openpilot v0.2.8 release

Added context manager to file reading

.gitignore

@@ -0,0 +1,22 @@
+.DS_Store
+.tags
+.ipynb_checkpoints
+
+*.pyc
+.*.swp
+.*.swo
+.*.un~
+*.o
+*.d
+*.so
+*.a
+*.clb
+config.json
+clcache
+
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/sensord/sensord
+selfdrive/ui/ui
+

.travis.yml

@@ -0,0 +1,13 @@
+sudo: required
+
+services:
+  - docker
+
+install:
+  - docker build -t tmppilot -f Dockerfile.openpilot .
+
+script:
+  - docker run --rm
+      -v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'
+

Makefile

@@ -0,0 +1,6 @@
+.PHONY: all
+
+# TODO: Add a global build system to openpilot
+all:
+	cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
+

README.md

@@ -10,15 +10,9 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
 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.
+Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. 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
 ------
@@ -26,7 +20,7 @@ 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
 
-- Honda Civic 2016 Touring Edition
+- Honda Civic 2016 with Honda Sensing
   - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
 
 Directory structure
@@ -36,7 +30,6 @@ Directory structure
 - 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

RELEASES.md

@@ -1,3 +1,39 @@
+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

board/can.h

@@ -1,4 +1,13 @@
 void can_init(CAN_TypeDef *CAN) {
+  // enable CAN busses
+  if (CAN == CAN1) {
+    // CAN1_EN
+    GPIOB->ODR |= (1 << 3);
+  } else if (CAN == CAN2) {
+    // CAN2_EN
+    GPIOB->ODR |= (1 << 4);
+  }
+
   CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
   while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
   puts("CAN initting\n");

board/inc/stm32f2xx_hal_def.h

@@ -0,0 +1,148 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx_hal_def.h
+  * @author  MCD Application Team
+  * @version V1.0.1
+  * @date    25-March-2014
+  * @brief   This file contains HAL common defines, enumeration, macros and 
+  *          structures definitions. 
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F2xx_HAL_DEF
+#define __STM32F2xx_HAL_DEF
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f2xx.h"
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  HAL Status structures definition  
+  */  
+typedef enum 
+{
+  HAL_OK       = 0x00,
+  HAL_ERROR    = 0x01,
+  HAL_BUSY     = 0x02,
+  HAL_TIMEOUT  = 0x03
+} HAL_StatusTypeDef;
+
+/** 
+  * @brief  HAL Lock structures definition  
+  */
+typedef enum 
+{
+  HAL_UNLOCKED = 0x00,
+  HAL_LOCKED   = 0x01  
+} HAL_LockTypeDef;
+
+/* Exported macro ------------------------------------------------------------*/
+#ifndef NULL
+  #define NULL      (void *) 0
+#endif
+
+#define HAL_MAX_DELAY      0xFFFFFFFF
+
+#define HAL_IS_BIT_SET(REG, BIT)         (((REG) & (BIT)) != RESET)
+#define HAL_IS_BIT_CLR(REG, BIT)         (((REG) & (BIT)) == RESET)
+
+#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD_, __DMA_HANDLE_)               \
+                        do{                                                      \
+                              (__HANDLE__)->__PPP_DMA_FIELD_ = &(__DMA_HANDLE_); \
+                              (__DMA_HANDLE_).Parent = (__HANDLE__);             \
+                          } while(0)
+
+#if (USE_RTOS == 1)
+  /* Reserved for future use */
+#else
+  #define __HAL_LOCK(__HANDLE__)                                           \
+                                do{                                        \
+                                    if((__HANDLE__)->Lock == HAL_LOCKED)   \
+                                    {                                      \
+                                       return HAL_BUSY;                    \
+                                    }                                      \
+                                    else                                   \
+                                    {                                      \
+                                       (__HANDLE__)->Lock = HAL_LOCKED;    \
+                                    }                                      \
+                                  }while (0)
+
+  #define __HAL_UNLOCK(__HANDLE__)                                          \
+                                  do{                                       \
+                                      (__HANDLE__)->Lock = HAL_UNLOCKED;    \
+                                    }while (0)
+#endif /* USE_RTOS */
+
+#if  defined ( __GNUC__ )
+  #ifndef __weak
+    #define __weak   __attribute__((weak))
+  #endif /* __weak */
+  #ifndef __packed
+    #define __packed __attribute__((__packed__))
+  #endif /* __packed */
+#endif /* __GNUC__ */
+
+  
+/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
+#if defined   (__GNUC__)        /* GNU Compiler */
+  #ifndef __ALIGN_END
+    #define __ALIGN_END    __attribute__ ((aligned (4)))
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN  
+    #define __ALIGN_BEGIN
+  #endif /* __ALIGN_BEGIN */
+#else
+  #ifndef __ALIGN_END
+    #define __ALIGN_END
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN      
+    #if defined   (__CC_ARM)      /* ARM Compiler */
+      #define __ALIGN_BEGIN    __align(4)  
+    #elif defined (__ICCARM__)    /* IAR Compiler */
+      #define __ALIGN_BEGIN 
+    #elif defined  (__TASKING__)  /* TASKING Compiler */
+      #define __ALIGN_BEGIN    __align(4) 
+    #endif /* __CC_ARM */
+  #endif /* __ALIGN_BEGIN */
+#endif /* __GNUC__ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ___STM32F2xx_HAL_DEF */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/inc/stm32f2xx_hal_gpio_ex.h

@@ -0,0 +1,236 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx_hal_gpio_ex.h
+  * @author  MCD Application Team
+  * @version V1.0.1
+  * @date    25-March-2014
+  * @brief   Header file of GPIO HAL Extension module.
+  ******************************************************************************
+  * @attention 
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F2xx_HAL_GPIO_EX_H
+#define __STM32F2xx_HAL_GPIO_EX_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f2xx_hal_def.h"
+
+/** @addtogroup STM32F2xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup GPIO
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup GPIO_Exported_Constants
+  * @{
+  */ 
+  
+/** @defgroup GPIO_Alternat_function_selection 
+  * @{
+  */
+
+/** 
+  * @brief   AF 0 selection  
+  */ 
+#define GPIO_AF0_RTC_50Hz      ((uint8_t)0x00)  /* RTC_50Hz Alternate Function mapping                       */
+#define GPIO_AF0_MCO           ((uint8_t)0x00)  /* MCO (MCO1 and MCO2) Alternate Function mapping            */
+#define GPIO_AF0_TAMPER        ((uint8_t)0x00)  /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */
+#define GPIO_AF0_SWJ           ((uint8_t)0x00)  /* SWJ (SWD and JTAG) Alternate Function mapping             */
+#define GPIO_AF0_TRACE         ((uint8_t)0x00)  /* TRACE Alternate Function mapping                          */
+
+/** 
+  * @brief   AF 1 selection  
+  */ 
+#define GPIO_AF1_TIM1          ((uint8_t)0x01)  /* TIM1 Alternate Function mapping */
+#define GPIO_AF1_TIM2          ((uint8_t)0x01)  /* TIM2 Alternate Function mapping */
+
+/** 
+  * @brief   AF 2 selection  
+  */ 
+#define GPIO_AF2_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
+#define GPIO_AF2_TIM4          ((uint8_t)0x02)  /* TIM4 Alternate Function mapping */
+#define GPIO_AF2_TIM5          ((uint8_t)0x02)  /* TIM5 Alternate Function mapping */
+
+/** 
+  * @brief   AF 3 selection  
+  */ 
+#define GPIO_AF3_TIM8          ((uint8_t)0x03)  /* TIM8 Alternate Function mapping  */
+#define GPIO_AF3_TIM9          ((uint8_t)0x03)  /* TIM9 Alternate Function mapping  */
+#define GPIO_AF3_TIM10         ((uint8_t)0x03)  /* TIM10 Alternate Function mapping */
+#define GPIO_AF3_TIM11         ((uint8_t)0x03)  /* TIM11 Alternate Function mapping */
+
+/** 
+  * @brief   AF 4 selection  
+  */ 
+#define GPIO_AF4_I2C1          ((uint8_t)0x04)  /* I2C1 Alternate Function mapping */
+#define GPIO_AF4_I2C2          ((uint8_t)0x04)  /* I2C2 Alternate Function mapping */
+#define GPIO_AF4_I2C3          ((uint8_t)0x04)  /* I2C3 Alternate Function mapping */
+
+/** 
+  * @brief   AF 5 selection  
+  */ 
+#define GPIO_AF5_SPI1          ((uint8_t)0x05)  /* SPI1 Alternate Function mapping        */
+#define GPIO_AF5_SPI2          ((uint8_t)0x05)  /* SPI2/I2S2 Alternate Function mapping   */
+/** 
+  * @brief   AF 6 selection  
+  */ 
+#define GPIO_AF6_SPI3          ((uint8_t)0x06)  /* SPI3/I2S3 Alternate Function mapping  */
+
+/** 
+  * @brief   AF 7 selection  
+  */ 
+#define GPIO_AF7_USART1        ((uint8_t)0x07)  /* USART1 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     */
+
+/** 
+  * @brief   AF 8 selection  
+  */ 
+#define GPIO_AF8_UART4         ((uint8_t)0x08)  /* UART4 Alternate Function mapping  */
+#define GPIO_AF8_UART5         ((uint8_t)0x08)  /* UART5 Alternate Function mapping  */
+#define GPIO_AF8_USART6        ((uint8_t)0x08)  /* USART6 Alternate Function mapping */
+
+/** 
+  * @brief   AF 9 selection 
+  */ 
+#define GPIO_AF9_CAN1          ((uint8_t)0x09)  /* CAN1 Alternate Function mapping  */
+#define GPIO_AF9_CAN2          ((uint8_t)0x09)  /* CAN2 Alternate Function mapping  */
+#define GPIO_AF9_TIM12         ((uint8_t)0x09)  /* TIM12 Alternate Function mapping */
+#define GPIO_AF9_TIM13         ((uint8_t)0x09)  /* TIM13 Alternate Function mapping */
+#define GPIO_AF9_TIM14         ((uint8_t)0x09)  /* TIM14 Alternate Function mapping */
+
+/** 
+  * @brief   AF 10 selection  
+  */ 
+#define GPIO_AF10_OTG_FS        ((uint8_t)0xA)  /* OTG_FS Alternate Function mapping */
+#define GPIO_AF10_OTG_HS        ((uint8_t)0xA)  /* OTG_HS Alternate Function mapping */
+
+/** 
+  * @brief   AF 11 selection  
+  */ 
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define GPIO_AF11_ETH             ((uint8_t)0x0B)  /* ETHERNET Alternate Function mapping */
+#endif /* STM32F207xx || STM32F217xx */
+
+/** 
+  * @brief   AF 12 selection  
+  */ 
+#define GPIO_AF12_FSMC          ((uint8_t)0xC)  /* FSMC Alternate Function mapping                     */
+#define GPIO_AF12_OTG_HS_FS     ((uint8_t)0xC)  /* OTG HS configured in FS, Alternate Function mapping */
+#define GPIO_AF12_SDIO          ((uint8_t)0xC)  /* SDIO Alternate Function mapping                     */
+
+/** 
+  * @brief   AF 13 selection  
+  */ 
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define GPIO_AF13_DCMI          ((uint8_t)0x0D)  /* DCMI Alternate Function mapping */
+#endif /* STM32F207xx || STM32F217xx */
+
+/** 
+  * @brief   AF 15 selection  
+  */ 
+#define GPIO_AF15_EVENTOUT      ((uint8_t)0x0F)  /* EVENTOUT Alternate Function mapping */
+
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF9_TIM14)      || \
+                          ((AF) == GPIO_AF0_MCO)        || ((AF) == GPIO_AF0_TAMPER)     || \
+                          ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
+                          ((AF) == GPIO_AF1_TIM1)       || ((AF) == GPIO_AF1_TIM2)       || \
+                          ((AF) == GPIO_AF2_TIM3)       || ((AF) == GPIO_AF2_TIM4)       || \
+                          ((AF) == GPIO_AF2_TIM5)       || ((AF) == GPIO_AF3_TIM8)       || \
+                          ((AF) == GPIO_AF4_I2C1)       || ((AF) == GPIO_AF4_I2C2)       || \
+                          ((AF) == GPIO_AF4_I2C3)       || ((AF) == GPIO_AF5_SPI1)       || \
+                          ((AF) == GPIO_AF5_SPI2)       || ((AF) == GPIO_AF9_TIM13)      || \
+                          ((AF) == GPIO_AF6_SPI3)       || ((AF) == GPIO_AF9_TIM12)      || \
+                          ((AF) == GPIO_AF7_USART1)     || ((AF) == GPIO_AF7_USART2)     || \
+                          ((AF) == GPIO_AF7_USART3)     || ((AF) == GPIO_AF8_UART4)      || \
+                          ((AF) == GPIO_AF8_UART5)      || ((AF) == GPIO_AF8_USART6)     || \
+                          ((AF) == GPIO_AF9_CAN1)       || ((AF) == GPIO_AF9_CAN2)       || \
+                          ((AF) == GPIO_AF10_OTG_FS)    || ((AF) == GPIO_AF10_OTG_HS)    || \
+                          ((AF) == GPIO_AF11_ETH)       || ((AF) == GPIO_AF12_OTG_HS_FS) || \
+                          ((AF) == GPIO_AF12_SDIO)      || ((AF) == GPIO_AF13_DCMI)      || \
+                          ((AF) == GPIO_AF12_FSMC)      || ((AF) == GPIO_AF15_EVENTOUT))
+#else /* STM32F207xx || STM32F217xx */
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF9_TIM14)      || \
+                          ((AF) == GPIO_AF0_MCO)        || ((AF) == GPIO_AF0_TAMPER)     || \
+                          ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
+                          ((AF) == GPIO_AF1_TIM1)       || ((AF) == GPIO_AF1_TIM2)       || \
+                          ((AF) == GPIO_AF2_TIM3)       || ((AF) == GPIO_AF2_TIM4)       || \
+                          ((AF) == GPIO_AF2_TIM5)       || ((AF) == GPIO_AF3_TIM8)       || \
+                          ((AF) == GPIO_AF4_I2C1)       || ((AF) == GPIO_AF4_I2C2)       || \
+                          ((AF) == GPIO_AF4_I2C3)       || ((AF) == GPIO_AF5_SPI1)       || \
+                          ((AF) == GPIO_AF5_SPI2)       || ((AF) == GPIO_AF9_TIM13)      || \
+                          ((AF) == GPIO_AF6_SPI3)       || ((AF) == GPIO_AF9_TIM12)      || \
+                          ((AF) == GPIO_AF7_USART1)     || ((AF) == GPIO_AF7_USART2)     || \
+                          ((AF) == GPIO_AF7_USART3)     || ((AF) == GPIO_AF8_UART4)      || \
+                          ((AF) == GPIO_AF8_UART5)      || ((AF) == GPIO_AF8_USART6)     || \
+                          ((AF) == GPIO_AF9_CAN1)       || ((AF) == GPIO_AF9_CAN2)       || \
+                          ((AF) == GPIO_AF10_OTG_FS)    || ((AF) == GPIO_AF10_OTG_HS)    || \
+                          ((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDIO)      || \
+                          ((AF) == GPIO_AF12_FSMC)      || ((AF) == GPIO_AF15_EVENTOUT))
+#endif /* STM32F207xx || STM32F217xx */
+                          
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/ 
+
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+  
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F2xx_HAL_GPIO_EX_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/libc.h

@@ -13,19 +13,7 @@
 #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
-
+#include "stm32f2xx_hal_gpio_ex.h"
 
 // **** shitty libc ****
 
@@ -68,15 +56,20 @@ void clock_init() {
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+
   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->APB1ENR |= RCC_APB1ENR_TIM4EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
   RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
 
   // turn on alt USB
   RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
@@ -101,7 +94,7 @@ void gpio_init() {
   // IGNITION on C13
 
   // set mode for LEDs and CAN
-  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0;
+  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0 | GPIO_MODER_MODER12_0;
   // CAN 2
   GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
   // CAN 1
@@ -125,6 +118,12 @@ void gpio_init() {
 
   GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
 
+  // setup SPI
+  GPIOA->MODER |= GPIO_MODER_MODER4_1 | GPIO_MODER_MODER5_1 |
+                  GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1;
+  GPIOA->AFR[0] |= GPIO_AF5_SPI1 << (4*4) | GPIO_AF5_SPI1 << (5*4) |
+                   GPIO_AF5_SPI1 << (6*4) | GPIO_AF5_SPI1 << (7*4);
+
   // 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);
@@ -136,9 +135,6 @@ void gpio_init() {
 
   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;
@@ -223,4 +219,13 @@ void *memcpy(void *dest, const void *src, unsigned int n) {
   return dest;
 }
 
+void set_led(int led_num, int state) {
+  if (state) {
+    // turn on
+    GPIOB->ODR &= ~(1 << (10 + led_num));
+  } else {
+    // turn off
+    GPIOB->ODR |= (1 << (10 + led_num));
+  }
+}
 

board/main.c

@@ -3,6 +3,11 @@
 //#define USE_INTERNAL_OSC
 //#define OLD_BOARD
 //#define ENABLE_CURRENT_SENSOR
+//#define ENABLE_SPI
+
+// choose serial port for debugging
+//#define USART USART2
+#define USART USART3
 
 #define USB_VID 0xbbaa
 #define USB_PID 0xddcc
@@ -22,10 +27,16 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #include "timer.h"
 #include "usb.h"
 #include "can.h"
+#include "spi.h"
 
 // debug safety check: is controls allowed?
 int controls_allowed = 0;
+int started = 0;
+int can_live = 0, pending_can_live = 0;
+
+// optional features
 int gas_interceptor_detected = 0;
+int started_signal_detected = 0;
 
 // ********************* instantiate queues *********************
 
@@ -147,6 +158,9 @@ void CAN2_TX_IRQHandler() {
 // CAN receive handlers
 void can_rx(CAN_TypeDef *CAN, int can_number) {
   while (CAN->RF0R & CAN_RF0R_FMP0) {
+    // can is live
+    pending_can_live = 1;
+
     // add to my fifo
     CAN_FIFOMailBox_TypeDef to_push;
     to_push.RIR = CAN->sFIFOMailBox[0].RIR;
@@ -256,6 +270,7 @@ int get_health_pkt(void *dat) {
     uint8_t started;
     uint8_t controls_allowed;
     uint8_t gas_interceptor_detected;
+    uint8_t started_signal_detected;
   } *health = dat;
   health->voltage = adc_get(ADCCHAN_VOLTAGE);
 #ifdef ENABLE_CURRENT_SENSOR
@@ -263,9 +278,12 @@ int get_health_pkt(void *dat) {
 #else
   health->current = 0;
 #endif
-  health->started = (GPIOC->IDR & (1 << 13)) != 0;
+  health->started = started;
+
   health->controls_allowed = controls_allowed;
+
   health->gas_interceptor_detected = gas_interceptor_detected;
+  health->started_signal_detected = started_signal_detected;
   return sizeof(*health);
 }
 
