MODER12_1;
-    GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
-    GPIOA->AFR[1] = GPIO_AF10_OTG_FS << ((11-8)*4) | GPIO_AF10_OTG_FS << ((12-8)*4);
-  }
-
-  GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
-
-  // set mode for CAN / USB_HS pins
-  GPIOB->AFR[0] = GPIO_AF9_CAN1 << (5*4) | GPIO_AF9_CAN1 << (6*4);
-  GPIOB->AFR[1] = GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
-
-  if (USBx == USB_OTG_HS) {
-    GPIOB->AFR[1] |= GPIO_AF12_OTG_HS_FS << ((15-8)*4) | GPIO_AF12_OTG_HS_FS << ((14-8)*4);
-    GPIOB->MODER |= GPIO_MODER_MODER14_1 | GPIO_MODER_MODER15_1;
-  }
-
-  GPIOB->OSPEEDR = GPIO_OSPEEDER_OSPEEDR14 | GPIO_OSPEEDER_OSPEEDR15;
-
-  // enable CAN busses
-  GPIOB->ODR |= (1 << 3) | (1 << 4);
-
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOA->MODER |= GPIO_MODER_MODER1_0;
-
-  // enable USB power tied to +
-  GPIOA->ODR |= 1;
-  GPIOA->MODER |= GPIO_MODER_MODER0_0;
-}
-
-void uart_init() {
-  // enable uart and tx+rx mode
-  USART->CR1 = USART_CR1_UE;
-  USART->BRR = __USART_BRR(24000000, 115200);
-  USART->CR1 |= USART_CR1_TE | USART_CR1_RE;
-  USART->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
-  // ** UART is ready to work **
-
-  // enable interrupts
-  USART->CR1 |= USART_CR1_RXNEIE;
-}
-
-void delay(int a) {
-  volatile int i;
-  for (i=0;i<a;i++);
-}
-
-void putch(const char a) {
-  while (!(USART->SR & USART_SR_TXE));
-  USART->DR = a;
-}
-
-int puts(const char *a) {
-  for (;*a;a++) {
-    if (*a == '\n') putch('\r');
-    putch(*a);
-  }
-  return 0;
-}
-
-void puth(unsigned int i) {
-  int pos;
-  char c[] = "0123456789abcdef";
-  for (pos = 28; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
-  }
-}
-
-void puth2(unsigned int i) {
-  int pos;
-  char c[] = "0123456789abcdef";
-  for (pos = 4; pos != -4; pos -= 4) {
-    putch(c[(i >> pos) & 0xF]);
-  }
-}
-
-void hexdump(void *a, int l) {
-  int i;
-  for (i=0;i<l;i++) {
-    if (i != 0 && (i&0xf) == 0) puts("\n");
-    puth2(((unsigned char*)a)[i]);
-    puts(" ");
-  }
-  puts("\n");
-}
-
-void *memset(void *str, int c, unsigned int n) {
-  int i;
-  for (i = 0; i < n; i++) {
-    *((uint8_t*)str) = c;
-    ++str;
-  }
-  return str;
-}
-
-void *memcpy(void *dest, const void *src, unsigned int n) {
-  int i;
-  // TODO: make not slow
-  for (i = 0; i < n; i++) {
-    ((uint8_t*)dest)[i] = *(uint8_t*)src;
-    ++src;
-  }
-  return dest;
-}
-
-

board/main.c

@@ -1,504 +0,0 @@
-//#define DEBUG
-//#define CAN_LOOPBACK_MODE
-//#define USE_INTERNAL_OSC
-//#define OLD_BOARD
-//#define ENABLE_CURRENT_SENSOR
-
-#define USB_VID 0xbbaa
-#define USB_PID 0xddcc
-
-// *** end config ***
-
-#include "stm32f2xx.h"
-#include "obj/gitversion.h"
-
-#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
-uint32_t enter_bootloader_mode;
-
-USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
-
-#include "libc.h"
-#include "adc.h"
-#include "timer.h"
-#include "usb.h"
-#include "can.h"
-
-// debug safety check: is controls allowed?
-int controls_allowed = 0;
-int gas_interceptor_detected = 0;
-
-// ********************* instantiate queues *********************
-
-#define FIFO_SIZE 0x100
-typedef struct {
-  uint8_t w_ptr;
-  uint8_t r_ptr;
-  CAN_FIFOMailBox_TypeDef elems[FIFO_SIZE];
-} can_ring;
-
-can_ring can_rx_q = { .w_ptr = 0, .r_ptr = 0 };
-can_ring can_tx1_q = { .w_ptr = 0, .r_ptr = 0 };
-can_ring can_tx2_q = { .w_ptr = 0, .r_ptr = 0 };
-
-// ********************* interrupt safe queue *********************
-
-inline int pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  if (q->w_ptr != q->r_ptr) {
-    *elem = q->elems[q->r_ptr];
-    q->r_ptr += 1;
-    return 1;
-  }
-  return 0;
-}
-
-inline int push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
-  uint8_t next_w_ptr = q->w_ptr + 1;
-  if (next_w_ptr != q->r_ptr) {
-    q->elems[q->w_ptr] = *elem;
-    q->w_ptr = next_w_ptr;
-    return 1;
-  }
-  return 0;
-}
-
-// ***************************** CAN *****************************
-
-void process_can(CAN_TypeDef *CAN, can_ring *can_q, int can_number) {
-  #ifdef DEBUG
-    puts("process CAN TX\n");
-  #endif
-
-  // add successfully transmitted message to my fifo
-  if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RIR = CAN->sTxMailBox[0].TIR;
-    to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((can_number+2) << 4);
-    to_push.RDLR = CAN->sTxMailBox[0].TDLR;
-    to_push.RDHR = CAN->sTxMailBox[0].TDHR;
-    push(&can_rx_q, &to_push);
-  }
-
-  // check for empty mailbox
-  CAN_FIFOMailBox_TypeDef to_send;
-  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
-    if (pop(can_q, &to_send)) {
-
-      // BRAKE: safety check
-      if ((to_send.RIR>>21) == 0x1FA) {
-        if (controls_allowed) {
-          to_send.RDLR &= 0xFFFFFF3F;
-        } else {
-          to_send.RDLR &= 0xFFFF0000;
-        }
-      }
-
-      // STEER: safety check
-      if ((to_send.RIR>>21) == 0xE4) {
-        if (controls_allowed) {
-          to_send.RDLR &= 0xFFFFFFFF;
-        } else {
-          to_send.RDLR &= 0xFFFF0000;
-        }
-      } 
-
-      // GAS: safety check
-      if ((to_send.RIR>>21) == 0x200) {
-        if (controls_allowed) {
-          to_send.RDLR &= 0xFFFFFFFF;
-        } else {
-          to_send.RDLR &= 0xFFFF0000;
-        }
-      } 
-
-      // only send if we have received a packet
-      CAN->sTxMailBox[0].TDLR = to_send.RDLR;
-      CAN->sTxMailBox[0].TDHR = to_send.RDHR;
-      CAN->sTxMailBox[0].TDTR = to_send.RDTR;
-      CAN->sTxMailBox[0].TIR = to_send.RIR;
-    }
-  }
-
-  // clear interrupt
-  CAN->TSR |= CAN_TSR_RQCP0;
-}
-
-// send more, possible for these to not trigger?
-void CAN1_TX_IRQHandler() {
-  process_can(CAN1, &can_tx1_q, 1);
-}
-
-void CAN2_TX_IRQHandler() {
-  process_can(CAN2, &can_tx2_q, 0);
-}
-
-// board enforces
-//   in-state
-//      accel set/resume
-//   out-state
-//      cancel button
-
-
-// all commands: brake and steering
-// if controls_allowed
-//     allow all commands up to limit
-// else
-//     block all commands that produce actuation
-
-// CAN receive handlers
-void can_rx(CAN_TypeDef *CAN, int can_number) {
-  while (CAN->RF0R & CAN_RF0R_FMP0) {
-    // add to my fifo
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RIR = CAN->sFIFOMailBox[0].RIR;
-    // top 16-bits is the timestamp
-    to_push.RDTR = (CAN->sFIFOMailBox[0].RDTR & 0xFFFF000F) | (can_number << 4);
-    to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
-    to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
-
-    // state machine to enter and exit controls
-    // 0x1A6 for the ILX, 0x296 for the Civic Touring
-    if ((to_push.RIR>>21) == 0x1A6 || (to_push.RIR>>21) == 0x296) {
-      int buttons = (to_push.RDLR & 0xE0) >> 5;
-      if (buttons == 4 || buttons == 3) {
-        controls_allowed = 1;
-      } else if (buttons == 2) {
-        controls_allowed = 0;
-      }
-    }
-
-    // exit controls on brake press
-    if ((to_push.RIR>>21) == 0x17C) {
-      // bit 50
-      if (to_push.RDHR & 0x200000) {
-        controls_allowed = 0;
-      }
-    }
-
-    // exit controls on gas press if interceptor
-    if ((to_push.RIR>>21) == 0x201) {
-      gas_interceptor_detected = 1;
-      int gas = ((to_push.RDLR & 0xFF) << 8) | ((to_push.RDLR & 0xFF00) >> 8);
-      if (gas > 328) {
-        controls_allowed = 0;
-      }
-    }
-
-    // exit controls on gas press if no interceptor
-    if (!gas_interceptor_detected) {
-      if ((to_push.RIR>>21) == 0x17C) {
-        if (to_push.RDLR & 0xFF) {
-          controls_allowed = 0;
-        }
-      }
-    }
-
-    push(&can_rx_q, &to_push);
-
-    // next
-    CAN->RF0R |= CAN_RF0R_RFOM0;
-  }
-}
-
-void CAN1_RX0_IRQHandler() {
-  //puts("CANRX1");
-  //delay(10000);
-  can_rx(CAN1, 1);
-}
-
-void CAN2_RX0_IRQHandler() {
-  //puts("CANRX0");
-  //delay(10000);
-  can_rx(CAN2, 0);
-}
-
-void CAN1_SCE_IRQHandler() {
-  //puts("CAN1_SCE\n");
-  can_sce(CAN1);
-}
-
-void CAN2_SCE_IRQHandler() {
-  //puts("CAN2_SCE\n");
-  can_sce(CAN2);
-}
-
-// ***************************** serial port *****************************
-
-void USART_IRQHandler(void) {
-  puts("S");
-
-  // echo characters
-  if (USART->SR & USART_SR_RXNE) {
-    char rcv = USART->DR;
-    putch(rcv);
-
-    // jump to DFU flash
-    if (rcv == 'z') {
-      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-      NVIC_SystemReset();
-    }
-  }
-}
-
-void USART2_IRQHandler(void) {
-  USART_IRQHandler();
-}
-
-void USART3_IRQHandler(void) {
-  USART_IRQHandler();
-}
-
-// ***************************** USB port *****************************
-
-int get_health_pkt(void *dat) {
-  struct {
-    uint32_t voltage;
-    uint32_t current;
-    uint8_t started;
-    uint8_t controls_allowed;
-    uint8_t gas_interceptor_detected;
-  } *health = dat;
-  health->voltage = adc_get(ADCCHAN_VOLTAGE);
-#ifdef ENABLE_CURRENT_SENSOR
-  health->current = adc_get(ADCCHAN_CURRENT);
-#else
-  health->current = 0;
-#endif
-  health->started = (GPIOC->IDR & (1 << 13)) != 0;
-  health->controls_allowed = controls_allowed;
-  health->gas_interceptor_detected = gas_interceptor_detected;
-  return sizeof(*health);
-}
-
-void set_fan_speed(int fan_speed) {
-  #ifdef OLD_BOARD
-    TIM3->CCR4 = fan_speed;
-  #else
-    TIM3->CCR3 = fan_speed;
-  #endif
-}
-
-void usb_cb_ep1_in(int len) {
-  CAN_FIFOMailBox_TypeDef reply[4];
-
-  int ilen = 0;
-  while (ilen < min(len/0x10, 4) && pop(&can_rx_q, &reply[ilen])) ilen++;
-
-  #ifdef DEBUG
-    puts("FIFO SENDING ");
-    puth(ilen);
-    puts("\n");
-  #endif
-
-  USB_WritePacket((void *)reply, ilen*0x10, 1);
-}
-
-void usb_cb_ep2_out(uint8_t *usbdata, int len) {
-}
-
-// send on CAN
-void usb_cb_ep3_out(uint8_t *usbdata, int len) {
-  int dpkt = 0;
-  for (dpkt = 0; dpkt < len; dpkt += 0x10) {
-    uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
-    
-    int flags = tf[1] >> 4;
-    CAN_TypeDef *CAN;
-    can_ring *can_q;
-    int can_number = 0;
-    if (flags & 1)  {
-      CAN=CAN1;
-      can_q = &can_tx1_q;
-      can_number = 1;
-    } else {
-      CAN=CAN2;
-      can_q = &can_tx2_q;
-    }
-
-    // add CAN packet to send queue
-    CAN_FIFOMailBox_TypeDef to_push;
-    to_push.RDHR = tf[3];
-    to_push.RDLR = tf[2];
-    to_push.RDTR = tf[1] & 0xF;
-    to_push.RIR = tf[0];
-    push(can_q, &to_push);
-
-    process_can(CAN, can_q, can_number);
-  }
-}
-
-
-void usb_cb_control_msg() {
-  uint8_t resp[0x20];
-  int resp_len;
-  switch (setup.b.bRequest) {
-    case 0xd1:
-      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-      NVIC_SystemReset();
-      break;
-    case 0xd2:
-      resp_len = get_health_pkt(resp);
-      USB_WritePacket(resp, resp_len, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case 0xd3:
-      set_fan_speed(setup.b.wValue.w);
-      USB_WritePacket(0, 0, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case 0xd6: // GET_VERSION
-      USB_WritePacket(gitversion, min(sizeof(gitversion), setup.b.wLength.w), 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case 0xd8: // RESET
-      NVIC_SystemReset();
-      break;
-    default:
-      puts("NO HANDLER ");
-      puth(setup.b.bRequest);
-      puts("\n");
-      break;
-  }
-}
-
-
-void OTG_FS_IRQHandler(void) {
-  NVIC_DisableIRQ(OTG_FS_IRQn);
-  //__disable_irq();
-  usb_irqhandler();
-  //__enable_irq();
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-}
-
-void OTG_HS_IRQHandler(void) {
-  //puts("HS_IRQ\n");
-  NVIC_DisableIRQ(OTG_FS_IRQn);
-  //__disable_irq();
-  usb_irqhandler();
-  //__enable_irq();
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-}
-
-void ADC_IRQHandler(void) {
-  puts("ADC_IRQ\n");
-}
-
-// ***************************** main code *****************************
-
-void __initialize_hardware_early() {
-  // set USB power + and OTG mode
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOA->MODER |= GPIO_MODER_MODER1_0;
-
-  // enable USB power tied to +
-  GPIOA->ODR |= 1;
-  GPIOA->MODER |= GPIO_MODER_MODER0_0;
-
-  // enable pull DOWN on OTG_FS_DP
-  // must be done a while before reading it
-  GPIOA->PUPDR = GPIO_PUPDR_PUPDR12_1;
-
-  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
-    enter_bootloader_mode = 0;
-    void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
-
-    // jump to bootloader
-    bootloader();
-
-    // LOOP
-    while(1);
-  }
-}
-
-int main() {
-  // init devices
-  clock_init();
-
-  // test the USB choice before GPIO init
-  if (GPIOA->IDR & (1 << 12)) {
-    USBx = USB_OTG_HS;
-  }
-
-  gpio_init();
-  uart_init();
-  usb_init();
-  can_init(CAN1);
-  can_init(CAN2);
-  adc_init();
-
-  // timer for fan PWM
-  #ifdef OLD_BOARD
-    TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
-    TIM3->CCER = TIM_CCER_CC4E;
-  #else
-    TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
-    TIM3->CCER = TIM_CCER_CC3E;
-  #endif
-
-  // max value of the timer
-  // 64 makes it above the audible range
-  //TIM3->ARR = 64;
-
-  // 10 prescale makes it below the audible range
-  timer_init(TIM3, 10);
-
-  // set PWM
-  set_fan_speed(65535);
-
-  puts("**** INTERRUPTS ON ****\n");
-  __disable_irq();
-  NVIC_EnableIRQ(USART2_IRQn);
-  NVIC_EnableIRQ(USART3_IRQn);
-  NVIC_EnableIRQ(OTG_FS_IRQn);
-  NVIC_EnableIRQ(OTG_HS_IRQn);
-  NVIC_EnableIRQ(ADC_IRQn);
-  // CAN has so many interrupts!
-
-  NVIC_EnableIRQ(CAN1_TX_IRQn);
-  NVIC_EnableIRQ(CAN1_RX0_IRQn);
-  NVIC_EnableIRQ(CAN1_SCE_IRQn);
-
-  NVIC_EnableIRQ(CAN2_TX_IRQn);
-  NVIC_EnableIRQ(CAN2_RX0_IRQn);
-  NVIC_EnableIRQ(CAN2_SCE_IRQn);
-  __enable_irq();
-
-
-  // LED should keep on blinking all the time
-  while (1) {
-    #ifdef DEBUG
-      puts("** blink ");
-      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
-      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
-      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
-    #endif
-
-    /*puts("voltage: "); puth(adc_get(ADCCHAN_VOLTAGE)); puts("  ");
-    puts("current: "); puth(adc_get(ADCCHAN_CURRENT)); puts("\n");*/
-
-    // set LED to be controls allowed
-    GPIOB->ODR = (GPIOB->ODR | (1 << 11)) & ~(controls_allowed << 11);
-
-    // blink the other LED if in FS mode
-    if (USBx == USB_OTG_FS) {
-      GPIOB->ODR |= (1 << 10);
-    }
-    delay(1000000);
-    GPIOB->ODR &= ~(1 << 10);
-    delay(1000000);
-
-    if (GPIOC->IDR & (1 << 13)) {
-      // turn on fan at half speed
-      set_fan_speed(32768);
-    } else {
-      // turn off fan
-      set_fan_speed(0);
-    }
-
-  }
-
-  return 0;
-}
-

board/tools/enter_download_mode.py

@@ -1,20 +0,0 @@
-#!/usr/bin/env python
-import usb1
-import time
-import traceback
-
-if __name__ == "__main__":
-  context = usb1.USBContext()
-
-  for device in context.getDeviceList(skip_on_error=True):
-    if device.getVendorID() == 0xbbaa and device.getProductID()&0xFF00 == 0xdd00:
-      print "found device"
-      handle = device.open()
-      handle.claimInterface(0)
-
-  try:
-    handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, '')
-  except Exception:
-    traceback.print_exc()
-    print "expected error, exiting cleanly"
-  time.sleep(1)

