openpilot v0.5.3 release

Merge opendbc subtree
Squashed 'opendbc/' changes from 2210752..af7fff8
2026-06-12 15:04:20 +08:00 · 2018-09-03 16:43:12 -07:00 · 2018-09-03 16:41:18 -07:00 · 2018-09-03 16:41:18 -07:00 · 2018-09-03 16:41:16 -07:00 · 2018-09-03 16:41:16 -07:00
71 changed files with 3287 additions and 277 deletions
--- a/README.md
+++ b/README.md
@@ -41,52 +41,57 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
 Supported Cars
 ------

-| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
-| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
-| Acura         | ILX 2016                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
-| Acura         | ILX 2017                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
-| Acura         | RDX 2018                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| GM<sup>3</sup>| Volt 2017                 | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
-| GM<sup>3</sup>| Volt 2018                 | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
-| Honda         | Accord 2018               | All                  | Yes     | Stock          | 0mph             | 3mph           |
-| Honda         | Civic 2016                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda         | Civic 2017                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda         | Civic 2017 *(Hatch)*      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda         | Civic 2018                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda         | Civic 2018 *(Hatch)*      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda         | CR-V 2015                 | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda         | CR-V 2016                 | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda         | CR-V 2017                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda         | CR-V 2018                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda         | Odyssey 2017              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda         | Odyssey 2018              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda         | Pilot 2017                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda         | Pilot 2018                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda         | Ridgeline 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda         | Ridgeline 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Lexus         | RX Hybrid 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Lexus         | RX Hybrid 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota        | Camry 2018<sup>4</sup>    | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
-| Toyota        | C-HR 2018<sup>4</sup>     | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Toyota        | Corolla 2017              | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota        | Corolla 2018              | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota        | Prius 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota        | Prius 2017                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota        | Prius 2018                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota        | Prius Prime 2017          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota        | Prius Prime 2018          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota        | Rav4 2016                 | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota        | Rav4 2017                 | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota        | Rav4 2018                 | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota        | Rav4 Hybrid 2017          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota        | Rav4 Hybrid 2018          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-
+| Make               | Model                 | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| -------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
+| Acura              | ILX 2016              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura              | ILX 2017              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura              | RDX 2018              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| GM<sup>3</sup>     | Volt 2017             | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
+| GM<sup>3</sup>     | Volt 2018             | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
+| Honda              | Accord 2018           | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda              | Civic 2016            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda              | Civic 2017            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda              | Civic 2017 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda              | Civic 2018            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda              | Civic 2018 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda              | CR-V 2015             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | CR-V 2016             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | CR-V 2017             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda              | CR-V 2018             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda              | Odyssey 2017          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda              | Odyssey 2018          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda              | Odyssey 2019          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda              | Pilot 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | Pilot 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | Pilot 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | Ridgeline 2017        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | Ridgeline 2018        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Hyundai<sup>6</sup>| Santa Fe 2019         | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Lexus              | RX Hybrid 2017        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus              | RX Hybrid 2018        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Camry 2018<sup>4</sup>| All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
+| Toyota             | C-HR 2018<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota             | Corolla 2017          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Corolla 2018          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Highlander Hybrid 2018| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius 2016            | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius Prime 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius Prime 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Rav4 2016             | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Rav4 2017             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Rav4 2018             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Rav4 Hybrid 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Rav4 Hybrid 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |

 <sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
 <sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
 <sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)  
 <sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).  
 <sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.  
+<sup>6</sup>Giraffe is under development: architecture similar to Toyota giraffe, with an extra 120Ohm resistor on bus 3.

 Community Maintained Cars
 ------
@@ -107,6 +112,8 @@ In Progress Cars
 - All LSS-P Lexus with Steering Assist or Lane Keep Assist.
  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
  - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
+- All Hyundai with SmartSense.
+- All Kia with ACC and LKAS.

 How can I add support for my car?
 ------
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,10 @@
+Version 0.5.3 (2018-09-03)
+========================
+ * Hyundai Santa Fe support!
+ * Honda Pilot 2019 support thanks to energee!
+ * Toyota Hyghlander support thanks to daehahn!
+ * Improve steering tuning for Honda Odyssey
+
 Version 0.5.2 (2018-08-16)
 ========================
 * New calibration: more accurate, a lot faster, open source!
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -42,6 +42,7 @@ struct InitData {

  dirty @9 :Bool;
  passive @12 :Bool;
+  params @17 :Map(Text, Text);

  enum DeviceType {
    unknown @0;
@@ -186,6 +187,10 @@ struct SensorEventData {
    iOS @1;
    fiber @2;
    velodyne @3;  # Velodyne IMU
+    # c3 sensors below
+    bno055 @4;
+    lsm6ds3 @5;
+    bmp280 @6;
  }
 }

@@ -262,6 +267,8 @@ struct ThermalData {
  freeSpace @7 :Float32;
  batteryPercent @8 :Int16;
  batteryStatus @9 :Text;
+  batteryCurrent @15 :Int32;
+  batteryVoltage @16 :Int32;
  usbOnline @12 :Bool;

  fanSpeed @10 :UInt16;
@@ -327,6 +334,7 @@ struct Live20Data {
    aLeadK @9 :Float32;
    fcw @10 :Bool;
    status @11 :Bool;
+    aLeadTau @12 :Float32;
  }
 }