@@ -382,6 +400,48 @@ void ADC_IRQHandler(void) {
   puts("ADC_IRQ\n");
 }
 
+#ifdef ENABLE_SPI
+
+#define SPI_BUF_SIZE 128
+uint8_t spi_buf[SPI_BUF_SIZE];
+int spi_buf_count = 0;
+uint8_t spi_tx_buf[0x10];
+
+void DMA2_Stream3_IRQHandler(void) {
+  #ifdef DEBUG
+    puts("DMA2\n");
+  #endif
+  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
+
+  pop(&can_rx_q, spi_tx_buf);
+  spi_tx_dma(spi_tx_buf, 0x10);
+}
+
+void SPI1_IRQHandler(void) {
+  // status is 0x43
+  if (SPI1->SR & SPI_SR_RXNE) {
+    uint8_t dat = SPI1->DR;
+    /*spi_buf[spi_buf_count] = dat;
+    if (spi_buf_count < SPI_BUF_SIZE-1) {
+      spi_buf_count += 1;
+    }*/
+  }
+
+  if (SPI1->SR & SPI_SR_TXE) {
+    // all i send is U U U no matter what
+    //SPI1->DR = 'U';
+  }
+
+  int stat = SPI1->SR;
+  if (stat & ((~SPI_SR_RXNE) & (~SPI_SR_TXE) & (~SPI_SR_BSY))) {
+    puts("SPI status: ");
+    puth(stat);
+    puts("\n");
+  }
+}
+
+#endif
+
 // ***************************** main code *****************************
 
 void __initialize_hardware_early() {
@@ -416,11 +476,6 @@ 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();
@@ -428,6 +483,14 @@ int main() {
   can_init(CAN2);
   adc_init();
 
+#ifdef ENABLE_SPI
+  spi_init();
+
+  // set up DMA
+  memset(spi_tx_buf, 0, 0x10);
+  spi_tx_dma(spi_tx_buf, 0x10);
+#endif
+
   // timer for fan PWM
   #ifdef OLD_BOARD
     TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
@@ -463,11 +526,22 @@ int main() {
   NVIC_EnableIRQ(CAN2_TX_IRQn);
   NVIC_EnableIRQ(CAN2_RX0_IRQn);
   NVIC_EnableIRQ(CAN2_SCE_IRQn);
+
+#ifdef ENABLE_SPI
+  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+  NVIC_EnableIRQ(SPI1_IRQn);
+#endif
   __enable_irq();
 
 
   // LED should keep on blinking all the time
-  while (1) {
+  int cnt;
+  for (cnt=0;;cnt++) {
+    can_live = pending_can_live;
+
+    // reset this every 16th pass
+    if ((cnt&0xF) == 0) pending_can_live = 0;
+
     #ifdef DEBUG
       puts("** blink ");
       puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
@@ -489,14 +563,28 @@ int main() {
     GPIOB->ODR &= ~(1 << 10);
     delay(1000000);
 
-    if (GPIOC->IDR & (1 << 13)) {
+    #ifdef ENABLE_SPI
+      if (spi_buf_count > 0) {
+        hexdump(spi_buf, spi_buf_count);
+        spi_buf_count = 0;
+      }
+    #endif
+
+    // started logic
+    int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
+    if (started_signal) { started_signal_detected = 1; }
+
+    if (started_signal || (!started_signal_detected && can_live)) {
+      started = 1;
+
       // turn on fan at half speed
       set_fan_speed(32768);
     } else {
+      started = 0;
+
       // turn off fan
       set_fan_speed(0);
     }
-
   }
 
   return 0;

board/spi.h

@@ -0,0 +1,23 @@
+void spi_init() {
+  puts("SPI init\n");
+  SPI1->CR1 = SPI_CR1_SPE;
+  SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
+}
+
+void spi_tx_dma(void *addr, int len) {
+  // disable DMA
+  SPI1->CR2 &= ~SPI_CR2_TXDMAEN;
+  DMA2_Stream3->CR &= ~DMA_SxCR_EN;
+
+  // DMA2, stream 3, channel 3
+  DMA2_Stream3->M0AR = addr;
+  DMA2_Stream3->NDTR = len;
+  DMA2_Stream3->PAR = &(SPI1->DR);
+
+  // channel3, increment memory, memory -> periph, enable
+  DMA2_Stream3->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN;
+  DMA2_Stream3->CR |= DMA_SxCR_TCIE;
+
+  SPI1->CR2 |= SPI_CR2_TXDMAEN;
+}
+

cereal/gen/c/car.capnp.c

@@ -0,0 +1,337 @@
+#include "car.capnp.h"
+/* AUTO GENERATED - DO NOT EDIT */
+
+cereal_CarState_ptr cereal_new_CarState(struct capn_segment *s) {
+	cereal_CarState_ptr p;
+	p.p = capn_new_struct(s, 24, 5);
+	return p;
+}
+cereal_CarState_list cereal_new_CarState_list(struct capn_segment *s, int len) {
+	cereal_CarState_list p;
+	p.p = capn_new_list(s, len, 24, 5);
+	return p;
+}
+void cereal_read_CarState(struct cereal_CarState *s, cereal_CarState_ptr p) {
+	capn_resolve(&p.p);
+	s->errors.p = capn_getp(p.p, 0, 0);
+	s->vEgo = capn_to_f32(capn_read32(p.p, 0));
+	s->wheelSpeeds.p = capn_getp(p.p, 1, 0);
+	s->gas = capn_to_f32(capn_read32(p.p, 4));
+	s->gasPressed = (capn_read8(p.p, 8) & 1) != 0;
+	s->brake = capn_to_f32(capn_read32(p.p, 12));
+	s->brakePressed = (capn_read8(p.p, 8) & 2) != 0;
+	s->steeringAngle = capn_to_f32(capn_read32(p.p, 16));
+	s->steeringTorque = capn_to_f32(capn_read32(p.p, 20));
+	s->steeringPressed = (capn_read8(p.p, 8) & 4) != 0;
+	s->cruiseState.p = capn_getp(p.p, 2, 0);
+	s->buttonEvents.p = capn_getp(p.p, 3, 0);
+	s->canMonoTimes.p = capn_getp(p.p, 4, 0);
+}
+void cereal_write_CarState(const struct cereal_CarState *s, cereal_CarState_ptr p) {
+	capn_resolve(&p.p);
+	capn_setp(p.p, 0, s->errors.p);
+	capn_write32(p.p, 0, capn_from_f32(s->vEgo));
+	capn_setp(p.p, 1, s->wheelSpeeds.p);
+	capn_write32(p.p, 4, capn_from_f32(s->gas));
+	capn_write1(p.p, 64, s->gasPressed != 0);
+	capn_write32(p.p, 12, capn_from_f32(s->brake));
+	capn_write1(p.p, 65, s->brakePressed != 0);
+	capn_write32(p.p, 16, capn_from_f32(s->steeringAngle));
+	capn_write32(p.p, 20, capn_from_f32(s->steeringTorque));
+	capn_write1(p.p, 66, s->steeringPressed != 0);
+	capn_setp(p.p, 2, s->cruiseState.p);
+	capn_setp(p.p, 3, s->buttonEvents.p);
+	capn_setp(p.p, 4, s->canMonoTimes.p);
+}
+void cereal_get_CarState(struct cereal_CarState *s, cereal_CarState_list l, int i) {
+	cereal_CarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState(s, p);
+}
+void cereal_set_CarState(const struct cereal_CarState *s, cereal_CarState_list l, int i) {
+	cereal_CarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState(s, p);
+}
+
+cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment *s) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment *s, int len) {
+	cereal_CarState_WheelSpeeds_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
+	capn_resolve(&p.p);
+	s->fl = capn_to_f32(capn_read32(p.p, 0));
+	s->fr = capn_to_f32(capn_read32(p.p, 4));
+	s->rl = capn_to_f32(capn_read32(p.p, 8));
+	s->rr = capn_to_f32(capn_read32(p.p, 12));
+}
+void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
+	capn_resolve(&p.p);
+	capn_write32(p.p, 0, capn_from_f32(s->fl));
+	capn_write32(p.p, 4, capn_from_f32(s->fr));
+	capn_write32(p.p, 8, capn_from_f32(s->rl));
+	capn_write32(p.p, 12, capn_from_f32(s->rr));
+}
+void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_WheelSpeeds(s, p);
+}
+void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_WheelSpeeds(s, p);
+}
+
+cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment *s) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_new_struct(s, 8, 0);
+	return p;
+}
+cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment *s, int len) {
+	cereal_CarState_CruiseState_list p;
+	p.p = capn_new_list(s, len, 8, 0);
+	return p;
+}
+void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
+	capn_resolve(&p.p);
+	s->enabled = (capn_read8(p.p, 0) & 1) != 0;
+	s->speed = capn_to_f32(capn_read32(p.p, 4));
+}
+void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->enabled != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->speed));
+}
+void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_CruiseState(s, p);
+}
+void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_CruiseState(s, p);
+}
+
+cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment *s) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_new_struct(s, 8, 0);
+	return p;
+}
+cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment *s, int len) {
+	cereal_CarState_ButtonEvent_list p;
+	p.p = capn_new_list(s, len, 8, 0);
+	return p;
+}
+void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
+	capn_resolve(&p.p);
+	s->pressed = (capn_read8(p.p, 0) & 1) != 0;
+	s->type = (enum cereal_CarState_ButtonEvent_Type)(int) capn_read16(p.p, 2);
+}
+void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->pressed != 0);
+	capn_write16(p.p, 2, (uint16_t) (s->type));
+}
+void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_ButtonEvent(s, p);
+}
+void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_ButtonEvent(s, p);
+}
+
+cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment *s) {
+	cereal_RadarState_ptr p;
+	p.p = capn_new_struct(s, 0, 3);
+	return p;
+}
+cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment *s, int len) {
+	cereal_RadarState_list p;
+	p.p = capn_new_list(s, len, 0, 3);
+	return p;
+}
+void cereal_read_RadarState(struct cereal_RadarState *s, cereal_RadarState_ptr p) {
+	capn_resolve(&p.p);
+	s->errors.p = capn_getp(p.p, 0, 0);
+	s->points.p = capn_getp(p.p, 1, 0);
+	s->canMonoTimes.p = capn_getp(p.p, 2, 0);
+}
+void cereal_write_RadarState(const struct cereal_RadarState *s, cereal_RadarState_ptr p) {
+	capn_resolve(&p.p);
+	capn_setp(p.p, 0, s->errors.p);
+	capn_setp(p.p, 1, s->points.p);
+	capn_setp(p.p, 2, s->canMonoTimes.p);
+}
+void cereal_get_RadarState(struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
+	cereal_RadarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_RadarState(s, p);
+}
+void cereal_set_RadarState(const struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
+	cereal_RadarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_RadarState(s, p);
+}
+
+cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment *s) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_new_struct(s, 32, 0);
+	return p;
+}
+cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment *s, int len) {
+	cereal_RadarState_RadarPoint_list p;
+	p.p = capn_new_list(s, len, 32, 0);
+	return p;
+}
+void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
+	capn_resolve(&p.p);
+	s->trackId = capn_read64(p.p, 0);
+	s->dRel = capn_to_f32(capn_read32(p.p, 8));
+	s->yRel = capn_to_f32(capn_read32(p.p, 12));
+	s->vRel = capn_to_f32(capn_read32(p.p, 16));
+	s->aRel = capn_to_f32(capn_read32(p.p, 20));
+	s->yvRel = capn_to_f32(capn_read32(p.p, 24));
+}
+void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
+	capn_resolve(&p.p);
+	capn_write64(p.p, 0, s->trackId);
+	capn_write32(p.p, 8, capn_from_f32(s->dRel));
+	capn_write32(p.p, 12, capn_from_f32(s->yRel));
+	capn_write32(p.p, 16, capn_from_f32(s->vRel));
+	capn_write32(p.p, 20, capn_from_f32(s->aRel));
+	capn_write32(p.p, 24, capn_from_f32(s->yvRel));
+}
+void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_RadarState_RadarPoint(s, p);
+}
+void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_RadarState_RadarPoint(s, p);
+}
+
+cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment *s) {
+	cereal_CarControl_ptr p;
+	p.p = capn_new_struct(s, 16, 2);
+	return p;
+}
+cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_list p;
+	p.p = capn_new_list(s, len, 16, 2);
+	return p;
+}
+void cereal_read_CarControl(struct cereal_CarControl *s, cereal_CarControl_ptr p) {
+	capn_resolve(&p.p);
+	s->enabled = (capn_read8(p.p, 0) & 1) != 0;
+	s->gas = capn_to_f32(capn_read32(p.p, 4));
+	s->brake = capn_to_f32(capn_read32(p.p, 8));
+	s->steeringTorque = capn_to_f32(capn_read32(p.p, 12));
+	s->cruiseControl.p = capn_getp(p.p, 0, 0);
+	s->hudControl.p = capn_getp(p.p, 1, 0);
+}
+void cereal_write_CarControl(const struct cereal_CarControl *s, cereal_CarControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->enabled != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->gas));
+	capn_write32(p.p, 8, capn_from_f32(s->brake));
+	capn_write32(p.p, 12, capn_from_f32(s->steeringTorque));
+	capn_setp(p.p, 0, s->cruiseControl.p);
+	capn_setp(p.p, 1, s->hudControl.p);
+}
+void cereal_get_CarControl(struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
+	cereal_CarControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl(s, p);
+}
+void cereal_set_CarControl(const struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
+	cereal_CarControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl(s, p);
+}
+
+cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment *s) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_CruiseControl_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
+	capn_resolve(&p.p);
+	s->cancel = (capn_read8(p.p, 0) & 1) != 0;
+	s->override = (capn_read8(p.p, 0) & 2) != 0;
+	s->speedOverride = capn_to_f32(capn_read32(p.p, 4));
+	s->accelOverride = capn_to_f32(capn_read32(p.p, 8));
+}
+void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->cancel != 0);
+	capn_write1(p.p, 1, s->override != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->speedOverride));
+	capn_write32(p.p, 8, capn_from_f32(s->accelOverride));
+}
+void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl_CruiseControl(s, p);
+}
+void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl_CruiseControl(s, p);
+}
+
+cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment *s) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_HUDControl_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
+	capn_resolve(&p.p);
+	s->speedVisible = (capn_read8(p.p, 0) & 1) != 0;
+	s->setSpeed = capn_to_f32(capn_read32(p.p, 4));
+	s->lanesVisible = (capn_read8(p.p, 0) & 2) != 0;
+	s->leadVisible = (capn_read8(p.p, 0) & 4) != 0;
+	s->visualAlert = (enum cereal_CarControl_HUDControl_VisualAlert)(int) capn_read16(p.p, 2);
+	s->audibleAlert = (enum cereal_CarControl_HUDControl_AudibleAlert)(int) capn_read16(p.p, 8);
+}
+void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->speedVisible != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->setSpeed));
+	capn_write1(p.p, 1, s->lanesVisible != 0);
+	capn_write1(p.p, 2, s->leadVisible != 0);
+	capn_write16(p.p, 2, (uint16_t) (s->visualAlert));
+	capn_write16(p.p, 8, (uint16_t) (s->audibleAlert));
+}
+void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl_HUDControl(s, p);
+}
+void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl_HUDControl(s, p);
+}