board/usb.h

@@ -1,510 +0,0 @@
-// **** supporting defines ****
-
-typedef struct
-{
-  __IO uint32_t HPRT;
-}
-USB_OTG_HostPortTypeDef;
-
-#define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
-#define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
-#define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
-#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))        
-#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))        
-#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
-#define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
-
-#define  USB_REQ_GET_STATUS                             0x00
-#define  USB_REQ_CLEAR_FEATURE                          0x01
-#define  USB_REQ_SET_FEATURE                            0x03
-#define  USB_REQ_SET_ADDRESS                            0x05
-#define  USB_REQ_GET_DESCRIPTOR                         0x06
-#define  USB_REQ_SET_DESCRIPTOR                         0x07
-#define  USB_REQ_GET_CONFIGURATION                      0x08
-#define  USB_REQ_SET_CONFIGURATION                      0x09
-#define  USB_REQ_GET_INTERFACE                          0x0A
-#define  USB_REQ_SET_INTERFACE                          0x0B
-#define  USB_REQ_SYNCH_FRAME                            0x0C
-
-#define  USB_DESC_TYPE_DEVICE                              1
-#define  USB_DESC_TYPE_CONFIGURATION                       2
-#define  USB_DESC_TYPE_STRING                              3
-#define  USB_DESC_TYPE_INTERFACE                           4
-#define  USB_DESC_TYPE_ENDPOINT                            5
-#define  USB_DESC_TYPE_DEVICE_QUALIFIER                    6
-#define  USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION           7
-
-#define STS_GOUT_NAK                           1
-#define STS_DATA_UPDT                          2
-#define STS_XFER_COMP                          3
-#define STS_SETUP_COMP                         4
-#define STS_SETUP_UPDT                         6
-
-#define USBD_FS_TRDT_VALUE           5
-
-// interfaces
-void usb_cb_control_msg();
-void usb_cb_ep1_in(int len);
-void usb_cb_ep2_out(uint8_t *usbdata, int len);
-void usb_cb_ep3_out(uint8_t *usbdata, int len);
-
-uint8_t device_desc[] = {
-  0x12,0x01,0x00,0x01,
-  0xFF,0xFF,0xFF,0x40,
-  (USB_VID>>0)&0xFF,(USB_VID>>8)&0xFF,
-  (USB_PID>>0)&0xFF,(USB_PID>>8)&0xFF,
-  0x00,0x22,0x00,0x00,
-  0x00,0x01};
-
-uint8_t configuration_desc[] = {
-  0x09, 0x02, 0x27, 0x00,
-  0x01, 0x01, 0x00, 0xc0,
-  0x32,
-  // interface 0
-  0x09, 0x04, 0x00, 0x00,
-  0x03, 0xff, 0xFF, 0xFF,
-  0x00,
-  // endpoint 1, read CAN
-  0x07, 0x05, 0x81, 0x02, 0x40, 0x00, 0x00,
-  // endpoint 2, AES load
-  0x07, 0x05, 0x02, 0x02, 0x10, 0x00, 0x00,
-  // endpoint 3, send CAN
-  0x07, 0x05, 0x03, 0x02, 0x40, 0x00, 0x00,
-};
-
-typedef union
-{
-  uint16_t w;
-  struct BW
-  {
-    uint8_t msb;
-    uint8_t lsb;
-  }
-  bw; 
-}
-uint16_t_uint8_t;
-
-
-typedef union _USB_Setup
-{
-  uint32_t d8[2];
-  
-  struct _SetupPkt_Struc
-  {
-    uint8_t           bmRequestType;
-    uint8_t           bRequest;
-    uint16_t_uint8_t  wValue;
-    uint16_t_uint8_t  wIndex;
-    uint16_t_uint8_t  wLength;
-  } b;
-} 
-USB_Setup_TypeDef; 
-
-// current packet
-USB_Setup_TypeDef setup;
-uint8_t usbdata[0x100];
-
-// packet read and write
-
-void *USB_ReadPacket(void *dest, uint16_t len) {
-  uint32_t i=0; 
-  uint32_t count32b = (len + 3) / 4; 
-  
-  for ( i = 0; i < count32b; i++, dest += 4 ) {
-    // packed?
-    *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
-  }
-  return ((void *)dest);
-}
-
-void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
-  #ifdef DEBUG
-    puts("writing ");
-    hexdump(src, len);
-  #endif
-  uint32_t count32b = 0, i = 0;
-  count32b = (len + 3) / 4; 
-
-  // bullshit
-  USBx_INEP(ep)->DIEPTSIZ = (USB_OTG_DIEPTSIZ_PKTCNT & (1 << 19)) | (len & USB_OTG_DIEPTSIZ_XFRSIZ);
-  USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
-
-  // load the FIFO
-  for (i = 0; i < count32b; i++, src += 4) {
-    USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
-  }
-}
-
-void usb_reset() {
-  // unmask endpoint interrupts, so many sets
-  USBx_DEVICE->DAINT = 0xFFFFFFFF;
-  USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
-  //USBx_DEVICE->DOEPMSK = (USB_OTG_DOEPMSK_STUPM | USB_OTG_DOEPMSK_XFRCM | USB_OTG_DOEPMSK_EPDM);
-  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM | USB_OTG_DIEPMSK_ITTXFEMSK);
-  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM);
-
-  // all interrupts for debugging
-  USBx_DEVICE->DIEPMSK = 0xFFFFFFFF;
-  USBx_DEVICE->DOEPMSK = 0xFFFFFFFF;
-
-  // clear interrupts
-  USBx_INEP(0)->DIEPINT = 0xFF;
-  USBx_OUTEP(0)->DOEPINT = 0xFF;
-
-  // unset the address
-  USBx_DEVICE->DCFG &= ~USB_OTG_DCFG_DAD;
-
-  // set up USB FIFOs
-  // RX start address is fixed to 0
-  USBx->GRXFSIZ = 0x40;
-
-  // 0x100 to offset past GRXFSIZ
-  USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
-
-  // EP1, massive
-  USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
-
-  // flush TX fifo
-  USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
-  // flush RX FIFO
-  USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
-
-  // no global NAK
-  USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;
-
-  // ready to receive setup packets
-  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
-}
-
-void usb_setup() {
-  uint8_t resp[0x20];
-  // setup packet is ready
-  switch (setup.b.bRequest) {
-    case USB_REQ_SET_CONFIGURATION:
-      // enable other endpoints, has to be here?
-      USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
-                              USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
-      USBx_INEP(1)->DIEPINT = 0xFF;
-
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
-      USBx_OUTEP(2)->DOEPCTL = (0x10 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
-                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
-      USBx_OUTEP(2)->DOEPINT = 0xFF;
-
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
-                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
-      USBx_OUTEP(3)->DOEPINT = 0xFF;
-
-      // mark ready to receive
-      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-
-      USB_WritePacket(0, 0, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    case USB_REQ_SET_ADDRESS:
-      // set now?
-      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
-
-      #ifdef DEBUG
-        puts(" set address\n");
-      #endif
-
-
-      USB_WritePacket(0, 0, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-
-      break;
-    case USB_REQ_GET_DESCRIPTOR:
-      switch (setup.b.wValue.bw.lsb) {
-        case USB_DESC_TYPE_DEVICE:
-          //puts("    writing device descriptor\n");
-
-          // setup transfer
-          USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
-          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-
-          //puts("D");
-          break;
-        case USB_DESC_TYPE_CONFIGURATION:
-          USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
-          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-          break;
-        default:
-          // nothing here?
-          USB_WritePacket(0, 0, 0);
-          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-          break;
-      }
-      break;
-    case USB_REQ_GET_STATUS:
-      // empty resp?
-      resp[0] = 0;
-      resp[1] = 0;
-      USB_WritePacket((void*)&resp, 2, 0);
-      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-      break;
-    default:
-      usb_cb_control_msg();
-  }
-}
-
-void usb_init() {
-  // internal PHY set before reset
-  USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL;
-
-  // full speed PHY, do reset and remove power down
-  puth(USBx->GRSTCTL);
-  puts(" resetting PHY\n");
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
-  puts("AHB idle\n");
-
-  // reset PHY here?
-  USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
-  puts("reset done\n");
-
-  // power up the PHY
-  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN | USB_OTG_GCCFG_NOVBUSSENS;
-
-  // be a device, slowest timings
-  //USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
-  USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL;
-  USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
-  //USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
-
-  // **** for debugging, doesn't seem to work ****
-  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT;
-
-  // reset PHY clock
-  USBx_PCGCCTL = 0;
-
-  // enable the fancy OTG things
-  USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP;
-
-  USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD;
-  //USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD;
-
-  // setup USB interrupts
-  // all interrupts except TXFIFO EMPTY
-  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
-  USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM);
-
-  USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
-  USBx->GINTSTS = 0;
-}
-
-// ***************************** USB port *****************************
-
-void usb_irqhandler(void) {
-  USBx->GINTMSK = 0;
-
-  unsigned int gintsts = USBx->GINTSTS;
-
-  // gintsts SUSPEND? 04008428
-  #ifdef DEBUG
-    unsigned int daint = USBx_DEVICE->DAINT;
-    puth(gintsts);
-    puts(" ep ");
-    puth(daint);
-    puts(" USB interrupt!\n");
-  #endif
-
-  if (gintsts & USB_OTG_GINTSTS_ESUSP) {
-    puts("ESUSP detected\n");
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_USBRST) {
-    puts("USB reset\n");
-    usb_reset();
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
-    puts("enumeration done ");
-    // Full speed, ENUMSPD
-    puth(USBx_DEVICE->DSTS);
-    puts("\n");
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_OTGINT) {
-    puts("OTG int:");
-    puth(USBx->GOTGINT);
-    puts("\n");
-
-    // getting ADTOCHG
-    USBx->GOTGINT = USBx->GOTGINT;
-  }
-
-  // RX FIFO first
-  if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
-    // 1. Read the Receive status pop register
-    volatile unsigned int rxst = USBx->GRXSTSP;
-
-    #ifdef DEBUG
-      puts(" RX FIFO:");
-      puth(rxst);
-      puts(" status: ");
-      puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
-      puts(" len: ");
-      puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
-      puts("\n");
-    #endif
-
-
-    if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
-      int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
-      int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
-      USB_ReadPacket(&usbdata, len);
-      #ifdef DEBUG
-        puts("  data ");
-        puth(len);
-        puts("\n");
-        hexdump(&usbdata, len);
-      #endif
-
-      if (endpoint == 2) {
-        usb_cb_ep2_out(usbdata, len);
-      }
-
-      if (endpoint == 3) {
-        usb_cb_ep3_out(usbdata, len);
-      }
-    } else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
-      USB_ReadPacket(&setup, 8);
-      #ifdef DEBUG
-        puts("  setup ");
-        hexdump(&setup, 8);
-        puts("\n");
-      #endif
-    }
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_HPRTINT) {
-    // host
-    puts("HPRT:");
-    puth(USBx_HOST_PORT->HPRT);
-    puts("\n");
-    if (USBx_HOST_PORT->HPRT & USB_OTG_HPRT_PCDET) {
-      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PRST;
-      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PCDET;
-    }
-
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_BOUTNAKEFF) {
-    // no global NAK, why is this getting set?
-    #ifdef DEBUG
-      puts("GLOBAL NAK\n");
-    #endif
-    USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
-  }
-
-  if (gintsts & USB_OTG_GINTSTS_SRQINT) {
-    // we want to do "A-device host negotiation protocol" since we are the A-device
-    puts("start request\n");
-    //USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
-    //USBx_HOST_PORT->HPRT = USB_OTG_HPRT_PPWR | USB_OTG_HPRT_PENA;
-  }
-
-  // out endpoint hit
-  if (gintsts & USB_OTG_GINTSTS_OEPINT) {
-    #ifdef DEBUG
-      puts("  0:");
-      puth(USBx_OUTEP(0)->DOEPINT);
-      puts(" 2:");
-      puth(USBx_OUTEP(2)->DOEPINT);
-      puts(" 3:");
-      puth(USBx_OUTEP(3)->DOEPINT);
-      puts(" ");
-      puth(USBx_OUTEP(3)->DOEPCTL);
-      puts(" 4:");
-      puth(USBx_OUTEP(4)->DOEPINT);
-      puts(" OUT ENDPOINT\n");
-    #endif
-
-    if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
-      #ifdef DEBUG
-        puts("  OUT2 PACKET XFRC\n"); 
-      #endif
-      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
-      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-    }
-
-    if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
-      #ifdef DEBUG
-        puts("  OUT3 PACKET XFRC\n"); 
-      #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
-      #ifdef DEBUG
-        puts("  OUT3 PACKET WTF\n"); 
-      #endif
-      // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
-    } else if (USBx_OUTEP(3)->DOEPINT) {
-      puts("OUTEP3 error ");
-      puth(USBx_OUTEP(3)->DOEPINT);
-      puts("\n");
-    }
-
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
-      // ready for next packet
-      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
-    }
-
-    // respond to setup packets
-    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
-      usb_setup();
-    }
-
-    USBx_OUTEP(0)->DOEPINT = USBx_OUTEP(0)->DOEPINT;
-    USBx_OUTEP(2)->DOEPINT = USBx_OUTEP(2)->DOEPINT;
-    USBx_OUTEP(3)->DOEPINT = USBx_OUTEP(3)->DOEPINT;
-  }
-
-
-  // in endpoint hit
-  if (gintsts & USB_OTG_GINTSTS_IEPINT) {
-    #ifdef DEBUG
-      puts("  ");
-      puth(USBx_INEP(0)->DIEPINT);
-      puts(" ");
-      puth(USBx_INEP(1)->DIEPINT);
-      puts(" IN ENDPOINT\n");
-    #endif
-
-    // this happens first
-    if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPINT_XFRC) {
-      #ifdef DEBUG
-        puts("  IN PACKET SEND\n"); 
-      #endif
-      //USBx_DEVICE->DIEPEMPMSK = ~(1 << 1);
-    }
-    
-    // *** IN token received when TxFIFO is empty
-    if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
-      #ifdef DEBUG
-        puts("  IN PACKET QUEUE\n"); 
-      #endif
-      // TODO: always assuming max len, can we get the length?
-      usb_cb_ep1_in(0x40);
-    }
-
-    // clear interrupts
-    USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT;
-    USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;
-  }
-
-
-  // clear all interrupts
-  USBx_DEVICE->DAINT = USBx_DEVICE->DAINT;
-  USBx->GINTSTS = USBx->GINTSTS;
-
-  USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
-}
-

cereal/.gitignore

@@ -0,0 +1,6 @@
+gen
+node_modules
+package-lock.json
+*.pyc
+__pycache__
+

cereal/Makefile

@@ -0,0 +1,62 @@
+PWD := $(shell pwd)
+
+SRCS := log.capnp car.capnp
+
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+JS := gen/js/car.capnp.js gen/js/log.capnp.js
+
+UNAME_M ?= $(shell uname -m)
+
+GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
+
+ifeq ($(UNAME_M),x86_64)
+
+ifneq (, $(shell which capnpc-java))
+GENS += gen/java/Car.java gen/java/Log.java
+else
+$(warning capnpc-java not found, skipping java build)
+endif
+
+endif
+
+
+ifeq ($(UNAME_M),aarch64)
+CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
+else
+CAPNPC=capnpc
+endif
+
+.PHONY: all
+all: $(GENS)
+js: $(JS)
+
+.PHONY: clean
+clean:
+	rm -rf gen
+	rm -rf node_modules
+	rm -rf package-lock.json
+
+gen/c/%.capnp.c: %.capnp
+	@echo "[ CAPNPC C ] $@"
+	mkdir -p gen/c/
+	$(CAPNPC) '$<' -o c:gen/c/
+
+gen/js/%.capnp.js: %.capnp
+	@echo "[ CAPNPC JavaScript ] $@"
+	mkdir -p gen/js/
+	sh ./generate_javascript.sh
+
+gen/cpp/%.capnp.c++: %.capnp
+	@echo "[ CAPNPC C++ ] $@"
+	mkdir -p gen/cpp/
+	$(CAPNPC) '$<' -o c++:gen/cpp/
+
+gen/java/Car.java gen/java/Log.java: $(SRCS)
+	@echo "[ CAPNPC java ] $@"
+	mkdir -p gen/java/
+	$(CAPNPC) $^ -o java:gen/java
+
+# c-capnproto needs some empty headers
+gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
+	mkdir -p gen/c/include
+	touch '$@'

cereal/__init__.py

@@ -1,8 +1,8 @@
 import os
 import capnp
-capnp.remove_import_hook()
 
 CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
+capnp.remove_import_hook()
+
 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-

cereal/car.capnp

@@ -1,16 +1,101 @@
-using Cxx = import "c++.capnp";
+using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Car");
+
 @0x8e2af1e708af8b8d;
 
+# ******* events causing controls state machine transition *******
+
+struct CarEvent @0x9b1657f34caf3ad3 {
+  name @0 :EventName;
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool;
+
+  enum EventName @0xbaa8c5d505f727de {
+    # TODO: copy from error list
+    canError @0;
+    steerUnavailable @1;
+    brakeUnavailable @2;
+    gasUnavailable @3;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    buttonCancel @11;
+    buttonEnable @12;
+    pedalPressed @13;
+    cruiseDisabled @14;
+    radarCanError @15;
+    dataNeeded @16;
+    speedTooLow @17;
+    outOfSpace @18;
+    overheat @19;
+    calibrationIncomplete @20;
+    calibrationInvalid @21;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    noTarget @25;
+    radarFault @26;
+    modelCommIssueDEPRECATED @27;
+    brakeHold @28;
+    parkBrake @29;
+    manualRestart @30;
+    lowSpeedLockout @31;
+    plannerError @32;
+    ipasOverride @33;
+    debugAlert @34;
+    steerTempUnavailableMute @35;
+    resumeRequired @36;
+    preDriverDistracted @37;
+    promptDriverDistracted @38;
+    driverDistracted @39;
+    geofence @40;
+    driverMonitorOn @41;
+    driverMonitorOff @42;
+    preDriverUnresponsive @43;
+    promptDriverUnresponsive @44;
+    driverUnresponsive @45;
+    belowSteerSpeed @46;
+    calibrationProgress @47;
+    lowBattery @48;
+    invalidGiraffeHonda @49;
+    vehicleModelInvalid @50;
+    controlsFailed @51;
+    sensorDataInvalid @52;
+    commIssue @53;
+    tooDistracted @54;
+    posenetInvalid @55;
+    manualSteeringRequired @56;
+    manualSteeringRequiredBlinkersOn @57;
+  }
+}
+
 # ******* main car state @ 100hz *******
 # all speeds in m/s
 
 struct CarState {
-  errors @0: List(Error);
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  events @13 :List(CarEvent);
 
   # car speed
-  vEgo @1 :Float32;       # best estimate of speed
+  vEgo @1 :Float32;         # best estimate of speed
+  aEgo @16 :Float32;        # best estimate of acceleration
+  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
+  yawRate @22 :Float32;     # best estimate of yaw rate
+  standstill @18 :Bool;
   wheelSpeeds @2 :WheelSpeeds;
 
   # gas pedal, 0.0-1.0
@@ -20,17 +105,30 @@ struct CarState {
   # brake pedal, 0.0-1.0
   brake @5 :Float32;      # this is user pedal only
   brakePressed @6 :Bool;  # this is user pedal only
+  brakeLights @19 :Bool;
 
   # steering wheel
   steeringAngle @7 :Float32;   # deg
+  steeringRate @15 :Float32;   # deg/s
   steeringTorque @8 :Float32;  # TODO: standardize units
   steeringPressed @9 :Bool;    # if the user is using the steering wheel
 
   # cruise state
   cruiseState @10 :CruiseState;
 
+  # gear
+  gearShifter @14 :GearShifter;
+
   # button presses
   buttonEvents @11 :List(ButtonEvent);
+  leftBlinker @20 :Bool;
+  rightBlinker @21 :Bool;
+  genericToggle @23 :Bool;
+
+  # lock info
+  doorOpen @24 :Bool;
+  seatbeltUnlatched @25 :Bool;
+  canValid @26 :Bool;
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
@@ -44,30 +142,29 @@ struct CarState {
   }
 
   struct CruiseState {
-    enabled @0: Bool;
-    speed @1: Float32;
+    enabled @0 :Bool;
+    speed @1 :Float32;
+    available @2 :Bool;
+    speedOffset @3 :Float32;
+    standstill @4 :Bool;
   }
 
-  enum Error {
-    # TODO: copy from error list
-    commIssue @0;
-    steerUnavailable @1;
-    brakeUnavailable @2;
-    gasUnavailable @3;
-    wrongGear @4;
-    doorOpen @5;
-    seatbeltNotLatched @6;
-    espDisabled @7;
-    wrongCarMode @8;
-    steerTemporarilyUnavailable @9;
-    reverseGear @10;
-    # ...
+  enum GearShifter {
+    unknown @0;
+    park @1;
+    drive @2;
+    neutral @3;
+    reverse @4;
+    sport @5;
+    low @6;
+    brake @7;
   }
 
+
   # send on change
   struct ButtonEvent {
-    pressed @0: Bool;
-    type @1: Type;
+    pressed @0 :Bool;
+    type @1 :Type;
 
     enum Type {
       unknown @0;
@@ -85,30 +182,35 @@ struct CarState {
 
 # ******* radar state @ 20hz *******
 
-struct RadarState {
-  errors @0: List(Error);
-  points @1: List(RadarPoint);
+struct RadarData @0x888ad6581cf0aacb {
+  errors @0 :List(Error);
+  points @1 :List(RadarPoint);
 
   # which packets this state came from
-  canMonoTimes @2: List(UInt64);
+  canMonoTimes @2 :List(UInt64);
 
   enum Error {
-    notValid @0;
+    canError @0;
+    fault @1;
+    wrongConfig @2;
   }
 
   # similar to LiveTracks
   # is one timestamp valid for all? I think so
   struct RadarPoint {
-    trackId @0: UInt64;  # no trackId reuse
+    trackId @0 :UInt64;  # no trackId reuse
 
     # these 3 are the minimum required
-    dRel @1: Float32; # m from the front bumper of the car
-    yRel @2: Float32; # m
-    vRel @3: Float32; # m/s
+    dRel @1 :Float32; # m from the front bumper of the car
+    yRel @2 :Float32; # m
+    vRel @3 :Float32; # m/s
 
     # these are optional and valid if they are not NaN
-    aRel @4: Float32; # m/s^2
-    yvRel @5: Float32; # m/s
+    aRel @4 :Float32; # m/s^2
+    yvRel @5 :Float32; # m/s
+
+    # some radars flag measurements VS estimates
+    measured @6 :Bool;
   }
 }
 
@@ -116,17 +218,26 @@ struct RadarState {
 
 struct CarControl {
   # must be true for any actuator commands to work
-  enabled @0: Bool;
+  enabled @0 :Bool;
+  active @7 :Bool;
 
-  # range from 0.0 - 1.0
-  gas @1: Float32;
-  brake @2: Float32;
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
 
-  # range from -1.0 - 1.0
-  steeringTorque @3 :Float32;
+  actuators @6 :Actuators;
 
-  cruiseControl @4: CruiseControl;
-  hudControl @5: HUDControl;
+  cruiseControl @4 :CruiseControl;
+  hudControl @5 :HUDControl;
+
+  struct Actuators {
+    # range from 0.0 - 1.0
+    gas @0: Float32;
+    brake @1: Float32;
+    # range from -1.0 - 1.0
+    steer @2: Float32;
+    steerAngle @3: Float32;
+  }
 
   struct CruiseControl {
     cancel @0: Bool;
@@ -142,6 +253,10 @@ struct CarControl {
     leadVisible @3: Bool;
     visualAlert @4: VisualAlert;
     audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
+    rightLaneDepart @8: Bool;
+    leftLaneDepart @9: Bool;
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -159,14 +274,134 @@ struct CarControl {
       # these are the choices from the Honda
       # map as good as you can for your car
       none @0;
-      beepSingle @1;
-      beepTriple @2;
-      beepRepeated @3;
-      chimeSingle @4;
-      chimeDouble @5;
-      chimeRepeated @6;
-      chimeContinuous @7;
+      chimeEngage @1;
+      chimeDisengage @2;
+      chimeError @3;
+      chimeWarning1 @4;
+      chimeWarning2 @5;
+      chimeWarningRepeat @6;
+      chimePrompt @7;
     }
   }
 }
 
+# ****** car param ******
+
+struct CarParams {
+  carName @0 :Text;
+  carFingerprint @1 :Text;
+
+  enableGasInterceptor @2 :Bool;
+  enableCruise @3 :Bool;
+  enableCamera @4 :Bool;
+  enableDsu @5 :Bool; # driving support unit
+  enableApgs @6 :Bool; # advanced parking guidance system
+
+  minEnableSpeed @7 :Float32;
+  minSteerSpeed @8 :Float32;
+  safetyModel @9 :SafetyModel;
+  safetyParam @10 :Int16;
+
+  steerMaxBP @11 :List(Float32);
+  steerMaxV @12 :List(Float32);
+  gasMaxBP @13 :List(Float32);
+  gasMaxV @14 :List(Float32);
+  brakeMaxBP @15 :List(Float32);
+  brakeMaxV @16 :List(Float32);
+
+
+  # things about the car in the manual
+  mass @17 :Float32;             # [kg] running weight
+  wheelbase @18 :Float32;        # [m] distance from rear to front axle
+  centerToFront @19 :Float32;   # [m] GC distance to front axle
+  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
+  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+
+  # things we can derive
+  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralTuning :union {
+    pid @26 :LateralPIDTuning;
+    indi @27 :LateralINDITuning;
+    lqr @40 :LateralLQRTuning;
+  }
+
+  steerLimitAlert @28 :Bool;
+
+  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
+  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
+  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
+  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
+  steerControlType @34 :SteerControlType;
+  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+
+  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
+  isPandaBlack @39: Bool;
+
+  struct LateralPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @4 :Float32;
+  }
+
+  struct LongitudinalPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    deadzoneBP @4 :List(Float32);
+    deadzoneV @5 :List(Float32);
+  }
+
+
+  struct LateralINDITuning {
+    outerLoopGain @0 :Float32;
+    innerLoopGain @1 :Float32;
+    timeConstant @2 :Float32;
+    actuatorEffectiveness @3 :Float32;
+  }
+
+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
+
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
+
+  enum SafetyModel {
+    # does NOT match board setting
+    noOutput @0;
+    honda @1;
+    toyota @2;
+    elm327 @3;
+    gm @4;
+    hondaBosch @5;
+    ford @6;
+    cadillac @7;
+    hyundai @8;
+    chrysler @9;
+    tesla @10;
+    subaru @11;
+  }
+
+  enum SteerControlType {
+    torque @0;
+    angle @1;
+  }
+}