--- a/common/dbc.py
+++ b/common/dbc.py
@@ -199,6 +199,7 @@ class dbc(object):

    st = x[2].rjust(8, '\x00')
    le, be = None, None
+    size = msg[0][1]

    for s in msg[1]:
      if arr is not None and s[0] not in arr:
@@ -215,7 +216,7 @@ class dbc(object):
      else:
        if le is None:
          le = struct.unpack("<Q", st)[0]
-        x2_int = le
+        x2_int = le >> (64 - 8 * size)
        ss = s[1]
        data_bit_pos = ss

--- a/common/params.py
+++ b/common/params.py
@@ -263,23 +263,50 @@ class DBWriter(DBAccessor):
      self._lock = None


+def read_db(params_path, key):
+  path = "%s/d/%s" % (params_path, key)
+  try:
+    with open(path, "rb") as f:
+      return f.read()
+  except IOError:
+    return None

-class JSDB(object):
-  def __init__(self, fn):
-    self._fn = fn
+def write_db(params_path, key, value):
+  prev_umask = os.umask(0)
+  lock = FileLock(params_path+"/.lock", True)
+  lock.acquire()

-  def begin(self, write=False):
-    if write:
-      return DBWriter(self._fn)
-    else:
-      return DBReader(self._fn)
+  try:
+    tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
+    with open(tmp_path, "wb") as f:
+      f.write(value)
+      f.flush()
+      os.fsync(f.fileno())
+
+    path = "%s/d/%s" % (params_path, key)
+    os.rename(tmp_path, path)
+    fsync_dir(os.path.dirname(path))
+  finally:
+    os.umask(prev_umask)
+    lock.release()

 class Params(object):
  def __init__(self, db='/data/params'):
-    self.env = JSDB(db)
+    self.db = db
+
+    # create the database if it doesn't exist...
+    if not os.path.exists(self.db+"/d"):
+      with self.transaction(write=True):
+        pass
+
+  def transaction(self, write=False):
+    if write:
+      return DBWriter(self.db)
+    else:
+      return DBReader(self.db)

  def _clear_keys_with_type(self, tx_type):
-    with self.env.begin(write=True) as txn:
+    with self.transaction(write=True) as txn:
      for key in keys:
        if keys[key] == tx_type:
          txn.delete(key)
@@ -291,7 +318,7 @@ class Params(object):
    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)

  def delete(self, key):
-    with self.env.begin(write=True) as txn:
+    with self.transaction(write=True) as txn:
      txn.delete(key)

  def get(self, key, block=False):
@@ -299,8 +326,7 @@ class Params(object):
      raise UnknownKeyName(key)

    while 1:
-      with self.env.begin() as txn:
-        ret = txn.get(key)
+      ret = read_db(self.db, key)
      if not block or ret is not None:
        break
      # is polling really the best we can do?
@@ -311,8 +337,7 @@ class Params(object):
    if key not in keys:
      raise UnknownKeyName(key)

-    with self.env.begin(write=True) as txn:
-      txn.put(key, dat)
+    write_db(self.db, key, dat)

 if __name__ == "__main__":
  params = Params()
--- a/opendbc/generator/toyota/_comma.dbc
+++ b/opendbc/generator/toyota/_comma.dbc
@@ -9,3 +9,17 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
--- a/opendbc/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc
@@ -0,0 +1,33 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/hyundai_2015_ccan.dbc
+++ b/opendbc/hyundai_2015_ccan.dbc
@@ -149,7 +149,7 @@ BO_ 1456 CLU12: 4 CLU
 SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km"  _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS

 BO_ 688 SAS11: 5 MDPS
- SG_ SAS_Angle : 0|16@1+ (0.1,0.0) [-3276.8|3276.7] "Deg"  _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
+ SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg"  _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
 SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] ""  AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU
 SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
 SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
--- a/opendbc/hyundai_santa_fe_2019_ccan.dbc
+++ b/opendbc/hyundai_santa_fe_2019_ccan.dbc
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/tesla_can.dbc
+++ b/opendbc/tesla_can.dbc
@@ -328,7 +328,8 @@ VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
 VAL_ 14 StW_AnglHP 16383 "SNA" ;
 VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ;
 VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ;
-VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
+VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
+VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
 VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
 VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
 VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_chr_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_2018_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -0,0 +1,258 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+

 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""
--- a/panda/.circleci/config.yml
+++ b/panda/.circleci/config.yml
@@ -28,6 +28,10 @@ jobs:
          name: Build Panda STM image
          command: |
            docker run panda_build /bin/bash -c "cd /panda/board; make bin"
+      - run:
+          name: Build Pedal STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
      - run:
          name: Build NEO STM image
          command: |
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -158,7 +158,7 @@ void can_set_speed(uint8_t can_number) {
    // initialization mode
    CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
    while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-    
+
    // set time quanta from defines
    CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
              (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
@@ -468,8 +468,10 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
      // bus number isn't passed through
      to_push->RDTR &= 0xF;
      if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
+        #ifdef PANDA
        // TODO: why uint8 bro? only int8?
        bitbang_gmlan(to_push);
+        #endif
      } else {
        can_push(can_queues[bus_number], to_push);
        process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
--- a/panda/board/pedal/obj/.gitkeep
+++ b/panda/board/pedal/obj/.gitkeep
--- a/panda/board/safety/safety_cadillac.h
+++ b/panda/board/safety/safety_cadillac.h
@@ -125,7 +125,7 @@ const safety_hooks cadillac_hooks = {
  .init = cadillac_init,
  .rx = cadillac_rx_hook,
  .tx = cadillac_tx_hook,
-  .tx_lin = alloutput_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = cadillac_ign_hook,
  .fwd = alloutput_fwd_hook,
 };
--- a/panda/board/safety/safety_defaults.h
+++ b/panda/board/safety/safety_defaults.h
@@ -57,4 +57,3 @@ const safety_hooks alloutput_hooks = {
  .ignition = default_ign_hook,
  .fwd = alloutput_fwd_hook,
 };
-
--- a/panda/board/safety/safety_ford.h
+++ b/panda/board/safety/safety_ford.h
@@ -83,24 +83,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return true;
 }