cereal/gen/c/car.capnp.h

@@ -0,0 +1,287 @@
+#ifndef CAPN_8E2AF1E78AF8B8D
+#define CAPN_8E2AF1E78AF8B8D
+/* 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_CarState;
+struct cereal_CarState_WheelSpeeds;
+struct cereal_CarState_CruiseState;
+struct cereal_CarState_ButtonEvent;
+struct cereal_RadarState;
+struct cereal_RadarState_RadarPoint;
+struct cereal_CarControl;
+struct cereal_CarControl_CruiseControl;
+struct cereal_CarControl_HUDControl;
+
+typedef struct {capn_ptr p;} cereal_CarState_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_CruiseState_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_ptr;
+typedef struct {capn_ptr p;} cereal_RadarState_ptr;
+typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_ptr;
+
+typedef struct {capn_ptr p;} cereal_CarState_list;
+typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_list;
+typedef struct {capn_ptr p;} cereal_CarState_CruiseState_list;
+typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_list;
+typedef struct {capn_ptr p;} cereal_RadarState_list;
+typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_list;
+typedef struct {capn_ptr p;} cereal_CarControl_list;
+typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_list;
+typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_list;
+
+enum cereal_CarState_Error {
+	cereal_CarState_Error_commIssue = 0,
+	cereal_CarState_Error_steerUnavailable = 1,
+	cereal_CarState_Error_brakeUnavailable = 2,
+	cereal_CarState_Error_gasUnavailable = 3,
+	cereal_CarState_Error_wrongGear = 4,
+	cereal_CarState_Error_doorOpen = 5,
+	cereal_CarState_Error_seatbeltNotLatched = 6,
+	cereal_CarState_Error_espDisabled = 7,
+	cereal_CarState_Error_wrongCarMode = 8,
+	cereal_CarState_Error_steerTemporarilyUnavailable = 9,
+	cereal_CarState_Error_reverseGear = 10
+};
+
+enum cereal_CarState_ButtonEvent_Type {
+	cereal_CarState_ButtonEvent_Type_unknown = 0,
+	cereal_CarState_ButtonEvent_Type_leftBlinker = 1,
+	cereal_CarState_ButtonEvent_Type_rightBlinker = 2,
+	cereal_CarState_ButtonEvent_Type_accelCruise = 3,
+	cereal_CarState_ButtonEvent_Type_decelCruise = 4,
+	cereal_CarState_ButtonEvent_Type_cancel = 5,
+	cereal_CarState_ButtonEvent_Type_altButton1 = 6,
+	cereal_CarState_ButtonEvent_Type_altButton2 = 7,
+	cereal_CarState_ButtonEvent_Type_altButton3 = 8
+};
+
+enum cereal_RadarState_Error {
+	cereal_RadarState_Error_notValid = 0
+};
+
+enum cereal_CarControl_HUDControl_VisualAlert {
+	cereal_CarControl_HUDControl_VisualAlert_none = 0,
+	cereal_CarControl_HUDControl_VisualAlert_fcw = 1,
+	cereal_CarControl_HUDControl_VisualAlert_steerRequired = 2,
+	cereal_CarControl_HUDControl_VisualAlert_brakePressed = 3,
+	cereal_CarControl_HUDControl_VisualAlert_wrongGear = 4,
+	cereal_CarControl_HUDControl_VisualAlert_seatbeltUnbuckled = 5,
+	cereal_CarControl_HUDControl_VisualAlert_speedTooHigh = 6
+};
+
+enum cereal_CarControl_HUDControl_AudibleAlert {
+	cereal_CarControl_HUDControl_AudibleAlert_none = 0,
+	cereal_CarControl_HUDControl_AudibleAlert_beepSingle = 1,
+	cereal_CarControl_HUDControl_AudibleAlert_beepTriple = 2,
+	cereal_CarControl_HUDControl_AudibleAlert_beepRepeated = 3,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeSingle = 4,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeDouble = 5,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeRepeated = 6,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeContinuous = 7
+};
+
+struct cereal_CarState {
+	capn_list16 errors;
+	float vEgo;
+	cereal_CarState_WheelSpeeds_ptr wheelSpeeds;
+	float gas;
+	unsigned gasPressed : 1;
+	float brake;
+	unsigned brakePressed : 1;
+	float steeringAngle;
+	float steeringTorque;
+	unsigned steeringPressed : 1;
+	cereal_CarState_CruiseState_ptr cruiseState;
+	cereal_CarState_ButtonEvent_list buttonEvents;
+	capn_list64 canMonoTimes;
+};
+
+static const size_t cereal_CarState_word_count = 3;
+
+static const size_t cereal_CarState_pointer_count = 5;
+
+static const size_t cereal_CarState_struct_bytes_count = 64;
+
+struct cereal_CarState_WheelSpeeds {
+	float fl;
+	float fr;
+	float rl;
+	float rr;
+};
+
+static const size_t cereal_CarState_WheelSpeeds_word_count = 2;
+
+static const size_t cereal_CarState_WheelSpeeds_pointer_count = 0;
+
+static const size_t cereal_CarState_WheelSpeeds_struct_bytes_count = 16;
+
+struct cereal_CarState_CruiseState {
+	unsigned enabled : 1;
+	float speed;
+};
+
+static const size_t cereal_CarState_CruiseState_word_count = 1;
+
+static const size_t cereal_CarState_CruiseState_pointer_count = 0;
+
+static const size_t cereal_CarState_CruiseState_struct_bytes_count = 8;
+
+struct cereal_CarState_ButtonEvent {
+	unsigned pressed : 1;
+	enum cereal_CarState_ButtonEvent_Type type;
+};
+
+static const size_t cereal_CarState_ButtonEvent_word_count = 1;
+
+static const size_t cereal_CarState_ButtonEvent_pointer_count = 0;
+
+static const size_t cereal_CarState_ButtonEvent_struct_bytes_count = 8;
+
+struct cereal_RadarState {
+	capn_list16 errors;
+	cereal_RadarState_RadarPoint_list points;
+	capn_list64 canMonoTimes;
+};
+
+static const size_t cereal_RadarState_word_count = 0;
+
+static const size_t cereal_RadarState_pointer_count = 3;
+
+static const size_t cereal_RadarState_struct_bytes_count = 24;
+
+struct cereal_RadarState_RadarPoint {
+	uint64_t trackId;
+	float dRel;
+	float yRel;
+	float vRel;
+	float aRel;
+	float yvRel;
+};
+
+static const size_t cereal_RadarState_RadarPoint_word_count = 4;
+
+static const size_t cereal_RadarState_RadarPoint_pointer_count = 0;
+
+static const size_t cereal_RadarState_RadarPoint_struct_bytes_count = 32;
+
+struct cereal_CarControl {
+	unsigned enabled : 1;
+	float gas;
+	float brake;
+	float steeringTorque;
+	cereal_CarControl_CruiseControl_ptr cruiseControl;
+	cereal_CarControl_HUDControl_ptr hudControl;
+};
+
+static const size_t cereal_CarControl_word_count = 2;
+
+static const size_t cereal_CarControl_pointer_count = 2;
+
+static const size_t cereal_CarControl_struct_bytes_count = 32;
+
+struct cereal_CarControl_CruiseControl {
+	unsigned cancel : 1;
+	unsigned override : 1;
+	float speedOverride;
+	float accelOverride;
+};
+
+static const size_t cereal_CarControl_CruiseControl_word_count = 2;
+
+static const size_t cereal_CarControl_CruiseControl_pointer_count = 0;
+
+static const size_t cereal_CarControl_CruiseControl_struct_bytes_count = 16;
+
+struct cereal_CarControl_HUDControl {
+	unsigned speedVisible : 1;
+	float setSpeed;
+	unsigned lanesVisible : 1;
+	unsigned leadVisible : 1;
+	enum cereal_CarControl_HUDControl_VisualAlert visualAlert;
+	enum cereal_CarControl_HUDControl_AudibleAlert audibleAlert;
+};
+
+static const size_t cereal_CarControl_HUDControl_word_count = 2;
+
+static const size_t cereal_CarControl_HUDControl_pointer_count = 0;
+
+static const size_t cereal_CarControl_HUDControl_struct_bytes_count = 16;
+
+cereal_CarState_ptr cereal_new_CarState(struct capn_segment*);
+cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment*);
+cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment*);
+cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment*);
+cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment*);
+cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment*);
+cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment*);
+cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment*);
+cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment*);
+
+cereal_CarState_list cereal_new_CarState_list(struct capn_segment*, int len);
+cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment*, int len);
+cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment*, int len);
+cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment*, int len);
+cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment*, int len);
+cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment*, int len);
+cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment*, int len);
+cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment*, int len);
+cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment*, int len);
+
+void cereal_read_CarState(struct cereal_CarState*, cereal_CarState_ptr);
+void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
+void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
+void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
+void cereal_read_RadarState(struct cereal_RadarState*, cereal_RadarState_ptr);
+void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
+void cereal_read_CarControl(struct cereal_CarControl*, cereal_CarControl_ptr);
+void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
+void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
+
+void cereal_write_CarState(const struct cereal_CarState*, cereal_CarState_ptr);
+void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
+void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
+void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
+void cereal_write_RadarState(const struct cereal_RadarState*, cereal_RadarState_ptr);
+void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
+void cereal_write_CarControl(const struct cereal_CarControl*, cereal_CarControl_ptr);
+void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
+void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
+
+void cereal_get_CarState(struct cereal_CarState*, cereal_CarState_list, int i);
+void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
+void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
+void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
+void cereal_get_RadarState(struct cereal_RadarState*, cereal_RadarState_list, int i);
+void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
+void cereal_get_CarControl(struct cereal_CarControl*, cereal_CarControl_list, int i);
+void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
+void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
+
+void cereal_set_CarState(const struct cereal_CarState*, cereal_CarState_list, int i);
+void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
+void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
+void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
+void cereal_set_RadarState(const struct cereal_RadarState*, cereal_RadarState_list, int i);
+void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
+void cereal_set_CarControl(const struct cereal_CarControl*, cereal_CarControl_list, int i);
+void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
+void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

cereal/gen/c/log.capnp.c

@@ -137,6 +137,7 @@ void cereal_read_SensorEventData(struct cereal_SensorEventData *s, cereal_Sensor
 	default:
 		break;
 	}
+	s->source = (enum cereal_SensorEventData_SensorSource)(int) capn_read16(p.p, 14);
 }
 void cereal_write_SensorEventData(const struct cereal_SensorEventData *s, cereal_SensorEventData_ptr p) {
 	capn_resolve(&p.p);
@@ -155,6 +156,7 @@ void cereal_write_SensorEventData(const struct cereal_SensorEventData *s, cereal
 	default:
 		break;
 	}
+	capn_write16(p.p, 14, (uint16_t) (s->source));
 }
 void cereal_get_SensorEventData(struct cereal_SensorEventData *s, cereal_SensorEventData_list l, int i) {
 	cereal_SensorEventData_ptr p;
@@ -198,6 +200,49 @@ void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_Se
 	cereal_write_SensorEventData_SensorVec(s, p);
 }
 
+cereal_GpsLocationData_ptr cereal_new_GpsLocationData(struct capn_segment *s) {
+	cereal_GpsLocationData_ptr p;
+	p.p = capn_new_struct(s, 48, 0);
+	return p;
+}
+cereal_GpsLocationData_list cereal_new_GpsLocationData_list(struct capn_segment *s, int len) {
+	cereal_GpsLocationData_list p;
+	p.p = capn_new_list(s, len, 48, 0);
+	return p;
+}
+void cereal_read_GpsLocationData(struct cereal_GpsLocationData *s, cereal_GpsLocationData_ptr p) {
+	capn_resolve(&p.p);
+	s->flags = capn_read16(p.p, 0);
+	s->latitude = capn_to_f64(capn_read64(p.p, 8));
+	s->longitude = capn_to_f64(capn_read64(p.p, 16));
+	s->altitude = capn_to_f64(capn_read64(p.p, 24));
+	s->speed = capn_to_f32(capn_read32(p.p, 4));
+	s->bearing = capn_to_f32(capn_read32(p.p, 32));
+	s->accuracy = capn_to_f32(capn_read32(p.p, 36));
+	s->timestamp = (int64_t) ((int64_t)(capn_read64(p.p, 40)));
+}
+void cereal_write_GpsLocationData(const struct cereal_GpsLocationData *s, cereal_GpsLocationData_ptr p) {
+	capn_resolve(&p.p);
+	capn_write16(p.p, 0, s->flags);
+	capn_write64(p.p, 8, capn_from_f64(s->latitude));
+	capn_write64(p.p, 16, capn_from_f64(s->longitude));
+	capn_write64(p.p, 24, capn_from_f64(s->altitude));
+	capn_write32(p.p, 4, capn_from_f32(s->speed));
+	capn_write32(p.p, 32, capn_from_f32(s->bearing));
+	capn_write32(p.p, 36, capn_from_f32(s->accuracy));
+	capn_write64(p.p, 40, (uint64_t) (s->timestamp));
+}
+void cereal_get_GpsLocationData(struct cereal_GpsLocationData *s, cereal_GpsLocationData_list l, int i) {
+	cereal_GpsLocationData_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_GpsLocationData(s, p);
+}
+void cereal_set_GpsLocationData(const struct cereal_GpsLocationData *s, cereal_GpsLocationData_list l, int i) {
+	cereal_GpsLocationData_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_GpsLocationData(s, p);
+}
+
 cereal_CanData_ptr cereal_new_CanData(struct capn_segment *s) {
 	cereal_CanData_ptr p;
 	p.p = capn_new_struct(s, 8, 1);
@@ -235,12 +280,12 @@ void cereal_set_CanData(const struct cereal_CanData *s, cereal_CanData_list l, i
 
 cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment *s) {
 	cereal_ThermalData_ptr p;
-	p.p = capn_new_struct(s, 16, 0);
+	p.p = capn_new_struct(s, 24, 1);
 	return p;
 }
 cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment *s, int len) {
 	cereal_ThermalData_list p;
-	p.p = capn_new_list(s, len, 16, 0);
+	p.p = capn_new_list(s, len, 24, 1);
 	return p;
 }
 void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
@@ -252,6 +297,9 @@ void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_pt
 	s->mem = capn_read16(p.p, 8);
 	s->gpu = capn_read16(p.p, 10);
 	s->bat = capn_read32(p.p, 12);
+	s->freeSpace = capn_to_f32(capn_read32(p.p, 16));
+	s->batteryPercent = (int16_t) ((int16_t)capn_read16(p.p, 20));
+	s->batteryStatus = capn_get_text(p.p, 0, capn_val0);
 }
 void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
 	capn_resolve(&p.p);
@@ -262,6 +310,9 @@ void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_Thermal
 	capn_write16(p.p, 8, s->mem);
 	capn_write16(p.p, 10, s->gpu);
 	capn_write32(p.p, 12, s->bat);
+	capn_write32(p.p, 16, capn_from_f32(s->freeSpace));
+	capn_write16(p.p, 20, (uint16_t) (s->batteryPercent));
+	capn_set_text(p.p, 0, s->batteryStatus);
 }
 void cereal_get_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_list l, int i) {
 	cereal_ThermalData_ptr p;
@@ -291,6 +342,7 @@ void cereal_read_HealthData(struct cereal_HealthData *s, cereal_HealthData_ptr p
 	s->started = (capn_read8(p.p, 8) & 1) != 0;
 	s->controlsAllowed = (capn_read8(p.p, 8) & 2) != 0;
 	s->gasInterceptorDetected = (capn_read8(p.p, 8) & 4) != 0;
+	s->startedSignalDetected = (capn_read8(p.p, 8) & 8) != 0;
 }
 void cereal_write_HealthData(const struct cereal_HealthData *s, cereal_HealthData_ptr p) {
 	capn_resolve(&p.p);
@@ -299,6 +351,7 @@ void cereal_write_HealthData(const struct cereal_HealthData *s, cereal_HealthDat
 	capn_write1(p.p, 64, s->started != 0);
 	capn_write1(p.p, 65, s->controlsAllowed != 0);
 	capn_write1(p.p, 66, s->gasInterceptorDetected != 0);
+	capn_write1(p.p, 67, s->startedSignalDetected != 0);
 }
 void cereal_get_HealthData(struct cereal_HealthData *s, cereal_HealthData_list l, int i) {
 	cereal_HealthData_ptr p;
@@ -361,11 +414,11 @@ void cereal_read_Live20Data(struct cereal_Live20Data *s, cereal_Live20Data_ptr p
 	s->canMonoTimes.p = capn_getp(p.p, 3, 0);
 	s->mdMonoTime = capn_read64(p.p, 16);
 	s->ftMonoTime = capn_read64(p.p, 24);
-	s->warpMatrix.p = capn_getp(p.p, 0, 0);
-	s->angleOffset = capn_to_f32(capn_read32(p.p, 0));
-	s->calStatus = (int8_t) ((int8_t)capn_read8(p.p, 4));
-	s->calCycle = (int32_t) ((int32_t)capn_read32(p.p, 12));
-	s->calPerc = (int8_t) ((int8_t)capn_read8(p.p, 5));
+	s->warpMatrixDEPRECATED.p = capn_getp(p.p, 0, 0);
+	s->angleOffsetDEPRECATED = capn_to_f32(capn_read32(p.p, 0));
+	s->calStatusDEPRECATED = (int8_t) ((int8_t)capn_read8(p.p, 4));
+	s->calCycleDEPRECATED = (int32_t) ((int32_t)capn_read32(p.p, 12));
+	s->calPercDEPRECATED = (int8_t) ((int8_t)capn_read8(p.p, 5));
 	s->leadOne.p = capn_getp(p.p, 1, 0);
 	s->leadTwo.p = capn_getp(p.p, 2, 0);
 	s->cumLagMs = capn_to_f32(capn_read32(p.p, 8));
@@ -375,11 +428,11 @@ void cereal_write_Live20Data(const struct cereal_Live20Data *s, cereal_Live20Dat
 	capn_setp(p.p, 3, s->canMonoTimes.p);
 	capn_write64(p.p, 16, s->mdMonoTime);
 	capn_write64(p.p, 24, s->ftMonoTime);
-	capn_setp(p.p, 0, s->warpMatrix.p);
-	capn_write32(p.p, 0, capn_from_f32(s->angleOffset));
-	capn_write8(p.p, 4, (uint8_t) (s->calStatus));
-	capn_write32(p.p, 12, (uint32_t) (s->calCycle));
-	capn_write8(p.p, 5, (uint8_t) (s->calPerc));
+	capn_setp(p.p, 0, s->warpMatrixDEPRECATED.p);
+	capn_write32(p.p, 0, capn_from_f32(s->angleOffsetDEPRECATED));
+	capn_write8(p.p, 4, (uint8_t) (s->calStatusDEPRECATED));
+	capn_write32(p.p, 12, (uint32_t) (s->calCycleDEPRECATED));
+	capn_write8(p.p, 5, (uint8_t) (s->calPercDEPRECATED));
 	capn_setp(p.p, 1, s->leadOne.p);
 	capn_setp(p.p, 2, s->leadTwo.p);
 	capn_write32(p.p, 8, capn_from_f32(s->cumLagMs));
@@ -545,7 +598,7 @@ void cereal_read_Live100Data(struct cereal_Live100Data *s, cereal_Live100Data_pt
 	s->l20MonoTime = capn_read64(p.p, 72);
 	s->mdMonoTime = capn_read64(p.p, 80);
 	s->vEgo = capn_to_f32(capn_read32(p.p, 0));
-	s->aEgo = capn_to_f32(capn_read32(p.p, 4));
+	s->aEgoDEPRECATED = capn_to_f32(capn_read32(p.p, 4));
 	s->vPid = capn_to_f32(capn_read32(p.p, 8));
 	s->vTargetLead = capn_to_f32(capn_read32(p.p, 12));
 	s->upAccelCmd = capn_to_f32(capn_read32(p.p, 16));
@@ -558,7 +611,7 @@ void cereal_read_Live100Data(struct cereal_Live100Data *s, cereal_Live100Data_pt
 	s->aTargetMax = capn_to_f32(capn_read32(p.p, 44));
 	s->jerkFactor = capn_to_f32(capn_read32(p.p, 48));
 	s->angleSteers = capn_to_f32(capn_read32(p.p, 52));
-	s->hudLead = (int32_t) ((int32_t)capn_read32(p.p, 56));
+	s->hudLeadDEPRECATED = (int32_t) ((int32_t)capn_read32(p.p, 56));
 	s->cumLagMs = capn_to_f32(capn_read32(p.p, 60));
 	s->enabled = (capn_read8(p.p, 88) & 1) != 0;
 	s->steerOverride = (capn_read8(p.p, 88) & 2) != 0;
@@ -575,7 +628,7 @@ void cereal_write_Live100Data(const struct cereal_Live100Data *s, cereal_Live100
 	capn_write64(p.p, 72, s->l20MonoTime);
 	capn_write64(p.p, 80, s->mdMonoTime);
 	capn_write32(p.p, 0, capn_from_f32(s->vEgo));
-	capn_write32(p.p, 4, capn_from_f32(s->aEgo));
+	capn_write32(p.p, 4, capn_from_f32(s->aEgoDEPRECATED));
 	capn_write32(p.p, 8, capn_from_f32(s->vPid));
 	capn_write32(p.p, 12, capn_from_f32(s->vTargetLead));
 	capn_write32(p.p, 16, capn_from_f32(s->upAccelCmd));
@@ -588,7 +641,7 @@ void cereal_write_Live100Data(const struct cereal_Live100Data *s, cereal_Live100
 	capn_write32(p.p, 44, capn_from_f32(s->aTargetMax));
 	capn_write32(p.p, 48, capn_from_f32(s->jerkFactor));
 	capn_write32(p.p, 52, capn_from_f32(s->angleSteers));
-	capn_write32(p.p, 56, (uint32_t) (s->hudLead));
+	capn_write32(p.p, 56, (uint32_t) (s->hudLeadDEPRECATED));
 	capn_write32(p.p, 60, capn_from_f32(s->cumLagMs));
 	capn_write1(p.p, 704, s->enabled != 0);
 	capn_write1(p.p, 705, s->steerOverride != 0);
@@ -965,7 +1018,10 @@ void cereal_read_Event(struct cereal_Event *s, cereal_Event_ptr p) {
 	case cereal_Event_sendcan:
 	case cereal_Event_liveCalibration:
 	case cereal_Event_androidLogEntry:
-		s->androidLogEntry.p = capn_getp(p.p, 0, 0);
+	case cereal_Event_gpsLocation:
+	case cereal_Event_carState:
+	case cereal_Event_carControl:
+		s->carControl.p = capn_getp(p.p, 0, 0);
 		break;
 	default:
 		break;
@@ -998,7 +1054,10 @@ void cereal_write_Event(const struct cereal_Event *s, cereal_Event_ptr p) {
 	case cereal_Event_sendcan:
 	case cereal_Event_liveCalibration:
 	case cereal_Event_androidLogEntry:
-		capn_setp(p.p, 0, s->androidLogEntry.p);
+	case cereal_Event_gpsLocation:
+	case cereal_Event_carState:
+	case cereal_Event_carControl:
+		capn_setp(p.p, 0, s->carControl.p);
 		break;
 	default:
 		break;

cereal/gen/c/log.capnp.h

@@ -8,6 +8,7 @@
 #endif
 
 #include "c++.capnp.h"
+#include "car.capnp.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -18,6 +19,7 @@ struct cereal_FrameData;
 struct cereal_GPSNMEAData;
 struct cereal_SensorEventData;
 struct cereal_SensorEventData_SensorVec;
+struct cereal_GpsLocationData;
 struct cereal_CanData;
 struct cereal_ThermalData;
 struct cereal_HealthData;
@@ -43,6 +45,7 @@ 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_GpsLocationData_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;
@@ -68,6 +71,7 @@ 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_GpsLocationData_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;
@@ -88,6 +92,13 @@ 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_SensorEventData_SensorSource {
+	cereal_SensorEventData_SensorSource_android = 0,
+	cereal_SensorEventData_SensorSource_iOS = 1,
+	cereal_SensorEventData_SensorSource_fiber = 2,
+	cereal_SensorEventData_SensorSource_velodyne = 3
+};
+
 enum cereal_EncodeIndex_Type {
 	cereal_EncodeIndex_Type_bigBoxLossless = 0,
 	cereal_EncodeIndex_Type_fullHEVC = 1,
@@ -153,6 +164,7 @@ struct cereal_SensorEventData {
 		cereal_SensorEventData_SensorVec_ptr orientation;
 		cereal_SensorEventData_SensorVec_ptr gyro;
 	};
+	enum cereal_SensorEventData_SensorSource source;
 };
 
 static const size_t cereal_SensorEventData_word_count = 3;
@@ -172,6 +184,23 @@ static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
 
 static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
 
+struct cereal_GpsLocationData {
+	uint16_t flags;
+	double latitude;
+	double longitude;
+	double altitude;
+	float speed;
+	float bearing;
+	float accuracy;
+	int64_t timestamp;
+};
+
+static const size_t cereal_GpsLocationData_word_count = 6;
+
+static const size_t cereal_GpsLocationData_pointer_count = 0;
+
+static const size_t cereal_GpsLocationData_struct_bytes_count = 48;
+
 struct cereal_CanData {
 	uint32_t address;
 	uint16_t busTime;
@@ -193,13 +222,16 @@ struct cereal_ThermalData {
 	uint16_t mem;
 	uint16_t gpu;
 	uint32_t bat;
+	float freeSpace;
+	int16_t batteryPercent;
+	capn_text batteryStatus;
 };
 