cereal/gen/c/log.capnp.h

@@ -1,667 +0,0 @@
-#ifndef CAPN_F3B1F17E25A4285B
-#define CAPN_F3B1F17E25A4285B
-/* AUTO GENERATED - DO NOT EDIT */
-#include <capnp_c.h>
-
-#if CAPN_VERSION != 1
-#error "version mismatch between capnp_c.h and generated code"
-#endif
-
-#include "c++.capnp.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct cereal_InitData;
-struct cereal_FrameData;
-struct cereal_GPSNMEAData;
-struct cereal_SensorEventData;
-struct cereal_SensorEventData_SensorVec;
-struct cereal_CanData;
-struct cereal_ThermalData;
-struct cereal_HealthData;
-struct cereal_LiveUI;
-struct cereal_Live20Data;
-struct cereal_Live20Data_LeadData;
-struct cereal_LiveCalibrationData;
-struct cereal_LiveTracks;
-struct cereal_Live100Data;
-struct cereal_LiveEventData;
-struct cereal_ModelData;
-struct cereal_ModelData_PathData;
-struct cereal_ModelData_LeadData;
-struct cereal_ModelData_ModelSettings;
-struct cereal_CalibrationFeatures;
-struct cereal_EncodeIndex;
-struct cereal_AndroidLogEntry;
-struct cereal_LogRotate;
-struct cereal_Event;
-
-typedef struct {capn_ptr p;} cereal_InitData_ptr;
-typedef struct {capn_ptr p;} cereal_FrameData_ptr;
-typedef struct {capn_ptr p;} cereal_GPSNMEAData_ptr;
-typedef struct {capn_ptr p;} cereal_SensorEventData_ptr;
-typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_ptr;
-typedef struct {capn_ptr p;} cereal_CanData_ptr;
-typedef struct {capn_ptr p;} cereal_ThermalData_ptr;
-typedef struct {capn_ptr p;} cereal_HealthData_ptr;
-typedef struct {capn_ptr p;} cereal_LiveUI_ptr;
-typedef struct {capn_ptr p;} cereal_Live20Data_ptr;
-typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_ptr;
-typedef struct {capn_ptr p;} cereal_LiveCalibrationData_ptr;
-typedef struct {capn_ptr p;} cereal_LiveTracks_ptr;
-typedef struct {capn_ptr p;} cereal_Live100Data_ptr;
-typedef struct {capn_ptr p;} cereal_LiveEventData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_PathData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_LeadData_ptr;
-typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_ptr;
-typedef struct {capn_ptr p;} cereal_CalibrationFeatures_ptr;
-typedef struct {capn_ptr p;} cereal_EncodeIndex_ptr;
-typedef struct {capn_ptr p;} cereal_AndroidLogEntry_ptr;
-typedef struct {capn_ptr p;} cereal_LogRotate_ptr;
-typedef struct {capn_ptr p;} cereal_Event_ptr;
-
-typedef struct {capn_ptr p;} cereal_InitData_list;
-typedef struct {capn_ptr p;} cereal_FrameData_list;
-typedef struct {capn_ptr p;} cereal_GPSNMEAData_list;
-typedef struct {capn_ptr p;} cereal_SensorEventData_list;
-typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_list;
-typedef struct {capn_ptr p;} cereal_CanData_list;
-typedef struct {capn_ptr p;} cereal_ThermalData_list;
-typedef struct {capn_ptr p;} cereal_HealthData_list;
-typedef struct {capn_ptr p;} cereal_LiveUI_list;
-typedef struct {capn_ptr p;} cereal_Live20Data_list;
-typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_list;
-typedef struct {capn_ptr p;} cereal_LiveCalibrationData_list;
-typedef struct {capn_ptr p;} cereal_LiveTracks_list;
-typedef struct {capn_ptr p;} cereal_Live100Data_list;
-typedef struct {capn_ptr p;} cereal_LiveEventData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_PathData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_LeadData_list;
-typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_list;
-typedef struct {capn_ptr p;} cereal_CalibrationFeatures_list;
-typedef struct {capn_ptr p;} cereal_EncodeIndex_list;
-typedef struct {capn_ptr p;} cereal_AndroidLogEntry_list;
-typedef struct {capn_ptr p;} cereal_LogRotate_list;
-typedef struct {capn_ptr p;} cereal_Event_list;
-
-enum cereal_EncodeIndex_Type {
-	cereal_EncodeIndex_Type_bigBoxLossless = 0,
-	cereal_EncodeIndex_Type_fullHEVC = 1,
-	cereal_EncodeIndex_Type_bigBoxHEVC = 2
-};
-extern int32_t cereal_logVersion;
-
-struct cereal_InitData {
-	capn_ptr kernelArgs;
-	capn_text gctx;
-	capn_text dongleId;
-};
-
-static const size_t cereal_InitData_word_count = 0;
-
-static const size_t cereal_InitData_pointer_count = 3;
-
-static const size_t cereal_InitData_struct_bytes_count = 24;
-
-struct cereal_FrameData {
-	uint32_t frameId;
-	uint32_t encodeId;
-	uint64_t timestampEof;
-	int32_t frameLength;
-	int32_t integLines;
-	int32_t globalGain;
-	capn_data image;
-};
-
-static const size_t cereal_FrameData_word_count = 4;
-
-static const size_t cereal_FrameData_pointer_count = 1;
-
-static const size_t cereal_FrameData_struct_bytes_count = 40;
-
-struct cereal_GPSNMEAData {
-	int64_t timestamp;
-	uint64_t localWallTime;
-	capn_text nmea;
-};
-
-static const size_t cereal_GPSNMEAData_word_count = 2;
-
-static const size_t cereal_GPSNMEAData_pointer_count = 1;
-
-static const size_t cereal_GPSNMEAData_struct_bytes_count = 24;
-enum cereal_SensorEventData_which {
-	cereal_SensorEventData_acceleration = 0,
-	cereal_SensorEventData_magnetic = 1,
-	cereal_SensorEventData_orientation = 2,
-	cereal_SensorEventData_gyro = 3
-};
-
-struct cereal_SensorEventData {
-	int32_t version;
-	int32_t sensor;
-	int32_t type;
-	int64_t timestamp;
-	enum cereal_SensorEventData_which which;
-	union {
-		cereal_SensorEventData_SensorVec_ptr acceleration;
-		cereal_SensorEventData_SensorVec_ptr magnetic;
-		cereal_SensorEventData_SensorVec_ptr orientation;
-		cereal_SensorEventData_SensorVec_ptr gyro;
-	};
-};
-
-static const size_t cereal_SensorEventData_word_count = 3;
-
-static const size_t cereal_SensorEventData_pointer_count = 1;
-
-static const size_t cereal_SensorEventData_struct_bytes_count = 32;
-
-struct cereal_SensorEventData_SensorVec {
-	capn_list32 v;
-	int8_t status;
-};
-
-static const size_t cereal_SensorEventData_SensorVec_word_count = 1;
-
-static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
-
-static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
-
-struct cereal_CanData {
-	uint32_t address;
-	uint16_t busTime;
-	capn_data dat;
-	int8_t src;
-};
-
-static const size_t cereal_CanData_word_count = 1;
-
-static const size_t cereal_CanData_pointer_count = 1;
-
-static const size_t cereal_CanData_struct_bytes_count = 16;
-
-struct cereal_ThermalData {
-	uint16_t cpu0;
-	uint16_t cpu1;
-	uint16_t cpu2;
-	uint16_t cpu3;
-	uint16_t mem;
-	uint16_t gpu;
-	uint32_t bat;
-};
-
-static const size_t cereal_ThermalData_word_count = 2;
-
-static const size_t cereal_ThermalData_pointer_count = 0;
-
-static const size_t cereal_ThermalData_struct_bytes_count = 16;
-
-struct cereal_HealthData {
-	uint32_t voltage;
-	uint32_t current;
-	unsigned started : 1;
-	unsigned controlsAllowed : 1;
-	unsigned gasInterceptorDetected : 1;
-};
-
-static const size_t cereal_HealthData_word_count = 2;
-
-static const size_t cereal_HealthData_pointer_count = 0;
-
-static const size_t cereal_HealthData_struct_bytes_count = 16;
-
-struct cereal_LiveUI {
-	unsigned rearViewCam : 1;
-	capn_text alertText1;
-	capn_text alertText2;
-	float awarenessStatus;
-};
-
-static const size_t cereal_LiveUI_word_count = 1;
-
-static const size_t cereal_LiveUI_pointer_count = 2;
-
-static const size_t cereal_LiveUI_struct_bytes_count = 24;
-
-struct cereal_Live20Data {
-	capn_list64 canMonoTimes;
-	uint64_t mdMonoTime;
-	uint64_t ftMonoTime;
-	capn_list32 warpMatrix;
-	float angleOffset;
-	int8_t calStatus;
-	int32_t calCycle;
-	int8_t calPerc;
-	cereal_Live20Data_LeadData_ptr leadOne;
-	cereal_Live20Data_LeadData_ptr leadTwo;
-	float cumLagMs;
-};
-
-static const size_t cereal_Live20Data_word_count = 4;
-
-static const size_t cereal_Live20Data_pointer_count = 4;
-
-static const size_t cereal_Live20Data_struct_bytes_count = 64;
-
-struct cereal_Live20Data_LeadData {
-	float dRel;
-	float yRel;
-	float vRel;
-	float aRel;
-	float vLead;
-	float aLead;
-	float dPath;
-	float vLat;
-	float vLeadK;
-	float aLeadK;
-	unsigned fcw : 1;
-	unsigned status : 1;
-};
-
-static const size_t cereal_Live20Data_LeadData_word_count = 6;
-
-static const size_t cereal_Live20Data_LeadData_pointer_count = 0;
-
-static const size_t cereal_Live20Data_LeadData_struct_bytes_count = 48;
-
-struct cereal_LiveCalibrationData {
-	capn_list32 warpMatrix;
-	int8_t calStatus;
-	int32_t calCycle;
-	int8_t calPerc;
-};
-
-static const size_t cereal_LiveCalibrationData_word_count = 1;
-
-static const size_t cereal_LiveCalibrationData_pointer_count = 1;
-
-static const size_t cereal_LiveCalibrationData_struct_bytes_count = 16;
-
-struct cereal_LiveTracks {
-	int32_t trackId;
-	float dRel;
-	float yRel;
-	float vRel;
-	float aRel;
-	float timeStamp;
-	float status;
-	float currentTime;
-	unsigned stationary : 1;
-	unsigned oncoming : 1;
-};
-
-static const size_t cereal_LiveTracks_word_count = 5;
-
-static const size_t cereal_LiveTracks_pointer_count = 0;
-
-static const size_t cereal_LiveTracks_struct_bytes_count = 40;
-
-struct cereal_Live100Data {
-	uint64_t canMonoTime;
-	capn_list64 canMonoTimes;
-	uint64_t l20MonoTime;
-	uint64_t mdMonoTime;
-	float vEgo;
-	float aEgo;
-	float vPid;
-	float vTargetLead;
-	float upAccelCmd;
-	float uiAccelCmd;
-	float yActual;
-	float yDes;
-	float upSteer;
-	float uiSteer;
-	float aTargetMin;
-	float aTargetMax;
-	float jerkFactor;
-	float angleSteers;
-	int32_t hudLead;
-	float cumLagMs;
-	unsigned enabled : 1;
-	unsigned steerOverride : 1;
-	float vCruise;
-	unsigned rearViewCam : 1;
-	capn_text alertText1;
-	capn_text alertText2;
-	float awarenessStatus;
-};
-
-static const size_t cereal_Live100Data_word_count = 13;
-
-static const size_t cereal_Live100Data_pointer_count = 3;
-
-static const size_t cereal_Live100Data_struct_bytes_count = 128;
-
-struct cereal_LiveEventData {
-	capn_text name;
-	int32_t value;
-};
-
-static const size_t cereal_LiveEventData_word_count = 1;
-
-static const size_t cereal_LiveEventData_pointer_count = 1;
-
-static const size_t cereal_LiveEventData_struct_bytes_count = 16;
-
-struct cereal_ModelData {
-	uint32_t frameId;
-	cereal_ModelData_PathData_ptr path;
-	cereal_ModelData_PathData_ptr leftLane;
-	cereal_ModelData_PathData_ptr rightLane;
-	cereal_ModelData_LeadData_ptr lead;
-	cereal_ModelData_ModelSettings_ptr settings;
-};
-
-static const size_t cereal_ModelData_word_count = 1;
-
-static const size_t cereal_ModelData_pointer_count = 5;
-
-static const size_t cereal_ModelData_struct_bytes_count = 48;
-
-struct cereal_ModelData_PathData {
-	capn_list32 points;
-	float prob;
-	float std;
-};
-
-static const size_t cereal_ModelData_PathData_word_count = 1;
-
-static const size_t cereal_ModelData_PathData_pointer_count = 1;
-
-static const size_t cereal_ModelData_PathData_struct_bytes_count = 16;
-
-struct cereal_ModelData_LeadData {
-	float dist;
-	float prob;
-	float std;
-};
-
-static const size_t cereal_ModelData_LeadData_word_count = 2;
-
-static const size_t cereal_ModelData_LeadData_pointer_count = 0;
-
-static const size_t cereal_ModelData_LeadData_struct_bytes_count = 16;
-
-struct cereal_ModelData_ModelSettings {
-	uint16_t bigBoxX;
-	uint16_t bigBoxY;
-	uint16_t bigBoxWidth;
-	uint16_t bigBoxHeight;
-	capn_list32 boxProjection;
-	capn_list32 yuvCorrection;
-};
-
-static const size_t cereal_ModelData_ModelSettings_word_count = 1;
-
-static const size_t cereal_ModelData_ModelSettings_pointer_count = 2;
-
-static const size_t cereal_ModelData_ModelSettings_struct_bytes_count = 24;
-
-struct cereal_CalibrationFeatures {
-	uint32_t frameId;
-	capn_list32 p0;
-	capn_list32 p1;
-	capn_list8 status;
-};
-
-static const size_t cereal_CalibrationFeatures_word_count = 1;
-
-static const size_t cereal_CalibrationFeatures_pointer_count = 3;
-
-static const size_t cereal_CalibrationFeatures_struct_bytes_count = 32;
-
-struct cereal_EncodeIndex {
-	uint32_t frameId;
-	enum cereal_EncodeIndex_Type type;
-	uint32_t encodeId;
-	int32_t segmentNum;
-	uint32_t segmentId;
-};
-
-static const size_t cereal_EncodeIndex_word_count = 3;
-
-static const size_t cereal_EncodeIndex_pointer_count = 0;
-
-static const size_t cereal_EncodeIndex_struct_bytes_count = 24;
-
-struct cereal_AndroidLogEntry {
-	uint8_t id;
-	uint64_t ts;
-	uint8_t priority;
-	int32_t pid;
-	int32_t tid;
-	capn_text tag;
-	capn_text message;
-};
-
-static const size_t cereal_AndroidLogEntry_word_count = 3;
-
-static const size_t cereal_AndroidLogEntry_pointer_count = 2;
-
-static const size_t cereal_AndroidLogEntry_struct_bytes_count = 40;
-
-struct cereal_LogRotate {
-	int32_t segmentNum;
-	capn_text path;
-};
-
-static const size_t cereal_LogRotate_word_count = 1;
-
-static const size_t cereal_LogRotate_pointer_count = 1;
-
-static const size_t cereal_LogRotate_struct_bytes_count = 16;
-enum cereal_Event_which {
-	cereal_Event_initData = 0,
-	cereal_Event_frame = 1,
-	cereal_Event_gpsNMEA = 2,
-	cereal_Event_sensorEventDEPRECATED = 3,
-	cereal_Event_can = 4,
-	cereal_Event_thermal = 5,
-	cereal_Event_live100 = 6,
-	cereal_Event_liveEventDEPRECATED = 7,
-	cereal_Event_model = 8,
-	cereal_Event_features = 9,
-	cereal_Event_sensorEvents = 10,
-	cereal_Event_health = 11,
-	cereal_Event_live20 = 12,
-	cereal_Event_liveUIDEPRECATED = 13,
-	cereal_Event_encodeIdx = 14,
-	cereal_Event_liveTracks = 15,
-	cereal_Event_sendcan = 16,
-	cereal_Event_logMessage = 17,
-	cereal_Event_liveCalibration = 18,
-	cereal_Event_androidLogEntry = 19
-};
-
-struct cereal_Event {
-	uint64_t logMonoTime;
-	enum cereal_Event_which which;
-	union {
-		cereal_InitData_ptr initData;
-		cereal_FrameData_ptr frame;
-		cereal_GPSNMEAData_ptr gpsNMEA;
-		cereal_SensorEventData_ptr sensorEventDEPRECATED;
-		cereal_CanData_list can;
-		cereal_ThermalData_ptr thermal;
-		cereal_Live100Data_ptr live100;
-		cereal_LiveEventData_list liveEventDEPRECATED;
-		cereal_ModelData_ptr model;
-		cereal_CalibrationFeatures_ptr features;
-		cereal_SensorEventData_list sensorEvents;
-		cereal_HealthData_ptr health;
-		cereal_Live20Data_ptr live20;
-		cereal_LiveUI_ptr liveUIDEPRECATED;
-		cereal_EncodeIndex_ptr encodeIdx;
-		cereal_LiveTracks_list liveTracks;
-		cereal_CanData_list sendcan;
-		capn_text logMessage;
-		cereal_LiveCalibrationData_ptr liveCalibration;
-		cereal_AndroidLogEntry_ptr androidLogEntry;
-	};
-};
-
-static const size_t cereal_Event_word_count = 2;
-
-static const size_t cereal_Event_pointer_count = 1;
-
-static const size_t cereal_Event_struct_bytes_count = 24;
-
-cereal_InitData_ptr cereal_new_InitData(struct capn_segment*);
-cereal_FrameData_ptr cereal_new_FrameData(struct capn_segment*);
-cereal_GPSNMEAData_ptr cereal_new_GPSNMEAData(struct capn_segment*);
-cereal_SensorEventData_ptr cereal_new_SensorEventData(struct capn_segment*);
-cereal_SensorEventData_SensorVec_ptr cereal_new_SensorEventData_SensorVec(struct capn_segment*);
-cereal_CanData_ptr cereal_new_CanData(struct capn_segment*);
-cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment*);
-cereal_HealthData_ptr cereal_new_HealthData(struct capn_segment*);
-cereal_LiveUI_ptr cereal_new_LiveUI(struct capn_segment*);
-cereal_Live20Data_ptr cereal_new_Live20Data(struct capn_segment*);
-cereal_Live20Data_LeadData_ptr cereal_new_Live20Data_LeadData(struct capn_segment*);
-cereal_LiveCalibrationData_ptr cereal_new_LiveCalibrationData(struct capn_segment*);
-cereal_LiveTracks_ptr cereal_new_LiveTracks(struct capn_segment*);
-cereal_Live100Data_ptr cereal_new_Live100Data(struct capn_segment*);
-cereal_LiveEventData_ptr cereal_new_LiveEventData(struct capn_segment*);
-cereal_ModelData_ptr cereal_new_ModelData(struct capn_segment*);
-cereal_ModelData_PathData_ptr cereal_new_ModelData_PathData(struct capn_segment*);
-cereal_ModelData_LeadData_ptr cereal_new_ModelData_LeadData(struct capn_segment*);
-cereal_ModelData_ModelSettings_ptr cereal_new_ModelData_ModelSettings(struct capn_segment*);
-cereal_CalibrationFeatures_ptr cereal_new_CalibrationFeatures(struct capn_segment*);
-cereal_EncodeIndex_ptr cereal_new_EncodeIndex(struct capn_segment*);
-cereal_AndroidLogEntry_ptr cereal_new_AndroidLogEntry(struct capn_segment*);
-cereal_LogRotate_ptr cereal_new_LogRotate(struct capn_segment*);
-cereal_Event_ptr cereal_new_Event(struct capn_segment*);
-
-cereal_InitData_list cereal_new_InitData_list(struct capn_segment*, int len);
-cereal_FrameData_list cereal_new_FrameData_list(struct capn_segment*, int len);
-cereal_GPSNMEAData_list cereal_new_GPSNMEAData_list(struct capn_segment*, int len);
-cereal_SensorEventData_list cereal_new_SensorEventData_list(struct capn_segment*, int len);
-cereal_SensorEventData_SensorVec_list cereal_new_SensorEventData_SensorVec_list(struct capn_segment*, int len);
-cereal_CanData_list cereal_new_CanData_list(struct capn_segment*, int len);
-cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment*, int len);
-cereal_HealthData_list cereal_new_HealthData_list(struct capn_segment*, int len);
-cereal_LiveUI_list cereal_new_LiveUI_list(struct capn_segment*, int len);
-cereal_Live20Data_list cereal_new_Live20Data_list(struct capn_segment*, int len);
-cereal_Live20Data_LeadData_list cereal_new_Live20Data_LeadData_list(struct capn_segment*, int len);
-cereal_LiveCalibrationData_list cereal_new_LiveCalibrationData_list(struct capn_segment*, int len);
-cereal_LiveTracks_list cereal_new_LiveTracks_list(struct capn_segment*, int len);
-cereal_Live100Data_list cereal_new_Live100Data_list(struct capn_segment*, int len);
-cereal_LiveEventData_list cereal_new_LiveEventData_list(struct capn_segment*, int len);
-cereal_ModelData_list cereal_new_ModelData_list(struct capn_segment*, int len);
-cereal_ModelData_PathData_list cereal_new_ModelData_PathData_list(struct capn_segment*, int len);
-cereal_ModelData_LeadData_list cereal_new_ModelData_LeadData_list(struct capn_segment*, int len);
-cereal_ModelData_ModelSettings_list cereal_new_ModelData_ModelSettings_list(struct capn_segment*, int len);
-cereal_CalibrationFeatures_list cereal_new_CalibrationFeatures_list(struct capn_segment*, int len);
-cereal_EncodeIndex_list cereal_new_EncodeIndex_list(struct capn_segment*, int len);
-cereal_AndroidLogEntry_list cereal_new_AndroidLogEntry_list(struct capn_segment*, int len);
-cereal_LogRotate_list cereal_new_LogRotate_list(struct capn_segment*, int len);
-cereal_Event_list cereal_new_Event_list(struct capn_segment*, int len);
-
-void cereal_read_InitData(struct cereal_InitData*, cereal_InitData_ptr);
-void cereal_read_FrameData(struct cereal_FrameData*, cereal_FrameData_ptr);
-void cereal_read_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
-void cereal_read_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
-void cereal_read_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
-void cereal_read_CanData(struct cereal_CanData*, cereal_CanData_ptr);
-void cereal_read_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_ptr);
-void cereal_read_HealthData(struct cereal_HealthData*, cereal_HealthData_ptr);
-void cereal_read_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_ptr);
-void cereal_read_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_ptr);
-void cereal_read_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
-void cereal_read_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
-void cereal_read_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
-void cereal_read_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_ptr);
-void cereal_read_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
-void cereal_read_ModelData(struct cereal_ModelData*, cereal_ModelData_ptr);
-void cereal_read_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
-void cereal_read_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
-void cereal_read_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
-void cereal_read_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
-void cereal_read_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
-void cereal_read_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
-void cereal_read_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_ptr);
-void cereal_read_Event(struct cereal_Event*, cereal_Event_ptr);
-
-void cereal_write_InitData(const struct cereal_InitData*, cereal_InitData_ptr);
-void cereal_write_FrameData(const struct cereal_FrameData*, cereal_FrameData_ptr);
-void cereal_write_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
-void cereal_write_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
-void cereal_write_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
-void cereal_write_CanData(const struct cereal_CanData*, cereal_CanData_ptr);
-void cereal_write_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_ptr);
-void cereal_write_HealthData(const struct cereal_HealthData*, cereal_HealthData_ptr);
-void cereal_write_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_ptr);
-void cereal_write_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_ptr);
-void cereal_write_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
-void cereal_write_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
-void cereal_write_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
-void cereal_write_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_ptr);
-void cereal_write_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
-void cereal_write_ModelData(const struct cereal_ModelData*, cereal_ModelData_ptr);
-void cereal_write_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
-void cereal_write_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
-void cereal_write_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
-void cereal_write_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
-void cereal_write_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
-void cereal_write_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
-void cereal_write_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_ptr);
-void cereal_write_Event(const struct cereal_Event*, cereal_Event_ptr);
-
-void cereal_get_InitData(struct cereal_InitData*, cereal_InitData_list, int i);
-void cereal_get_FrameData(struct cereal_FrameData*, cereal_FrameData_list, int i);
-void cereal_get_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
-void cereal_get_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
-void cereal_get_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
-void cereal_get_CanData(struct cereal_CanData*, cereal_CanData_list, int i);
-void cereal_get_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_list, int i);
-void cereal_get_HealthData(struct cereal_HealthData*, cereal_HealthData_list, int i);
-void cereal_get_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_list, int i);
-void cereal_get_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_list, int i);
-void cereal_get_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
-void cereal_get_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
-void cereal_get_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
-void cereal_get_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_list, int i);
-void cereal_get_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
-void cereal_get_ModelData(struct cereal_ModelData*, cereal_ModelData_list, int i);
-void cereal_get_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
-void cereal_get_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
-void cereal_get_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
-void cereal_get_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
-void cereal_get_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
-void cereal_get_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
-void cereal_get_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_list, int i);
-void cereal_get_Event(struct cereal_Event*, cereal_Event_list, int i);
-
-void cereal_set_InitData(const struct cereal_InitData*, cereal_InitData_list, int i);
-void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list, int i);
-void cereal_set_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
-void cereal_set_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
-void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
-void cereal_set_CanData(const struct cereal_CanData*, cereal_CanData_list, int i);
-void cereal_set_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_list, int i);
-void cereal_set_HealthData(const struct cereal_HealthData*, cereal_HealthData_list, int i);
-void cereal_set_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_list, int i);
-void cereal_set_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_list, int i);
-void cereal_set_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
-void cereal_set_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
-void cereal_set_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
-void cereal_set_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_list, int i);
-void cereal_set_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
-void cereal_set_ModelData(const struct cereal_ModelData*, cereal_ModelData_list, int i);
-void cereal_set_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
-void cereal_set_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
-void cereal_set_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
-void cereal_set_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
-void cereal_set_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
-void cereal_set_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
-void cereal_set_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_list, int i);
-void cereal_set_Event(const struct cereal_Event*, cereal_Event_list, int i);
-
-#ifdef __cplusplus
-}
-#endif
-#endif

cereal/generate_javascript.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+rm -r gen/ts
+rm -r gen/js
+
+mkdir gen/ts
+mkdir gen/js
+
+echo "Installing needed npm modules"
+npm i capnpc-ts capnp-ts
+
+capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
+capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
+
+cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
+do
+  TOKEN=`echo $line | sed 's/\./_/g'`
+  ROOT=`echo $line | sed 's/\..*$//g'`
+  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
+  if [[ "$?" == "1" ]]
+  then
+    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
+  fi
+done
+
+tsc ./gen/ts/* --lib es2015 --outDir ./gen/js

cereal/include/java.capnp

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

cereal/install_capnp.sh

@@ -0,0 +1,39 @@
+set -e
+echo "Installing capnp"
+
+cd /tmp
+VERSION=0.6.1
+wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
+tar xvf capnproto-c++-${VERSION}.tar.gz
+cd capnproto-c++-${VERSION}
+CXXFLAGS="-fPIC" ./configure
+
+make -j4
+
+# manually build binaries statically
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+cp .libs/capnp /usr/local/bin/
+ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
+cp .libs/capnpc-c++ /usr/local/bin/
+cp .libs/capnpc-capnp /usr/local/bin/
+cp .libs/*.a /usr/local/lib
+
+cd /tmp
+echo "Installing c-capnp"
+git clone https://github.com/commaai/c-capnproto.git
+cd c-capnproto
+git submodule update --init --recursive
+autoreconf -f -i -s
+CXXFLAGS="-fPIC" ./configure
+make -j4
+
+# manually build binaries statically
+gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
+
+cp .libs/capnpc-c /usr/local/bin/
+cp .libs/*.a /usr/local/lib

cereal/maptile.capnp

@@ -0,0 +1,53 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Map");
+
+@0xa086df597ef5d7a0;
+
+# Geometry
+struct Point {
+  x @0: Float64;
+  y @1: Float64;
+  z @2: Float64;
+}
+
+struct PolyLine {
+  points @0: List(Point);
+}
+
+# Map features
+struct Lane {
+  id @0 :Text;
+
+  leftBoundary @1 :LaneBoundary;
+  rightBoundary @2 :LaneBoundary;
+
+  leftAdjacentId @3 :Text;
+  rightAdjacentId @4 :Text;
+
+  inboundIds @5 :List(Text);
+  outboundIds @6 :List(Text);
+
+  struct LaneBoundary {
+    polyLine @0 :PolyLine;
+    startHeading @1 :Float32; # WRT north
+  }
+}
+
+# Map tiles
+struct TileSummary {
+  version @0 :Text;
+  updatedAt @1 :UInt64; # Millis since epoch
+
+  level @2 :UInt8;
+  x @3 :UInt16;
+  y @4 :UInt16;
+}
+
+struct MapTile {
+  summary @0 :TileSummary;
+  lanes @1 :List(Lane);
+}

check_code_quality.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+RESULT=$?
+if [ $RESULT -eq 0 ]; then
+    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+    RESULT=$? & 3
+fi
+
+[ $RESULT -ne 0 ] && exit 1
+exit 0

common/api/__init__.py

@@ -1,8 +1,15 @@
 import requests
 
-def api_get(endpoint, method='GET', timeout=None, **params):
+from selfdrive.version import version
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   backend = "https://api.commadotai.com/"
 