-static int ford_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // TODO: add safety if using LIN
-  return true;
-}
-
-static void ford_init(int16_t param) {
-  controls_allowed = 0;
-}
-
-static int ford_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks ford_hooks = {
-  .init = ford_init,
+  .init = nooutput_init,
  .rx = ford_rx_hook,
  .tx = ford_tx_hook,
-  .tx_lin = ford_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
-  .fwd = ford_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -222,11 +222,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return true;
 }

-static int gm_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // LIN is not used in Volt
-  return false;
-}
-
 static void gm_init(int16_t param) {
  controls_allowed = 0;
  gm_ignition_started = 0;
@@ -236,16 +231,12 @@ static int gm_ign_hook() {
  return gm_ignition_started;
 }

-static int gm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks gm_hooks = {
  .init = gm_init,
  .rx = gm_rx_hook,
  .tx = gm_tx_hook,
-  .tx_lin = gm_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = gm_ign_hook,
-  .fwd = gm_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };

--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -119,7 +119,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
      if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
    }
  }
-  
+
  // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
  // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
  // This avoids unintended engagements while still allowing resume spam
@@ -132,28 +132,19 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return true;
 }

-static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // TODO: add safety if using LIN
-  return true;
-}
-
 static void honda_init(int16_t param) {
  controls_allowed = 0;
  bosch_hardware = false;
  honda_alt_brake_msg = false;
 }

-static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks honda_hooks = {
  .init = honda_init,
  .rx = honda_rx_hook,
  .tx = honda_tx_hook,
-  .tx_lin = honda_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
-  .fwd = honda_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };

 static void honda_bosch_init(int16_t param) {
@@ -175,7 +166,7 @@ const safety_hooks honda_bosch_hooks = {
  .init = honda_bosch_init,
  .rx = honda_rx_hook,
  .tx = honda_tx_hook,
-  .tx_lin = honda_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = honda_bosch_fwd_hook,
 };
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -1,35 +1,156 @@
-int hyundai_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
+const int HYUNDAI_MAX_STEER = 250;
+const int HYUNDAI_MAX_RT_DELTA = 112;          // max delta torque allowed for real time checks
+const int32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
+const int HYUNDAI_MAX_RATE_UP = 3;
+const int HYUNDAI_MAX_RATE_DOWN = 7;
+const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
+const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;

+int hyundai_camera_detected = 0;
+int hyundai_giraffe_switch_2 = 0;          // is giraffe switch 2 high?
+int hyundai_rt_torque_last = 0;
+int hyundai_desired_torque_last = 0;
+int hyundai_cruise_engaged_last = 0;
+uint32_t hyundai_ts_last = 0;
+struct sample_t hyundai_torque_driver;         // last few driver torques measured

 static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  int bus = (to_push->RDTR >> 4) & 0xFF;
+  uint32_t addr;
+  if (to_push->RIR & 4) {
+    // Extended
+    // Not looked at, but have to be separated
+    // to avoid address collision
+    addr = to_push->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_push->RIR >> 21;
+  }

-  int bus = (to_push->RDTR >> 4) & 0xF;
-  // 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high and we want stock
-  if ((to_push->RIR>>21) == 832 && (bus == 0)) {
-    hyundai_giraffe_switch_1 = 1;
+  if (addr == 897) {
+    int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
+    // update array of samples
+    update_sample(&hyundai_torque_driver, torque_driver_new);
+  }
+
+  // check if stock camera ECU is still online
+  if (bus == 0 && addr == 832) {
+    hyundai_camera_detected = 1;
+    controls_allowed = 0;
+  }
+
+  // enter controls on rising edge of ACC, exit controls on ACC off
+  if ((to_push->RIR>>21) == 1057) {
+    // 2 bits: 13-14
+    int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
+    if (cruise_engaged && !hyundai_cruise_engaged_last) {
+      controls_allowed = 1;
+    } else if (!cruise_engaged) {
+      controls_allowed = 0;
+    }
+    hyundai_cruise_engaged_last = cruise_engaged;
+  }
+
+  // 832 is lkas cmd. If it is on bus 2, then giraffe switch 2 is high
+  if ((to_push->RIR>>21) == 832 && (bus == 2)) {
+    hyundai_giraffe_switch_2 = 1;
  }
 }