-static const size_t cereal_ThermalData_word_count = 2;
+static const size_t cereal_ThermalData_word_count = 3;
 
-static const size_t cereal_ThermalData_pointer_count = 0;
+static const size_t cereal_ThermalData_pointer_count = 1;
 
-static const size_t cereal_ThermalData_struct_bytes_count = 16;
+static const size_t cereal_ThermalData_struct_bytes_count = 32;
 
 struct cereal_HealthData {
 	uint32_t voltage;
@@ -207,6 +239,7 @@ struct cereal_HealthData {
 	unsigned started : 1;
 	unsigned controlsAllowed : 1;
 	unsigned gasInterceptorDetected : 1;
+	unsigned startedSignalDetected : 1;
 };
 
 static const size_t cereal_HealthData_word_count = 2;
@@ -232,11 +265,11 @@ 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;
+	capn_list32 warpMatrixDEPRECATED;
+	float angleOffsetDEPRECATED;
+	int8_t calStatusDEPRECATED;
+	int32_t calCycleDEPRECATED;
+	int8_t calPercDEPRECATED;
 	cereal_Live20Data_LeadData_ptr leadOne;
 	cereal_Live20Data_LeadData_ptr leadTwo;
 	float cumLagMs;
@@ -307,7 +340,7 @@ struct cereal_Live100Data {
 	uint64_t l20MonoTime;
 	uint64_t mdMonoTime;
 	float vEgo;
-	float aEgo;
+	float aEgoDEPRECATED;
 	float vPid;
 	float vTargetLead;
 	float upAccelCmd;
@@ -320,7 +353,7 @@ struct cereal_Live100Data {
 	float aTargetMax;
 	float jerkFactor;
 	float angleSteers;
-	int32_t hudLead;
+	int32_t hudLeadDEPRECATED;
 	float cumLagMs;
 	unsigned enabled : 1;
 	unsigned steerOverride : 1;
@@ -475,7 +508,10 @@ enum cereal_Event_which {
 	cereal_Event_sendcan = 16,
 	cereal_Event_logMessage = 17,
 	cereal_Event_liveCalibration = 18,
-	cereal_Event_androidLogEntry = 19
+	cereal_Event_androidLogEntry = 19,
+	cereal_Event_gpsLocation = 20,
+	cereal_Event_carState = 21,
+	cereal_Event_carControl = 22
 };
 
 struct cereal_Event {
@@ -502,6 +538,9 @@ struct cereal_Event {
 		capn_text logMessage;
 		cereal_LiveCalibrationData_ptr liveCalibration;
 		cereal_AndroidLogEntry_ptr androidLogEntry;
+		cereal_GpsLocationData_ptr gpsLocation;
+		cereal_CarState_ptr carState;
+		cereal_CarControl_ptr carControl;
 	};
 };
 
@@ -516,6 +555,7 @@ 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_GpsLocationData_ptr cereal_new_GpsLocationData(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*);
@@ -541,6 +581,7 @@ 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_GpsLocationData_list cereal_new_GpsLocationData_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);
@@ -566,6 +607,7 @@ 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_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_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);
@@ -591,6 +633,7 @@ 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_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_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);
@@ -616,6 +659,7 @@ 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_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_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);
@@ -641,6 +685,7 @@ void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list,
 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_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_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);

cereal/gen/cpp/log.capnp.h

@@ -10,6 +10,7 @@
 #error "Version mismatch between generated code and library headers.  You must use the same version of the Cap'n Proto compiler and library."
 #endif
 
+#include "car.capnp.h"
 
 namespace capnp {
 namespace schemas {
@@ -20,6 +21,15 @@ CAPNP_DECLARE_SCHEMA(ea0245f695ae0a33);
 CAPNP_DECLARE_SCHEMA(9d291d7813ba4a88);
 CAPNP_DECLARE_SCHEMA(a2b29a69d44529a1);
 CAPNP_DECLARE_SCHEMA(a43429bd2bfc24fc);
+CAPNP_DECLARE_SCHEMA(e49b3ce8f7f48d0d);
+enum class SensorSource_e49b3ce8f7f48d0d: uint16_t {
+  ANDROID,
+  I_O_S,
+  FIBER,
+  VELODYNE,
+};
+CAPNP_DECLARE_ENUM(SensorSource, e49b3ce8f7f48d0d);
+CAPNP_DECLARE_SCHEMA(e946524859add50e);
 CAPNP_DECLARE_SCHEMA(8785009a964c7c59);
 CAPNP_DECLARE_SCHEMA(8d8231a40b7fe6e0);
 CAPNP_DECLARE_SCHEMA(cfa2b0c2c82af1e4);
@@ -111,6 +121,8 @@ struct SensorEventData {
     GYRO,
   };
   struct SensorVec;
+  typedef ::capnp::schemas::SensorSource_e49b3ce8f7f48d0d SensorSource;
+
 
   struct _capnpPrivate {
     CAPNP_DECLARE_STRUCT_HEADER(a2b29a69d44529a1, 3, 1)
@@ -135,6 +147,21 @@ struct SensorEventData::SensorVec {
   };
 };
 
+struct GpsLocationData {
+  GpsLocationData() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(e946524859add50e, 6, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
 struct CanData {
   CanData() = delete;
 
@@ -158,7 +185,7 @@ struct ThermalData {
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(8d8231a40b7fe6e0, 2, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(8d8231a40b7fe6e0, 3, 1)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
     #endif  // !CAPNP_LITE
@@ -438,6 +465,9 @@ struct Event {
     LOG_MESSAGE,
     LIVE_CALIBRATION,
     ANDROID_LOG_ENTRY,
+    GPS_LOCATION,
+    CAR_STATE,
+    CAR_CONTROL,
   };
 
   struct _capnpPrivate {
@@ -796,6 +826,8 @@ public:
   inline bool hasGyro() const;
   inline  ::cereal::SensorEventData::SensorVec::Reader getGyro() const;
 
+  inline  ::cereal::SensorEventData::SensorSource getSource() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -869,6 +901,9 @@ public:
   inline void adoptGyro(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value);
   inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownGyro();
 
+  inline  ::cereal::SensorEventData::SensorSource getSource();
+  inline void setSource( ::cereal::SensorEventData::SensorSource value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -982,6 +1017,117 @@ private:
 };
 #endif  // !CAPNP_LITE
 
+class GpsLocationData::Reader {
+public:
+  typedef GpsLocationData Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline  ::uint16_t getFlags() const;
+
+  inline double getLatitude() const;
+
+  inline double getLongitude() const;
+
+  inline double getAltitude() const;
+
+  inline float getSpeed() const;
+
+  inline float getBearing() const;
+
+  inline float getAccuracy() const;
+
+  inline  ::int64_t getTimestamp() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class GpsLocationData::Builder {
+public:
+  typedef GpsLocationData Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline  ::uint16_t getFlags();
+  inline void setFlags( ::uint16_t value);
+
+  inline double getLatitude();
+  inline void setLatitude(double value);
+
+  inline double getLongitude();
+  inline void setLongitude(double value);
+
+  inline double getAltitude();
+  inline void setAltitude(double value);
+
+  inline float getSpeed();
+  inline void setSpeed(float value);
+
+  inline float getBearing();
+  inline void setBearing(float value);
+
+  inline float getAccuracy();
+  inline void setAccuracy(float value);
+
+  inline  ::int64_t getTimestamp();
+  inline void setTimestamp( ::int64_t value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class GpsLocationData::Pipeline {
+public:
+  typedef GpsLocationData Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
 class CanData::Reader {
 public:
   typedef CanData Reads;
@@ -1109,6 +1255,13 @@ public:
 
   inline  ::uint32_t getBat() const;
 
+  inline float getFreeSpace() const;
+
+  inline  ::int16_t getBatteryPercent() const;
+
+  inline bool hasBatteryStatus() const;
+  inline  ::capnp::Text::Reader getBatteryStatus() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1158,6 +1311,19 @@ public:
   inline  ::uint32_t getBat();
   inline void setBat( ::uint32_t value);
 
+  inline float getFreeSpace();
+  inline void setFreeSpace(float value);
+
+  inline  ::int16_t getBatteryPercent();
+  inline void setBatteryPercent( ::int16_t value);
+
+  inline bool hasBatteryStatus();
+  inline  ::capnp::Text::Builder getBatteryStatus();
+  inline void setBatteryStatus( ::capnp::Text::Reader value);
+  inline  ::capnp::Text::Builder initBatteryStatus(unsigned int size);
+  inline void adoptBatteryStatus(::capnp::Orphan< ::capnp::Text>&& value);
+  inline ::capnp::Orphan< ::capnp::Text> disownBatteryStatus();
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -1211,6 +1377,8 @@ public:
 
   inline bool getGasInterceptorDetected() const;
 
+  inline bool getStartedSignalDetected() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1254,6 +1422,9 @@ public:
   inline bool getGasInterceptorDetected();
   inline void setGasInterceptorDetected(bool value);
 
+  inline bool getStartedSignalDetected();
+  inline void setStartedSignalDetected(bool value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -1398,12 +1569,12 @@ public:
   }
 #endif  // !CAPNP_LITE
 
-  inline bool hasWarpMatrix() const;
-  inline  ::capnp::List<float>::Reader getWarpMatrix() const;
+  inline bool hasWarpMatrixDEPRECATED() const;
+  inline  ::capnp::List<float>::Reader getWarpMatrixDEPRECATED() const;
 
-  inline float getAngleOffset() const;
+  inline float getAngleOffsetDEPRECATED() const;
 
-  inline  ::int8_t getCalStatus() const;
+  inline  ::int8_t getCalStatusDEPRECATED() const;
 
   inline bool hasLeadOne() const;
   inline  ::cereal::Live20Data::LeadData::Reader getLeadOne() const;
@@ -1417,9 +1588,9 @@ public:
 
   inline  ::uint64_t getFtMonoTime() const;
 
-  inline  ::int32_t getCalCycle() const;
+  inline  ::int32_t getCalCycleDEPRECATED() const;
 
-  inline  ::int8_t getCalPerc() const;
+  inline  ::int8_t getCalPercDEPRECATED() const;
 
   inline bool hasCanMonoTimes() const;
   inline  ::capnp::List< ::uint64_t>::Reader getCanMonoTimes() const;
@@ -1452,19 +1623,19 @@ public:
   inline ::kj::StringTree toString() const { return asReader().toString(); }
 #endif  // !CAPNP_LITE
 
-  inline bool hasWarpMatrix();
-  inline  ::capnp::List<float>::Builder getWarpMatrix();
-  inline void setWarpMatrix( ::capnp::List<float>::Reader value);
-  inline void setWarpMatrix(::kj::ArrayPtr<const float> value);
-  inline  ::capnp::List<float>::Builder initWarpMatrix(unsigned int size);
-  inline void adoptWarpMatrix(::capnp::Orphan< ::capnp::List<float>>&& value);
-  inline ::capnp::Orphan< ::capnp::List<float>> disownWarpMatrix();
+  inline bool hasWarpMatrixDEPRECATED();
+  inline  ::capnp::List<float>::Builder getWarpMatrixDEPRECATED();
+  inline void setWarpMatrixDEPRECATED( ::capnp::List<float>::Reader value);
+  inline void setWarpMatrixDEPRECATED(::kj::ArrayPtr<const float> value);
+  inline  ::capnp::List<float>::Builder initWarpMatrixDEPRECATED(unsigned int size);
+  inline void adoptWarpMatrixDEPRECATED(::capnp::Orphan< ::capnp::List<float>>&& value);
+  inline ::capnp::Orphan< ::capnp::List<float>> disownWarpMatrixDEPRECATED();
 
-  inline float getAngleOffset();
-  inline void setAngleOffset(float value);
+  inline float getAngleOffsetDEPRECATED();
+  inline void setAngleOffsetDEPRECATED(float value);
 
-  inline  ::int8_t getCalStatus();
-  inline void setCalStatus( ::int8_t value);
+  inline  ::int8_t getCalStatusDEPRECATED();
+  inline void setCalStatusDEPRECATED( ::int8_t value);
 
   inline bool hasLeadOne();
   inline  ::cereal::Live20Data::LeadData::Builder getLeadOne();
@@ -1489,11 +1660,11 @@ public:
   inline  ::uint64_t getFtMonoTime();
   inline void setFtMonoTime( ::uint64_t value);
 
-  inline  ::int32_t getCalCycle();
-  inline void setCalCycle( ::int32_t value);
+  inline  ::int32_t getCalCycleDEPRECATED();
+  inline void setCalCycleDEPRECATED( ::int32_t value);
 
-  inline  ::int8_t getCalPerc();
-  inline void setCalPerc( ::int8_t value);
+  inline  ::int8_t getCalPercDEPRECATED();
+  inline void setCalPercDEPRECATED( ::int8_t value);
 
   inline bool hasCanMonoTimes();
   inline  ::capnp::List< ::uint64_t>::Builder getCanMonoTimes();
@@ -1899,7 +2070,7 @@ public:
 
   inline float getVEgo() const;
 
-  inline float getAEgo() const;
+  inline float getAEgoDEPRECATED() const;
 
   inline float getVPid() const;
 
@@ -1925,7 +2096,7 @@ public:
 
   inline float getAngleSteers() const;
 
-  inline  ::int32_t getHudLead() const;
+  inline  ::int32_t getHudLeadDEPRECATED() const;
 
   inline float getCumLagMs() const;
 
@@ -1985,8 +2156,8 @@ public:
   inline float getVEgo();
   inline void setVEgo(float value);
 
-  inline float getAEgo();
-  inline void setAEgo(float value);
+  inline float getAEgoDEPRECATED();
+  inline void setAEgoDEPRECATED(float value);
 
   inline float getVPid();
   inline void setVPid(float value);
@@ -2024,8 +2195,8 @@ public:
   inline float getAngleSteers();
   inline void setAngleSteers(float value);
 
-  inline  ::int32_t getHudLead();
-  inline void setHudLead( ::int32_t value);
+  inline  ::int32_t getHudLeadDEPRECATED();
+  inline void setHudLeadDEPRECATED( ::int32_t value);
 
   inline float getCumLagMs();
   inline void setCumLagMs(float value);
@@ -3117,6 +3288,18 @@ public:
   inline bool hasAndroidLogEntry() const;
   inline  ::cereal::AndroidLogEntry::Reader getAndroidLogEntry() const;
 
+  inline bool isGpsLocation() const;
+  inline bool hasGpsLocation() const;
+  inline  ::cereal::GpsLocationData::Reader getGpsLocation() const;
+
+  inline bool isCarState() const;
+  inline bool hasCarState() const;
+  inline  ::cereal::CarState::Reader getCarState() const;
+
+  inline bool isCarControl() const;
+  inline bool hasCarControl() const;
+  inline  ::cereal::CarControl::Reader getCarControl() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -3309,6 +3492,30 @@ public:
   inline void adoptAndroidLogEntry(::capnp::Orphan< ::cereal::AndroidLogEntry>&& value);
   inline ::capnp::Orphan< ::cereal::AndroidLogEntry> disownAndroidLogEntry();
 
+  inline bool isGpsLocation();
+  inline bool hasGpsLocation();
+  inline  ::cereal::GpsLocationData::Builder getGpsLocation();
+  inline void setGpsLocation( ::cereal::GpsLocationData::Reader value);
+  inline  ::cereal::GpsLocationData::Builder initGpsLocation();
+  inline void adoptGpsLocation(::capnp::Orphan< ::cereal::GpsLocationData>&& value);
+  inline ::capnp::Orphan< ::cereal::GpsLocationData> disownGpsLocation();
+
+  inline bool isCarState();
+  inline bool hasCarState();
+  inline  ::cereal::CarState::Builder getCarState();
+  inline void setCarState( ::cereal::CarState::Reader value);
+  inline  ::cereal::CarState::Builder initCarState();
+  inline void adoptCarState(::capnp::Orphan< ::cereal::CarState>&& value);
+  inline ::capnp::Orphan< ::cereal::CarState> disownCarState();
+
+  inline bool isCarControl();
+  inline bool hasCarControl();
+  inline  ::cereal::CarControl::Builder getCarControl();
+  inline void setCarControl( ::cereal::CarControl::Reader value);
+  inline  ::cereal::CarControl::Builder initCarControl();
+  inline void adoptCarControl(::capnp::Orphan< ::cereal::CarControl>&& value);
+  inline ::capnp::Orphan< ::cereal::CarControl> disownCarControl();
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -3884,6 +4091,20 @@ inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::B
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
+inline  ::cereal::SensorEventData::SensorSource SensorEventData::Reader::getSource() const {
+  return _reader.getDataField< ::cereal::SensorEventData::SensorSource>(
+      7 * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::SensorEventData::SensorSource SensorEventData::Builder::getSource() {
+  return _builder.getDataField< ::cereal::SensorEventData::SensorSource>(
+      7 * ::capnp::ELEMENTS);
+}
+inline void SensorEventData::Builder::setSource( ::cereal::SensorEventData::SensorSource value) {
+  _builder.setDataField< ::cereal::SensorEventData::SensorSource>(
+      7 * ::capnp::ELEMENTS, value);
+}
+
 inline bool SensorEventData::SensorVec::Reader::hasV() const {
   return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
 }
@@ -3934,6 +4155,118 @@ inline void SensorEventData::SensorVec::Builder::setStatus( ::int8_t value) {
       0 * ::capnp::ELEMENTS, value);
 }
 