-  params['_version'] = "OPENPILOTv0.2"
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT "+access_token
+
+  headers['User-Agent'] = "openpilot-" + version
+
+  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
 
-  return requests.request(method, backend+endpoint, timeout=timeout, params=params)

common/basedir.py

@@ -0,0 +1,4 @@
+import os
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
+

common/clock.pyx

@@ -0,0 +1,16 @@
+from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
+
+cdef double readclock(int clock_id):
+    cdef timespec ts
+    cdef double current
+
+    clock_gettime(clock_id, &ts)
+    current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+    return current
+
+
+def monotonic_time():
+    return readclock(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+    return readclock(CLOCK_BOOTTIME)

common/crash.py

@@ -1,31 +0,0 @@
-"""Install exception handler for process crash."""
-import os
-import sys
-
-if os.getenv("NOLOG"):
-  def capture_exception(*exc_info):
-    pass
-  def bind_user(**kwargs):
-    pass
-  def install():
-    pass
-else:
-  from raven import Client
-  from raven.transport.http import HTTPTransport
-
-  client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
-                  install_sys_hook=False, transport=HTTPTransport)
-
-  capture_exception = client.captureException
-
-  def bind_user(**kwargs):
-    client.user_context(kwargs)
-
-  def install():
-    # installs a sys.excepthook
-    __excepthook__ = sys.excepthook
-    def handle_exception(*exc_info):
-      if exc_info[0] not in (KeyboardInterrupt, SystemExit):
-        client.captureException(exc_info=exc_info)
-      __excepthook__(*exc_info)
-    sys.excepthook = handle_exception

common/dbc.py

@@ -1,27 +1,34 @@
 import re
-from collections import namedtuple
-import bitstring
+import os
+import struct
+import sys
+import numbers
+from collections import namedtuple, defaultdict
 
 def int_or_float(s):
   # return number, trying to maintain int format
-  try:
-    return int(s)
-  except ValueError:
+  if s.isdigit():
+    return int(s, 10)
+  else:
     return float(s)
 
 DBCSignal = namedtuple(
   "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
                 "factor", "offset", "tmin", "tmax", "units"])
 
+
 class dbc(object):
   def __init__(self, fn):
-    self.txt = open(fn).read().split("\n")
+    self.name, _ = os.path.splitext(os.path.basename(fn))
+    with open(fn) as f:
+      self.txt = f.readlines()
     self._warned_addresses = set()
 
     # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
-    bo_regexp = re.compile("^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
-    sg_regexp = re.compile("^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-    sgm_regexp = re.compile("^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
+    sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")
 
     # A dictionary which maps message ids to tuples ((name, size), signals).
     #   name is the ASCII name of the message.
@@ -30,10 +37,11 @@ class dbc(object):
     # signals is a list of DBCSignal in order of increasing start_bit.
     self.msgs = {}
 
-    self.bits = []
-    for i in range(0, 64, 8):
-      for j in range(7, -1, -1):
-        self.bits.append(i+j)
+    # A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
+    self.def_vals = defaultdict(list)
+
+    # lookup to bit reverse each byte
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
 
     for l in self.txt:
       l = l.strip()
@@ -43,10 +51,13 @@ class dbc(object):
         dat = bo_regexp.match(l)
 
         if dat is None:
-          print "bad BO", l
+          print("bad BO {0}".format(l))
+
         name = dat.group(2)
         size = int(dat.group(3))
         ids = int(dat.group(1), 0) # could be hex
+        if ids in self.msgs:
+          sys.exit("Duplicate address detected %d %s" % (ids, self.name))
 
         self.msgs[ids] = ((name, size), [])
 
@@ -57,8 +68,9 @@ class dbc(object):
         if dat is None:
           dat = sgm_regexp.match(l)
           go = 1
+
         if dat is None:
-          print "bad SG", l
+          print("bad SG {0}".format(l))
 
         sgname = dat.group(1)
         start_bit = int(dat.group(go+2))
@@ -75,9 +87,54 @@ class dbc(object):
           DBCSignal(sgname, start_bit, signal_size, is_little_endian,
                     is_signed, factor, offset, tmin, tmax, units))
 
-    for msg in self.msgs.viewvalues():
+      if l.startswith("VAL_ "):
+        # new signal value/definition
+        dat = val_regexp.match(l)
+
+        if dat is None:
+          print("bad VAL {0}".format(l))
+
+        ids = int(dat.group(1), 0) # could be hex
+        sgname = dat.group(2)
+        defvals = dat.group(3)
+
+        defvals = defvals.replace("?",r"\?") #escape sequence in C++
+        defvals = defvals.split('"')[:-1]
+
+        defs = defvals[1::2]
+        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
+        for i,d in enumerate(defs):
+          d = defs[i].strip().upper()
+          defs[i] = d.replace(" ","_")
+
+        defvals[1::2] = defs
+        defvals = '"'+"".join(str(i) for i in defvals)+'"'
+
+        self.def_vals[ids].append((sgname, defvals))
+
+    for msg in self.msgs.values():
       msg[1].sort(key=lambda x: x.start_bit)
 
+    self.msg_name_to_address = {}
+    for address, m in self.msgs.items():
+      name = m[0][0]
+      self.msg_name_to_address[name] = address
+
+  def lookup_msg_id(self, msg_id):
+    if not isinstance(msg_id, numbers.Number):
+      msg_id = self.msg_name_to_address[msg_id]
+    return msg_id
+
+  def reverse_bytes(self, x):
+    return ((x & 0xff00000000000000) >> 56) | \
+           ((x & 0x00ff000000000000) >> 40) | \
+           ((x & 0x0000ff0000000000) >> 24) | \
+           ((x & 0x000000ff00000000) >> 8) | \
+           ((x & 0x00000000ff000000) << 8) | \
+           ((x & 0x0000000000ff0000) << 24) | \
+           ((x & 0x000000000000ff00) << 40) | \
+           ((x & 0x00000000000000ff) << 56)
+
   def encode(self, msg_id, dd):
     """Encode a CAN message using the dbc.
 
@@ -85,35 +142,42 @@ class dbc(object):
         msg_id: The message ID.
         dd: A dictionary mapping signal name to signal data.
     """
-    # TODO: Stop using bitstring, which is super slow.
+    msg_id = self.lookup_msg_id(msg_id)
+
     msg_def = self.msgs[msg_id]
     size = msg_def[0][1]
 
-    bsf = bitstring.Bits(hex="00"*size)
+    result = 0
     for s in msg_def[1]:
       ival = dd.get(s.name)
       if ival is not None:
+
+        b2 = s.size
+        if s.is_little_endian:
+          b1 = s.start_bit
+        else:
+          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
+        bo = 64 - (b1 + s.size)
+
         ival = (ival / s.factor) - s.offset
         ival = int(round(ival))
 
-        # should pack this
+        if s.is_signed and ival < 0:
+          ival = (1 << b2) + ival
+
+        shift = b1 if s.is_little_endian else bo
+        mask = ((1 << b2) - 1) << shift
+        dat = (ival & ((1 << b2) - 1)) << shift
+
         if s.is_little_endian:
-          ss = s.start_bit
-        else:
-          ss = self.bits.index(s.start_bit)
+          mask = self.reverse_bytes(mask)
+          dat = self.reverse_bytes(dat)
 
+        result &= ~mask
+        result |= dat
 
-        if s.is_signed:
-          tbs = bitstring.Bits(int=ival, length=s.size)
-        else:
-          tbs = bitstring.Bits(uint=ival, length=s.size)
-
-        lpad = bitstring.Bits(bin="0b"+"0"*ss)
-        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
-        tbs = lpad+tbs+rpad
-
-        bsf |= tbs
-    return bsf.tobytes()
+    result = struct.pack('>Q', result)
+    return result[:size]
 
   def decode(self, x, arr=None, debug=False):
     """Decode a CAN message using the dbc.
@@ -132,6 +196,7 @@ class dbc(object):
 
         Returns (None, None) if the message could not be decoded.
     """
+
     if arr is None:
       out = {}
     else:
@@ -140,43 +205,85 @@ class dbc(object):
     msg = self.msgs.get(x[0])
     if msg is None:
       if x[0] not in self._warned_addresses:
-        print("WARNING: Unknown message address {}".format(x[0]))
+        #print("WARNING: Unknown message address {}".format(x[0]))
         self._warned_addresses.add(x[0])
       return None, None
 
     name = msg[0][0]
     if debug:
-      print name
+      print(name)
 
-    blen = (len(x[2])/2)*8
-    x2_int = int(x[2], 16)
+    st = x[2].ljust(8, '\x00')
+    le, be = None, None
 
     for s in msg[1]:
       if arr is not None and s[0] not in arr:
         continue
 
-      # big or little endian?
-      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
-      if s[3] is False:
-        ss = self.bits.index(s[1])
+      start_bit = s[1]
+      signal_size = s[2]
+      little_endian = s[3]
+      signed = s[4]
+      factor = s[5]
+      offset = s[6]
+
+      b2 = signal_size
+      if little_endian:
+        b1 = start_bit
       else:
-        ss = s[1]
+        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
+      bo = 64 - (b1 + signal_size)
 
-      data_bit_pos = (blen - (ss + s[2]))
-      if data_bit_pos < 0:
+      if little_endian:
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        shift_amount = b1
+        tmp = le
+      else:
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        shift_amount = bo
+        tmp = be
+
+      if shift_amount < 0:
         continue
-      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
 
-      if s[4] and (ival & (1<<(s[2]-1))): # signed
-        ival -= (1<<s[2])
+      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
+      if signed and (tmp >> (b2 - 1)):
+        tmp -= (1 << b2)
 
-      # control the offset
-      ival = (ival + s[6])*s[5]
-      if debug:
-        print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
+      tmp = tmp * factor + offset
+
+      # if debug:
+      #   print("%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1]))
 
       if arr is None:
-        out[s[0]] = ival
+        out[s[0]] = tmp
       else:
-        out[arr.index(s[0])] = ival
+        out[arr.index(s[0])] = tmp
     return name, out
+
+  def get_signals(self, msg):
+    msg = self.lookup_msg_id(msg)
+    return [sgs.name for sgs in self.msgs[msg][1]]
+
+
+if __name__ == "__main__":
+   from opendbc import DBC_PATH
+   import numpy as np
+
+   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
+   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x25, 0, encoded))
+   assert decoded == msg
+
+   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
+   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
+   assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
+
+   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x2b0, 0, encoded))
+
+   assert decoded == msg

common/ffi_wrapper.py

@@ -0,0 +1,49 @@
+import os
+import sys
+import fcntl
+import hashlib
+from cffi import FFI
+
+
+def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
+  try:
+    os.mkdir(tmpdir)
+  except OSError:
+    pass
+
+  fd = os.open(tmpdir, 0)
+  fcntl.flock(fd, fcntl.LOCK_EX)
+  try:
+    sys.path.append(tmpdir)
+    try:
+      mod = __import__(cache)
+    except Exception:
+      print("cache miss {0}".format(cache))
+      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
+      mod = __import__(cache)
+  finally:
+    os.close(fd)
+
+  return mod.ffi, mod.lib
+
+
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  ffibuilder = FFI()
+  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
+  ffibuilder.cdef(c_header)
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['CFLAGS'] = cflags
+  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
+
+
+def wrap_compiled(name, directory):
+  sys.path.append(directory)
+  mod = __import__(name)
+  return mod.ffi, mod.lib

common/file_helpers.py

@@ -0,0 +1,118 @@
+import os
+import shutil
+import tempfile
+from atomicwrites import AtomicWriter
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+def rm_not_exists_ok(path):
+  try:
+    os.remove(path)
+  except OSError:
+    if os.path.exists(path):
+      raise
+
+def rm_tree_or_link(path):
+  if os.path.islink(path):
+    os.unlink(path)
+  elif os.path.isdir(path):
+    shutil.rmtree(path)
+
+def get_tmpdir_on_same_filesystem(path):
+  # TODO(mgraczyk): HACK, we should actually check for which filesystem.
+  normpath = os.path.normpath(path)
+  parts = normpath.split("/")
+  if len(parts) > 1:
+    if parts[1].startswith("raid") or parts[1].startswith("datasets"):
+      if len(parts) > 2 and parts[2] == "runner":
+        return "/{}/runner/tmp".format(parts[1])
+      elif len(parts) > 2 and parts[2] == "aws":
+        return "/{}/aws/tmp".format(parts[1])
+      else:
+        return "/{}/tmp".format(parts[1])
+    elif parts[1] == "aws":
+      return "/aws/tmp"
+    elif parts[1] == "scratch":
+      return "/scratch/tmp"
+  return "/tmp"
+
+class AutoMoveTempdir(object):
+  def __init__(self, target_path, temp_dir=None):
+    self._target_path = target_path
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    os.rename(self._path, self._target_path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    if type is None:
+      self.close()
+    else:
+      shutil.rmtree(self._path)
+
+class NamedTemporaryDir(object):
+  def __init__(self, temp_dir=None):
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    shutil.rmtree(self._path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    file_obj = writer.get_fileobject(dir=temp_dir)
+    os.chmod(file_obj.name, 0o644)
+    return file_obj
+  return _get_fileobject
+
+def atomic_write_on_fs_tmp(path, **kwargs):
+  """Creates an atomic writer using a temporary file in a temporary directory
+     on the same filesystem as path.
+  """
+  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
+  #                 directory.
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+
+
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
+
+def atomic_write_in_dir_neos(path, contents, mode=None):
+  """
+  Atomically writes contents to path using a temporary file in the same directory
+  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
+  """
+
+  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
+  f.write(contents)
+  f.flush()
+  if mode is not None:
+    os.fchmod(f.fileno(), mode)
+  os.fsync(f.fileno())
+  f.close()
+
+  os.rename(f.name, path)

common/filter_simple.py

@@ -0,0 +1,10 @@
+class FirstOrderFilter():
+  # first order filter
+  def __init__(self, x0, ts, dt):
+    self.k = (dt / ts) / (1. + dt / ts)
+    self.x = x0
+
+  def update(self, x):
+    self.x = (1. - self.k) * self.x + self.k * x
+
+

common/filters.py

@@ -1,17 +0,0 @@
-"""Classes for filtering discrete time signals."""
-import numpy as np
-
-
-class FirstOrderLowpassFilter(object):
-  def __init__(self, fc, dt, x1=0):
-    self.kf = 2 * np.pi * fc * dt / (1 + 2 * np.pi * fc * dt)
-    self.x1 = x1
-
-  def __call__(self, x):
-    self.x1 = (1 - self.kf) * self.x1 + self.kf * x
-
-    # If previous or current is NaN, reset filter.
-    if np.isnan(self.x1):
-      self.x1 = x
-
-    return self.x1

common/fingerprints.py

@@ -0,0 +1,62 @@
+import os
+from common.basedir import BASEDIR
+
+def get_fingerprint_list():
+  # read all the folders in selfdrive/car and return a dict where:
+  # - keys are all the car models for which we have a fingerprint
+  # - values are lists dicts of messages that constitute the unique
+  #   CAN fingerprint of each car model and all its variants
+  fingerprints = {}
+  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
+    try:
+      car_name = car_folder.split('/')[-1]
+      values = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS'])
+      if hasattr(values, 'FINGERPRINTS'):
+        car_fingerprints = values.FINGERPRINTS
+      else:
+        continue
+      for f, v in car_fingerprints.items():
+        fingerprints[f] = v
+    except (ImportError, IOError):
+      pass
+  return fingerprints
+
+
+_FINGERPRINTS = get_fingerprint_list()
+
+_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
+
+def is_valid_for_fingerprint(msg, car_fingerprint):
+  adr = msg.address
+  # ignore addresses that are more than 11 bits
+  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
+
+
+def eliminate_incompatible_cars(msg, candidate_cars):
+  """Removes cars that could not have sent msg.
+
+     Inputs:
+      msg: A cereal/log CanData message from the car.
+      candidate_cars: A list of cars to consider.
+
+     Returns:
+      A list containing the subset of candidate_cars that could have sent msg.
+  """
+  compatible_cars = []
+
+  for car_name in candidate_cars:
+    car_fingerprints = _FINGERPRINTS[car_name]
+
+    for fingerprint in car_fingerprints:
+      fingerprint.update(_DEBUG_ADDRESS)  # add alien debug address
+
+      if is_valid_for_fingerprint(msg, fingerprint):
+        compatible_cars.append(car_name)
+        break
+
+  return compatible_cars
+
+
+def all_known_cars():
+  """Returns a list of all known car strings."""
+  return list(_FINGERPRINTS.keys())

common/kalman/Makefile

@@ -0,0 +1,10 @@
+all: simple_kalman_impl.so
+
+simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
+	python2 simple_kalman_setup.py build_ext --inplace
+	rm -rf build
+	rm simple_kalman_impl.c
+
+.PHONY: clean
+clean:
+	rm -f simple_kalman_impl.so