-static void hyundai_init(int16_t param) {
-  controls_allowed = 0;
-  hyundai_giraffe_switch_1 = 0;
+static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+
+  // There can be only one! (camera)
+  if (hyundai_camera_detected) {
+    return 0;
+  }
+
+  uint32_t addr;
+  if (to_send->RIR & 4) {
+    // Extended
+    addr = to_send->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_send->RIR >> 21;
+  }
+
+  // LKA STEER: safety check
+  if (addr == 832) {
+    int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
+    uint32_t ts = TIM2->CNT;
+    int violation = 0;
+
+    if (controls_allowed) {
+
+      // *** global torque limit check ***
+      violation |= max_limit_check(desired_torque, HYUNDAI_MAX_STEER, -HYUNDAI_MAX_STEER);
+
+      // *** torque rate limit check ***
+      violation |= driver_limit_check(desired_torque, hyundai_desired_torque_last, &hyundai_torque_driver,
+        HYUNDAI_MAX_STEER, HYUNDAI_MAX_RATE_UP, HYUNDAI_MAX_RATE_DOWN,
+        HYUNDAI_DRIVER_TORQUE_ALLOWANCE, HYUNDAI_DRIVER_TORQUE_FACTOR);
+
+      // used next time
+      hyundai_desired_torque_last = desired_torque;
+
+      // *** torque real time rate limit check ***
+      violation |= rt_rate_limit_check(desired_torque, hyundai_rt_torque_last, HYUNDAI_MAX_RT_DELTA);
+
+      // every RT_INTERVAL set the new limits
+      uint32_t ts_elapsed = get_ts_elapsed(ts, hyundai_ts_last);
+      if (ts_elapsed > HYUNDAI_RT_INTERVAL) {
+        hyundai_rt_torque_last = desired_torque;
+        hyundai_ts_last = ts;
+      }
+    }
+
+    // no torque if controls is not allowed
+    if (!controls_allowed && (desired_torque != 0)) {
+      violation = 1;
+    }
+
+    // reset to 0 if either controls is not allowed or there's a violation
+    if (violation || !controls_allowed) {
+      hyundai_desired_torque_last = 0;
+      hyundai_rt_torque_last = 0;
+      hyundai_ts_last = ts;
+    }
+
+    if (violation) {
+      return false;
+    }
+  }
+
+  // FORCE CANCEL: safety check only relevant when spamming the cancel button.
+  // ensuring that only the cancel button press is sent (VAL 4) when controls are off.
+  // This avoids unintended engagements while still allowing resume spam
+  if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
+    if ((to_send->RDLR & 0x7) != 4) return 0;
+  }
+
+  // 1 allows the message through
+  return true;
 }

 static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {

-  // forward camera to car and viceversa, excpet for lkas11 and mdps12
-  if ((bus_num == 0 || bus_num == 2) && !hyundai_giraffe_switch_1) {
+  // forward cam to ccan and viceversa, except lkas cmd
+  if ((bus_num == 0 || bus_num == 2) && hyundai_giraffe_switch_2) {
    int addr = to_fwd->RIR>>21;
-    bool is_lkas_msg = (addr == 832 && bus_num == 2) || (addr == 593 && bus_num == 0);
+    bool is_lkas_msg = addr == 832 && bus_num == 2;
    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
  }
  return -1;
 }

+static void hyundai_init(int16_t param) {
+  controls_allowed = 0;
+  hyundai_giraffe_switch_2 = 0;
+}
+
 const safety_hooks hyundai_hooks = {
  .init = hyundai_init,
  .rx = hyundai_rx_hook,
-  .tx = nooutput_tx_hook,
+  .tx = hyundai_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = hyundai_fwd_hook,
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -107,7 +107,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
        violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);

        // *** torque rate limit check ***
-        violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last, 
+        violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
          &toyota_torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);

        // used next time
@@ -123,7 +123,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
          toyota_ts_last = ts;
        }
      }
-      
+
      // no torque if controls is not allowed
      if (!controls_allowed && (desired_torque != 0)) {
        violation = 1;
@@ -146,11 +146,6 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return true;
 }

-static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // TODO: add safety if using LIN
-  return true;
-}
-
 static void toyota_init(int16_t param) {
  controls_allowed = 0;
  toyota_actuation_limits = 1;
@@ -173,7 +168,7 @@ const safety_hooks toyota_hooks = {
  .init = toyota_init,
  .rx = toyota_rx_hook,
  .tx = toyota_tx_hook,
-  .tx_lin = toyota_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = toyota_fwd_hook,
 };
@@ -189,7 +184,7 @@ const safety_hooks toyota_nolimits_hooks = {
  .init = toyota_nolimits_init,
  .rx = toyota_rx_hook,
  .tx = toyota_tx_hook,
-  .tx_lin = toyota_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = toyota_fwd_hook,
 };
--- a/panda/board/safety/safety_toyota_ipas.h
+++ b/panda/board/safety/safety_toyota_ipas.h
@@ -149,7 +149,7 @@ const safety_hooks toyota_ipas_hooks = {
  .init = toyota_init,
  .rx = toyota_ipas_rx_hook,
  .tx = toyota_ipas_tx_hook,
-  .tx_lin = toyota_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = toyota_fwd_hook,
 };
--- a/panda/tests/safety/libpandasafety_py.py
+++ b/panda/tests/safety/libpandasafety_py.py
@@ -41,6 +41,7 @@ void set_timer(int t);
 void set_toyota_torque_meas(int min, int max);
 void set_cadillac_torque_driver(int min, int max);
 void set_gm_torque_driver(int min, int max);
+void set_hyundai_torque_driver(int min, int max);
 void set_toyota_rt_torque_last(int t);
 void set_toyota_desired_torque_last(int t);
 int get_toyota_torque_meas_min(void);
@@ -70,6 +71,13 @@ int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void set_gm_desired_torque_last(int t);
 void set_gm_rt_torque_last(int t);