+inline  ::uint16_t GpsLocationData::Reader::getFlags() const {
+  return _reader.getDataField< ::uint16_t>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline  ::uint16_t GpsLocationData::Builder::getFlags() {
+  return _builder.getDataField< ::uint16_t>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setFlags( ::uint16_t value) {
+  _builder.setDataField< ::uint16_t>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline double GpsLocationData::Reader::getLatitude() const {
+  return _reader.getDataField<double>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline double GpsLocationData::Builder::getLatitude() {
+  return _builder.getDataField<double>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setLatitude(double value) {
+  _builder.setDataField<double>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline double GpsLocationData::Reader::getLongitude() const {
+  return _reader.getDataField<double>(
+      2 * ::capnp::ELEMENTS);
+}
+
+inline double GpsLocationData::Builder::getLongitude() {
+  return _builder.getDataField<double>(
+      2 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setLongitude(double value) {
+  _builder.setDataField<double>(
+      2 * ::capnp::ELEMENTS, value);
+}
+
+inline double GpsLocationData::Reader::getAltitude() const {
+  return _reader.getDataField<double>(
+      3 * ::capnp::ELEMENTS);
+}
+
+inline double GpsLocationData::Builder::getAltitude() {
+  return _builder.getDataField<double>(
+      3 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setAltitude(double value) {
+  _builder.setDataField<double>(
+      3 * ::capnp::ELEMENTS, value);
+}
+
+inline float GpsLocationData::Reader::getSpeed() const {
+  return _reader.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline float GpsLocationData::Builder::getSpeed() {
+  return _builder.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setSpeed(float value) {
+  _builder.setDataField<float>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline float GpsLocationData::Reader::getBearing() const {
+  return _reader.getDataField<float>(
+      8 * ::capnp::ELEMENTS);
+}
+
+inline float GpsLocationData::Builder::getBearing() {
+  return _builder.getDataField<float>(
+      8 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setBearing(float value) {
+  _builder.setDataField<float>(
+      8 * ::capnp::ELEMENTS, value);
+}
+
+inline float GpsLocationData::Reader::getAccuracy() const {
+  return _reader.getDataField<float>(
+      9 * ::capnp::ELEMENTS);
+}
+
+inline float GpsLocationData::Builder::getAccuracy() {
+  return _builder.getDataField<float>(
+      9 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setAccuracy(float value) {
+  _builder.setDataField<float>(
+      9 * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int64_t GpsLocationData::Reader::getTimestamp() const {
+  return _reader.getDataField< ::int64_t>(
+      5 * ::capnp::ELEMENTS);
+}
+
+inline  ::int64_t GpsLocationData::Builder::getTimestamp() {
+  return _builder.getDataField< ::int64_t>(
+      5 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setTimestamp( ::int64_t value) {
+  _builder.setDataField< ::int64_t>(
+      5 * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint32_t CanData::Reader::getAddress() const {
   return _reader.getDataField< ::uint32_t>(
       0 * ::capnp::ELEMENTS);
@@ -4106,6 +4439,66 @@ inline void ThermalData::Builder::setBat( ::uint32_t value) {
       3 * ::capnp::ELEMENTS, value);
 }
 
+inline float ThermalData::Reader::getFreeSpace() const {
+  return _reader.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+
+inline float ThermalData::Builder::getFreeSpace() {
+  return _builder.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+inline void ThermalData::Builder::setFreeSpace(float value) {
+  _builder.setDataField<float>(
+      4 * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int16_t ThermalData::Reader::getBatteryPercent() const {
+  return _reader.getDataField< ::int16_t>(
+      10 * ::capnp::ELEMENTS);
+}
+
+inline  ::int16_t ThermalData::Builder::getBatteryPercent() {
+  return _builder.getDataField< ::int16_t>(
+      10 * ::capnp::ELEMENTS);
+}
+inline void ThermalData::Builder::setBatteryPercent( ::int16_t value) {
+  _builder.setDataField< ::int16_t>(
+      10 * ::capnp::ELEMENTS, value);
+}
+
+inline bool ThermalData::Reader::hasBatteryStatus() const {
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool ThermalData::Builder::hasBatteryStatus() {
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::Text::Reader ThermalData::Reader::getBatteryStatus() const {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::capnp::Text::Builder ThermalData::Builder::getBatteryStatus() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void ThermalData::Builder::setBatteryStatus( ::capnp::Text::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::capnp::Text::Builder ThermalData::Builder::initBatteryStatus(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS), size);
+}
+inline void ThermalData::Builder::adoptBatteryStatus(
+    ::capnp::Orphan< ::capnp::Text>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::Text> ThermalData::Builder::disownBatteryStatus() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
 inline  ::uint32_t HealthData::Reader::getVoltage() const {
   return _reader.getDataField< ::uint32_t>(
       0 * ::capnp::ELEMENTS);
@@ -4176,6 +4569,20 @@ inline void HealthData::Builder::setGasInterceptorDetected(bool value) {
       66 * ::capnp::ELEMENTS, value);
 }
 
+inline bool HealthData::Reader::getStartedSignalDetected() const {
+  return _reader.getDataField<bool>(
+      67 * ::capnp::ELEMENTS);
+}
+
+inline bool HealthData::Builder::getStartedSignalDetected() {
+  return _builder.getDataField<bool>(
+      67 * ::capnp::ELEMENTS);
+}
+inline void HealthData::Builder::setStartedSignalDetected(bool value) {
+  _builder.setDataField<bool>(
+      67 * ::capnp::ELEMENTS, value);
+}
+
 inline bool LiveUI::Reader::getRearViewCam() const {
   return _reader.getDataField<bool>(
       0 * ::capnp::ELEMENTS);
@@ -4268,66 +4675,66 @@ inline void LiveUI::Builder::setAwarenessStatus(float value) {
       1 * ::capnp::ELEMENTS, value);
 }
 
-inline bool Live20Data::Reader::hasWarpMatrix() const {
+inline bool Live20Data::Reader::hasWarpMatrixDEPRECATED() const {
   return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
 }
-inline bool Live20Data::Builder::hasWarpMatrix() {
+inline bool Live20Data::Builder::hasWarpMatrixDEPRECATED() {
   return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
 }
-inline  ::capnp::List<float>::Reader Live20Data::Reader::getWarpMatrix() const {
+inline  ::capnp::List<float>::Reader Live20Data::Reader::getWarpMatrixDEPRECATED() const {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::get(
       _reader.getPointerField(0 * ::capnp::POINTERS));
 }
-inline  ::capnp::List<float>::Builder Live20Data::Builder::getWarpMatrix() {
+inline  ::capnp::List<float>::Builder Live20Data::Builder::getWarpMatrixDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::get(
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
-inline void Live20Data::Builder::setWarpMatrix( ::capnp::List<float>::Reader value) {
+inline void Live20Data::Builder::setWarpMatrixDEPRECATED( ::capnp::List<float>::Reader value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float>>::set(
       _builder.getPointerField(0 * ::capnp::POINTERS), value);
 }
-inline void Live20Data::Builder::setWarpMatrix(::kj::ArrayPtr<const float> value) {
+inline void Live20Data::Builder::setWarpMatrixDEPRECATED(::kj::ArrayPtr<const float> value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float>>::set(
       _builder.getPointerField(0 * ::capnp::POINTERS), value);
 }
-inline  ::capnp::List<float>::Builder Live20Data::Builder::initWarpMatrix(unsigned int size) {
+inline  ::capnp::List<float>::Builder Live20Data::Builder::initWarpMatrixDEPRECATED(unsigned int size) {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::init(
       _builder.getPointerField(0 * ::capnp::POINTERS), size);
 }
-inline void Live20Data::Builder::adoptWarpMatrix(
+inline void Live20Data::Builder::adoptWarpMatrixDEPRECATED(
     ::capnp::Orphan< ::capnp::List<float>>&& value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float>>::adopt(
       _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::capnp::List<float>> Live20Data::Builder::disownWarpMatrix() {
+inline ::capnp::Orphan< ::capnp::List<float>> Live20Data::Builder::disownWarpMatrixDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float>>::disown(
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
-inline float Live20Data::Reader::getAngleOffset() const {
+inline float Live20Data::Reader::getAngleOffsetDEPRECATED() const {
   return _reader.getDataField<float>(
       0 * ::capnp::ELEMENTS);
 }
 
-inline float Live20Data::Builder::getAngleOffset() {
+inline float Live20Data::Builder::getAngleOffsetDEPRECATED() {
   return _builder.getDataField<float>(
       0 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setAngleOffset(float value) {
+inline void Live20Data::Builder::setAngleOffsetDEPRECATED(float value) {
   _builder.setDataField<float>(
       0 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int8_t Live20Data::Reader::getCalStatus() const {
+inline  ::int8_t Live20Data::Reader::getCalStatusDEPRECATED() const {
   return _reader.getDataField< ::int8_t>(
       4 * ::capnp::ELEMENTS);
 }
 
-inline  ::int8_t Live20Data::Builder::getCalStatus() {
+inline  ::int8_t Live20Data::Builder::getCalStatusDEPRECATED() {
   return _builder.getDataField< ::int8_t>(
       4 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setCalStatus( ::int8_t value) {
+inline void Live20Data::Builder::setCalStatusDEPRECATED( ::int8_t value) {
   _builder.setDataField< ::int8_t>(
       4 * ::capnp::ELEMENTS, value);
 }
@@ -4448,30 +4855,30 @@ inline void Live20Data::Builder::setFtMonoTime( ::uint64_t value) {
       3 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int32_t Live20Data::Reader::getCalCycle() const {
+inline  ::int32_t Live20Data::Reader::getCalCycleDEPRECATED() const {
   return _reader.getDataField< ::int32_t>(
       3 * ::capnp::ELEMENTS);
 }
 
-inline  ::int32_t Live20Data::Builder::getCalCycle() {
+inline  ::int32_t Live20Data::Builder::getCalCycleDEPRECATED() {
   return _builder.getDataField< ::int32_t>(
       3 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setCalCycle( ::int32_t value) {
+inline void Live20Data::Builder::setCalCycleDEPRECATED( ::int32_t value) {
   _builder.setDataField< ::int32_t>(
       3 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int8_t Live20Data::Reader::getCalPerc() const {
+inline  ::int8_t Live20Data::Reader::getCalPercDEPRECATED() const {
   return _reader.getDataField< ::int8_t>(
       5 * ::capnp::ELEMENTS);
 }
 
-inline  ::int8_t Live20Data::Builder::getCalPerc() {
+inline  ::int8_t Live20Data::Builder::getCalPercDEPRECATED() {
   return _builder.getDataField< ::int8_t>(
       5 * ::capnp::ELEMENTS);
 }
-inline void Live20Data::Builder::setCalPerc( ::int8_t value) {
+inline void Live20Data::Builder::setCalPercDEPRECATED( ::int8_t value) {
   _builder.setDataField< ::int8_t>(
       5 * ::capnp::ELEMENTS, value);
 }
@@ -4912,16 +5319,16 @@ inline void Live100Data::Builder::setVEgo(float value) {
       0 * ::capnp::ELEMENTS, value);
 }
 
-inline float Live100Data::Reader::getAEgo() const {
+inline float Live100Data::Reader::getAEgoDEPRECATED() const {
   return _reader.getDataField<float>(
       1 * ::capnp::ELEMENTS);
 }
 
-inline float Live100Data::Builder::getAEgo() {
+inline float Live100Data::Builder::getAEgoDEPRECATED() {
   return _builder.getDataField<float>(
       1 * ::capnp::ELEMENTS);
 }
-inline void Live100Data::Builder::setAEgo(float value) {
+inline void Live100Data::Builder::setAEgoDEPRECATED(float value) {
   _builder.setDataField<float>(
       1 * ::capnp::ELEMENTS, value);
 }
@@ -5094,16 +5501,16 @@ inline void Live100Data::Builder::setAngleSteers(float value) {
       13 * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int32_t Live100Data::Reader::getHudLead() const {
+inline  ::int32_t Live100Data::Reader::getHudLeadDEPRECATED() const {
   return _reader.getDataField< ::int32_t>(
       14 * ::capnp::ELEMENTS);
 }
 
-inline  ::int32_t Live100Data::Builder::getHudLead() {
+inline  ::int32_t Live100Data::Builder::getHudLeadDEPRECATED() {
   return _builder.getDataField< ::int32_t>(
       14 * ::capnp::ELEMENTS);
 }
-inline void Live100Data::Builder::setHudLead( ::int32_t value) {
+inline void Live100Data::Builder::setHudLeadDEPRECATED( ::int32_t value) {
   _builder.setDataField< ::int32_t>(
       14 * ::capnp::ELEMENTS, value);
 }
@@ -7246,6 +7653,162 @@ inline ::capnp::Orphan< ::cereal::AndroidLogEntry> Event::Builder::disownAndroid
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
+inline bool Event::Reader::isGpsLocation() const {
+  return which() == Event::GPS_LOCATION;
+}
+inline bool Event::Builder::isGpsLocation() {
+  return which() == Event::GPS_LOCATION;
+}
+inline bool Event::Reader::hasGpsLocation() const {
+  if (which() != Event::GPS_LOCATION) return false;
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool Event::Builder::hasGpsLocation() {
+  if (which() != Event::GPS_LOCATION) return false;
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::GpsLocationData::Reader Event::Reader::getGpsLocation() const {
+  KJ_IREQUIRE(which() == Event::GPS_LOCATION,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::cereal::GpsLocationData::Builder Event::Builder::getGpsLocation() {
+  KJ_IREQUIRE(which() == Event::GPS_LOCATION,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::setGpsLocation( ::cereal::GpsLocationData::Reader value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
+  ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::GpsLocationData::Builder Event::Builder::initGpsLocation() {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::adoptGpsLocation(
+    ::capnp::Orphan< ::cereal::GpsLocationData>&& value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
+  ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::GpsLocationData> Event::Builder::disownGpsLocation() {
+  KJ_IREQUIRE(which() == Event::GPS_LOCATION,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
+inline bool Event::Reader::isCarState() const {
+  return which() == Event::CAR_STATE;
+}
+inline bool Event::Builder::isCarState() {
+  return which() == Event::CAR_STATE;
+}
+inline bool Event::Reader::hasCarState() const {
+  if (which() != Event::CAR_STATE) return false;
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool Event::Builder::hasCarState() {
+  if (which() != Event::CAR_STATE) return false;
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarState::Reader Event::Reader::getCarState() const {
+  KJ_IREQUIRE(which() == Event::CAR_STATE,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::cereal::CarState::Builder Event::Builder::getCarState() {
+  KJ_IREQUIRE(which() == Event::CAR_STATE,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::setCarState( ::cereal::CarState::Reader value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_STATE);
+  ::capnp::_::PointerHelpers< ::cereal::CarState>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarState::Builder Event::Builder::initCarState() {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_STATE);
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::adoptCarState(
+    ::capnp::Orphan< ::cereal::CarState>&& value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_STATE);
+  ::capnp::_::PointerHelpers< ::cereal::CarState>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarState> Event::Builder::disownCarState() {
+  KJ_IREQUIRE(which() == Event::CAR_STATE,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
+inline bool Event::Reader::isCarControl() const {
+  return which() == Event::CAR_CONTROL;
+}
+inline bool Event::Builder::isCarControl() {
+  return which() == Event::CAR_CONTROL;
+}
+inline bool Event::Reader::hasCarControl() const {
+  if (which() != Event::CAR_CONTROL) return false;
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool Event::Builder::hasCarControl() {
+  if (which() != Event::CAR_CONTROL) return false;
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarControl::Reader Event::Reader::getCarControl() const {
+  KJ_IREQUIRE(which() == Event::CAR_CONTROL,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::cereal::CarControl::Builder Event::Builder::getCarControl() {
+  KJ_IREQUIRE(which() == Event::CAR_CONTROL,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::setCarControl( ::cereal::CarControl::Reader value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_CONTROL);
+  ::capnp::_::PointerHelpers< ::cereal::CarControl>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarControl::Builder Event::Builder::initCarControl() {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_CONTROL);
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::adoptCarControl(
+    ::capnp::Orphan< ::cereal::CarControl>&& value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_CONTROL);
+  ::capnp::_::PointerHelpers< ::cereal::CarControl>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarControl> Event::Builder::disownCarControl() {
+  KJ_IREQUIRE(which() == Event::CAR_CONTROL,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
 }  // namespace
 
 #endif  // CAPNP_INCLUDED_f3b1f17e25a4285b_

cereal/log.capnp

@@ -1,6 +1,8 @@
 using Cxx = import "c++.capnp";
 $Cxx.namespace("cereal");
 
+using Car = import "car.capnp";
+
 @0xf3b1f17e25a4285b;
 
 const logVersion :Int32 = 1;
@@ -39,11 +41,47 @@ struct SensorEventData {
     orientation @6 :SensorVec;
     gyro @7 :SensorVec;
   }
+  source @8 :SensorSource;
 
   struct SensorVec {
     v @0 :List(Float32);
     status @1 :Int8;
   }
+
+  enum SensorSource {
+    android @0;
+    iOS @1;
+    fiber @2;
+    velodyne @3;  # Velodyne IMU
+  }
+}
+
+# android struct GpsLocation
+struct GpsLocationData {
+  # Contains GpsLocationFlags bits.
+  flags @0 :UInt16;
+
+  # Represents latitude in degrees.
+  latitude @1 :Float64;
+
+  # Represents longitude in degrees.
+  longitude @2 :Float64;
+
+  # Represents altitude in meters above the WGS 84 reference ellipsoid.
+  altitude @3 :Float64;
+
+  # Represents speed in meters per second.
+  speed @4 :Float32;
+
+  # Represents heading in degrees.
+  bearing @5 :Float32;
+
+  # Represents expected accuracy in meters.
+  accuracy @6 :Float32;
+
+  # Timestamp for the location fix.
+  # Milliseconds since January 1, 1970.
+  timestamp @7 :Int64;
 }
 
 struct CanData {
@@ -61,6 +99,11 @@ struct ThermalData {
   mem @4 :UInt16;
   gpu @5 :UInt16;
   bat @6 :UInt32;
+
+  # not thermal
+  freeSpace @7 :Float32;
+  batteryPercent @8 :Int16;
+  batteryStatus @9: Text;
 }
 
 struct HealthData {
@@ -70,6 +113,7 @@ struct HealthData {
   started @2 :Bool;
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
+  startedSignalDetected @5 :Bool;
 }
 
 struct LiveUI {
@@ -268,5 +312,8 @@ struct Event {
     logMessage @18 :Text;
     liveCalibration @19 :LiveCalibrationData;
     androidLogEntry @20 :AndroidLogEntry;
+    gpsLocation @21 :GpsLocationData;
+    carState @22 :Car.CarState;
+    carControl @23 :Car.CarControl;
   }
 }

common/dbc.py

@@ -16,7 +16,8 @@ DBCSignal = namedtuple(
 
 class dbc(object):
   def __init__(self, fn):
-    self.txt = open(fn).read().split("\n")
+    with open(fn) as f:
+      self.txt = f.read().split("\n")
     self._warned_addresses = set()
 
     # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py

common/profiler.py

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

common/realtime.py

@@ -6,6 +6,9 @@ import subprocess
 import multiprocessing
 import os
 
+from ctypes.util import find_library
+
+
 CLOCK_MONOTONIC_RAW = 4 # see <linux/time.h>
 CLOCK_BOOTTIME = 7
 
@@ -15,28 +18,30 @@ class timespec(ctypes.Structure):
     ('tv_nsec', ctypes.c_long),
   ]
 
+libc_name = find_library('c')
+if libc_name is None:
+  platform_name = platform.system()
+  if platform_name.startswith('linux'):
+    libc_name = 'libc.so.6'
+  if platform_name.startswith(('freebsd', 'netbsd')):
+    libc_name = 'libc.so'
+  elif platform_name.lower() == 'darwin':
+    libc_name = 'libc.dylib'
 
 try:
-  libc = ctypes.CDLL('libc.so', use_errno=True)
+  libc = ctypes.CDLL(libc_name, use_errno=True)
 except OSError:
-  try:
-    libc = ctypes.CDLL('libc.so.6', use_errno=True)
-  except OSError:
-    libc = None
+  libc = None
 
 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
+  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)
@@ -47,7 +52,7 @@ def sec_since_boot():
 
 def set_realtime_priority(level):
   if os.getuid() != 0:
-    print "not setting priority, not root"
+    print("not setting priority, not root")
     return
   if platform.machine() == "x86_64":
     NR_gettid = 186
@@ -80,15 +85,19 @@ class Ratekeeper(object):
 