common/kalman/ekf.py

@@ -1,300 +0,0 @@
-import abc
-import numpy as np
-import numpy.matlib
-
-# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
-# A subclass must implement:
-#   1) calc_transfer_fun(); see bottom of file for more info.
-#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
-
-# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
-
-# Sensor classes are optionally used to pass measurement information into the EKF, to keep
-#   sensor parameters and processing methods for a each sensor together.
-# Sensor classes have a read() method which takes raw sensor data and returns
-#   a SensorReading object, which can be passed to the EKF update() method.
-
-# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
-# ekf.predict(dt) should be called between update cycles with the time since it was last called.
-# Ideally, predict(dt) should be called at a relatively constant rate.
-# update() should be called once per sensor, and can be called multiple times between predict steps.
-# Access and set the state of the filter directly with ekf.state and ekf.covar.
-
-class SensorReading:
-  # Given a perfect model and no noise, data = obs_model * state
-  def __init__(self, data, covar, obs_model):
-    self.data = data
-    self.obs_model = obs_model
-    self.covar = covar
-
-  def __repr__(self):
-    return "SensorReading(data={}, covar={}, obs_model={})".format(
-      repr(self.data), repr(self.covar), repr(self.obs_model))
-
-
-# A generic sensor class that does no pre-processing of data
-class SimpleSensor:
-  # obs_model can be 
-  #   a full obesrvation model matrix, or
-  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
-  # covar can be
-  #   a full covariance matrix
-  #   a float or tuple of individual covars for each component of the sensor reading
-  # dims is the number of states in the EKF
-  def __init__(self, obs_model, covar, dims):
-    # Allow for integer covar/obs_model
-    if not hasattr(obs_model, "__len__"):
-      obs_model = (obs_model, )
-    if not hasattr(covar, "__len__"):
-      covar = (covar, )
-
-    # Full observation model passed
-    if dims in np.array(obs_model).shape:
-      self.obs_model = np.asmatrix(obs_model)
-      self.covar = np.asmatrix(covar)
-    # Indices of unit observations passed
-    else:
-      self.obs_model = np.matlib.zeros((len(obs_model), dims))
-      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
-      if np.asarray(covar).ndim == 2:
-        self.covar = np.asmatrix(covar)
-      elif len(covar) == len(obs_model):
-        self.covar = np.matlib.diag(covar)
-      else:
-        self.covar = np.matlib.identity(len(obs_model)) * covar
-
-  def read(self, data, covar=None):
-    if covar:
-      self.covar = covar
-    return SensorReading(data, self.covar, self.obs_model)
-
-class GPS:
-  earth_r = 6371e3  # m, average earth radius
-
-  def __init__(self, xy_idx=(0, 1), dims=2, var=1e4):
-    self.obs_model = np.matlib.zeros((2, dims))
-    self.obs_model[:, tuple(xy_idx)] = np.matlib.identity(2)
-    self.covar = np.matlib.identity(2) * var
-
-  # [lat, lon] in decimal degrees
-  def init_pos(self, latlon):
-    self.init_lat, self.init_lon = np.radians(np.asarray(latlon[:2]))
-
-  # Compute straight-line distance, in meters, between two lat/long coordinates
-  # Input in radians
-  def haversine(self, lat1, lon1, lat2, lon2):
-    lat_diff = lat2 - lat1
-    lon_diff = lon2 - lon1
-    d = np.sin(lat_diff * 0.5)**2 + np.cos(lat1) * np.cos(lat2) * np.sin(
-      lon_diff * 0.5)**2
-    h = 2 * GPS.earth_r * np.arcsin(np.sqrt(d))
-    return h
-
-  # Convert decimal degrees into meters
-  def convert_deg2m(self, lat, lon):
-    lat, lon = np.radians([lat, lon])
-
-    xs = (lon - self.init_lon) * np.cos(self.init_lat) * GPS.earth_r
-    ys = (lat - self.init_lat) * GPS.earth_r
-
-    return xs, ys
-
-  # Convert meters into decimal degrees
-  def convert_m2deg(self, xs, ys):
-    lat = ys / GPS.earth_r + self.init_lat
-    lon = xs / (GPS.earth_r * np.cos(self.init_lat)) + self.init_lon
-
-    return np.degrees(lat), np.degrees(lon)
-
-  # latlon is [lat, long,] as decimal degrees
-  # accuracy is as given by Android location service: radius of 68% confidence
-  def read(self, latlon, accuracy=None):
-    x_dist, y_dist = self.convert_deg2m(latlon[0], latlon[1])
-    if not accuracy:
-      covar = self.covar
-    else:
-      covar = np.matlib.identity(2) * accuracy**2
-
-    return SensorReading(
-      np.asmatrix([x_dist, y_dist]).T, covar, self.obs_model)
-
-class EKF:
-  __metaclass__ = abc.ABCMeta
-
-  def __init__(self, debug=False):
-    self.DEBUG = debug
-
-
-  def __str__(self):
-    return "EKF(state={}, covar={})".format(self.state, self.covar)
-
-  # Measurement update
-  # Reading should be a SensorReading object with data, covar, and obs_model attributes
-  def update(self, reading):
-    # Potential improvements:
-    # deal with negative covars
-    # add noise to really low covars to ensure stability
-    # use mahalanobis distance to reject outliers
-    # wrap angles after state updates and innovation
-
-    # y = z - H*x
-    innovation = reading.data - reading.obs_model * self.state
-
-    if self.DEBUG:
-      print "reading:\n",reading.data
-      print "innovation:\n",innovation
-
-    # S = H*P*H' + R
-    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
-
-    # K = P*H'*S^-1
-    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
-      innovation_covar)
-
-    if self.DEBUG:
-      print "gain:\n", kalman_gain
-      print "innovation_covar:\n", innovation_covar
-      print "innovation: ", innovation
-      print "test: ", self.covar * reading.obs_model.T * (
-        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
-        0).I
-
-    # x = x + K*y
-    self.state += kalman_gain*innovation
-
-    # print "covar", np.diag(self.covar)
-    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
-
-    # Standard form: P = (I - K*H)*P
-    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
-
-    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
-    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
-    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
-
-    if self.DEBUG:
-      print "After update"
-      print "state\n", self.state
-      print "covar:\n",self.covar
-
-  def update_scalar(self, reading):
-    # like update but knowing that measurment is a scalar
-    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
-
-    # innovation = reading.data - np.matmul(reading.obs_model, self.state)   
-    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar    
-    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar   
-    # self.state += np.matmul(kalman_gain, innovation)   
-    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)    
-    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
-
-    # written without np.matmul
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB_T = "ij,kj->ik"
-    AB = "ij,jk->ik"
-    innovation = reading.data - es(AB, reading.obs_model, self.state)
-    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
-                          reading.obs_model) + reading.covar
-    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
-
-    self.state += es(AB, kalman_gain, innovation)
-    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
-    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
-                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
-
-  # Prediction update
-  def predict(self, dt):
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB = "ij,jk->ik"
-
-    # State update
-    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
-
-    # self.state = np.matmul(transfer_fun, self.state)
-    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
-
-    # x = f(x, u), written in the form x = A(x, u)*x
-    self.state = es(AB, transfer_fun, self.state)
-
-    # P = J*P*J' + Q
-    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
-                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
-
-    #! Clip covariance to avoid explosions
-    self.covar = np.clip(self.covar,-1e10,1e10)
-
-  @abc.abstractmethod
-  def calc_transfer_fun(self, dt):
-    """Return a tuple with the transfer function and transfer function jacobian
-    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
-
-    The transfer function matrix A should satisfy the state-update equation
-      x_(k+1) = A * x_k
-
-    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
-
-    Current implementations calculate A and J as functions of state. Control input
-      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calcualtion of A and J
-    """
-
-class FastEKF1D(EKF):
-  """Fast version of EKF for 1D problems with scalar readings."""
-
-  def __init__(self, dt, var_init, Q):
-    super(FastEKF1D, self).__init__(False)
-    self.state = [0, 0]
-    self.covar = [var_init, var_init, 0]
-
-    # Process Noise
-    self.dtQ0 = dt * Q[0]
-    self.dtQ1 = dt * Q[1]
-
-  def update(self, reading):
-    raise NotImplementedError
-
-  def update_scalar(self, reading):
-    # TODO(mgraczyk): Delete this for speed.
-    # assert np.all(reading.obs_model == [1, 0])
-
-    rcov = reading.covar[0, 0]
-
-    x = self.state
-    S = self.covar
-
-    innovation = reading.data - x[0]
-    innovation_covar = S[0] + rcov
-
-    k0 = S[0] / innovation_covar
-    k1 = S[2] / innovation_covar
-
-    x[0] += k0 * innovation
-    x[1] += k1 * innovation
-
-    mk = 1 - k0
-    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
-    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
-    S[0] = mk * mk * S[0] + rcov * k0 * k0
-
-  def predict(self, dt):
-    # State update
-    x = self.state
-
-    x[0] += dt * x[1]
-
-    # P = J*P*J' + Q
-    S = self.covar
-    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
-    S[2] += dt * S[1]
-    S[1] += self.dtQ1
-
-    # Clip covariance to avoid explosions
-    S = max(-1e10, min(S, 1e10))
-
-  def calc_transfer_fun(self, dt):
-    tf = np.identity(2)
-    tf[0, 1] = dt
-    tfj = tf
-    return tf, tfj

common/kalman/simple_kalman.py

@@ -0,0 +1,10 @@
+# pylint: skip-file
+import os
+import subprocess
+
+kalman_dir = os.path.dirname(os.path.abspath(__file__))
+subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)
+
+from simple_kalman_impl import KF1D as KF1D
+# Silence pyflakes
+assert KF1D

common/kalman/simple_kalman_impl.pxd

@@ -0,0 +1,16 @@
+cdef class KF1D:
+  cdef public:
+    double x0_0
+    double x1_0
+    double K0_0
+    double K1_0
+    double A0_0
+    double A0_1
+    double A1_0
+    double A1_1
+    double C0_0
+    double C0_1
+    double A_K_0
+    double A_K_1
+    double A_K_2
+    double A_K_3

common/kalman/simple_kalman_impl.pyx

@@ -0,0 +1,35 @@
+
+cdef class KF1D:
+  def __init__(self, x0, A, C, K):
+    self.x0_0 = x0[0][0]
+    self.x1_0 = x0[1][0]
+    self.A0_0 = A[0][0]
+    self.A0_1 = A[0][1]
+    self.A1_0 = A[1][0]
+    self.A1_1 = A[1][1]
+    self.C0_0 = C[0]
+    self.C0_1 = C[1]
+    self.K0_0 = K[0][0]
+    self.K1_0 = K[1][0]
+
+    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
+    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
+    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
+    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
+
+  def update(self, meas):
+    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
+    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
+    self.x0_0 = x0_0
+    self.x1_0 = x1_0
+
+    return [self.x0_0, self.x1_0]
+
+  @property
+  def x(self):
+    return [[self.x0_0], [self.x1_0]]
+
+  @x.setter
+  def x(self, x):
+    self.x0_0 = x[0][0]
+    self.x1_0 = x[1][0]

common/kalman/simple_kalman_old.py

@@ -0,0 +1,23 @@
+import numpy as np
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x = x0
+    self.A = A
+    self.C = C
+    self.K = K
+
+    self.A_K = self.A - np.dot(self.K, self.C)
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    return self.x

common/kalman/simple_kalman_setup.py

@@ -0,0 +1,5 @@
+from distutils.core import setup, Extension
+from Cython.Build import cythonize
+
+setup(name='Simple Kalman Implementation',
+      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))

common/kalman/tests/test_simple_kalman.py

@@ -0,0 +1,85 @@
+import unittest
+import random
+import timeit
+import numpy as np
+
+from common.kalman.simple_kalman import KF1D
+from common.kalman.simple_kalman_old import KF1D as KF1D_old
+
+
+class TestSimpleKalman(unittest.TestCase):
+  def setUp(self):
+    dt = 0.01
+    x0_0 = 0.0
+    x1_0 = 0.0
+    A0_0 = 1.0
+    A0_1 = dt
+    A1_0 = 0.0
+    A1_1 = 1.0
+    C0_0 = 1.0
+    C0_1 = 0.0
+    K0_0 = 0.12287673
+    K1_0 = 0.29666309
+
+    self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
+                           A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
+                           C=np.matrix([C0_0, C0_1]),
+                           K=np.matrix([[K0_0], [K1_0]]))
+
+    self.kf = KF1D(x0=[[x0_0], [x1_0]],
+                   A=[[A0_0, A0_1], [A1_0, A1_1]],
+                   C=[C0_0, C0_1],
+                   K=[[K0_0], [K1_0]])
+
+  def test_getter_setter(self):
+    self.kf.x = [[1.0], [1.0]]
+    self.assertEqual(self.kf.x, [[1.0], [1.0]])
+
+  def update_returns_state(self):
+      x = self.kf.update(100)
+      self.assertEqual(x, self.kf.x)
+
+  def test_old_equal_new(self):
+    for _ in range(1000):
+      v_wheel = random.uniform(0, 200)
+
+      x_old = self.kf_old.update(v_wheel)
+      x = self.kf.update(v_wheel)
+
+      # Compare the output x, verify that the error is less than 1e-4
+      self.assertAlmostEqual(x_old[0], x[0])
+      self.assertAlmostEqual(x_old[1], x[1])
+
+
+  def test_new_is_faster(self):
+    setup = """
+import numpy as np
+
+from common.kalman.simple_kalman import KF1D
+from common.kalman.simple_kalman_old import KF1D as KF1D_old
+
+dt = 0.01
+x0_0 = 0.0
+x1_0 = 0.0
+A0_0 = 1.0
+A0_1 = dt
+A1_0 = 0.0
+A1_1 = 1.0
+C0_0 = 1.0
+C0_1 = 0.0
+K0_0 = 0.12287673
+K1_0 = 0.29666309
+
+kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
+                  A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
+                  C=np.matrix([C0_0, C0_1]),
+                  K=np.matrix([[K0_0], [K1_0]]))
+
+kf = KF1D(x0=[[x0_0], [x1_0]],
+          A=[[A0_0, A0_1], [A1_0, A1_1]],
+          C=[C0_0, C0_1],
+          K=[[K0_0], [K1_0]])
+    """
+    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
+    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
+    self.assertTrue(kf_speed < kf_old_speed / 4)

common/logging_extra.py

@@ -8,6 +8,18 @@ from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
 
+def json_handler(obj):
+  # if isinstance(obj, (datetime.date, datetime.time)):
+  #   return obj.isoformat()
+  return repr(obj)
+
+def json_robust_dumps(obj):
+  return json.dumps(obj, default=json_handler)
+
+class NiceOrderedDict(OrderedDict):
+  def __str__(self):
+    return json_robust_dumps(self)
+
 class SwagFormatter(logging.Formatter):
   def __init__(self, swaglogger):
     logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
@@ -15,13 +27,8 @@ class SwagFormatter(logging.Formatter):
     self.swaglogger = swaglogger
     self.host = socket.gethostname()
 
-  def json_handler(self, obj):
-    # if isinstance(obj, (datetime.date, datetime.time)):
-    #   return obj.isoformat()
-    return repr(obj)
-
-  def format(self, record):
-    record_dict = OrderedDict()
+  def format_dict(self, record):
+    record_dict = NiceOrderedDict()
 
     if isinstance(record.msg, dict):
       record_dict['msg'] = record.msg
@@ -50,9 +57,14 @@ class SwagFormatter(logging.Formatter):
     record_dict['threadName'] = record.threadName
     record_dict['created'] = record.created
 
-    # asctime = self.formatTime(record, self.datefmt)
+    return record_dict
 
-    return json.dumps(record_dict, default=self.json_handler)
+  def format(self, record):
+    return json_robust_dumps(self.format_dict(record))
+
+class SwagErrorFilter(logging.Filter):
+  def filter(self, record):
+    return record.levelno < logging.ERROR
 
 _tmpfunc = lambda: 0
 _srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
@@ -66,7 +78,7 @@ class SwagLogger(logging.Logger):
     self.log_local = local()
     self.log_local.ctx = {}
 
-  def findCaller(self):
+  def findCaller(self, stack_info=None):
     """
       Find the stack frame of the caller so that we can note the source
       file name, line number and function name.
@@ -115,20 +127,48 @@ class SwagLogger(logging.Logger):
     self.global_ctx.update(kwargs)
 
   def event(self, event_name, *args, **kwargs):
-    evt = OrderedDict()
+    evt = NiceOrderedDict()
     evt['event'] = event_name
     if args:
       evt['args'] = args
     evt.update(kwargs)
-    self.info(evt)
+    ctx = self.get_ctx()
+    if ctx:
+      evt['ctx'] = self.get_ctx()
+    if 'error' in kwargs:
+      self.error(evt)
+    else:
+      self.info(evt)
 
 if __name__ == "__main__":
   log = SwagLogger()
 
+  stdout_handler = logging.StreamHandler(sys.stdout)
+  stdout_handler.setLevel(logging.INFO)
+  stdout_handler.addFilter(SwagErrorFilter())
+  log.addHandler(stdout_handler)
+
+  stderr_handler = logging.StreamHandler(sys.stderr)
+  stderr_handler.setLevel(logging.ERROR)
+  log.addHandler(stderr_handler)
+
   log.info("asdasd %s", "a")
   log.info({'wut': 1})
+  log.warning("warning")
+  log.error("error")
+  log.critical("critical")
+  log.event("test", x="y")
 
   with log.ctx():
+    stdout_handler.setFormatter(SwagFormatter(log))
+    stderr_handler.setFormatter(SwagFormatter(log))
     log.bind(user="some user")
     log.info("in req")
-    log.event("do_req")
+    print("")
+    log.warning("warning")
+    print("")
+    log.error("error")
+    print("")
+    log.critical("critical")
+    print("")
+    log.event("do_req", a=1, b="c")

common/numpy_fast.py

@@ -1,2 +1,18 @@
+def int_rnd(x):
+  return int(round(x))
+
 def clip(x, lo, hi):
   return max(lo, min(hi, x))
+
+def interp(x, xp, fp):
+  N = len(xp)
+  def get_interp(xv):
+    hi = 0
+    while hi < N and xv > xp[hi]:
+      hi += 1
+    low = hi - 1
+    return fp[-1] if hi == N and xv > xp[low] else (
+      fp[0] if hi == 0 else 
+      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+  return [get_interp(v) for v in x] if hasattr(
+    x, '__iter__') else get_interp(x)

common/params.py

@@ -0,0 +1,390 @@
+#!/usr/bin/env python
+"""ROS has a parameter server, we have files.
+
+The parameter store is a persistent key value store, implemented as a directory with a writer lock.
+On Android, we store params under params_dir = /data/params. The writer lock is a file
+"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
+"<params_dir>/d".
+
+Each key, value pair is stored as a file with named <key> with contents <value>, located in
+  <params_dir>/d/<key>
+
+Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
+Readers who want a consistent snapshot of multiple keys should take the lock.
+
+Writers should take the lock before modifying anything. Writers should also leave the DB in a
+consistent state after a crash. The implementation below does this by copying all params to a temp
+directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
+before deleting the old <params_dir>/<d> directory.
+
+Writers that only modify a single key can simply take the lock, then swap the corresponding value
+file in place without messing with <params_dir>/d.
+"""
+import time
+import os
+import errno
+import sys
+import shutil
+import fcntl
+import tempfile
+from enum import Enum
+
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+
+class TxType(Enum):
+  PERSISTENT = 1
+  CLEAR_ON_MANAGER_START = 2
+  CLEAR_ON_PANDA_DISCONNECT = 3
+
+
+class UnknownKeyName(Exception):
+  pass
+
+
+keys = {
+  "AccessToken": [TxType.PERSISTENT],
+  "AthenadPid": [TxType.PERSISTENT],
+  "CalibrationParams": [TxType.PERSISTENT],
+  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CompletedTrainingVersion": [TxType.PERSISTENT],
+  "ControlsParams": [TxType.PERSISTENT],
+  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
+  "DongleId": [TxType.PERSISTENT],
+  "GithubSshKeys": [TxType.PERSISTENT],
+  "GitBranch": [TxType.PERSISTENT],
+  "GitCommit": [TxType.PERSISTENT],
+  "GitRemote": [TxType.PERSISTENT],
+  "HasAcceptedTerms": [TxType.PERSISTENT],
+  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
+  "IsFcwEnabled": [TxType.PERSISTENT],
+  "IsGeofenceEnabled": [TxType.PERSISTENT],
+  "IsMetric": [TxType.PERSISTENT],
+  "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUploadRawEnabled": [TxType.PERSISTENT],
+  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
+  "LimitSetSpeed": [TxType.PERSISTENT],
+  "LimitSetSpeedNeural": [TxType.PERSISTENT],
+  "LiveParameters": [TxType.PERSISTENT],
+  "LongitudinalControl": [TxType.PERSISTENT],
+  "Passive": [TxType.PERSISTENT],
+  "RecordFront": [TxType.PERSISTENT],
+  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  "SpeedLimitOffset": [TxType.PERSISTENT],
+  "SubscriberInfo": [TxType.PERSISTENT],
+  "TermsVersion": [TxType.PERSISTENT],
+  "TrainingVersion": [TxType.PERSISTENT],
+  "Version": [TxType.PERSISTENT],
+  #dragonpilot config
+  "DragonEnableDashcam": [TxType.PERSISTENT],
+  "DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
+  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
+  "DragonAutoShutdownAt": [TxType.PERSISTENT],
+  "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
+  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
+  "DragonDisableLogger": [TxType.PERSISTENT], # deprecated
+  "DragonEnableLogger": [TxType.PERSISTENT],
+  "DragonDisableUploader": [TxType.PERSISTENT], # deprecated
+  "DragonEnableUploader": [TxType.PERSISTENT],
+  "DragonNoctuaMode": [TxType.PERSISTENT],
+  "DragonCacheCar": [TxType.PERSISTENT],
+  "DragonCachedModel": [TxType.PERSISTENT],
+  "DragonCachedFP": [TxType.PERSISTENT],
+  "DragonCachedVIN": [TxType.PERSISTENT],
+  "DragonAllowGas": [TxType.PERSISTENT],
+  "DragonBBUI": [TxType.PERSISTENT], # deprecated
+  "DragonToyotaStockDSU": [TxType.PERSISTENT],
+  "DragonLatCtrl": [TxType.PERSISTENT],
+  "DragonUIEvent": [TxType.PERSISTENT],
+  "DragonUIMaxSpeed": [TxType.PERSISTENT],
+  "DragonUIFace": [TxType.PERSISTENT],
+  "DragonUIDev": [TxType.PERSISTENT],
+  "DragonUIDevMini": [TxType.PERSISTENT],
+}
+
+
+def fsync_dir(path):
+  fd = os.open(path, os.O_RDONLY)
+  try:
+    os.fsync(fd)
+  finally:
+    os.close(fd)
+
+
+class FileLock(object):
+  def __init__(self, path, create):
+    self._path = path
+    self._create = create
+    self._fd = None
+
+  def acquire(self):
+    self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
+    fcntl.flock(self._fd, fcntl.LOCK_EX)
+
+  def release(self):
+    if self._fd is not None:
+      os.close(self._fd)
+      self._fd = None
+
+
+class DBAccessor(object):
+  def __init__(self, path):
+    self._path = path
+    self._vals = None
+
+  def keys(self):
+    self._check_entered()
+    return self._vals.keys()
+
+  def get(self, key):
+    self._check_entered()
+    try:
+      return self._vals[key]
+    except KeyError:
+      return None
+
+  def _get_lock(self, create):
+    lock = FileLock(os.path.join(self._path, ".lock"), create)
+    lock.acquire()
+    return lock
+
+  def _read_values_locked(self):
+    """Callers should hold a lock while calling this method."""
+    vals = {}
+    try:
+      data_path = self._data_path()
+      keys = os.listdir(data_path)
+      for key in keys:
+        with open(os.path.join(data_path, key), "rb") as f:
+          vals[key] = f.read()
+    except (OSError, IOError) as e:
+      # Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
+      # inconsistent state. Either way, return empty.
+      if e.errno == errno.ENOENT:
+        return {}
+
+    return vals
+
+  def _data_path(self):
+    return os.path.join(self._path, "d")
+
+  def _check_entered(self):
+    if self._vals is None:
+      raise Exception("Must call __enter__ before using DB")
+
+
+class DBReader(DBAccessor):
+  def __enter__(self):
+    try:
+      lock = self._get_lock(False)
+    except OSError as e:
+      # Do not create lock if it does not exist.
+      if e.errno == errno.ENOENT:
+        self._vals = {}
+        return self
+
+    try:
+      # Read everything.
+      self._vals = self._read_values_locked()
+      return self
+    finally:
+      lock.release()
+
+  def __exit__(self, type, value, traceback): pass
+
+
+class DBWriter(DBAccessor):
+  def __init__(self, path):
+    super(DBWriter, self).__init__(path)
+    self._lock = None
+    self._prev_umask = None
+
+  def put(self, key, value):
+    self._vals[key] = value
+
+  def delete(self, key):
+    self._vals.pop(key, None)
+
+  def __enter__(self):
+    mkdirs_exists_ok(self._path)
+
+    # Make sure we can write and that permissions are correct.
+    self._prev_umask = os.umask(0)
+
+    try:
+      os.chmod(self._path, 0o777)
+      self._lock = self._get_lock(True)
+      self._vals = self._read_values_locked()
+    except:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+      raise
+
+    return self
+
+  def __exit__(self, type, value, traceback):
+    self._check_entered()
+
+    try:
+      # data_path refers to the externally used path to the params. It is a symlink.
+      # old_data_path is the path currently pointed to by data_path.
+      # tempdir_path is a path where the new params will go, which the new data path will point to.
+      # new_data_path is a temporary symlink that will atomically overwrite data_path.
+      #
+      # The current situation is:
+      #   data_path -> old_data_path
+      # We're going to write params data to tempdir_path
+      #   tempdir_path -> params data
+      # Then point new_data_path to tempdir_path
+      #   new_data_path -> tempdir_path
+      # Then atomically overwrite data_path with new_data_path
+      #   data_path -> tempdir_path
+      old_data_path = None
+      new_data_path = None
+      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
+
+      try:
+        # Write back all keys.
+        os.chmod(tempdir_path, 0o777)
+        for k, v in self._vals.items():
+          with open(os.path.join(tempdir_path, k), "wb") as f:
+            f.write(v)
+            f.flush()
+            os.fsync(f.fileno())
+        fsync_dir(tempdir_path)
+
+        data_path = self._data_path()
+        try:
+          old_data_path = os.path.join(self._path, os.readlink(data_path))
+        except (OSError, IOError):
+          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
+          #                 copies to be left behind, but we still want to overwrite.
+          pass
+
+        new_data_path = "{}.link".format(tempdir_path)
+        os.symlink(os.path.basename(tempdir_path), new_data_path)
+        os.rename(new_data_path, data_path)
+        fsync_dir(self._path)
+      finally:
+        # If the rename worked, we can delete the old data. Otherwise delete the new one.
+        success = new_data_path is not None and os.path.exists(data_path) and (
+          os.readlink(data_path) == os.path.basename(tempdir_path))
+
+        if success:
+          if old_data_path is not None:
+            shutil.rmtree(old_data_path)
+        else:
+          shutil.rmtree(tempdir_path)
+
+        # Regardless of what happened above, there should be no link at new_data_path.
+        if new_data_path is not None and os.path.islink(new_data_path):
+          os.remove(new_data_path)
+    finally:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+
+      # Always release the lock.
+      self._lock.release()
+      self._lock = None
+
+
+def read_db(params_path, key):
+  path = "%s/d/%s" % (params_path, key)
+  try:
+    with open(path, "rb") as f:
+      return f.read()
+  except IOError:
+    return None
+
+def write_db(params_path, key, value):
+  prev_umask = os.umask(0)
+  lock = FileLock(params_path+"/.lock", True)
+  lock.acquire()
+
+  try:
+    tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
+    with open(tmp_path, "wb") as f:
+      f.write(value)
+      f.flush()
+      os.fsync(f.fileno())
+
+    path = "%s/d/%s" % (params_path, key)
+    os.rename(tmp_path, path)
+    fsync_dir(os.path.dirname(path))
+  finally:
+    os.umask(prev_umask)
+    lock.release()
+
+class Params(object):
+  def __init__(self, db='/data/params'):
+    self.db = db
+
+    # create the database if it doesn't exist...
+    if not os.path.exists(self.db+"/d"):
+      with self.transaction(write=True):
+        pass
+
+  def transaction(self, write=False):
+    if write:
+      return DBWriter(self.db)
+    else:
+      return DBReader(self.db)
+
+  def _clear_keys_with_type(self, tx_type):
+    with self.transaction(write=True) as txn:
+      for key in keys:
+        if tx_type in keys[key]:
+          txn.delete(key)
+
+  def manager_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
+
+  def panda_disconnect(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
+
+  def delete(self, key):
+    with self.transaction(write=True) as txn:
+      txn.delete(key)
+
+  def get(self, key, block=False):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    while 1:
+      ret = read_db(self.db, key)
+      if not block or ret is not None:
+        break
+      # is polling really the best we can do?
+      time.sleep(0.05)
+    return ret
+
+  def put(self, key, dat):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    write_db(self.db, key, dat)
+
+if __name__ == "__main__":
+  params = Params()
+  if len(sys.argv) > 2:
+    params.put(sys.argv[1], sys.argv[2])
+  else:
+    for k in keys:
+      pp = params.get(k)
+      if pp is None:
+        print("%s is None" % k)
+      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
+        print("%s = %s" % (k, pp))
+      else:
+        print("%s = %s" % (k, pp.encode("hex")))
+
+  # Test multiprocess:
+  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
+  # while python common/params.py DongleId; do sleep 0.05; done

common/profiler.py

@@ -0,0 +1,46 @@
+import time
+
+class Profiler(object):
+  def __init__(self, enabled=False):
+    self.enabled = enabled
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.time()
+    self.last_time = self.start_time
+    self.tot = 0.
+
+  def reset(self, enabled=False):
+    self.enabled = enabled
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.time()
+    self.last_time = self.start_time
+
+  def checkpoint(self, name, ignore=False):
+    # ignore flag needed when benchmarking threads with ratekeeper
+    if not self.enabled:
+      return
+    tt = time.time()
+    if name not in self.cp:
+      self.cp[name] = 0.
+      if ignore:
+        self.cp_ignored.append(name)
+    self.cp[name] += tt - self.last_time
+    if not ignore:
+      self.tot += tt - self.last_time
+    self.last_time = tt
+
+  def display(self):
+    if not self.enabled:
+      return
+    self.iter += 1
+    print("******* Profiling *******")
+    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
+      if n in self.cp_ignored:
+        print("%30s: %7.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
+      else:
+        print("%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
+

common/realtime.py

@@ -1,53 +1,36 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
+import os
 import time
-import ctypes
 import platform
 import subprocess
 import multiprocessing
-import os
+from cffi import FFI
 