+void init_tests_hyundai(void);
+void nooutput_init(int16_t param);
+void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+void set_hyundai_desired_torque_last(int t);
+void set_hyundai_rt_torque_last(int t);
+
 void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);

--- a/panda/tests/safety/test.c
+++ b/panda/tests/safety/test.c
@@ -25,6 +25,7 @@ typedef struct
 struct sample_t toyota_torque_meas;
 struct sample_t cadillac_torque_driver;
 struct sample_t gm_torque_driver;
+struct sample_t hyundai_torque_driver;

 TIM_TypeDef timer;
 TIM_TypeDef *TIM2 = &timer;
@@ -75,6 +76,11 @@ void set_gm_torque_driver(int min, int max){
  gm_torque_driver.max = max;
 }

+void set_hyundai_torque_driver(int min, int max){
+  hyundai_torque_driver.min = min;
+  hyundai_torque_driver.max = max;
+}
+
 int get_toyota_torque_meas_min(void){
  return toyota_torque_meas.min;
 }
@@ -95,6 +101,10 @@ void set_gm_rt_torque_last(int t){
  gm_rt_torque_last = t;
 }

+void set_hyundai_rt_torque_last(int t){
+  hyundai_rt_torque_last = t;
+}
+
 void set_toyota_desired_torque_last(int t){
  toyota_desired_torque_last = t;
 }
@@ -107,6 +117,9 @@ void set_gm_desired_torque_last(int t){
  gm_desired_torque_last = t;
 }

+void set_hyundai_desired_torque_last(int t){
+  hyundai_desired_torque_last = t;
+}

 int get_ego_speed(void){
  return ego_speed;
@@ -155,6 +168,15 @@ void init_tests_gm(void){
  set_timer(0);
 }

+void init_tests_hyundai(void){
+  hyundai_torque_driver.min = 0;
+  hyundai_torque_driver.max = 0;
+  hyundai_desired_torque_last = 0;
+  hyundai_rt_torque_last = 0;
+  hyundai_ts_last = 0;
+  set_timer(0);
+}
+
 void init_tests_honda(void){
  ego_speed = 0;
  gas_interceptor_detected = 0;
--- a/panda/tests/safety/test_gm.py
+++ b/panda/tests/safety/test_gm.py
@@ -84,10 +84,6 @@ class TestGmSafety(unittest.TestCase):
    to_send[0].RDHR = (((t >> 8) & 0x7) << 16) | ((t & 0xFF) << 24)
    return to_send

-  def _torque_driver_msg_array(self, torque):
-    for i in range(3):
-      self.safety.gm_ipas_rx_hook(self._torque_driver_msg(torque))
-
  def _torque_msg(self, torque):
    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
    to_send[0].RIR = 384 << 21
@@ -117,7 +113,7 @@ class TestGmSafety(unittest.TestCase):
    self.safety.gm_rx_hook(self._button_msg(CANCEL_BTN))
    self.assertFalse(self.safety.get_controls_allowed())