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self):
-    self.monitor_time()
+    lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
+    return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate
   def monitor_time(self):
+    lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
     if remaining < -self._print_delay_threshold:
-      print self._process_name, "lagging by", round(-remaining * 1000, 2), "ms"
+      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
+      lagged = True
     self._frame += 1
     self._remaining = remaining
+    return lagged

common/services.py

@@ -33,6 +33,9 @@ service_list = {
   "logMessage": Service(8018, True),
   "liveCalibration": Service(8019, True),
   "androidLog": Service(8020, True),
+  "carState": Service(8021, True),
+  # 8022 is reserved for sshd
+  "carControl": Service(8023, True),
 }
 
 # manager -- base process to manage starting and stopping of all others
@@ -56,7 +59,7 @@ service_list = {
 
 # controlsd -- actually drives the car
 #   subscribes: can, thermal, model, live20
-#   publishes:  sendcan, live100
+#   publishes:  carState, carControl, sendcan, live100
 
 # radard -- processes the radar data
 #   subscribes: can, live100, model

dbcs/acura_ilx_2016_can.dbc

@@ -15,7 +15,7 @@ NS_ :
 	ENVVAR_DATA_
 	SGTYPE_
 	SGTYPE_VAL_
- 	BA_DEF_SGTYPE_
+	BA_DEF_SGTYPE_
 	BA_SGTYPE_
 	SIG_TYPE_REF_
 	VAL_TABLE_
@@ -33,263 +33,292 @@ NS_ :
 
 BS_:
 
-BO_ 0x039 XXX: 3 XXX
-
-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
+BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX
 
 
-BO_ 0x372 XXX: 2 XXX
+BO_ 57 XXX_1: 3 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_ 145 XXX_2: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
 
-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_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] ""  EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] ""  EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] ""  EPS
+ SG_ SET_ME_X00 : 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_ 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
+BO_ 304 GAS_PEDAL2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
 
-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";
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s"  NEO
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 398 XXX_3: 3 XXX
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] ""  NEO
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 428 XXX_4: 8 XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 476 XXX_5: 4 XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH4 : 31|8@0+ (1,0) [0|1] ""  EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH5 : 38|7@0+ (1,0) [0|1] ""  EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
+ SG_ CRUISE_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] ""  EBCM
+ SG_ CRUISE_BOH7 : 41|10@0+ (1,0) [0|0] ""  EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
+
+BO_ 512 GAS_COMMAND: 3 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 542 XXX_6: 7 XXX
+
+BO_ 545 XXX_7: 4 XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 660 SCM_COMMANDS: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] ""  NEO
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 777 XXX_8: 8 XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] ""  BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] ""  BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] ""  BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] ""  BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] ""  BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] ""  BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] ""  BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] ""  BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] ""  BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] ""  BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] ""  BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] ""  BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] ""  BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] ""  BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] ""  BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] ""  BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 800 XXX_9: 8 XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 808 XXX_10: 8 XXX
+
+BO_ 819 XXX_11: 7 XXX
+
+BO_ 821 XXX_12: 5 XXX
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] ""  BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] ""  BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] ""  BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] ""  BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] ""  BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] ""  BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] ""  BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] ""  BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] ""  BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] ""  BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] ""  BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] ""  BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] ""  BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] ""  BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] ""  BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 882 XXX_13: 2 XXX
+
+BO_ 884 XXX_14: 7 XXX
+
+BO_ 887 XXX_15: 8 XXX
+
+BO_ 888 XXX_16: 8 XXX
+
+BO_ 892 XXX_17: 8 XXX
+
+BO_ 923 XXX_18: 2 XXX
+
+BO_ 929 XXX_19: 4 XXX
+
+BO_ 983 XXX_20: 8 XXX
+
+BO_ 985 XXX_21: 3 XXX
+
+BO_ 1024 XXX_22: 5 XXX
+
+BO_ 1027 XXX_23: 5 XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 1030 XXX_24: 5 VSA
+
+BO_ 1034 XXX_25: 5 XXX
+
+BO_ 1036 XXX_26: 8 XXX
+
+BO_ 1039 XXX_27: 8 XXX
+
+BO_ 1057 XXX_28: 5 EPS
+
+BO_ 1064 XXX_29: 7 XXX
+
+BO_ 1108 XXX_30: 8 XXX
+
+BO_ 1365 XXX_31: 5 XXX
+
+BO_ 1600 XXX_32: 5 XXX
+
+BO_ 1601 XXX_33: 8 XXX
+
+BO_TX_BU_ 228 : NEO,ADAS;
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 
-CM_ SG_ 0x1A3 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 0x324 CRUISE_SPEED_ECHO "255 = no speed";
-CM_ SG_ 0x33D CRUISE_SPEED "255 = no speed";
-CM_ SG_ 0x1EA LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 0x33D BEEP "beeps are pleasant, chimes are for warnngs etc...";

dbcs/acura_ilx_2016_nidec.dbc

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

dbcs/honda_civic_touring_2016_can.dbc

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

installation/files/continue.sh

@@ -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/
-

phonelibs/json/src/json.h

@@ -0,0 +1,117 @@
+/*
+  Copyright (C) 2011 Joseph A. Adams (joeyadams3.14159@gmail.com)
+  All rights reserved.
+
+  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.
+*/
+
+#ifndef CCAN_JSON_H
+#define CCAN_JSON_H
+
+#include <stdbool.h>
+#include <stddef.h>
+
+typedef enum {
+	JSON_NULL,
+	JSON_BOOL,
+	JSON_STRING,
+	JSON_NUMBER,
+	JSON_ARRAY,
+	JSON_OBJECT,
+} JsonTag;
+
+typedef struct JsonNode JsonNode;
+
+struct JsonNode
+{
+	/* only if parent is an object or array (NULL otherwise) */
+	JsonNode *parent;
+	JsonNode *prev, *next;
+	
+	/* only if parent is an object (NULL otherwise) */
+	char *key; /* Must be valid UTF-8. */
+	
+	JsonTag tag;
+	union {
+		/* JSON_BOOL */
+		bool bool_;
+		
+		/* JSON_STRING */
+		char *string_; /* Must be valid UTF-8. */
+		
+		/* JSON_NUMBER */
+		double number_;
+		
+		/* JSON_ARRAY */
+		/* JSON_OBJECT */
+		struct {
+			JsonNode *head, *tail;
+		} children;
+	};
+};
+
+/*** Encoding, decoding, and validation ***/
+
+JsonNode   *json_decode         (const char *json);
+char       *json_encode         (const JsonNode *node);
+char       *json_encode_string  (const char *str);
+char       *json_stringify      (const JsonNode *node, const char *space);
+void        json_delete         (JsonNode *node);
+
+bool        json_validate       (const char *json);
+
+/*** Lookup and traversal ***/
+
+JsonNode   *json_find_element   (JsonNode *array, int index);
+JsonNode   *json_find_member    (JsonNode *object, const char *key);
+
+JsonNode   *json_first_child    (const JsonNode *node);
+
+#define json_foreach(i, object_or_array)            \
+	for ((i) = json_first_child(object_or_array);   \
+		 (i) != NULL;                               \
+		 (i) = (i)->next)
+
+/*** Construction and manipulation ***/
+
+JsonNode *json_mknull(void);
+JsonNode *json_mkbool(bool b);
+JsonNode *json_mkstring(const char *s);
+JsonNode *json_mknumber(double n);
+JsonNode *json_mkarray(void);
+JsonNode *json_mkobject(void);
+
+void json_append_element(JsonNode *array, JsonNode *element);
+void json_prepend_element(JsonNode *array, JsonNode *element);
+void json_append_member(JsonNode *object, const char *key, JsonNode *value);
+void json_prepend_member(JsonNode *object, const char *key, JsonNode *value);
+
+void json_remove_from_parent(JsonNode *node);
+
+/*** Debugging ***/
+
+/*
+ * Look for structure and encoding problems in a JsonNode or its descendents.
+ *
+ * If a problem is detected, return false, writing a description of the problem
+ * to errmsg (unless errmsg is NULL).
+ */
+bool json_check(const JsonNode *node, char errmsg[256]);
+
+#endif

requirements_openpilot.txt

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

selfdrive/boardd/Makefile

@@ -19,10 +19,7 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-              -l:libcapnp.a -l:libkj.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+JSON_FLAGS = -I$(PHONELIBS)/json/src
 
 EXTRA_LIBS = -lusb
 
@@ -34,14 +31,18 @@ CEREAL_LIBS = -L$(HOME)/drive/external/capnp/lib/ \
 EXTRA_LIBS = -lusb-1.0 -lpthread
 endif
 
+.PHONY: all
+all: boardd
+
+-include ../common/cereal.mk
 
 OBJS = boardd.o \
-       log.capnp.o
+       ../common/swaglog.o \
+       $(PHONELIBS)/json/src/json.o \
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: boardd
-
 boardd: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -53,18 +54,20 @@ boardd.o: boardd.cc
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
-           -c -o '$@' '$<'
-  
+%.o: %.c
+	@echo "[ CC ] $@"
+	$(CC) $(CFLAGS) -MMD \
+          -Iinclude -I.. -I../.. \
+          $(CEREAL_CFLAGS) \
+          $(ZMQ_FLAGS) \
+          $(JSON_FLAGS) \
+          -c -o '$@' '$<'
 
 .PHONY: clean
 clean:

selfdrive/boardd/boardd.cc

@@ -20,6 +20,7 @@
 #include <capnp/serialize.h>
 #include "cereal/gen/cpp/log.capnp.h"
 
+#include "common/swaglog.h"
 #include "common/timing.h"
 
 int do_exit = 0;
@@ -29,18 +30,12 @@ libusb_device_handle *dev_handle;
 pthread_mutex_t usb_lock;
 
 bool spoofing_started = false;
+bool fake_send = false;
 
 // double the FIFO size
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
 
-#define DEBUG_BOARDD
-#ifdef DEBUG_BOARDD
-#define DPRINTF(fmt, ...) printf("boardd: " fmt, ## __VA_ARGS__)
-#else
-#define DPRINTF(fmt, ...)
-#endif
-
 bool usb_connect() {
   int err;
 
@@ -56,11 +51,17 @@ bool usb_connect() {
   return true;
 }
 
+void usb_retry_connect() {
+  LOG("attempting to connect");
+  while (!usb_connect()) { usleep(100*1000); }
+  LOGW("connected to board");
+}
 
 void handle_usb_issue(int err, const char func[]) {
-  DPRINTF("usb error %d \"%s\" in %s\n", err, libusb_strerror((enum libusb_error)err), func);
+  LOGE("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
   if (err == -4) {
-    while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
+    LOGE("lost connection");
+    usb_retry_connect();
   }
   // TODO: check other errors, is simply retrying okay?
 }
@@ -77,7 +78,7 @@ void can_recv(void *s) {
   do {
     err = libusb_bulk_transfer(dev_handle, 0x81, (uint8_t*)data, RECV_SIZE, &recv, TIMEOUT);
     if (err != 0) { handle_usb_issue(err, __func__); }
-    if (err == -8) { DPRINTF("overflow got 0x%x\n", recv); };
+    if (err == -8) { LOGE("overflow got 0x%x", recv); };
 
     // timeout is okay to exit, recv still happened
     if (err == -7) { break; }
@@ -129,6 +130,7 @@ void can_health(void *s) {
     uint8_t started;
     uint8_t controls_allowed;
     uint8_t gas_interceptor_detected;
+    uint8_t started_signal_detected;
   } health;
 
   // recv from board
@@ -157,6 +159,7 @@ void can_health(void *s) {
   }
   healthData.setControlsAllowed(health.controls_allowed);
   healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
+  healthData.setStartedSignalDetected(health.started_signal_detected);
 
   // send to health
   auto words = capnp::messageToFlatArray(msg);
@@ -174,8 +177,10 @@ void can_send(void *s) {
   err = zmq_msg_recv(&msg, s, 0);
   assert(err >= 0);
 
-  // format for board
-  auto amsg = kj::arrayPtr((const capnp::word*)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  // format for board, make copy due to alignment issues, will be freed on out of scope
+  auto amsg = kj::heapArray<capnp::word>((zmq_msg_size(&msg) / sizeof(capnp::word)) + 1);
+  memcpy(amsg.begin(), zmq_msg_data(&msg), zmq_msg_size(&msg));
+
   capnp::FlatArrayMessageReader cmsg(amsg);
   cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
   int msg_count = event.getCan().size();
@@ -197,8 +202,6 @@ void can_send(void *s) {
     memcpy(&send[i*4+2], cmsg.getDat().begin(), cmsg.getDat().size());
   }
 
-  //DPRINTF("got send message: %d\n", msg_count);
-
   // release msg
   zmq_msg_close(&msg);
 
@@ -206,10 +209,12 @@ void can_send(void *s) {
   int sent;
   pthread_mutex_lock(&usb_lock);
 
-  do {
-    err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
-    if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
-  } while(err != 0);
+  if (!fake_send) {
+    do {
+      err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
+      if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
+    } while(err != 0);
+  }
 
   pthread_mutex_unlock(&usb_lock);
 
@@ -221,7 +226,7 @@ void can_send(void *s) {
 // **** threads ****
 
 void *can_send_thread(void *crap) {
-  DPRINTF("start send thread\n");
+  LOGD("start send thread");
 
   // sendcan = 8017
   void *context = zmq_ctx_new();
@@ -237,7 +242,7 @@ void *can_send_thread(void *crap) {
 }
 
 void *can_recv_thread(void *crap) {
-  DPRINTF("start recv thread\n");
+  LOGD("start recv thread");
 
   // can = 8006
   void *context = zmq_ctx_new();
@@ -254,7 +259,7 @@ void *can_recv_thread(void *crap) {
 }
 
 void *can_health_thread(void *crap) {
-  DPRINTF("start health thread\n");
+  LOGD("start health thread");
 
   // health = 8011
   void *context = zmq_ctx_new();
@@ -274,40 +279,36 @@ int set_realtime_priority(int level) {
   struct sched_param sa;
   memset(&sa, 0, sizeof(sa));
   sa.sched_priority = level;
-  return sched_setscheduler(gettid(), SCHED_FIFO, &sa);
+  return sched_setscheduler(getpid(), SCHED_FIFO, &sa);
 }
 
 int main() {
   int err;
-  printf("boardd: starting boardd\n");
+  LOGW("starting boardd");
 
   // set process priority
   err = set_realtime_priority(4);
-  printf("boardd: setpriority returns %d\n", err);
+  LOG("setpriority returns %d", err);
 
   // check the environment
   if (getenv("STARTED")) {
     spoofing_started = true;
   }
 
-  // connect to the board
+  if (getenv("FAKESEND")) {
+    fake_send = true;
+  }
+
+  // init libusb
   err = libusb_init(&ctx);
   assert(err == 0);
   libusb_set_debug(ctx, 3);
 
-  // TODO: duplicate code from error handling
-  while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
+  // connect to the board
+  usb_retry_connect();
 
-  /*int config;
-  err = libusb_get_configuration(dev_handle, &config);
-  assert(err == 0);
-  DPRINTF("configuration is %d\n", config);*/
-
-  /*err = libusb_set_interface_alt_setting(dev_handle, 0, 0);
-  assert(err == 0);*/
 
   // create threads
-
   pthread_t can_health_thread_handle;
   err = pthread_create(&can_health_thread_handle, NULL,
                        can_health_thread, NULL);

selfdrive/boardd/boardd.py

@@ -109,7 +109,7 @@ def boardd_mock_loop():
 
   while 1:
     tsc = messaging.drain_sock(logcan, wait_for_one=True)
-    snds = map(can_capnp_to_can_list, tsc)
+    snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
     snd = []
     for s in snds:
       snd += s
@@ -162,7 +162,7 @@ def boardd_loop(rate=200):
     # send can if we have a packet
     tsc = messaging.recv_sock(sendcan)
     if tsc is not None:
-      can_send_many(can_capnp_to_can_list(tsc))
+      can_send_many(can_capnp_to_can_list(tsc.sendcan))
 
     rk.keep_time()
 

selfdrive/calibrationd/calibrationd.py

@@ -1,6 +1,9 @@
 #!/usr/bin/env python
+from __future__ import print_function
+
 import os
 import numpy as np
+import tempfile
 import zmq
 
 from common.services import service_list
@@ -8,6 +11,7 @@ import selfdrive.messaging as messaging
 from selfdrive.config import ImageParams, VehicleParams
 from selfdrive.calibrationd.calibration import ViewCalibrator, CalibStatus
 
+CALIBRATION_TMP_DIR = "/sdcard"
 CALIBRATION_FILE = "/sdcard/calibration_param"
 
 def load_calibration(gctx):
@@ -32,28 +36,33 @@ def load_calibration(gctx):
 
   # load calibration data
   if os.path.isfile(CALIBRATION_FILE):
-    # if the calibration file exist, start from the last cal values
-    with open(CALIBRATION_FILE, "r") as cal_file:
-      data = [float(l.strip()) for l in cal_file.readlines()]
-      calib = ViewCalibrator((I.X, I.Y),
-                             big_box_size,
-                             vp_img,
-                             warp_matrix_start,
-                             vp_f=[data[2], data[3]],
-                             cal_cycle=data[0],
-                             cal_status=data[1])
+    try:
+      # If the calibration file exist, start from the last cal values
+      with open(CALIBRATION_FILE, "r") as cal_file:
+        data = [float(l.strip()) for l in cal_file.readlines()]
+        return ViewCalibrator(
+            (I.X, I.Y),
+            big_box_size,
+            vp_img,
+            warp_matrix_start,
+            vp_f=[data[2], data[3]],
+            cal_cycle=data[0],
+            cal_status=data[1])
+    except Exception as e:
+      print("Could not load calibration file: {}".format(e))
 
-      if calib.cal_status == CalibStatus.INCOMPLETE:
-        print "CALIBRATION IN PROGRESS", calib.cal_cycle
-  else:
-    print "NO CALIBRATION FILE"
-    calib = ViewCalibrator((I.X, I.Y),
-                           big_box_size,
-                           vp_img,
-                           warp_matrix_start,
-                           vp_f=vp_guess)
+  return ViewCalibrator(
+    (I.X, I.Y), big_box_size, vp_img, warp_matrix_start, vp_f=vp_guess)
 
-  return calib
+def store_calibration(calib):
+  # Tempfile needs to be on the same device as the calbration file.
+  with tempfile.NamedTemporaryFile(delete=False, dir=CALIBRATION_TMP_DIR) as cal_file:
+    print(calib.cal_cycle, file=cal_file)
+    print(calib.cal_status, file=cal_file)
+    print(calib.vp_f[0], file=cal_file)
+    print(calib.vp_f[1], file=cal_file)
+    cal_file_name = cal_file.name
+  os.rename(cal_file_name, CALIBRATION_FILE)
 
 def calibrationd_thread(gctx):
   context = zmq.Context()
@@ -69,7 +78,7 @@ def calibrationd_thread(gctx):
   v_ego = None
 
   calib = load_calibration(gctx)
-  last_cal_cycle = calib.cal_cycle
+  last_write_cycle = calib.cal_cycle
 
   while 1:
     # calibration at the end so it does not delay radar processing above
@@ -91,14 +100,10 @@ def calibrationd_thread(gctx):
     calib.calibration(p0, p1, st, v_ego, steer_angle, VP)
 