-CLOCK_MONOTONIC_RAW = 4 # see <linux/time.h>
-CLOCK_BOOTTIME = 7
-
-class timespec(ctypes.Structure):
-  _fields_ = [
-    ('tv_sec', ctypes.c_long),
-    ('tv_nsec', ctypes.c_long),
-  ]
+# Build and load cython module
+import pyximport
+installer = pyximport.install(inplace=True, build_dir='/tmp')
+from common.clock import monotonic_time, sec_since_boot  # pylint: disable=no-name-in-module, import-error
+pyximport.uninstall(*installer)
+assert monotonic_time
+assert sec_since_boot
 
 
-try:
-  libc = ctypes.CDLL('libc.so', use_errno=True)
-except OSError:
-  try:
-    libc = ctypes.CDLL('libc.so.6', use_errno=True)
-  except OSError:
-    libc = None
+# time step for each process
+DT_CTRL = 0.01  # controlsd
+DT_PLAN = 0.05  # mpc
+DT_MDL = 0.05  # model
+DT_DMON = 0.1  # driver monitoring
+DT_TRML = 0.5  # thermald and manager
 
-if libc is not None:
-  libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
 
-def clock_gettime(clk_id):
-  if platform.system() == "darwin":
-    # TODO: fix this
-    return time.time()
-  else:
-    t = timespec()
-    if libc.clock_gettime(clk_id, ctypes.pointer(t)) != 0:
-      errno_ = ctypes.get_errno()
-      raise OSError(errno_, os.strerror(errno_))
-    return t.tv_sec + t.tv_nsec * 1e-9
-
-def monotonic_time():
-  return clock_gettime(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return clock_gettime(CLOCK_BOOTTIME)
+ffi = FFI()
+ffi.cdef("long syscall(long number, ...);")
+libc = ffi.dlopen(None)
 
 
 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 +63,19 @@ 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"
+    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
+      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
+      lagged = True
     self._frame += 1
     self._remaining = remaining
+    return lagged

common/services.py

@@ -1,87 +0,0 @@
-# TODO: these port numbers are hardcoded in c, fix this
-
-# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
-
-class Service(object):
-  def __init__(self, port, should_log):
-    self.port = port
-    self.should_log = should_log
-
-# all ZMQ pub sub
-service_list = {
-  # frame syncing packet
-  "frame": Service(8002, True),
-  # accel, gyro, and compass
-  "sensorEvents": Service(8003, True),
-  # GPS data, also global timestamp
-  "gpsNMEA": Service(8004, True),
-  # CPU+MEM+GPU+BAT temps
-  "thermal": Service(8005, True),
-  # List(CanData), list of can messages
-  "can": Service(8006, True),
-  "live100": Service(8007, True),
-  # random events we want to log
-  #"liveEvent": Service(8008, True),
-  "model": Service(8009, True),
-  "features": Service(8010, True),
-  "health": Service(8011, True),
-  "live20": Service(8012, True),
-  #"liveUI": Service(8014, True),
-  "encodeIdx": Service(8015, True),
-  "liveTracks": Service(8016, True),
-  "sendcan": Service(8017, True),
-  "logMessage": Service(8018, True),
-  "liveCalibration": Service(8019, True),
-  "androidLog": Service(8020, True),
-}
-
-# manager -- base process to manage starting and stopping of all others
-#   subscribes: health
-#   publishes:  thermal
-
-# **** processes that communicate with the outside world ****
-
-# boardd -- communicates with the car
-#   subscribes: sendcan
-#   publishes:  can, health
-
-# sensord -- publishes the IMU and GPS
-#   publishes:  sensorEvents, gpsNMEA
-
-# visiond -- talks to the cameras, runs the model, saves the videos
-#   subscribes: liveCalibration, sensorEvents
-#   publishes:  frame, encodeIdx, model, features
-
-# **** stateful data transformers ****
-
-# controlsd -- actually drives the car
-#   subscribes: can, thermal, model, live20
-#   publishes:  sendcan, live100
-
-# radard -- processes the radar data
-#   subscribes: can, live100, model
-#   publishes:  live20, liveTracks
-
-# calibrationd -- places the camera box
-#   subscribes: features, live100
-#   publishes:  liveCalibration
-
-# **** LOGGING SERVICE ****
-
-# loggerd
-#   subscribes: EVERYTHING
-
-# **** NON VITAL SERVICES ****
-
-# ui
-#   subscribes: live100, live20, liveCalibration, model, (raw frames)
-
-# uploader
-#   communicates through file system with loggerd
-
-# logmessaged -- central logging service, can log to cloud
-#   publishes:  logMessage
-
-# logcatd -- fetches logcat info from android
-#   publishes:  androidLog
-

common/sympy_helpers.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python
+import sympy as sp
+import numpy as np
+
+def cross(x):
+  ret = sp.Matrix(np.zeros((3,3)))
+  ret[0,1], ret[0,2] = -x[2], x[1]
+  ret[1,0], ret[1,2] = x[2], -x[0]
+  ret[2,0], ret[2,1] = -x[1], x[0]
+  return ret
+
+def euler_rotate(roll, pitch, yaw):
+  # make symbolic rotation matrix from eulers
+  matrix_roll =  sp.Matrix([[1, 0, 0],
+                            [0, sp.cos(roll), -sp.sin(roll)],
+                            [0, sp.sin(roll), sp.cos(roll)]])
+  matrix_pitch =  sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
+                             [0, 1, 0],
+                             [-sp.sin(pitch), 0, sp.cos(pitch)]])
+  matrix_yaw =  sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
+                           [sp.sin(yaw), sp.cos(yaw), 0],
+                           [0, 0, 1]])
+  return matrix_yaw*matrix_pitch*matrix_roll
+
+def quat_rotate(q0, q1, q2, q3):
+  # make symbolic rotation matrix from quat
+  return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 + q0*q3), 2*(q1*q3 - q0*q2)],
+                    [2*(q1*q2 - q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 + q0*q1)],
+                    [2*(q1*q3 + q0*q2), 2*(q2*q3 - q0*q1), q0**2 - q1**2 - q2**2 + q3**2]]).T
+
+def quat_matrix_l(p):
+  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
+                    [p[1],  p[0], -p[3],  p[2]],
+                    [p[2],  p[3],  p[0], -p[1]],
+                    [p[3], -p[2],  p[1],  p[0]]])
+
+def quat_matrix_r(p):
+  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
+                    [p[1],  p[0],  p[3], -p[2]],
+                    [p[2], -p[3],  p[0],  p[1]],
+                    [p[3],  p[2], -p[1],  p[0]]])
+
+
+def sympy_into_c(sympy_functions):
+  from sympy.utilities import codegen
+  routines = []
+  for name, expr, args in sympy_functions:
+    r = codegen.make_routine(name, expr, language="C99")
+
+    # argument ordering input to sympy is broken with function with output arguments
+    nargs = []
+    # reorder the input arguments
+    for aa in args:
+      if aa is None:
+        nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1,1]))
+        continue
+      found = False
+      for a in r.arguments:
+        if str(aa.name) == str(a.name):
+          nargs.append(a)
+          found = True
+          break
+      if not found:
+        # [1,1] is a hack for Matrices
+        nargs.append(codegen.InputArgument(aa, dimensions=[1,1]))
+    # add the output arguments
+    for a in r.arguments:
+      if type(a) == codegen.OutputArgument:
+        nargs.append(a)
+
+    #assert len(r.arguments) == len(args)+1
+    r.arguments = nargs
+
+    # add routine to list
+    routines.append(r)
+
+  [(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
+  c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
+  c_header = '\n'.join(x for x in  c_header.split("\n") if len(x) > 0 and x[0] != '#')
+
+  return c_header, c_code

common/testing.py

@@ -0,0 +1,9 @@
+import os
+from nose.tools import nottest
+
+def phone_only(x):
+  if os.path.isfile("/init.qcom.rc"):
+    return x
+  else:
+    return nottest(x)
+

common/timeout.py

@@ -0,0 +1,28 @@
+import signal
+
+class TimeoutException(Exception):
+  pass
+
+class Timeout:
+  """
+  Timeout context manager.
+  For example this code will raise a TimeoutException:
+  with Timeout(seconds=5, error_msg="Sleep was too long"):
+    time.sleep(10)
+  """
+  def __init__(self, seconds, error_msg=None):
+    if error_msg is None:
+      error_msg = 'Timed out after {} seconds'.format(seconds)
+    self.seconds = seconds
+    self.error_msg = error_msg
+
+  def handle_timeout(self, signume, frame):
+    raise TimeoutException(self.error_msg)
+
+  def __enter__(self):
+    signal.signal(signal.SIGALRM, self.handle_timeout)
+    signal.alarm(self.seconds)
+
+  def __exit__(self, exc_type, exc_val, exc_tb):
+    signal.alarm(0)
+

common/transformations/camera.py

@@ -0,0 +1,216 @@
+import numpy as np
+import common.transformations.orientation as orient
+import math
+
+FULL_FRAME_SIZE = (1164, 874)
+W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
+eon_focal_length = FOCAL = 910.0
+
+# aka 'K' aka camera_frame_from_view_frame
+eon_intrinsics = np.array([
+  [FOCAL,   0.,   W/2.],
+  [  0.,  FOCAL,  H/2.],
+  [  0.,    0.,     1.]])
+
+
+leon_dcam_intrinsics = np.array([
+  [650,   0,   816//2],
+  [  0,  650,  612//2],
+  [  0,    0,     1]])
+
+eon_dcam_intrinsics = np.array([
+  [860,   0,   1152//2],
+  [  0,  860,  864//2],
+  [  0,    0,     1]])
+
+# aka 'K_inv' aka view_frame_from_camera_frame
+eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
+
+
+# device/mesh : x->forward, y-> right, z->down
+# view : x->right, y->down, z->forward
+device_frame_from_view_frame = np.array([
+  [ 0.,  0.,  1.],
+  [ 1.,  0.,  0.],
+  [ 0.,  1.,  0.]
+])
+view_frame_from_device_frame = device_frame_from_view_frame.T
+
+
+def get_calib_from_vp(vp):
+  vp_norm = normalize(vp)
+  yaw_calib = np.arctan(vp_norm[0])
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  roll_calib = 0
+  return roll_calib, pitch_calib, yaw_calib
+
+# aka 'extrinsic_matrix'
+# road : x->forward, y -> left, z->up
+def get_view_frame_from_road_frame(roll, pitch, yaw, height):
+  device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
+  view_from_road = view_frame_from_device_frame.dot(device_from_road)
+  return np.hstack((view_from_road, [[0], [height], [0]]))
+
+
+def vp_from_ke(m):
+  """
+  Computes the vanishing point from the product of the intrinsic and extrinsic
+  matrices C = KE.
+
+  The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
+  """
+  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
+
+def roll_from_ke(m):
+  # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
+  return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
+                    -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
+
+
+def normalize(img_pts, intrinsics=eon_intrinsics):
+  # normalizes image coordinates
+  # accepts single pt or array of pts
+  intrinsics_inv = np.linalg.inv(intrinsics)
+  img_pts = np.array(img_pts)
+  input_shape = img_pts.shape
+  img_pts = np.atleast_2d(img_pts)
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts_normalized = img_pts.dot(intrinsics_inv.T)
+  img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
+  return img_pts_normalized[:,:2].reshape(input_shape)
+
+
+def denormalize(img_pts, intrinsics=eon_intrinsics):
+  # denormalizes image coordinates
+  # accepts single pt or array of pts
+  img_pts = np.array(img_pts)
+  input_shape = img_pts.shape
+  img_pts = np.atleast_2d(img_pts)
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts_denormalized = img_pts.dot(intrinsics.T)
+  img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
+  return img_pts_denormalized[:,:2].reshape(input_shape)
+
+
+def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
+  # device from ecef frame
+  # device frame is x -> forward, y-> right, z -> down
+  # accepts single pt or array of pts
+  input_shape = pt_ecef.shape
+  pt_ecef = np.atleast_2d(pt_ecef)
+  ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
+  device_from_ecef_rot = ecef_from_device_rot.T
+  pt_ecef_rel = pt_ecef - pos_ecef
+  pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
+  return pt_device.reshape(input_shape)
+
+
+def img_from_device(pt_device):
+  # img coordinates from pts in device frame
+  # first transforms to view frame, then to img coords
+  # accepts single pt or array of pts
+  input_shape = pt_device.shape
+  pt_device = np.atleast_2d(pt_device)
+  pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
+
+  # This function should never return negative depths
+  pt_view[pt_view[:,2] < 0] = np.nan
+
+  pt_img = pt_view/pt_view[:,2:3]
+  return pt_img.reshape(input_shape)[:,:2]
+
+
+#TODO please use generic img transform below
+def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
+  import cv2
+
+  size = img.shape[:2]
+  rot = orient.rot_from_euler(eulers)
+  quadrangle = np.array([[0, 0],
+                         [size[1]-1, 0],
+                         [0, size[0]-1],
+                         [size[1]-1, size[0]-1]], dtype=np.float32)
+  quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
+  warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
+  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
+                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
+  if crop:
+    W_border = (size[1] - crop[0])/2
+    H_border = (size[0] - crop[1])/2
+    outside_crop = (((warped_quadrangle[:,0] < W_border) |
+                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
+                    ((warped_quadrangle[:,1] < H_border) |
+                     (warped_quadrangle[:,1] >= size[0] - H_border)))
+    if not outside_crop.all():
+      raise ValueError("warped image not contained inside crop")
+  else:
+    H_border, W_border = 0, 0
+  M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
+  img_warped = cv2.warpPerspective(img, M, size[::-1])
+  return img_warped[H_border: size[0] - H_border,
+                    W_border: size[1] - W_border]
+
+
+def transform_img(base_img,
+                 augment_trans=np.array([0,0,0]),
+                 augment_eulers=np.array([0,0,0]),
+                 from_intr=eon_intrinsics,
+                 to_intr=eon_intrinsics,
+                 calib_rot_view=None,
+                 output_size=None,
+                 pretransform=None,
+                 top_hacks=True):
+  import cv2
+
+  size = base_img.shape[:2]
+  if not output_size:
+    output_size = size[::-1]
+
+  cy = from_intr[1,2]
+  def get_M(h=1.22):
+    quadrangle = np.array([[0, cy + 20],
+                           [size[1]-1, cy + 20],
+                           [0, size[0]-1],
+                           [size[1]-1, size[0]-1]], dtype=np.float32)
+    quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
+    quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
+                                        h*np.ones(4),
+                                        h/quadrangle_norm[:,1]))
+    rot = orient.rot_from_euler(augment_eulers)
+    if calib_rot_view is not None:
+      rot = calib_rot_view.dot(rot)
+    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
+    to_KE = to_intr.dot(to_extrinsics)
+    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
+    warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
+                                         warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
+    M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
+    return M
+
+  M = get_M()
+  if pretransform is not None:
+    M = M.dot(pretransform)
+  augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
+
+  if top_hacks:
+    cyy = int(math.ceil(to_intr[1,2]))
+    M = get_M(1000)
+    if pretransform is not None:
+      M = M.dot(pretransform)
+    augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
+
+  return augmented_rgb
+
+def yuv_crop(frame, output_size, center=None):
+  # output_size in camera coordinates so u,v
+  # center in array coordinates so row, column
+  import cv2
+  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
+  if not center:
+    center = (rgb.shape[0]/2, rgb.shape[1]/2)
+  rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
+                 center[1] - output_size[0]/2: center[1] + output_size[0]/2]
+  return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)

common/transformations/coordinates.py

@@ -0,0 +1,108 @@
+import numpy as np
+"""
+Coordinate transformation module. All methods accept arrays as input
+with each row as a position.
+"""
+
+
+
+a = 6378137
+b = 6356752.3142
+esq = 6.69437999014 * 0.001
+e1sq = 6.73949674228 * 0.001
+
+
+def geodetic2ecef(geodetic, radians=False):
+  geodetic = np.array(geodetic)
+  input_shape = geodetic.shape
+  geodetic = np.atleast_2d(geodetic)
+
+  ratio = 1.0 if radians else (np.pi / 180.0)
+  lat = ratio*geodetic[:,0]
+  lon = ratio*geodetic[:,1]
+  alt = geodetic[:,2]
+
+  xi = np.sqrt(1 - esq * np.sin(lat)**2)
+  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
+  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
+  z = (a / xi * (1 - esq) + alt) * np.sin(lat)
+  ecef = np.array([x, y, z]).T
+  return ecef.reshape(input_shape)
+
+
+def ecef2geodetic(ecef, radians=False):
+  """
+  Convert ECEF coordinates to geodetic using ferrari's method
+  """
+  # Save shape and export column
+  ecef = np.atleast_1d(ecef)
+  input_shape = ecef.shape
+  ecef = np.atleast_2d(ecef)
+  x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
+
+  ratio = 1.0 if radians else (180.0 / np.pi)
+
+  # Conver from ECEF to geodetic using Ferrari's methods
+  # https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
+  r = np.sqrt(x * x + y * y)
+  Esq = a * a - b * b
+  F = 54 * b * b * z * z
+  G = r * r + (1 - esq) * z * z - esq * Esq
+  C = (esq * esq * F * r * r) / (pow(G, 3))
+  S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
+  P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
+  Q = np.sqrt(1 + 2 * esq * esq * P)
+  r_0 =  -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
+        P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
+  U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
+  V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
+  Z_0 = b * b * z / (a * V)
+  h = U * (1 - b * b / (a * V))
+  lat = ratio*np.arctan((z + e1sq * Z_0) / r)
+  lon = ratio*np.arctan2(y, x)
+
+  # stack the new columns and return to the original shape
+  geodetic = np.column_stack((lat, lon, h))
+  return geodetic.reshape(input_shape)
+
+class LocalCoord(object):
+  """
+   Allows conversions to local frames. In this case NED.
+   That is: North East Down from the start position in
+   meters.
+  """
+  def __init__(self, init_geodetic, init_ecef):
+    self.init_ecef = init_ecef
+    lat, lon, _ = (np.pi/180)*np.array(init_geodetic)
+    self.ned2ecef_matrix = np.array([[-np.sin(lat)*np.cos(lon), -np.sin(lon), -np.cos(lat)*np.cos(lon)],
+                                     [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
+                                     [np.cos(lat), 0, -np.sin(lat)]])
+    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+
+  @classmethod
+  def from_geodetic(cls, init_geodetic):
+    init_ecef = geodetic2ecef(init_geodetic)
+    return LocalCoord(init_geodetic, init_ecef)
+
+  @classmethod
+  def from_ecef(cls, init_ecef):
+    init_geodetic = ecef2geodetic(init_ecef)
+    return LocalCoord(init_geodetic, init_ecef)
+
+
+  def ecef2ned(self, ecef):
+    ecef = np.array(ecef)
+    return np.dot(self.ecef2ned_matrix, (ecef - self.init_ecef).T).T
+
+  def ned2ecef(self, ned):
+    ned = np.array(ned)
+    # Transpose so that init_ecef will broadcast correctly for 1d or 2d ned.
+    return (np.dot(self.ned2ecef_matrix, ned.T).T + self.init_ecef)
+
+  def geodetic2ned(self, geodetic):
+    ecef = geodetic2ecef(geodetic)
+    return self.ecef2ned(ecef)
+
+  def ned2geodetic(self, ned):
+    ecef = self.ned2ecef(ned)
+    return ecef2geodetic(ecef)