-  def test_disengage_on_brake(self): 
+  def test_disengage_on_brake(self):
    self.safety.set_controls_allowed(1)
    self.safety.gm_rx_hook(self._brake_msg(True))
    self.assertFalse(self.safety.get_controls_allowed())
--- a/panda/tests/safety/test_honda.py
+++ b/panda/tests/safety/test_honda.py
@@ -108,7 +108,7 @@ class TestHondaSafety(unittest.TestCase):
    self.safety.set_controls_allowed(1)
    self.safety.honda_rx_hook(self._alt_brake_msg(1))
    self.assertFalse(self.safety.get_controls_allowed())
-    
+
    self.safety.set_honda_alt_brake_msg(0)
    self.safety.set_controls_allowed(1)
    self.safety.honda_rx_hook(self._alt_brake_msg(1))
--- a/panda/tests/safety/test_hyundai.py
+++ b/panda/tests/safety/test_hyundai.py
@@ -0,0 +1,186 @@
+#!/usr/bin/env python2
+import unittest
+import numpy as np
+import libpandasafety_py
+
+MAX_RATE_UP = 3
+MAX_RATE_DOWN = 7
+MAX_STEER = 250
+
+MAX_RT_DELTA = 112
+RT_INTERVAL = 250000
+
+DRIVER_TORQUE_ALLOWANCE = 50;
+DRIVER_TORQUE_FACTOR = 2;
+
+def twos_comp(val, bits):
+  if val >= 0:
+    return val
+  else:
+    return (2**bits) + val
+
+def sign(a):
+  if a > 0:
+    return 1
+  else:
+    return -1
+
+class TestHyundaiSafety(unittest.TestCase):
+  @classmethod
+  def setUp(cls):
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.nooutput_init(0)
+    cls.safety.init_tests_hyundai()
+
+  def _button_msg(self, buttons):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 1265 << 21
+    to_send[0].RDLR = buttons
+    return to_send
+
+  def _set_prev_torque(self, t):
+    self.safety.set_hyundai_desired_torque_last(t)
+    self.safety.set_hyundai_rt_torque_last(t)
+
+  def _torque_driver_msg(self, torque):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 897 << 21
+    to_send[0].RDLR = (torque + 2048) << 11
+    return to_send
+
+  def _torque_msg(self, torque):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 832 << 21
+    to_send[0].RDLR = (torque + 1024) << 16
+    return to_send
+
+  def test_default_controls_not_allowed(self):
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_steer_safety_check(self):
+    for enabled in [0, 1]:
+      for t in range(-0x200, 0x200):
+        self.safety.set_controls_allowed(enabled)
+        self._set_prev_torque(t)
+        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
+          self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+        else:
+          self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+
+  def test_manually_enable_controls_allowed(self):
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_controls_allowed(0)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_enable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 1057 << 21
+    to_push[0].RDLR = 1 << 13
+
+    self.safety.hyundai_rx_hook(to_push)
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_disable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 1057 << 21
+    to_push[0].RDLR = 0
+
+    self.safety.set_controls_allowed(1)
+    self.safety.hyundai_rx_hook(to_push)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_non_realtime_limit_up(self):
+    self.safety.set_hyundai_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP)))
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP)))
+
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
+    self.safety.set_controls_allowed(True)
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
+
+  def test_non_realtime_limit_down(self):
+    self.safety.set_hyundai_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+  def test_against_torque_driver(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
+        t *= -sign
+        self.safety.set_hyundai_torque_driver(t, t)
+        self._set_prev_torque(MAX_STEER * sign)
+        self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_STEER * sign)))
+
+      self.safety.set_hyundai_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_STEER)))
+
+    # spot check some individual cases
+    for sign in [-1, 1]:
+      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
+      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
+      delta = 1 * sign
+      self._set_prev_torque(torque_desired)
+      self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired)))
+      self._set_prev_torque(torque_desired + delta)
+      self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired + delta)))
+
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(0)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
+
+
+  def test_realtime_limits(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      self.safety.init_tests_hyundai()
+      self._set_prev_torque(0)
+      self.safety.set_hyundai_torque_driver(0, 0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+      self._set_prev_torque(0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+
+      # Increase timer to update rt_torque_last
+      self.safety.set_timer(RT_INTERVAL + 1)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+
+  def test_spam_cancel_safety_check(self):
+    RESUME_BTN = 1
+    SET_BTN = 2
+    CANCEL_BTN = 4
+    BUTTON_MSG = 1265
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
+    self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
+    self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
+
+
+if __name__ == "__main__":
+  unittest.main()
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -39,6 +39,7 @@
 #define SAFETY_HONDA_BOSCH 4
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
+#define SAFETY_HYUNDAI 7
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337

@@ -113,6 +114,9 @@ void *safety_setter_thread(void *s) {
  case (int)cereal::CarParams::SafetyModels::CADILLAC:
    safety_setting = SAFETY_CADILLAC;
    break;
+  case (int)cereal::CarParams::SafetyModels::HYUNDAI:
+    safety_setting = SAFETY_HYUNDAI;
+    break;
  default:
    LOGE("unknown safety model: %d", safety_model);
  }
@@ -584,7 +588,7 @@ void *pigeon_thread(void *crap) {
      //printf("got %d\n", len);
      alen += len;
    }
-    if (alen > 0) { 
+    if (alen > 0) {
      if (dat[0] == (char)0x00){
        LOGW("received invalid ublox message, resetting pigeon");
        pigeon_init();
--- a/selfdrive/can/packer.cc
+++ b/selfdrive/can/packer.cc
@@ -1,5 +1,4 @@
 #include <cassert>
-
 #include <string>
 #include <vector>
 #include <utility>
@@ -31,6 +30,7 @@ namespace {
    uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
    if (sig.is_little_endian) {
      dat = ReverseBytes(dat);
+      mask = ReverseBytes(mask);
    }
    ret &= ~mask;
    ret |= dat;
--- a/selfdrive/can/packer.py
+++ b/selfdrive/can/packer.py
@@ -47,11 +47,16 @@ class CANPacker(object):

 if __name__ == "__main__":
  ## little endian test
-  cp = CANPacker("hyundai_2015_ccan")
+  cp = CANPacker("hyundai_santa_fe_2019_ccan")
  s = cp.pack_bytes(0x340, {
    "CR_Lkas_StrToqReq": -0.06,
-    "CF_Lkas_FcwBasReq": 1,
-    "CF_Lkas_Chksum": 3,
+    #"CF_Lkas_FcwBasReq": 1,
+    "CF_Lkas_MsgCount": 7,
+    "CF_Lkas_HbaSysState": 0,
+    #"CF_Lkas_Chksum": 3,
+  })
+  s = cp.pack_bytes(0x340, {
+    "CF_Lkas_MsgCount": 1,
  })
  # big endian test
  #cp = CANPacker("honda_civic_touring_2016_can_generated")
--- a/selfdrive/can/parser.cc
+++ b/selfdrive/can/parser.cc
@@ -259,6 +259,7 @@ class CANParser {
        memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());