     # write a new calibration every 100 cal cycle
-    if calib.cal_cycle - last_cal_cycle >= 100:
-      print "writing cal", calib.cal_cycle
-      with open(CALIBRATION_FILE, "w") as cal_file:
-        cal_file.write(str(calib.cal_cycle)+'\n')
-        cal_file.write(str(calib.cal_status)+'\n')
-        cal_file.write(str(calib.vp_f[0])+'\n')
-        cal_file.write(str(calib.vp_f[1])+'\n')
-      last_cal_cycle = calib.cal_cycle
+    if calib.cal_cycle - last_write_cycle >= 100:
+      print("writing cal", calib.cal_cycle)
+      store_calibration(calib)
+      last_write_cycle = calib.cal_cycle
 
     warp_matrix = map(float, calib.warp_matrix.reshape(9).tolist())
     dat = messaging.new_message()

selfdrive/car/honda/can_parser.py

@@ -74,7 +74,7 @@ class CANParser(object):
           msg_vl = fix(ck_portion, msg)
           # compare recalculated vs received checksum
           if msg_vl != cdat:
-            print hex(msg), "CHECKSUM FAIL"
+            print "CHECKSUM FAIL: " + hex(msg)
             self.ck[msg] = False
             self.ok[msg] = False
         # counter check
@@ -89,6 +89,7 @@ class CANParser(object):
           self.cn_vl[msg] -= 1   # counter check passed
         # message status is invalid if we received too many wrong counter values
         if self.cn_vl[msg] >= cn_vl_max:
+          print "COUNTER WRONG: " + hex(msg)
           self.ok[msg] = False
 
         # update msg time stamps and counter value

selfdrive/car/honda/carcontroller.py

@@ -90,7 +90,7 @@ class CarController(object):
     #print chime, alert_id, hud_alert
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
 
-    hud = HUDData(int(pcm_accel), int(hud_v_cruise), 0x41, hud_car,
+    hud = HUDData(int(pcm_accel), int(hud_v_cruise), 0x01, hud_car,
                   0xc1, 0x41, hud_lanes + steer_required,
                   int(snd_beep), 0x48, (snd_chime << 5) + fcw_display, acc_alert)
 

selfdrive/common/cereal.mk

@@ -0,0 +1,17 @@
+CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
+CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/include
+CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
+              -L$(PHONELIBS)/capnp-c/aarch64/lib/ \
+              -l:libcapn.a -l:libcapnp.a -l:libkj.a
+CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
+
+log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
+           -c -o '$@' '$<'
+
+car.capnp.o: ../../cereal/gen/cpp/car.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
+           -c -o '$@' '$<'
+  

selfdrive/common/framebuffer.cc

@@ -53,6 +53,7 @@ extern "C" FramebufferState* framebuffer_init(
   assert(status == 0);
 
   int orientation = 3; // rotate framebuffer 270 degrees
+  //int orientation = 1; // rotate framebuffer 90 degrees
   if(orientation == 1 || orientation == 3) {
       int temp = s->dinfo.h;
       s->dinfo.h = s->dinfo.w;

selfdrive/common/glutil.c

@@ -0,0 +1,71 @@
+#include <stdlib.h>
+#include <stdio.h>
+
+#include <GLES3/gl3.h>
+
+#include "glutil.h"
+
+GLuint load_shader(GLenum shaderType, const char *src) {
+  GLint status = 0, len = 0;
+  GLuint shader;
+
+  if (!(shader = glCreateShader(shaderType)))
+    return 0;
+
+  glShaderSource(shader, 1, &src, NULL);
+  glCompileShader(shader);
+  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
+
+  if (status)
+    return shader;
+
+  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *msg = (char*)malloc(len);
+    if (msg) {
+      glGetShaderInfoLog(shader, len, NULL, msg);
+      msg[len-1] = 0;
+      fprintf(stderr, "error compiling shader:\n%s\n", msg);
+      free(msg);
+    }
+  }
+  glDeleteShader(shader);
+  return 0;
+}
+
+GLuint load_program(const char *vert_src, const char *frag_src) {
+  GLuint vert, frag, prog;
+  GLint status = 0, len = 0;
+
+  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
+    return 0;
+  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
+    goto fail_frag;
+  if (!(prog = glCreateProgram()))
+    goto fail_prog;
+
+  glAttachShader(prog, vert);
+  glAttachShader(prog, frag);
+  glLinkProgram(prog);
+
+  glGetProgramiv(prog, GL_LINK_STATUS, &status);
+  if (status)
+    return prog;
+
+  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *buf = (char*) malloc(len);
+    if (buf) {
+      glGetProgramInfoLog(prog, len, NULL, buf);
+      buf[len-1] = 0;
+      fprintf(stderr, "error linking program:\n%s\n", buf);
+      free(buf);
+    }
+  }
+  glDeleteProgram(prog);
+fail_prog:
+  glDeleteShader(frag);
+fail_frag:
+  glDeleteShader(vert);
+  return 0;
+}

selfdrive/common/glutil.h

@@ -0,0 +1,8 @@
+#ifndef COMMON_GLUTIL_H
+#define COMMON_GLUTIL_H
+
+#include <GLES3/gl3.h>
+GLuint load_shader(GLenum shaderType, const char *src);
+GLuint load_program(const char *vert_src, const char *frag_src);
+
+#endif

selfdrive/common/swaglog.c

@@ -19,6 +19,7 @@ typedef struct LogState {
   JsonNode *ctx_j;
   void *zctx;
   void *sock;
+  int print_level;
 } LogState;
 
 static LogState s = {
@@ -31,6 +32,19 @@ static void cloudlog_init() {
   s.zctx = zmq_ctx_new();
   s.sock = zmq_socket(s.zctx, ZMQ_PUSH);
   zmq_connect(s.sock, "ipc:///tmp/logmessage");
+
+  s.print_level = CLOUDLOG_WARNING;
+  const char* print_level = getenv("LOGPRINT");
+  if (print_level) {
+    if (strcmp(print_level, "debug") == 0) {
+      s.print_level = CLOUDLOG_DEBUG;
+    } else if (strcmp(print_level, "info") == 0) {
+      s.print_level = CLOUDLOG_INFO;
+    } else if (strcmp(print_level, "warning") == 0) {
+      s.print_level = CLOUDLOG_WARNING;
+    }
+  }
+
   s.inited = true;
 }
 
@@ -50,7 +64,7 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
     return;
   }
 
-  if (levelnum >= CLOUDLOG_PRINT_LEVEL) {
+  if (levelnum >= s.print_level) {
     printf("%s: %s\n", filename, msg_buf);
   }
 

selfdrive/common/swaglog.h

@@ -7,13 +7,19 @@
 #define CLOUDLOG_ERROR 40
 #define CLOUDLOG_CRITICAL 50
 
-#define CLOUDLOG_PRINT_LEVEL CLOUDLOG_WARNING
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, const char* srctime, 
                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
 
 void cloudlog_bind(const char* k, const char* v);
 
+#ifdef __cplusplus
+}
+#endif
+
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                            __func__, __DATE__ " " __TIME__, \
                                            fmt, ## __VA_ARGS__)

selfdrive/common/version.h

@@ -0,0 +1 @@
+const char *openpilot_version = "0.2.8";

selfdrive/controls/controlsd.py

@@ -11,6 +11,7 @@ from common.numpy_fast import clip
 from selfdrive.config import Conversions as CV
 from common.services import service_list
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
+from common.profiler import Profiler
 
 from selfdrive.controls.lib.drive_helpers import learn_angle_offset
 
@@ -37,6 +38,8 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
   # *** log ***
   context = zmq.Context()
   live100 = messaging.pub_sock(context, service_list['live100'].port)
+  carstate = messaging.pub_sock(context, service_list['carState'].port)
+  carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
 
   thermal = messaging.sub_sock(context, service_list['thermal'].port)
   live20 = messaging.sub_sock(context, service_list['live20'].port)
@@ -72,16 +75,29 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
   soft_disable_timer = None
 
+  # Is cpu temp too high to enable?
+  overtemp = False
+  free_space = 1.0
+
   # start the loop
   set_realtime_priority(2)
 
   rk = Ratekeeper(rate, print_delay_threshold=2./1000)
   while 1:
+    prof = Profiler()
     cur_time = sec_since_boot()
 
     # read CAN
     CS = CI.update()
 
+    # broadcast carState
+    cs_send = messaging.new_message()
+    cs_send.init('carState')
+    cs_send.carState = CS    # copy?
+    carstate.send(cs_send.to_bytes())
+
+    prof.checkpoint("CarInterface")
+
     # did it request to enable?
     enable_request, enable_condition = False, False
 
@@ -120,12 +136,14 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
 
       if not enabled and b.type in ["accelCruise", "decelCruise"] and not b.pressed:
-        enable_request = True 
+        enable_request = True
 
       # do disable on button down
       if b.type == "cancel" and b.pressed:
         AM.add("disable", enabled)
 
+    prof.checkpoint("Buttons")
+
     # *** health checking logic ***
     hh = messaging.recv_sock(health)
     if hh is not None:
@@ -138,11 +156,15 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     # thermal data, checked every second
     td = messaging.recv_sock(thermal)
     if td is not None:
-      cpu_temps = [td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
-                   td.thermal.cpu3, td.thermal.mem, td.thermal.gpu]
-      # check overtemp
-      if any(t > 950 for t in cpu_temps):
-        AM.add("overheat", enabled)
+      # Check temperature.
+      overtemp = any(
+          t > 950
+          for t in (td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
+                    td.thermal.cpu3, td.thermal.mem, td.thermal.gpu))
+      # under 15% of space free
+      free_space = td.thermal.freeSpace
+
+    prof.checkpoint("Health")
 
     # *** getting model logic ***
     PP.update(cur_time, CS.vEgo)
@@ -165,6 +187,11 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         print "enabled pressed at", cur_time
         last_enable_request = cur_time
 
+      # don't engage with less than 15% free
+      if free_space < 0.15:
+        AM.add("outOfSpace", enabled)
+        enable_request = False
+
     if VP.brake_only:
       enable_condition = ((cur_time - last_enable_request) < 0.2) and CS.cruiseState.enabled
     else:
@@ -181,6 +208,11 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
       if PP.dead:
         AM.add("modelCommIssue", enabled)
 
+      if overtemp:
+        AM.add("overheat", enabled)
+
+    prof.checkpoint("Model")
+
     if enable_condition and not enabled and not AM.alertPresent():
       print "*** enabling controls"
 
@@ -207,12 +239,16 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     # *** put the adaptive in adaptive cruise control ***
     AC.update(cur_time, CS.vEgo, CS.steeringAngle, LoC.v_pid, awareness_status, VP)
 
+    prof.checkpoint("AdaptiveCruise")
+
     # *** gas/brake PID loop ***
     final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph, AC.v_target_lead, AC.a_target, AC.jerk_factor, VP)
 
     # *** steering PID loop ***
     final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, PP.d_poly, angle_offset, VP)
 
+    prof.checkpoint("PID")
+
     # ***** handle alerts ****
     # send a "steering required alert" if saturation count has reached the limit
     if sat_flag:
@@ -232,7 +268,6 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
         soft_disable_timer -= 1
     else:
       soft_disable_timer = None
-      
 
     # *** push the alerts to current ***
     alert_text_1, alert_text_2, visual_alert, audible_alert = AM.process_alerts(cur_time)
@@ -263,6 +298,14 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     if not CI.apply(CC):
       AM.add("controlsFailed", enabled)
 
+    # broadcast carControl
+    cc_send = messaging.new_message()
+    cc_send.init('carControl')
+    cc_send.carControl = CC    # copy?
+    carcontrol.send(cc_send.to_bytes())
+
+    prof.checkpoint("CarControl")
+
     # ***** publish state to logger *****
 
     # publish controls state at 100Hz
@@ -311,12 +354,14 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
     live100.send(dat.to_bytes())
 
+    prof.checkpoint("Live100")
+
     # *** run loop at fixed rate ***
-    rk.keep_time()
+    if rk.keep_time():
+      prof.display()
 
 def main(gctx=None):
   controlsd_thread(gctx, 100)
 
 if __name__ == "__main__":
   main()
-

selfdrive/controls/lib/alertmanager.py

@@ -1,4 +1,5 @@
 from cereal import car
+from selfdrive.swaglog import cloudlog
 
 class ET:
   ENABLE = 0
@@ -24,7 +25,7 @@ class alert(object):
     tst = car.CarControl.new_message()
     tst.hudControl.visualAlert = self.visual_alert
     tst.hudControl.audibleAlert = self.audible_alert
-  
+
   def __str__(self):
     return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_type) + "  " + str(self.visual_alert) + " " + str(self.audible_alert)
 
@@ -54,11 +55,15 @@ class AlertManager(object):
     "doorOpen":           alert("Take Control Immediately","Door Open",            ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
     "seatbeltNotLatched": alert("Take Control Immediately","Seatbelt Unlatched",   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
     "espDisabled":        alert("Take Control Immediately","ESP Off",              ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",      ET.NO_ENTRY,     None, None, .4, 0., 3.),
+    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",             ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "outOfSpace":         alert("Comma Unavailable","Out of Space",                ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "ethicalDilemma":     alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "startup":            alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
   }
   def __init__(self):
     self.activealerts = []
     self.current_alert = None
+    self.add("startup", False)
 
   def alertPresent(self):
     return len(self.activealerts) > 0
@@ -70,7 +75,8 @@ class AlertManager(object):
     return len(self.activealerts) > 0 and self.activealerts[0].alert_type >= ET.IMMEDIATE_DISABLE
 
   def add(self, alert_type, enabled = True):
-    this_alert = self.alerts[str(alert_type)]
+    alert_type = str(alert_type)
+    this_alert = self.alerts[alert_type]
 
     # downgrade the alert if we aren't enabled
     if not enabled and this_alert.alert_type > ET.NO_ENTRY:
@@ -80,6 +86,12 @@ class AlertManager(object):
     if enabled and this_alert.alert_type < ET.WARNING:
       return
 
+    # if new alert is different, log it
+    if self.current_alert is None or self.current_alert.alert_text_2 != this_alert.alert_text_2:
+      cloudlog.event('alert_add',
+        alert_type=alert_type,
+        enabled=enabled)
+
     self.activealerts.append(this_alert)
     self.activealerts.sort()
 
@@ -106,6 +118,10 @@ class AlertManager(object):
         alert_text_1 = self.current_alert.alert_text_1
         alert_text_2 = self.current_alert.alert_text_2
 
+      # disable current alert
+      if self.alert_start_time + max(self.current_alert.duration_sound, self.current_alert.duration_hud_alert, self.current_alert.duration_text) < cur_time:
+        self.current_alert = None
+
     # reset
     self.activealerts = []
 

selfdrive/controls/lib/pathplanner.py

@@ -3,10 +3,17 @@ import numpy as np
 
 from common.numpy_fast import interp
 import selfdrive.messaging as messaging
-X_PATH = np.arange(0.0, 50.0)
 
-def model_polyfit(points):
-  return np.polyfit(X_PATH, map(float, points), 3)
+
+def compute_path_pinv():
+  deg = 3
+  x = np.arange(50.0)
+  X = np.vstack(tuple(x**n for n in range(deg, -1, -1))).T
+  pinv = np.linalg.pinv(X)
+  return pinv
+
+def model_polyfit(points, path_pinv):
+  return np.dot(path_pinv, map(float, points))
 
 # lane width http://safety.fhwa.dot.gov/geometric/pubs/mitigationstrategies/chapter3/3_lanewidth.cfm
 _LANE_WIDTH_V = [3., 3.8]
@@ -40,24 +47,26 @@ class PathPlanner(object):
     self.last_model = 0.
     self.logMonoTime = 0
     self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
+    self._path_pinv = compute_path_pinv()
 
   def update(self, cur_time, v_ego):
     md = messaging.recv_sock(self.model)
 
     if md is not None:
       self.logMonoTime = md.logMonoTime
-      p_poly = model_polyfit(md.model.path.points)       # predicted path
-      p_prob = 1.                                        # model does not tell this probability yet, so set to 1 for now
-      l_poly = model_polyfit(md.model.leftLane.points)   # left line
-      l_prob = md.model.leftLane.prob                    # left line prob
-      r_poly = model_polyfit(md.model.rightLane.points)  # right line
-      r_prob = md.model.rightLane.prob                   # right line prob
+      p_poly = model_polyfit(md.model.path.points, self._path_pinv)       # predicted path
+      l_poly = model_polyfit(md.model.leftLane.points, self._path_pinv)   # left line
+      r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv)  # right line
+
+      p_prob = 1.                       # model does not tell this probability yet, so set to 1 for now
+      l_prob = md.model.leftLane.prob   # left line prob
+      r_prob = md.model.rightLane.prob  # right line prob
 
       self.lead_dist = md.model.lead.dist
       self.lead_prob = md.model.lead.prob
       self.lead_var = md.model.lead.std**2
 
-      #*** compute target path ***
+      # compute target path
       self.d_poly, _, _ = calc_desired_path(l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, v_ego)
 
       self.last_model = cur_time

selfdrive/controls/lib/radar_helpers.py

@@ -219,7 +219,7 @@ class Cluster(object):
       ret += " vision_cnt: %6.0f" % self.vision_cnt
     return ret
 
-  def is_potential_lead(self, v_ego, enabled):
+  def is_potential_lead(self, v_ego):
     # predict cut-ins by extrapolating lateral speed by a lookahead time
     # lookahead time depends on cut-in distance. more attentive for close cut-ins
     # also, above 50 meters the predicted path isn't very reliable
@@ -233,12 +233,11 @@ class Cluster(object):
     # average dist
     d_path = self.dPath
 
-    if enabled:
-      t_lookahead = interp(self.dRel, t_lookahead_bp, t_lookahead_v)
-      # correct d_path for lookahead time, considering only cut-ins and no more than 1m impact
-      lat_corr = clip(t_lookahead * self.vLat, -1, 0)
-    else:
-      lat_corr = 0.
+    # lat_corr used to be gated on enabled, now always running
+    t_lookahead = interp(self.dRel, t_lookahead_bp, t_lookahead_v)
+    # correct d_path for lookahead time, considering only cut-ins and no more than 1m impact
+    lat_corr = clip(t_lookahead * self.vLat, -1, 0)
+
     d_path = max(d_path + lat_corr, 0)
 
     if d_path < 1.5 and not self.stationary and not self.oncoming:

selfdrive/controls/radard.py

@@ -196,7 +196,7 @@ def radard_thread(gctx=None):
 
     # *** extract the lead car ***
     lead_clusters = [c for c in clusters
-                     if c.is_potential_lead(v_ego, enabled)]
+                     if c.is_potential_lead(v_ego)]
     lead_clusters.sort(key=lambda x: x.dRel)
     lead_len = len(lead_clusters)
 

selfdrive/debug/dump.py

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

selfdrive/logcatd/Makefile

@@ -17,18 +17,16 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-              -l:libcapnp.a -l:libkj.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+.PHONY: all
+all: logcatd
+
+-include ../common/cereal.mk
 
 OBJS = logcatd.o \
-       log.capnp.o
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: logcatd
-
 logcatd: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -40,17 +38,12 @@ logcatd: $(OBJS)
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
-           -c -o '$@' '$<'
-
 .PHONY: clean
 clean:
 	rm -f logcatd $(OBJS) $(DEPS)

selfdrive/loggerd/config.py

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

selfdrive/loggerd/loggerd.py

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

selfdrive/loggerd/uploader.py

@@ -9,11 +9,14 @@ import requests
 import traceback
 import threading
 
+from collections import Counter
 from selfdrive.swaglog import cloudlog
-from selfdrive.loggerd.config import DONGLE_ID, DONGLE_SECRET, ROOT
+from selfdrive.loggerd.config import get_dongle_id_and_secret, ROOT
 
 from common.api import api_get
 
+fake_upload = os.getenv("FAKEUPLOAD") is not None
+
 def raise_on_thread(t, exctype):
   for ctid, tobj in threading._active.items():
     if tobj is t:
@@ -98,6 +101,14 @@ class Uploader(object):
 
         yield (name, key, fn)
 