common/transformations/model.py

@@ -0,0 +1,150 @@
+import numpy as np
+
+from common.transformations.camera import eon_focal_length, \
+        vp_from_ke, get_view_frame_from_road_frame, \
+        FULL_FRAME_SIZE
+
+# segnet
+
+SEGNET_SIZE = (512, 384)
+
+segnet_frame_from_camera_frame = np.array([
+  [float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0],    0.,          ],
+  [     0.,          float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
+
+
+# model
+
+MODEL_INPUT_SIZE = (320, 160)
+MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
+MODEL_CX = MODEL_INPUT_SIZE[0]/2.
+MODEL_CY = 21.
+
+model_zoom = 1.25
+model_height = 1.22
+
+# canonical model transform
+model_intrinsics = np.array(
+  [[ eon_focal_length / model_zoom,    0. ,  MODEL_CX],
+   [   0. ,  eon_focal_length / model_zoom,  MODEL_CY],
+   [   0. ,                            0. ,   1.]])
+
+
+# MED model
+MEDMODEL_INPUT_SIZE = (512, 256)
+MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
+MEDMODEL_CY = 47.6
+
+medmodel_zoom = 1.
+medmodel_intrinsics = np.array(
+  [[ eon_focal_length / medmodel_zoom,    0. ,  0.5 * MEDMODEL_INPUT_SIZE[0]],
+   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
+   [   0. ,                            0. ,   1.]])
+
+
+# BIG model
+
+BIGMODEL_INPUT_SIZE = (864, 288)
+BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
+
+bigmodel_zoom = 1.
+bigmodel_intrinsics = np.array(
+  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
+   [   0. ,  eon_focal_length / bigmodel_zoom,  0.2 * BIGMODEL_INPUT_SIZE[1]],
+   [   0. ,                            0. ,   1.]])
+
+
+bigmodel_border = np.array([
+    [0,0,1],
+    [BIGMODEL_INPUT_SIZE[0], 0, 1],
+    [BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
+    [0, BIGMODEL_INPUT_SIZE[1], 1],
+])
+
+
+model_frame_from_road_frame = np.dot(model_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
+
+# 'camera from model camera'
+def get_model_height_transform(camera_frame_from_road_frame, height):
+  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
+      [1, 0, 0],
+      [0, 1, 0],
+      [0, 0, 0],
+      [0, 0, 1],
+  ]))
+
+  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
+      [1, 0, 0],
+      [0, 1, 0],
+      [0, 0, height - model_height],
+      [0, 0, 1],
+  ]))
+
+  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
+  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
+
+  return high_camera_from_low_camera
+
+
+# camera_frame_from_model_frame aka 'warp matrix'
+# was: calibration.h/CalibrationTransform
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
+  vp = vp_from_ke(camera_frame_from_road_frame)
+
+  model_camera_from_model_frame = np.array([
+    [model_zoom,         0., vp[0] - MODEL_CX * model_zoom],
+    [        0., model_zoom, vp[1] - MODEL_CY * model_zoom],
+    [        0.,         0.,                            1.],
+  ])
+
+  # This function is super slow, so skip it if height is very close to canonical
+  # TODO: speed it up!
+  if abs(height - model_height) > 0.001: #
+    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
+  else:
+    camera_from_model_camera = np.eye(3)
+
+  return np.dot(camera_from_model_camera, model_camera_from_model_frame)
+
+
+def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
+
+  ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
+  camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
+
+  return camera_frame_from_medmodel_frame
+
+
+def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
+
+  ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
+  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
+
+  return camera_frame_from_bigmodel_frame
+
+
+def get_model_frame(snu_full, camera_frame_from_model_frame, size):
+  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
+                                                            np.tile(np.arange(size[1]), (size[0],1)).T.flatten(),
+                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
+  calib_flat = snu_full[idxs[:,1], idxs[:,0]]
+  if len(snu_full.shape) == 3:
+    calib = calib_flat.reshape((size[1], size[0], 3))
+  elif len(snu_full.shape) == 2:
+    calib = calib_flat.reshape((size[1], size[0]))
+  else:
+    raise ValueError("shape of input img is weird")
+  return calib

common/transformations/orientation.py

@@ -0,0 +1,295 @@
+import numpy as np
+from numpy import dot, inner, array, linalg
+from common.transformations.coordinates import LocalCoord
+
+
+'''
+Vectorized functions that transform between
+rotation matrices, euler angles and quaternions.
+All support lists, array or array of arrays as inputs.
+Supports both x2y and y_from_x format (y_from_x preferred!).
+'''
+
+def euler2quat(eulers):
+  eulers = array(eulers)
+  if len(eulers.shape) > 1:
+    output_shape = (-1,4)
+  else:
+    output_shape = (4,)
+  eulers = np.atleast_2d(eulers)
+  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
+
+  q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
+       np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
+  q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
+       np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
+  q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
+       np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
+  q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
+       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
+
+  quats = array([q0, q1, q2, q3]).T
+  for i in xrange(len(quats)):
+    if quats[i,0] < 0:
+      quats[i] = -quats[i]
+  return quats.reshape(output_shape)
+
+
+def quat2euler(quats):
+  quats = array(quats)
+  if len(quats.shape) > 1:
+    output_shape = (-1,3)
+  else:
+    output_shape = (3,)
+  quats = np.atleast_2d(quats)
+  q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
+
+  gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
+  theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
+  psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
+
+  eulers = array([gamma, theta, psi]).T
+  return eulers.reshape(output_shape)
+
+
+def quat2rot(quats):
+  quats = array(quats)
+  input_shape = quats.shape
+  quats = np.atleast_2d(quats)
+  Rs = np.zeros((quats.shape[0], 3, 3))
+  q0 = quats[:, 0]
+  q1 = quats[:, 1]
+  q2 = quats[:, 2]
+  q3 = quats[:, 3]
+  Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
+  Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
+  Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
+  Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
+  Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
+  Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
+  Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
+  Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
+  Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
+
+  if len(input_shape) < 2:
+    return Rs[0]
+  else:
+    return Rs
+
+
+def rot2quat(rots):
+  input_shape = rots.shape
+  if len(input_shape) < 3:
+    rots = array([rots])
+  K3 = np.empty((len(rots), 4, 4))
+  K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
+  K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
+  K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
+  K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
+  K3[:, 1, 0] = K3[:, 0, 1]
+  K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
+  K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
+  K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
+  K3[:, 2, 0] = K3[:, 0, 2]
+  K3[:, 2, 1] = K3[:, 1, 2]
+  K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
+  K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
+  K3[:, 3, 0] = K3[:, 0, 3]
+  K3[:, 3, 1] = K3[:, 1, 3]
+  K3[:, 3, 2] = K3[:, 2, 3]
+  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
+  q = np.empty((len(rots), 4))
+  for i in xrange(len(rots)):
+    _, eigvecs = linalg.eigh(K3[i].T)
+    eigvecs = eigvecs[:,3:]
+    q[i, 0] = eigvecs[-1]
+    q[i, 1:] = -eigvecs[:-1].flatten()
+    if q[i, 0] < 0:
+      q[i] = -q[i]
+
+  if len(input_shape) < 3:
+    return q[0]
+  else:
+    return q
+
+
+def euler2rot(eulers):
+  return rotations_from_quats(euler2quat(eulers))
+
+
+def rot2euler(rots):
+  return quat2euler(quats_from_rotations(rots))
+
+
+quats_from_rotations = rot2quat
+quat_from_rot = rot2quat
+rotations_from_quats = quat2rot
+rot_from_quat= quat2rot
+rot_from_quat= quat2rot
+euler_from_rot = rot2euler
+euler_from_quat = quat2euler
+rot_from_euler = euler2rot
+quat_from_euler = euler2quat
+
+
+
+
+
+
+'''
+Random helpers below
+'''
+
+
+def quat_product(q, r):
+  t = np.zeros(4)
+  t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
+  t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
+  t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
+  t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
+  return t
+
+
+def rot_matrix(roll, pitch, yaw):
+  cr, sr = np.cos(roll), np.sin(roll)
+  cp, sp = np.cos(pitch), np.sin(pitch)
+  cy, sy = np.cos(yaw), np.sin(yaw)
+  rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
+  rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
+  ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
+  return ry.dot(rp.dot(rr))
+
+
+def rot(axis, angle):
+  # Rotates around an arbitrary axis
+  ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
+    axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
+  ], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
+  ret_2 = np.cos(angle) * np.eye(3)
+  ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
+                              [-axis[1], axis[0], 0]])
+  return ret_1 + ret_2 + ret_3
+
+
+def ecef_euler_from_ned(ned_ecef_init, ned_pose):
+  '''
+  Got it from here:
+  Using Rotations to Build Aerospace Coordinate Systems
+  -Don Koks
+  '''
+  converter = LocalCoord.from_ecef(ned_ecef_init)
+  x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
+  y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
+  z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
+
+  x1 = rot(z0, ned_pose[2]).dot(x0)
+  y1 = rot(z0, ned_pose[2]).dot(y0)
+  z1 = rot(z0, ned_pose[2]).dot(z0)
+
+  x2 = rot(y1, ned_pose[1]).dot(x1)
+  y2 = rot(y1, ned_pose[1]).dot(y1)
+  z2 = rot(y1, ned_pose[1]).dot(z1)
+
+  x3 = rot(x2, ned_pose[0]).dot(x2)
+  y3 = rot(x2, ned_pose[0]).dot(y2)
+  #z3 = rot(x2, ned_pose[0]).dot(z2)
+
+  x0 = array([1, 0, 0])
+  y0 = array([0, 1, 0])
+  z0 = array([0, 0, 1])
+
+  psi = np.arctan2(inner(x3, y0), inner(x3, x0))
+  theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
+  y2 = rot(z0, psi).dot(y0)
+  z2 = rot(y2, theta).dot(z0)
+  phi = np.arctan2(inner(y3, z2), inner(y3, y2))
+
+  ret = array([phi, theta, psi])
+  return ret
+
+
+def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
+  '''
+  Got the math from here:
+  Using Rotations to Build Aerospace Coordinate Systems
+  -Don Koks
+
+  Also accepts array of ecef_poses and array of ned_ecef_inits.
+  Where each row is a pose and an ecef_init.
+  '''
+  ned_ecef_init = array(ned_ecef_init)
+  ecef_poses = array(ecef_poses)
+  output_shape = ecef_poses.shape
+  ned_ecef_init = np.atleast_2d(ned_ecef_init)
+  if ned_ecef_init.shape[0] == 1:
+    ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1))
+  ecef_poses = np.atleast_2d(ecef_poses)
+
+  ned_poses = np.zeros(ecef_poses.shape)
+  for i, ecef_pose in enumerate(ecef_poses):
+    converter = LocalCoord.from_ecef(ned_ecef_init[i])
+    x0 = array([1, 0, 0])
+    y0 = array([0, 1, 0])
+    z0 = array([0, 0, 1])
+
+    x1 = rot(z0, ecef_pose[2]).dot(x0)
+    y1 = rot(z0, ecef_pose[2]).dot(y0)
+    z1 = rot(z0, ecef_pose[2]).dot(z0)
+
+    x2 = rot(y1, ecef_pose[1]).dot(x1)
+    y2 = rot(y1, ecef_pose[1]).dot(y1)
+    z2 = rot(y1, ecef_pose[1]).dot(z1)
+
+    x3 = rot(x2, ecef_pose[0]).dot(x2)
+    y3 = rot(x2, ecef_pose[0]).dot(y2)
+    #z3 = rot(x2, ecef_pose[0]).dot(z2)
+
+    x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
+    y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
+    z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
+
+    psi = np.arctan2(inner(x3, y0), inner(x3, x0))
+    theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
+    y2 = rot(z0, psi).dot(y0)
+    z2 = rot(y2, theta).dot(z0)
+    phi = np.arctan2(inner(y3, z2), inner(y3, y2))
+    ned_poses[i] = array([phi, theta, psi])
+
+  return ned_poses.reshape(output_shape)
+
+
+def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
+  """
+  TODO: add roll rotation
+  Converts an array of points in ecef coordinates into
+  x-forward, y-left, z-up coordinates
+  Parameters
+  ----------
+  psi: yaw, radian
+  theta: pitch, radian
+  Returns
+  -------
+  [x, y, z] coordinates in car frame
+  """
+
+  # input is an array of points in ecef cocrdinates
+  # output is an array of points in car's coordinate (x-front, y-left, z-up)
+
+  # convert points to NED
+  points_ned = []
+  for p in points_ecef:
+    points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
+
+  points_ned = np.vstack(points_ned).T
+
+  # n, e, d -> x, y, z
+  # Calculate relative postions and rotate wrt to heading and pitch of car
+  invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
+
+  c, s = np.cos(psi), np.sin(psi)
+  yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
+
+  c, s = np.cos(theta), np.sin(theta)
+  pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
+
+  return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))

common/vin.py

@@ -0,0 +1,101 @@
+#!/usr/bin/env python
+import selfdrive.messaging as messaging
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+
+VIN_UNKNOWN = "0" * 17
+
+# sanity checks on response messages from vin query
+def is_vin_response_valid(can_dat, step, cnt):
+
+  can_dat = [ord(i) for i in can_dat]
+
+  if len(can_dat) != 8:
+    # ISO-TP meesages are all 8 bytes
+    return False
+
+  if step == 0:
+    # VIN does not fit in a single message and it's 20 bytes of data
+    if can_dat[0] != 0x10 or can_dat[1] != 0x14:
+       return False
+
+  if step == 1 and cnt == 0:
+    # first response after a CONTINUE query is sent
+    if can_dat[0] != 0x21:
+       return False
+
+  if step == 1 and cnt == 1:
+    # second response after a CONTINUE query is sent
+    if can_dat[0] != 0x22:
+       return False
+
+  return True
+
+
+class VinQuery():
+  def __init__(self, bus):
+    self.bus = bus
+    # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
+    # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
+    self.query_ext_msgs = [[0x18DB33F1, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x18DA10f1, 0, '\x30'.ljust(8, "\x00"), bus]]
+    self.query_nor_msgs = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x7e0, 0, '\x30'.ljust(8, "\x00"), bus]]
+
+    self.cnts = [1, 2]  # number of messages to wait for at each iteration
+    self.step = 0
+    self.cnt = 0
+    self.responded = False
+    self.never_responded = True
+    self.dat = []
+    self.vin = VIN_UNKNOWN
+
+  def check_response(self, msg):
+    # have we got a VIN query response?
+    if msg.src == self.bus and msg.address in [0x18daf110, 0x7e8]:
+      self.never_responded = False
+      # basic sanity checks on ISO-TP response
+      if is_vin_response_valid(msg.dat, self.step, self.cnt):
+        self.dat += msg.dat[2:] if self.step == 0 else msg.dat[1:]
+        self.cnt += 1
+        if self.cnt == self.cnts[self.step]:
+          self.responded = True
+          self.step += 1
+
+  def send_query(self, sendcan):
+    # keep sending VIN qury if ECU isn't responsing.
+    # sendcan is probably not ready due to the zmq slow joiner syndrome
+    if self.never_responded or (self.responded and self.step < len(self.cnts)):
+      sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
+      sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
+      self.responded = False
+      self.cnt = 0
+
+  def get_vin(self):
+    # only report vin if procedure is finished
+    if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
+      self.vin = "".join(self.dat[3:])
+    return self.vin
+
+
+def get_vin(logcan, sendcan, bus, query_time=1.):
+  vin_query = VinQuery(bus)
+  frame = 0
+
+  # 1s max of VIN query time
+  while frame < query_time * 100:
+    a = messaging.recv_one(logcan)
+
+    for can in a.can:
+      vin_query.check_response(can)
+
+    vin_query.send_query(sendcan)
+    frame += 1
+
+  return vin_query.get_vin()
+
+
+if __name__ == "__main__":
+  from selfdrive.services import service_list
+  logcan = messaging.sub_sock(service_list['can'].port)
+  sendcan = messaging.pub_sock(service_list['sendcan'].port)
+  print get_vin(logcan, sendcan, 0)

dbcs/acura_ilx_2016_can.dbc

@@ -1,295 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BO_ 0x039 XXX: 3 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_ 0x374 XXX: 7 XXX
-BO_ 0x377 XXX: 8 XXX
-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
- 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_ 0x406 XXX: 5 VSA
-BO_ 0x40A XXX: 5 XXX
-BO_ 0x40C XXX: 8 XXX
-BO_ 0x40F XXX: 8 XXX
-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";
-VAL_ 0x1A6 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none";
-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";
-VAL_ 0x18F STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal";
-VAL_ 0x1A3 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
-VAL_ 0x33D BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
-VAL_ 0x1FA CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
-VAL_ 0x1FA FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
-
-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

@@ -1,175 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-
-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
- SG_ SET_ME_0F18510 : 0|28@1+ (1,0) [0|268435455] "" Vector__XXX
- SG_ SET_ME_25A0000 : 28|28@1+ (1,0) [0|268435455] "" Vector__XXX
-
-BO_ 0x400 XXX: 8 RADAR
-
-BO_ 0x410 XXX: 8 RADAR
-
-BO_ 0x411 XXX: 8 RADAR
-
-BO_ 0x412 XXX: 8 RADAR
-
-BO_ 0x413 XXX: 8 RADAR
-
-BO_ 0x414 XXX: 8 RADAR
-
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-
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-
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-
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-
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-
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-
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-
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-
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- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
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-
-BO_ 0x440 TRACK_10: 8 RADAR
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-
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-
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-
-BO_ 0x443 TRACK_13: 8 RADAR
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- SG_ REL_SPEED : 24|12@1- (0.03125,0) [0|127.5] "m/s" Vector__XXX
-
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-
-BO_ 0x445 TRACK_15: 8 RADAR
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-
-BO_ 0x4FF XXX: 8 RADAR
-
-BO_ 0x500 XXX: 8 RADAR
-
-BO_ 0x510 XXX: 8 RADAR
-
-BO_ 0x511 XXX: 8 RADAR

dbcs/honda_civic_touring_2016_can.dbc

@@ -1,319 +0,0 @@
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-
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-
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- 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
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- SG_ SET_ME_X00_2 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
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- SG_ COUNTER : 38|2@1+ (1,0) [0|3] "" Vector__XXX
-
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- SG_ ENGINE_TORQUE_ESTIMATE : 0|16@1- (1,0) [-1000|1000] "Nm" Vector__XXX
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-BO_ 0x14A STEERING_SENSORS: 8 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_ STEER_ANGLE_OFFSET : 32|8@1- (-0.1,0) [-128|127] "deg" Vector__XXX
- SG_ STEER_WHEEL_ANGLE : 40|16@1- (-0.1,0) [-500|500] "deg" Vector__XXX
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- SG_ ENGINE_RPM : 16|16@1+ (1,0) [0|15000] "rpm" Vector__XXX            
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-
-BO_ 0x17C POWERTRAIN_DATA2: 8 PCM
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- 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
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-BO_ 0x191 GEARBOX: 8 PCM                                     
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-
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- 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
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-
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-
-BO_ 0x1DC XXX: 7 XXX
-
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-
-BO_ 0x1ED XXX: 5 VSA
-
-BO_ 0x1FA BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 0|10@1+ (0.003906248,0) [0|1.0] "" 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
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- 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
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- 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
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- SG_ GAS_COMMAND : 0|16@1+ (0.253984064,-328) [0|1] "" Vector__XXX
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-
-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_ 0x221 XXX: 6 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_ 0x296 CRUISE_BUTTONS: 4 SCM
- 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
- 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
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- SG_ CHECKSUM : 52|4@1+ (1,0) [0|3] "" Vector__XXX
-
-BO_ 0x309 XXX: 8 XXX
-
-BO_ 0x30C ACC_HUD: 8 ADAS
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- 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
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- 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
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- SG_ HUD_LEAD : 42|2@1+ (1,0) [0|3] "" Vector__XXX
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- SG_ BOH_4 : 45|1@1+ (1,0) [0|3] "" Vector__XXX
- SG_ BOH_5 : 46|1@1+ (1,0) [0|3] "" Vector__XXX
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- SG_ COUNTER : 58|2@1+ (1,0) [0|3] "" Vector__XXX
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-
-BO_ 0x31B XXX: 8 XXX
-
-BO_ 0x320 XXX: 8 XXX
-
-BO_ 0x324 CRUISE: 8 PCM
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- SG_ BOH : 8|8@1+ (1,0) [0|255] "" Vector__XXX 
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- SG_ CRUISE_SPEED_PCM : 32|8@1+ (1,0) [0|255] "" Vector__XXX 
- SG_ BOH2 : 40|8@1- (1,0) [0|255] "" Vector__XXX 
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-
-BO_ 0x326 SCM_FEEDBACK: 8 SCM                  
- SG_ CMBS_BUTTON : 17|2@1+ (1,0) [0|3] "" Vector__XXX 
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- 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_ 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_ 0x35E XXX: 8 ADAS
- SG_ UI_ALERTS : 0|56@1+ (1,0) [0|127] "" Vector__XXX
-
-BO_ 0x374 XXX: 8 XXX
-BO_ 0x37B XXX: 8 XXX
-BO_ 0x37C XXX: 8 XXX
-
-BO_ 0x39F XXX: 8 ADAS
- SG_ ZEROS_BOH : 0|17@1+ (1,0) [0|127] "" Vector__XXX
- 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_ 0x3D9 XXX: 3 XXX
-BO_ 0x400 XXX: 5 XXX
-BO_ 0x403 XXX: 5 XXX
-
-BO_ 0x405 DOORS_STATUS: 8 BDY
- 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_ 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";
-VAL_ 0x296 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none";
-VAL_ 0x33D HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
-VAL_ 0x1A6 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights";
-VAL_ 0x18F STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal";
-VAL_ 0x191 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
-VAL_ 0x33D BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
-VAL_ 0x1FA CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
-VAL_ 0x1C2 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged";
-VAL_ 0x326 CMBS_BUTTON 3 "pressed" 0 "released";
-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";
-VAL_ 0x30C CRUISE_SPEED 255 "no_speed" 252 "stopped";
-
-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...";

dragonpilot/chinese-fonts/fonts.xml

@@ -0,0 +1,371 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+    NOTE: this is the newer (L) version of the system font configuration,
+    supporting richer weight selection. Some apps will expect the older
+    version, so please keep system_fonts.xml and fallback_fonts.xml in sync
+    with any changes, even though framework will only read this file.
+
+    All fonts withohut names are added to the default list. Fonts are chosen
+    based on a match: full BCP-47 language tag including script, then just
+    language, and finally order (the first font containing the glyph).
+
+    Order of appearance is also the tiebreaker for weight matching. This is
+    the reason why the 900 weights of Roboto precede the 700 weights - we
+    prefer the former when an 800 weight is requested. Since bold spans
+    effectively add 300 to the weight, this ensures that 900 is the bold
+    paired with the 500 weight, ensuring adequate contrast.
+-->
+<familyset version="22">
+    <!-- first font is default -->
+    <family name="sans-serif">
+        <font weight="100" style="normal">Roboto-Thin.ttf</font>
+        <font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
+        <font weight="300" style="normal">Roboto-Light.ttf</font>
+        <font weight="300" style="italic">Roboto-LightItalic.ttf</font>
+        <font weight="400" style="normal">Roboto-Regular.ttf</font>
+        <font weight="400" style="italic">Roboto-Italic.ttf</font>
+        <font weight="500" style="normal">Roboto-Medium.ttf</font>
+        <font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
+        <font weight="900" style="normal">Roboto-Black.ttf</font>
+        <font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
+        <font weight="700" style="normal">Roboto-Bold.ttf</font>
+        <font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
+    </family>
+
+    <!-- Note that aliases must come after the fonts they reference. -->
+    <alias name="sans-serif-thin" to="sans-serif" weight="100" />
+    <alias name="sans-serif-light" to="sans-serif" weight="300" />
+    <alias name="sans-serif-medium" to="sans-serif" weight="500" />
+    <alias name="sans-serif-black" to="sans-serif" weight="900" />
+    <alias name="arial" to="sans-serif" />
+    <alias name="helvetica" to="sans-serif" />
+    <alias name="tahoma" to="sans-serif" />
+    <alias name="verdana" to="sans-serif" />
+
+    <family name="sans-serif-condensed">
+        <font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
+        <font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
+        <font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
+        <font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
+        <font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
+        <font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
+    </family>
+    <alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
+
+    <family name="serif">
+        <font weight="400" style="normal">NotoSerif-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSerif-Bold.ttf</font>
+        <font weight="400" style="italic">NotoSerif-Italic.ttf</font>
+        <font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
+    </family>
+    <alias name="times" to="serif" />
+    <alias name="times new roman" to="serif" />
+    <alias name="palatino" to="serif" />
+    <alias name="georgia" to="serif" />
+    <alias name="baskerville" to="serif" />
+    <alias name="goudy" to="serif" />
+    <alias name="fantasy" to="serif" />
+    <alias name="ITC Stone Serif" to="serif" />
+
+    <family name="monospace">
+        <font weight="400" style="normal">DroidSansMono.ttf</font>
+    </family>
+    <alias name="sans-serif-monospace" to="monospace" />
+    <alias name="monaco" to="monospace" />
+
+    <family name="serif-monospace">
+        <font weight="400" style="normal">CutiveMono.ttf</font>
+    </family>
+    <alias name="courier" to="serif-monospace" />
+    <alias name="courier new" to="serif-monospace" />
+
+    <family name="casual">
+        <font weight="400" style="normal">ComingSoon.ttf</font>
+    </family>
+
+    <family name="cursive">
+        <font weight="400" style="normal">DancingScript-Regular.ttf</font>
+        <font weight="700" style="normal">DancingScript-Bold.ttf</font>
+    </family>
+
+    <family name="sans-serif-smallcaps">
+        <font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
+    </family>
+
+    <!-- fallback fonts -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
+    </family>
+    <!-- Gujarati should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
+    </family>
+    <!-- Gurmukhi should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
+    </family>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansSC-Regular.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansTC-Regular.otf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
+    </family>
+    <family lang="ko">
+        <font weight="400" style="normal">NotoSansKR-Regular.otf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NanumGothic.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">Miui-Regular.ttf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">MTLmr3m.ttf</font>
+    </family>
+    <!--
+        Tai Le and Mongolian are intentionally kept last, to make sure they don't override
+        the East Asian punctuation for Chinese.
+    -->
+    <family>
+        <font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
+    </family>
+</familyset>

dragonpilot/chinese-fonts/installer.sh

@@ -0,0 +1,50 @@
+#!/usr/bin/bash
+
+# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+lang=en
+
+update_font_reg=0
+update_font_bold=0
+remove_old_font=0
+
+# check regular font
+if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
+    update_font_reg=1
+fi
+
+# check bold font
+if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
+    update_font_bold=1
+fi
+
+# check droidsans font
+if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
+    remove_old_font=1
+fi
+
+if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 5 secs in case, make sure the /system is remountable
+    sleep 5
+    mount -o remount,rw /system
+    if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
+        # download regular font
+        if [ $update_font_reg -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
+        fi
+        # download bold font
+        if [ $update_font_bold -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
+        fi
+        # dont new font mapping
+        yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+        chmod 644 /system/etc/fonts.xml
+        chmod 644 /system/fonts/Miui-*
+    fi
+    # remove driodsans font
+    if [ $remove_old_font -eq "1" ]; then
+        rm -fr /system/fonts/DroidSansFallback*.ttf
+    fi
+    mount -o remount,r /system
+    # change system locale
+    setprop persist.sys.locale $lang
+fi

installation/files/continue.sh

@@ -1,29 +0,0 @@
-#!/usr/bin/bash
-
-# 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
-  mv /tmp/openpilot /data/openpilot
-fi
-
-# enter openpilot directory
-cd /data/openpilot
-
-# removed automatic update from openpilot
-#git pull
-
-# start manager
-cd selfdrive
-mkdir -p /sdcard/realdata
-PYTHONPATH=/data/openpilot ./manager.py
-
-# if broken, keep on screen error
-while true; do sleep 1; done
-