        // Assumes all signals in the message are of the same type (little or big endian)
+        // TODO: allow signals within the same message to have different endianess
        auto& sig = message_states[cmsg.getAddress()].parse_sigs[0];
        if (sig.is_little_endian) {
            p = read_u64_le(dat);
--- a/selfdrive/car/init.py
+++ b/selfdrive/car/init.py
@@ -1,4 +1,26 @@
 # functions common among cars
+from common.numpy_fast import clip
+

 def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
+
+
+def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
+
+  # limits due to driver torque
+  driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
+  min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
+  apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
+
+  # slow rate if steer torque increases in magnitude
+  if apply_torque_last > 0:
+    apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
+                                    apply_torque_last + LIMITS.STEER_DELTA_UP)
+  else:
+    apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
+                                    min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
+
+  return int(round(apply_torque))
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -97,6 +97,7 @@ def get_car(logcan, sendcan=None, passive=True):
      return None, None

  interface_cls = interfaces[candidate]
+
  if interface_cls is None:
    cloudlog.warning("car matched %s, but interface wasn't available or failed to import" % candidate)
    return None, None
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,7 +1,8 @@
-from common.numpy_fast import clip, interp
+from common.numpy_fast import interp
 from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.boardd.boardd import can_list_to_can_capnp
+from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
 from selfdrive.car.gm.values import CAR, DBC
 from selfdrive.can.packer import CANPacker
@@ -88,27 +89,13 @@ class CarController(object):
      final_steer = actuators.steer if enabled else 0.
      apply_steer = final_steer * P.STEER_MAX

-      # limits due to driver torque
-      driver_max_torque = P.STEER_MAX + (P.STEER_DRIVER_ALLOWANCE + CS.steer_torque_driver * P.STEER_DRIVER_FACTOR) * P.STEER_DRIVER_MULTIPLIER
-      driver_min_torque = -P.STEER_MAX + (-P.STEER_DRIVER_ALLOWANCE + CS.steer_torque_driver * P.STEER_DRIVER_FACTOR) * P.STEER_DRIVER_MULTIPLIER
-      max_steer_allowed = max(min(P.STEER_MAX, driver_max_torque), 0)
-      min_steer_allowed = min(max(-P.STEER_MAX, driver_min_torque), 0)
-      apply_steer = clip(apply_steer, min_steer_allowed, max_steer_allowed)
-
-      # slow rate if steer torque increases in magnitude
-      if self.apply_steer_last > 0:
-        apply_steer = clip(apply_steer, max(self.apply_steer_last - P.STEER_DELTA_DOWN, -P.STEER_DELTA_UP),
-                                        self.apply_steer_last + P.STEER_DELTA_UP)
-      else:
-        apply_steer = clip(apply_steer, self.apply_steer_last - P.STEER_DELTA_UP,
-                                        min(self.apply_steer_last + P.STEER_DELTA_DOWN, P.STEER_DELTA_UP))
+      apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P)

      lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3.

      if not lkas_enabled:
        apply_steer = 0

-      apply_steer = int(round(apply_steer))
      self.apply_steer_last = apply_steer
      idx = (frame / P.STEER_STEP) % 4

@@ -116,7 +103,7 @@ class CarController(object):
        can_sends.append(gmcan.create_steering_control(self.packer_pt,
          canbus.powertrain, apply_steer, idx, lkas_enabled))
      if self.car_fingerprint == CAR.CADILLAC_CT6:
-        can_sends += gmcan.create_steering_control_ct6(self.packer_pt, 
+        can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
          canbus, apply_steer, CS.v_ego, idx, lkas_enabled)

    ### GAS/BRAKE ###
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -194,7 +194,8 @@ class CarInterface(object):

    # cruise state
    ret.cruiseState.available = bool(self.CS.main_on)
-    ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
+    cruiseEnabled = self.CS.pcm_acc_status != 0
+    ret.cruiseState.enabled = cruiseEnabled
    ret.cruiseState.standstill = self.CS.pcm_acc_status == 4

    ret.leftBlinker = self.CS.left_blinker_on
@@ -228,7 +229,8 @@ class CarInterface(object):
        be.pressed = False
        but = self.CS.prev_cruise_buttons
      if but == CruiseButtons.RES_ACCEL:
-        be.type = 'accelCruise'
+        if not (cruiseEnabled and self.CS.standstill):
+          be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed.
      elif but == CruiseButtons.DECEL_SET:
        be.type = 'decelCruise'
      elif but == CruiseButtons.CANCEL:
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -106,9 +106,7 @@ def get_can_signals(CP):
  elif CP.carFingerprint == CAR.ACURA_ILX:
    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
                ("MAIN_ON", "SCM_BUTTONS", 0)]
-  elif CP.carFingerprint == CAR.CRV:
-    signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
-  elif CP.carFingerprint == CAR.ACURA_RDX:
+  elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
    signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
  elif CP.carFingerprint == CAR.ODYSSEY:
    signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
@@ -118,8 +116,6 @@ def get_can_signals(CP):
  elif CP.carFingerprint == CAR.PILOT:
    signals += [("MAIN_ON", "SCM_BUTTONS", 0),
                ("CAR_GAS", "GAS_PEDAL_2", 0)]
-  elif CP.carFingerprint == CAR.RIDGELINE:
-    signals += [("MAIN_ON", "SCM_BUTTONS", 0)]