+  def get_data_stats(self):
+    name_counts = Counter()
+    total_size = 0
+    for name, key, fn in self.gen_upload_files():
+      name_counts[name] += 1
+      total_size += os.stat(fn).st_size
+    return dict(name_counts), total_size
+
   def next_file_to_upload(self):
     # try to upload log files first
     for name, key, fn in self.gen_upload_files():
@@ -120,8 +131,15 @@ class Uploader(object):
       url = url_resp.text
       cloudlog.info({"upload_url", url})
 
-      with open(fn, "rb") as f:
-        self.last_resp = requests.put(url, data=f)
+      if fake_upload:
+        print "*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url
+        class FakeResponse(object):
+          def __init__(self):
+            self.status_code = 200
+        self.last_resp = FakeResponse()
+      else:
+        with open(fn, "rb") as f:
+          self.last_resp = requests.put(url, data=f)
     except Exception as e:
       self.last_exc = (e, traceback.format_exc())
       raise
@@ -205,7 +223,13 @@ class Uploader(object):
 def uploader_fn(exit_event):
   cloudlog.info("uploader_fn")
 
-  uploader = Uploader(DONGLE_ID, DONGLE_SECRET, ROOT)
+  dongle_id, dongle_secret = get_dongle_id_and_secret()
+
+  if dongle_id is None or dongle_secret is None:
+    cloudlog.info("uploader MISSING DONGLE_ID or DONGLE_SECRET")
+    raise Exception("uploader can't start without dongle id and secret")
+
+  uploader = Uploader(dongle_id, dongle_secret, ROOT)
 
   while True:
     backoff = 0.1

selfdrive/logmessaged.py

@@ -6,7 +6,7 @@ import selfdrive.messaging as messaging
 
 def main(gctx):
   # setup logentries. we forward log messages to it
-  le_token = "bc65354a-b887-4ef4-8525-15dd51230e8c"
+  le_token = "e8549616-0798-4d7e-a2ca-2513ae81fa17"
   le_handler = LogentriesHandler(le_token, use_tls=False)
 
   le_level = 20 #logging.INFO

selfdrive/manager.py

@@ -21,6 +21,8 @@ from selfdrive.registration import register
 
 import common.crash
 
+from selfdrive.loggerd.config import ROOT
+
 # comment out anything you don't want to run
 managed_processes = {
   "uploader": "selfdrive.loggerd.uploader",
@@ -49,10 +51,6 @@ car_started_processes = ['controlsd', 'loggerd', 'sensord', 'radard', 'calibrati
 # ****************** process management functions ******************
 def launcher(proc, gctx):
   try:
-    # unset the signals
-    signal.signal(signal.SIGINT, signal.SIG_DFL)
-    signal.signal(signal.SIGTERM, signal.SIG_DFL)
-
     # import the process
     mod = importlib.import_module(proc)
 
@@ -61,6 +59,8 @@ def launcher(proc, gctx):
 
     # exec the process
     mod.main(gctx)
+  except KeyboardInterrupt:
+    cloudlog.info("child %s got ctrl-c" % proc)
   except Exception:
     # can't install the crash handler becuase sys.excepthook doesn't play nice
     # with threads, so catch it here.
@@ -156,17 +156,16 @@ def manager_init():
     }
   }
 
-  # hook to kill all processes
-  signal.signal(signal.SIGINT, cleanup_all_processes)
-  signal.signal(signal.SIGTERM, cleanup_all_processes)
-
 def manager_thread():
   # now loop
   context = zmq.Context()
   thermal_sock = messaging.pub_sock(context, service_list['thermal'].port)
   health_sock = messaging.sub_sock(context, service_list['health'].port)
 
-  cloudlog.info("manager start")
+  version = open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "common", "version.h")).read().split('"')[1]
+
+  cloudlog.info("manager start %s" % version)
+  cloudlog.info(dict(os.environ))
 
   start_managed_process("logmessaged")
   start_managed_process("logcatd")
@@ -188,6 +187,14 @@ def manager_thread():
     for p in car_started_processes:
       start_managed_process(p)
 
+  logger_dead = False
+
+  count = 0
+
+  # set 5 second timeout on health socket
+  # 5x slower than expected
+  health_sock.RCVTIMEO = 5000
+
   while 1:
     # get health of board, log this in "thermal"
     td = messaging.recv_sock(health_sock, wait=True)
@@ -195,6 +202,17 @@ def manager_thread():
 
     # replace thermald
     msg = read_thermal()
+
+    # loggerd is gated based on free space
+    statvfs = os.statvfs(ROOT)
+    avail = (statvfs.f_bavail * 1.0)/statvfs.f_blocks
+
+    # thermal message now also includes free space
+    msg.thermal.freeSpace = avail
+    with open("/sys/class/power_supply/battery/capacity") as f:
+      msg.thermal.batteryPercent = int(f.read())
+    with open("/sys/class/power_supply/battery/status") as f:
+      msg.thermal.batteryStatus = f.read().strip()
     thermal_sock.send(msg.to_bytes())
     print msg
 
@@ -209,18 +227,41 @@ def manager_thread():
     elif max_temp < 70.0:
       start_managed_process("uploader")
 
+    if avail < 0.05:
+      logger_dead = True
+
     # start constellation of processes when the car starts
     if not os.getenv("STARTALL"):
-      if td.health.started:
+      # with 2% left, we killall, otherwise the phone is bricked
+      if td is not None and td.health.started and avail > 0.02:
         for p in car_started_processes:
-          start_managed_process(p)
+          if p == "loggerd" and logger_dead:
+            kill_managed_process(p)
+          else:
+            start_managed_process(p)
       else:
+        logger_dead = False
         for p in car_started_processes:
           kill_managed_process(p)
 
+      # shutdown if the battery gets lower than 10%, we aren't running, and we are discharging
+      if msg.thermal.batteryPercent < 5 and msg.thermal.batteryStatus == "Discharging":
+        os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
     # check the status of all processes, did any of them die?
     for p in running:
-      cloudlog.info("   running %s %s" % (p, running[p]))
+      cloudlog.debug("   running %s %s" % (p, running[p]))
+
+    # report to server once per minute
+    if (count%60) == 0:
+      cloudlog.event("STATUS_PACKET",
+        running=running.keys(),
+        count=count,
+        health=(td.to_dict() if td else None),
+        thermal=msg.to_dict(),
+        version=version)
+
+    count += 1
 
 
 # optional, build the c++ binaries and preimport the python for speed
@@ -242,24 +283,6 @@ def manager_prepare():
         subprocess.check_call(["make", "clean"], cwd=proc[0])
         subprocess.check_call(["make", "-j4"], cwd=proc[0])
 
-def manager_test():
-  global managed_processes
-  managed_processes = {}
-  managed_processes["test1"] = ("test", ["./test.py"])
-  managed_processes["test2"] = ("test", ["./test.py"])
-  managed_processes["test3"] = "selfdrive.test.test"
-  manager_prepare()
-  start_managed_process("test1")
-  start_managed_process("test2")
-  start_managed_process("test3")
-  print running
-  time.sleep(3)
-  kill_managed_process("test1")
-  kill_managed_process("test2")
-  kill_managed_process("test3")
-  print running
-  time.sleep(10)
-
 def wait_for_device():
   while 1:
     try:
@@ -291,20 +314,23 @@ def main():
     del managed_processes['loggerd']
     del managed_processes['logmessaged']
     del managed_processes['logcatd']
+  if os.getenv("NOCONTROL") is not None:
+    del managed_processes['controlsd']
+    del managed_processes['radard']
 
   manager_init()
+  manager_prepare()
+  
+  if os.getenv("PREPAREONLY") is not None:
+    sys.exit(0)
 
-  if len(sys.argv) > 1 and sys.argv[1] == "test":
-    manager_test()
-  else:
-    manager_prepare()
-    try:
-      manager_thread()
-    except Exception:
-      traceback.print_exc()
-      common.crash.capture_exception()
-    finally:
-      cleanup_all_processes(None, None)
+  try:
+    manager_thread()
+  except Exception:
+    traceback.print_exc()
+    common.crash.capture_exception()
+  finally:
+    cleanup_all_processes(None, None)
 
 if __name__ == "__main__":
   main()

selfdrive/sensord/Makefile

@@ -17,18 +17,16 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-              -l:libcapnp.a -l:libkj.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+.PHONY: all
+all: sensord
+
+-include ../common/cereal.mk
 
 OBJS = sensors.o \
-       log.capnp.o
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: sensord
-
 sensord: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -40,19 +38,12 @@ sensors.o: sensors.cc
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
-           -c -o '$@' '$<'
-  
-
 .PHONY: clean
 clean:
 	rm -f sensord $(OBJS) $(DEPS)

selfdrive/sensord/sensors.cc

@@ -83,6 +83,7 @@ void sensor_loop() {
 
       const sensors_event_t& data = buffer[i];
 
+      sensorEvents[i].setSource(cereal::SensorEventData::SensorSource::ANDROID);
       sensorEvents[i].setVersion(data.version);
       sensorEvents[i].setSensor(data.sensor);
       sensorEvents[i].setType(data.type);

selfdrive/thermal.py

@@ -3,7 +3,7 @@ import selfdrive.messaging as messaging
 
 def read_tz(x):
   with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
-    ret = int(f.read())
+    ret = max(0, int(f.read()))
   return ret
 
 def read_thermal():

selfdrive/ui/Makefile

@@ -30,6 +30,7 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
 
 OBJS = ui.o \
        touch.o \
+       ../common/glutil.o \
        ../common/visionipc.o \
        ../common/framebuffer.o \
        $(PHONELIBS)/nanovg/nanovg.o \

selfdrive/ui/touch.c

@@ -1,15 +1,50 @@
+#include <stdio.h>
+#include <stdlib.h>
 #include <stdbool.h>
+#include <assert.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <assert.h>
+#include <dirent.h>
 #include <sys/poll.h>
 #include <linux/input.h>
 
 #include "touch.h"
 
+static int find_dev() {
+  int err;
+
+  int ret = -1;
+
+  DIR *dir = opendir("/dev/input");
+  assert(dir);
+  struct dirent* de = NULL;
+  while ((de = readdir(dir))) {
+    if (strncmp(de->d_name, "event", 5)) continue;
+
+    int fd = openat(dirfd(dir), de->d_name, O_RDONLY);
+    assert(fd >= 0);
+
+    char name[128] = {0};
+    err = ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name);
+    assert(err >= 0);
+
+    unsigned long ev_bits[8] = {0};
+    err = ioctl(fd, EVIOCGBIT(0, sizeof(ev_bits)), ev_bits);
+    assert(err >= 0);
+
+    if (strncmp(name, "synaptics", 9) == 0 && ev_bits[0] == 0xb) {
+      ret = fd;
+      break;
+    }
+    close(fd);
+  }
+  closedir(dir);
+
+  return ret;
+}
+
 void touch_init(TouchState *s) {
-  // synaptics touch screen on oneplus 3
-  s->fd = open("/dev/input/event4", O_RDONLY);
+  s->fd = find_dev();
   assert(s->fd >= 0);
 }
 

selfdrive/ui/ui.c

@@ -20,11 +20,14 @@
 #include "common/timing.h"
 #include "common/util.h"
 #include "common/mat.h"
+#include "common/glutil.h"
 
 #include "common/framebuffer.h"
 #include "common/visionipc.h"
 #include "common/modeldata.h"
 
+#include "common/version.h"
+
 #include "cereal/gen/c/log.capnp.h"
 
 #include "touch.h"
@@ -95,7 +98,6 @@ typedef struct UIState {
 
   // base ui
   uint64_t last_base_update;
-  uint64_t last_rx_bytes;
   uint64_t last_tx_bytes;
   char serial[4096];
   const char* dongle_id;
@@ -249,70 +251,6 @@ static const char line_fragment_shader[] =
   "  gl_FragColor = vColor;\n"
   "}\n";
 
-static GLuint load_shader(GLenum shaderType, const char *src) {
-  GLint status = 0, len = 0;
-  GLuint shader;
-
-  if (!(shader = glCreateShader(shaderType)))
-    return 0;
-
-  glShaderSource(shader, 1, &src, NULL);
-  glCompileShader(shader);
-  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
-
-  if (status)
-    return shader;
-
-  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *msg = malloc(len);
-    if (msg) {
-      glGetShaderInfoLog(shader, len, NULL, msg);
-      msg[len-1] = 0;
-      fprintf(stderr, "error compiling shader:\n%s\n", msg);
-      free(msg);
-    }
-  }
-  glDeleteShader(shader);
-  return 0;
-}
-
-static GLuint load_program(const char *vert_src, const char *frag_src) {
-  GLuint vert, frag, prog;
-  GLint status = 0, len = 0;
-
-  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
-    return 0;
-  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
-    goto fail_frag;
-  if (!(prog = glCreateProgram()))
-    goto fail_prog;
-
-  glAttachShader(prog, vert);
-  glAttachShader(prog, frag);
-  glLinkProgram(prog);
-
-  glGetProgramiv(prog, GL_LINK_STATUS, &status);
-  if (status)
-    return prog;
-
-  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *buf = (char*) malloc(len);
-    if (buf) {
-      glGetProgramInfoLog(prog, len, NULL, buf);
-      buf[len-1] = 0;
-      fprintf(stderr, "error linking program:\n%s\n", buf);
-      free(buf);
-    }
-  }
-  glDeleteProgram(prog);
-fail_prog:
-  glDeleteShader(frag);
-fail_frag:
-  glDeleteShader(vert);
-  return 0;
-}
 
 static const mat4 device_transform = {{
   1.0,  0.0, 0.0, 0.0,
@@ -759,9 +697,9 @@ static void ui_draw_vision(UIState *s) {
   draw_frame(s);
 
   if (!scene->frontview) {
-    draw_rgb_box(s, scene->big_box_x, s->rgb_height-scene->big_box_height-scene->big_box_y,
+    /*draw_rgb_box(s, scene->big_box_x, s->rgb_height-scene->big_box_height-scene->big_box_y,
                     scene->big_box_width, scene->big_box_height,
-                    0xFF0000FF);
+                    0xFF0000FF);*/
 
     ui_draw_transformed_box(s, 0xFF00FF00);
 
@@ -842,7 +780,7 @@ static void ui_draw_vision(UIState *s) {
       if (strlen(scene->alert_text2) > 0) {
         nvgFillColor(s->vg, nvgRGBA(255,255,255,255));
         nvgFontSize(s->vg, 100.0f);
-        nvgText(s->vg, 100+1700/2, 200+500, scene->alert_text2, NULL);
+        nvgText(s->vg, 100+1700/2, 200+550, scene->alert_text2, NULL);
       }
     }
 
@@ -861,6 +799,11 @@ static void ui_draw_vision(UIState *s) {
   }
 }
 
+static void ui_draw_blank(UIState *s) {
+  glClearColor(0.1, 0.1, 0.1, 1.0);
+  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+}
+
 static void ui_draw_base(UIState *s) {
   glClearColor(0.1, 0.1, 0.1, 1.0);
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
@@ -910,8 +853,10 @@ static void ui_draw(UIState *s) {
 
   if (s->vision_connected) {
     ui_draw_vision(s);
-  } else {
+  } else if (s->awake) {
     ui_draw_base(s);
+  } else {
+    ui_draw_blank(s);
   }
 
   eglSwapBuffers(s->display, s->surface);
@@ -987,9 +932,20 @@ static int pending_uploads() {
   int cnt = 0;
   struct dirent *entry = NULL;
   while ((entry = readdir(dirp))) {
-    if (entry->d_name[0] != '.') {
+    if (entry->d_name[0] == '.') continue;
+
+    char subdirn[255];
+    snprintf(subdirn, 255, "/sdcard/realdata/%s", entry->d_name);
+    DIR *subdirp = opendir(subdirn);
+    if (!subdirp) continue;
+
+    struct dirent *subentry = NULL;
+    while ((subentry = readdir(subdirp))) {
+      if (subentry->d_name[0] == '.') continue;
+      //snprintf(subdirn, 255, "/sdcard/realdata/%s/%s", entry->d_name, subentry->d_name);
       cnt++;
     }
+    closedir(subdirp);
   }
   closedir(dirp);
   return cnt;
@@ -1206,20 +1162,19 @@ static void ui_update(UIState *s) {
     char* bat_stat = read_file("/sys/class/power_supply/battery/status");
 
     int tx_rate = 0;
-    int rx_rate = 0;
-    char* rx_bytes = read_file("/sys/class/net/rmnet_data0/statistics/rx_bytes");
-    char* tx_bytes = read_file("/sys/class/net/rmnet_data0/statistics/tx_bytes");
-    if (rx_bytes && tx_bytes) {
-      uint64_t rx_bytes_n = atoll(rx_bytes);
-      rx_rate = rx_bytes_n - s->last_rx_bytes;
-      s->last_rx_bytes = rx_bytes_n;
+    uint64_t tx_bytes_n = 0;
+    char *tx_bytes;
 
-      uint64_t tx_bytes_n = atoll(tx_bytes);
-      tx_rate = tx_bytes_n - s->last_tx_bytes;
-      s->last_tx_bytes = tx_bytes_n;
-    }
-    if (rx_bytes) free(rx_bytes);
-    if (tx_bytes) free(tx_bytes);
+    // cellular bytes
+    tx_bytes = read_file("/sys/class/net/rmnet_data0/statistics/tx_bytes");
+    if (tx_bytes) { tx_bytes_n += atoll(tx_bytes); free(tx_bytes); }
+
+    // wifi bytes
+    tx_bytes = read_file("/sys/class/net/wlan0/statistics/tx_bytes");
+    if (tx_bytes) { tx_bytes_n += atoll(tx_bytes); free(tx_bytes); }
+
+    tx_rate = tx_bytes_n - s->last_tx_bytes;
+    s->last_tx_bytes = tx_bytes_n;
 
     // TODO: do this properly
     system("git rev-parse --abbrev-ref HEAD > /tmp/git_branch");
@@ -1240,10 +1195,10 @@ static void ui_update(UIState *s) {
     s->board_connected = !system("lsusb | grep bbaa > /dev/null");
 
     snprintf(s->base_text, sizeof(s->base_text),
-             "version: %s (%s)\nserial: %s\n dongle id: %s\n battery: %s %s\npending: %d\nrx %.1fkiB/s tx %.1fkiB/s\nboard: %s",
-             git_commit, git_branch,
+             "version: v%s %s (%s)\nserial: %s\n dongle id: %s\n battery: %s %s\npending: %d -> %.1f kb/s\nboard: %s",
+             openpilot_version, git_commit, git_branch,
              s->serial, s->dongle_id, bat_cap ? bat_cap : "(null)", bat_stat ? bat_stat : "(null)",
-             pending, rx_rate / 1024.0, tx_rate / 1024.0, s->board_connected ? "found" : "NOT FOUND");
+             pending, tx_rate / 1024.0, s->board_connected ? "found" : "NOT FOUND");
 
     if (bat_cap) free(bat_cap);
     if (bat_stat) free(bat_stat);
@@ -1253,10 +1208,12 @@ static void ui_update(UIState *s) {
 
     s->last_base_update = ts;
 
-    if (s->awake_timeout > 0) {
-      s->awake_timeout--;
-    } else {
-      set_awake(s, false);
+    if (!activity_running()) {
+      if (s->awake_timeout > 0) {
+        s->awake_timeout--;
+      } else {
+        set_awake(s, false);
+      }
     }
   }