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

@@ -1,11 +0,0 @@
-#!/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/
-

installer/updater/Makefile

@@ -0,0 +1,88 @@
+CC = clang
+CXX = clang++
+
+PHONELIBS = ../../phonelibs
+
+WARN_FLAGS = -Werror=implicit-function-declaration \
+             -Werror=incompatible-pointer-types \
+             -Werror=int-conversion \
+             -Werror=return-type \
+             -Werror=format-extra-args
+
+CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+
+CURL_FLAGS = -I$(PHONELIBS)/curl/include
+CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
+            $(PHONELIBS)/zlib/lib/libz.a
+
+BORINGSSL_FLAGS = -I$(PHONELIBS)/boringssl/include
+BORINGSSL_LIBS = $(PHONELIBS)/boringssl/lib/libssl_static.a \
+                 $(PHONELIBS)/boringssl/lib/libcrypto_static.a \
+
+NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
+
+JSON11_FLAGS = -I$(PHONELIBS)/json11
+
+OPENGL_LIBS = -lGLESv3
+
+FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
+
+.PHONY: all
+all: updater
+
+OBJS = courbd.ttf.o \
+       ../../selfdrive/common/touch.o \
+       ../../selfdrive/common/framebuffer.o \
+       $(PHONELIBS)/json11/json11.o \
+       $(PHONELIBS)/nanovg/nanovg.o
+
+DEPS := $(OBJS:.o=.d)
+
+updater: updater.o $(OBJS)
+	@echo "[ LINK ] $@"
+	$(CXX) $(CPPFLAGS) -fPIC -o 'updater' $^ \
+    $(FRAMEBUFFER_LIBS) \
+    $(CURL_LIBS) \
+    $(BORINGSSL_LIBS) \
+    -L/system/vendor/lib64 \
+    $(OPENGL_LIBS) \
+    -lcutils -lm -llog
+	strip updater
+
+courbd.ttf.o: ../../selfdrive/assets/courbd.ttf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+%.o: %.c
+	mkdir -p $(@D)
+	@echo "[ CC ] $@"
+	$(CC) $(CPPFLAGS) $(CFLAGS) \
+          -I../.. \
+          -I$(PHONELIBS)/android_frameworks_native/include \
+          -I$(PHONELIBS)/android_system_core/include \
+          -I$(PHONELIBS)/android_hardware_libhardware/include \
+          $(NANOVG_FLAGS) \
+          -c -o '$@' '$<'
+
+%.o: %.cc
+	mkdir -p $(@D)
+	@echo "[ CXX ] $@"
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) \
+           -I../../selfdrive \
+           -I../../ \
+           -I$(PHONELIBS)/android_frameworks_native/include \
+           -I$(PHONELIBS)/android_system_core/include \
+           -I$(PHONELIBS)/android_hardware_libhardware/include \
+           $(NANOVG_FLAGS) \
+           $(JSON11_FLAGS) \
+           $(CURL_FLAGS) \
+           $(BORINGSSL_FLAGS) \
+           -c -o '$@' '$<'
+
+
+.PHONY: clean
+clean:
+	rm -f $(OBJS) $(DEPS)
+
+-include $(DEPS)

installer/updater/update.json

@@ -0,0 +1,7 @@
+{
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f.zip",
+  "ota_hash": "c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a.img",
+  "recovery_len": 15136044,
+  "recovery_hash": "af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a"
+}

installer/updater/updater.cc

@@ -0,0 +1,675 @@
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <cassert>
+
+#include <unistd.h>
+#include <sys/stat.h>
+#include <sys/statvfs.h>
+
+#include <string>
+#include <sstream>
+#include <fstream>
+#include <mutex>
+#include <thread>
+
+#include <curl/curl.h>
+#include <openssl/sha.h>
+
+#include <GLES3/gl3.h>
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+
+#include "nanovg.h"
+#define NANOVG_GLES3_IMPLEMENTATION
+#include "nanovg_gl.h"
+#include "nanovg_gl_utils.h"
+
+#include "json11.hpp"
+
+#include "common/framebuffer.h"
+#include "common/touch.h"
+#include "common/utilpp.h"
+
+#define USER_AGENT "NEOSUpdater-0.2"
+
+#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
+#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
+#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
+const char *manifest_url = MANIFEST_URL_EON;
+
+#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
+#define RECOVERY_COMMAND "/cache/recovery/command"
+
+#define UPDATE_DIR "/data/neoupdate"
+
+extern const uint8_t bin_courbd[] asm("_binary_courbd_ttf_start");
+extern const uint8_t bin_courbd_end[] asm("_binary_courbd_ttf_end");
+
+namespace {
+
+std::string sha256_file(std::string fn, size_t limit=0) {
+  SHA256_CTX ctx;
+  SHA256_Init(&ctx);
+
+  FILE *file = fopen(fn.c_str(), "rb");
+  if (!file) return "";
+
+  const size_t buf_size = 8192;
+  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
+
+  bool read_limit = (limit != 0);
+  while (true) {
+    size_t read_size = buf_size;
+    if (read_limit) read_size = std::min(read_size, limit);
+    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
+    if (!bytes_read) break;
+
+    SHA256_Update(&ctx, buffer.get(), bytes_read);
+
+    if (read_limit) {
+      limit -= bytes_read;
+      if (limit == 0) break;
+    }
+  }
+
+  uint8_t hash[SHA256_DIGEST_LENGTH];
+  SHA256_Final(hash, &ctx);
+
+  fclose(file);
+
+  return util::tohex(hash, sizeof(hash));
+}
+
+size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
+  size_t sz = size * nmeb;
+  ((std::string*)up)->append((char*)ptr, sz);
+  return sz;
+}
+
+std::string download_string(CURL *curl, std::string url) {
+  std::string os;
+
+  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
+  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
+  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
+  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
+  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
+
+  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
+
+  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
+  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
+  CURLcode res = curl_easy_perform(curl);
+  if (res != CURLE_OK) {
+    return "";
+  }
+
+  return os;
+}
+
+size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
+  return fwrite(ptr, size, nmeb, (FILE*)up);
+}
+
+bool check_battery() {
+  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
+  int bat_cap = atoi(bat_cap_s.c_str());
+  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
+  int current_now = atoi(current_now_s.c_str());
+  return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
+}
+
+bool check_space() {
+  struct statvfs stat;
+  if (statvfs("/data/", &stat) != 0) {
+    return false;
+  }
+  size_t space = stat.f_bsize * stat.f_bavail;
+  return space > 2000000000ULL; // 2GB
+}
+
+static void start_settings_activity(const char* name) {
+  char launch_cmd[1024];
+  snprintf(launch_cmd, sizeof(launch_cmd),
+           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
+  system(launch_cmd);
+}
+
+struct Updater {
+  bool do_exit = false;
+
+  TouchState touch;
+
+  int fb_w, fb_h;
+  EGLDisplay display;
+  EGLSurface surface;
+
+  FramebufferState *fb = NULL;
+  NVGcontext *vg = NULL;
+  int font;
+
+  std::thread update_thread_handle;
+
+  std::mutex lock;
+
+  // i hate state machines give me coroutines already
+  enum UpdateState {
+    CONFIRMATION,
+    RUNNING,
+    ERROR,
+  };
+  UpdateState state;
+
+  std::string progress_text;
+  float progress_frac;
+
+  std::string error_text;
+
+  // button
+  int b_x, b_w, b_y, b_h;
+  int balt_x;
+
+  CURL *curl = NULL;
+
+  Updater() {
+    touch_init(&touch);
+
+    fb = framebuffer_init("updater", 0x00001000, false,
+                          &display, &surface, &fb_w, &fb_h);
+    assert(fb);
+
+    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
+    assert(vg);
+    font = nvgCreateFontMem(vg, "courbd", (unsigned char*)bin_courbd, (bin_courbd_end - bin_courbd), 0);
+    assert(font >= 0);
+
+    b_w = 600;
+    balt_x = 200;
+    b_x = fb_w-b_w-200;
+    b_y = 700;
+    b_h = 250;
+
+    state = CONFIRMATION;
+
+  }
+
+  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
+                             curl_off_t ultotal, curl_off_t ulnow) {
+    {
+      std::lock_guard<std::mutex> guard(lock);
+      if (dltotal != 0) {
+        progress_frac = (float) dlno / dltotal;
+      }
+    }
+    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
+    return 0;
+  }
+
+  bool download_file(std::string url, std::string out_fn) {
+    FILE *of = fopen(out_fn.c_str(), "ab");
+    assert(of);
+
+    CURLcode res;
+    long last_resume_from = 0;
+
+    fseek(of, 0, SEEK_END);
+
+    int tries = 4;
+
+    bool ret = false;
+
+    while (true) {
+      long resume_from = ftell(of);
+
+      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
+      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
+      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
+      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
+      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
+
+      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
+      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
+
+      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
+
+      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
+      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
+
+      CURLcode res = curl_easy_perform(curl);
+
+      long response_code = 0;
+      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
+
+      // double content_length = 0.0;
+      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
+
+      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
+      if (res == CURLE_OK) {
+        ret = true;
+        break;
+      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
+        // failed because the file is already complete?
+        ret = true;
+        break;
+      } else if (resume_from == last_resume_from) {
+        // failed and dind't make make forward progress. only retry a couple times
+        tries--;
+        if (tries <= 0) {
+          break;
+        }
+      }
+      last_resume_from = resume_from;
+    }
+    // printf("res %d\n", res);
+
+    // printf("- %ld %f\n", response_code, content_length);
+
+    fclose(of);
+
+    return ret;
+  }
+
+  void set_progress(std::string text) {
+    std::lock_guard<std::mutex> guard(lock);
+    progress_text = text;
+  }
+
+  void set_error(std::string text) {
+    std::lock_guard<std::mutex> guard(lock);
+    error_text = text;
+    state = ERROR;
+  }
+
+  std::string stage_download(std::string url, std::string hash, std::string name) {
+    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
+
+    set_progress("downloading " + name + "...");
+    bool r = download_file(url, out_fn);
+    if (!r) {
+      set_error("failed to download " + name);
+      return "";
+    }
+
+    set_progress("verifying " + name + "...");
+    std::string fn_hash = sha256_file(out_fn);
+    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
+    if (fn_hash != hash) {
+      set_error(name + " was corrupt");
+      unlink(out_fn.c_str());
+      return "";
+    }
+
+    return out_fn;
+  }
+
+  void run_stages() {
+    curl = curl_easy_init();
+    assert(curl);
+
+    if (!check_battery()) {
+      set_error("Please plug power in to your EON and wait for charge");
+      return;
+    }
+
+    if (!check_space()) {
+      set_error("2GB of free space required to update");
+      return;
+    }
+
+    mkdir(UPDATE_DIR, 0777);
+
+    const int EON = (access("/EON", F_OK) != -1);
+
+    set_progress("finding latest version...");
+    std::string manifest_s;
+    if (EON) {
+      manifest_s = download_string(curl, manifest_url);
+    } else {
+      // don't update NEO
+      exit(0);
+    }
+
+    printf("manifest: %s\n", manifest_s.c_str());
+
+    std::string err;
+    auto manifest = json11::Json::parse(manifest_s, err);
+    if (manifest.is_null() || !err.empty()) {
+      set_error("failed to load update manifest");
+      return;
+    }
+
+    std::string ota_url = manifest["ota_url"].string_value();
+    std::string ota_hash = manifest["ota_hash"].string_value();
+
+    std::string recovery_url = manifest["recovery_url"].string_value();
+    std::string recovery_hash = manifest["recovery_hash"].string_value();
+    int recovery_len = manifest["recovery_len"].int_value();
+
+    // std::string installer_url = manifest["installer_url"].string_value();
+    // std::string installer_hash = manifest["installer_hash"].string_value();
+
+    if (ota_url.empty() || ota_hash.empty()) {
+      set_error("invalid update manifest");
+      return;
+    }
+
+    // std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
+    // if (installer_fn.empty()) {
+    //   //error'd
+    //   return;
+    // }
+
+    std::string recovery_fn;
+    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
+      set_progress("skipping recovery flash...");
+    } else {
+      // only download the recovery if it differs from what's flashed
+      set_progress("checking recovery...");
+      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
+      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
+
+      if (existing_recovery_hash != recovery_hash) {
+        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
+        if (recovery_fn.empty()) {
+          // error'd
+          return;
+        }
+      }
+    }
+
+    std::string ota_fn = stage_download(ota_url, ota_hash, "update");
+    if (ota_fn.empty()) {
+      //error'd
+      return;
+    }
+
+    if (!check_battery()) {
+      set_error("must have at least 35% battery to update");
+      return;
+    }
+
+    if (!recovery_fn.empty()) {
+      // flash recovery
+      set_progress("flashing recovery...");
+
+      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
+      if (!flash_file) {
+        set_error("failed to flash recovery");
+        return;
+      }
+
+      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
+      if (!recovery_dev) {
+        fclose(flash_file);
+        set_error("failed to flash recovery");
+        return;
+      }
+
+      const size_t buf_size = 4096;
+      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
+
+      while (true) {
+        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
+        if (!bytes_read) break;
+
+        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
+        if (bytes_read != bytes_written) {
+          fclose(recovery_dev);
+          fclose(flash_file);
+          set_error("failed to flash recovery: write failed");
+          return;
+        }
+      }
+
+      fclose(recovery_dev);
+      fclose(flash_file);
+
+      set_progress("verifying flash...");
+      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
+      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
+
+      if (new_recovery_hash != recovery_hash) {
+        set_error("recovery flash corrupted");
+        return;
+      }
+
+    }
+
+    // write arguments to recovery
+    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
+    if (!cmd_file) {
+      set_error("failed to reboot into recovery");
+      return;
+    }
+    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
+    fclose(cmd_file);
+
+    set_progress("rebooting");
+
+    // remove the continue.sh so we come back into the setup.
+    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
+    //unlink("/data/data/com.termux/files/continue.sh");
+
+    // TODO: this should be generic between android versions
+    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
+    system("service call power 16 i32 0 s16 recovery i32 1");
+    while(1) pause();
+
+    // execl("/system/bin/reboot", "recovery");
+    // set_error("failed to reboot into recovery");
+  }
+
+  void draw_ack_screen(const char *message, const char *button, const char *altbutton) {
+    nvgFontSize(vg, 96.0f);
+    nvgFillColor(vg, nvgRGBA(255,255,255,255));
+    nvgTextAlign(vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
+    nvgTextBox(vg, 50, 100, fb_w-100, message, NULL);
+
+    // draw button
+    if (button) {
+      nvgBeginPath(vg);
+      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
+      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
+      nvgFill(vg);
+
+      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
+      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
+
+      nvgBeginPath(vg);
+      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgStrokeWidth(vg, 5);
+      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
+      nvgStroke(vg);
+    }
+
+    // draw button
+    if (altbutton) {
+      nvgBeginPath(vg);
+      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
+      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
+      nvgFill(vg);
+
+      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
+      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
+
+      nvgBeginPath(vg);
+      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgStrokeWidth(vg, 5);
+      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
+      nvgStroke(vg);
+    }
+  }
+
+  void draw_progress_screen() {
+    // draw progress message
+    nvgFontSize(vg, 64.0f);
+    nvgFillColor(vg, nvgRGBA(255,255,255,255));
+    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+    nvgTextBox(vg, 0, 700, fb_w, progress_text.c_str(), NULL);
+
+    // draw progress bar
+    {
+      int progress_width = 800;
+      int progress_x = fb_w/2-progress_width/2;
+      int progress_y = 768;
+      int progress_height = 15;
+
+      int powerprompt_y = 512;
+      nvgText(vg, fb_w/2, powerprompt_y, "Ensure EON is connected to power", NULL);
+
+      NVGpaint paint = nvgBoxGradient(
+          vg, progress_x + 1, progress_y + 1,
+          progress_width - 2, progress_height, 3, 4, nvgRGB(0, 32, 0), nvgRGB(0, 92, 0));
+      nvgBeginPath(vg);
+      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 3);
+      nvgFillPaint(vg, paint);
+      nvgFill(vg);
+
+      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
+      int bar_pos = ((progress_width - 2) * value);
+
+      paint = nvgBoxGradient(
+          vg, progress_x, progress_y,
+          bar_pos+1.5f, progress_height-1, 3, 4,
+          nvgRGB(220, 100, 0), nvgRGB(128, 100, 0));
+
+      nvgBeginPath(vg);
+      nvgRoundedRect(
+          vg, progress_x+1, progress_y+1,
+          bar_pos, progress_height-2, 3);
+      nvgFillPaint(vg, paint);
+      nvgFill(vg);
+    }
+  }
+
+  void ui_draw() {
+    std::lock_guard<std::mutex> guard(lock);
+
+    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
+
+    switch (state) {
+    case CONFIRMATION:
+      draw_ack_screen("An upgrade to NEOS is required.\n\n"
+                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB\nData on device shouldn't be lost.",
+                      "continue",
+                      "wifi");
+      break;
+    case RUNNING:
+      draw_progress_screen();
+      break;
+    case ERROR:
+      draw_ack_screen(("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
+      break;
+    }
+
+    nvgEndFrame(vg);
+  }
+
+  void ui_update() {
+    std::lock_guard<std::mutex> guard(lock);
+
+    switch (state) {
+    case ERROR:
+    case CONFIRMATION: {
+      int touch_x = -1, touch_y = -1;
+      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
+      if (res == 1 && !is_settings_active()) {
+        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
+          if (state == CONFIRMATION) {
+            state = RUNNING;
+            update_thread_handle = std::thread(&Updater::run_stages, this);
+          }
+        }
+        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
+          if (state == CONFIRMATION) {
+            start_settings_activity("Settings$WifiSettingsActivity");
+          } else if (state == ERROR) {
+            do_exit = 1;
+          }
+        }
+      }
+    }
+    default:
+      break;
+    }
+  }
+
+
+  void go() {
+    while (!do_exit) {
+      ui_update();
+
+      glClearColor(0.19, 0.09, 0.2, 1.0);
+      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+      glEnable(GL_BLEND);
+      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+      ui_draw();
+
+      glDisable(GL_BLEND);
+
+      eglSwapBuffers(display, surface);
+      assert(glGetError() == GL_NO_ERROR);
+
+      // no simple way to do 30fps vsync with surfaceflinger...
+      usleep(30000);
+    }
+
+    if (update_thread_handle.joinable()) {
+      update_thread_handle.join();
+    }
+
+    system("service call power 16 i32 0 i32 0 i32 1");
+  }
+
+  bool is_settings_active() {
+    FILE *fp;
+    char sys_output[4096];
+
+    fp = popen("/bin/dumpsys window windows", "r");
+    if (fp == NULL) {
+      return false;
+    }
+
+    bool active = false;
+    while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
+      if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
+        break;
+      }
+
+      if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
+        active = true;
+        break;
+      }
+    }
+
+    pclose(fp);
+
+    return active;
+  }
+
+};
+
+}
+int main(int argc, char *argv[]) {
+  if (argc > 1) {
+    if (strcmp(argv[1], "local") == 0) {
+      manifest_url = MANIFEST_URL_EON_LOCAL;
+    } else if (strcmp(argv[1], "staging") == 0) {
+      manifest_url = MANIFEST_URL_EON_STAGING;
+    } else {
+      manifest_url = argv[1];
+    }
+  }
+  printf("updating from %s\n", manifest_url);
+  Updater updater;
+  updater.go();
+
+  return 0;
+}

launch_chffrplus.sh

@@ -0,0 +1,47 @@
+#!/usr/bin/bash
+
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
+if [ -z "$PASSIVE" ]; then
+  export PASSIVE="1"
+fi
+
+function launch {
+  # apply update
+#  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+#    git reset --hard @{u} &&
+#    git clean -xdf &&
+#
+#    # Touch all files on release2 after checkout to prevent rebuild
+#    BRANCH=$(git rev-parse --abbrev-ref HEAD)
+#    if [[ "$BRANCH" == "release2" ]]; then
+#        touch **
+#    fi
+#
+#    exec "${BASH_SOURCE[0]}"
+#  fi
+
+  # no cpu rationing for now
+  echo 0-3 > /dev/cpuset/background/cpus
+  echo 0-3 > /dev/cpuset/system-background/cpus
+  echo 0-3 > /dev/cpuset/foreground/boost/cpus
+  echo 0-3 > /dev/cpuset/foreground/cpus
+  echo 0-3 > /dev/cpuset/android/cpus
+
+  # handle pythonpath
+  ln -s /data/openpilot /data/pythonpath
+  export PYTHONPATH="$PWD"
+
+  # start manager
+  cd selfdrive
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch

launch_openpilot.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/bash
+
+/usr/bin/sh /data/openpilot/dragonpilot/chinese-fonts/installer.sh &
+export PASSIVE="0"
+exec ./launch_chffrplus.sh
+

opendbc/.gitignore

@@ -0,0 +1,2 @@
+*.pyc
+.*.swp

opendbc/README.md

@@ -0,0 +1,53 @@
+opendbc
+======
+
+The project to democratize access to the decoder ring of your car.
+
+
+
+### DBC file basics
+
+A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file.
+Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) and [Here](https://github.com/stefanhoelzl/CANpy/blob/master/docs/DBC_Specification.md) a couple of good overviews.
+
+### How to start reverse engineering cars
+
+[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).
+
+Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
+
+### DBC file preprocessor
+
+DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated.
+
+### Good practices for contributing to opendbc
+
+- Comments: the best way to store comments is to add them directly to the DBC files. For example:
+    ```
+    CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+    ```
+    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
+
+- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better.
+For example:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM
+    ```
+    is better than:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM
+    ```
+    However, the cleanest option is really:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
+    ```
+
+- Signal's size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
+    ```
+    SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
+    ```
+    However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is:
+    ```
+    SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM
+    ```
+    which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else.

opendbc/acura_ilx_2016_can_generated.dbc

@@ -0,0 +1,310 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_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 : 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|2@0+ (1,0) [0|3] "" 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|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ 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_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|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_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "acura_ilx_2016_can.dbc starts here"
+
+
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+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_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";