  # add gas interceptor reading if we are using it
  if CP.enableGasInterceptor:
@@ -252,7 +248,7 @@ class CarState(object):

    self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
    # crv doesn't include cruise control
-    if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE):
+    if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019):
      self.car_gas = self.pedal_gas
    else:
      self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -2,7 +2,7 @@ import struct

 import common.numpy_fast as np
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, HONDA_BOSCH
+from selfdrive.car.honda.values import CAR, HONDA_BOSCH, VEHICLE_STATE_MSG

 # *** Honda specific ***
 def can_cksum(mm):
@@ -126,26 +126,14 @@ def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
  msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +
               ("\x20" if idx == 0 or idx == 3 else "\x00") +
               "\x00\x00")
+  msg_0x301 = VEHICLE_STATE_MSG[car_fingerprint]

+  idx_0x300 = idx
  if car_fingerprint == CAR.CIVIC:
-    msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
    idx_offset = 0xc if new_radar_config else 0x8   # radar in civic 2018 requires 0xc
-    commands.append(make_can_msg(0x300, msg_0x300, idx + idx_offset, 1))
-  else:
-    if car_fingerprint == CAR.CRV:
-      msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
-    elif car_fingerprint == CAR.ACURA_RDX:
-      msg_0x301 = "\x0f\x57\x4f\x02\x5a\x00\x00"
-    elif car_fingerprint == CAR.ODYSSEY:
-      msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
-    elif car_fingerprint == CAR.ACURA_ILX:
-      msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
-    elif car_fingerprint == CAR.PILOT:
-      msg_0x301 = "\x00\x00\x56\x02\x58\x00\x00"
-    elif car_fingerprint == CAR.RIDGELINE:
-      msg_0x301 = "\x00\x00\x56\x02\x57\x00\x00"
-    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
+    idx_0x300 += idx_offset

+  commands.append(make_can_msg(0x300, msg_0x300, idx_0x300, 1))
  commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
  return commands

--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -277,18 +277,18 @@ class CarInterface(object):

    elif candidate == CAR.ODYSSEY:
      stop_and_go = False
-      ret.mass = 4354 * CV.LB_TO_KG + std_cargo
+      ret.mass = 4471 * CV.LB_TO_KG + std_cargo
      ret.wheelbase = 3.00
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 14.35        # as spec
-      tire_stiffness_factor = 0.444 # not optimized yet
-      ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
+      tire_stiffness_factor = 0.82
+      ret.steerKpV, ret.steerKiV = [[0.45], [0.135]]
      ret.longitudinalKpBP = [0., 5., 35.]
      ret.longitudinalKpV = [1.2, 0.8, 0.5]
      ret.longitudinalKiBP = [0., 35.]
      ret.longitudinalKiV = [0.18, 0.12]

-    elif candidate == CAR.PILOT:
+    elif candidate in (CAR.PILOT, CAR.PILOT_2019):
      stop_and_go = False
      ret.mass = 4303 * CV.LB_TO_KG + std_cargo
      ret.wheelbase = 2.81
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -47,6 +47,7 @@ class CAR:
  ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
  ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
  PILOT = "HONDA PILOT 2017 TOURING"
+  PILOT_2019 = "HONDA PILOT 2019 ELITE"
  RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"


@@ -88,6 +89,9 @@ FINGERPRINTS = {
  CAR.PILOT: [{
    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
  }],
+  CAR.PILOT_2019: [{
+    57: 3, 145: 8, 228: 5, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 983: 8, 985: 3, 1029: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
+  }],
  # Ridgeline w/ Added Comma Pedal Support (512L & 513L)
  CAR.RIDGELINE: [{
    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 471: 3, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1613: 5, 1616: 5, 1618: 5, 1668: 5, 2015: 3
@@ -106,6 +110,7 @@ DBC = {
  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
  CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
  CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
  CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
 }

@@ -121,6 +126,7 @@ STEER_THRESHOLD = {
  CAR.CRV_5G: 1200,
  CAR.ODYSSEY: 1200,
  CAR.PILOT: 1200,
+  CAR.PILOT_2019: 1200,
  CAR.RIDGELINE: 1200,
 }

@@ -135,8 +141,22 @@ SPEED_FACTOR = {
  CAR.CRV_5G: 1.025,
  CAR.ODYSSEY: 1.,
  CAR.PILOT: 1.,
+  CAR.PILOT_2019: 1.,
  CAR.RIDGELINE: 1.,
 }

+# This message sends car info to the radar that is specific to the model. You
+# can determine this message by monitoring the OEM system.
+VEHICLE_STATE_MSG = {
+  CAR.ACURA_ILX: "\x0f\x18\x51\x02\x5a\x00\x00",
+  CAR.ACURA_RDX: "\x0f\x57\x4f\x02\x5a\x00\x00",
+  CAR.CIVIC: "\x02\x38\x44\x32\x4f\x00\x00",
+  CAR.CRV: "\x00\x00\x50\x02\x51\x00\x00",
+  CAR.ODYSSEY: "\x00\x00\x56\x02\x55\x00\x00",
+  CAR.PILOT: "\x00\x00\x56\x02\x58\x00\x00",
+  CAR.PILOT_2019: "\x00\x00\x58\x02\x5c\x00\x00",
+  CAR.RIDGELINE: "\x00\x00\x56\x02\x57\x00\x00",
+}
+
 # TODO: get these from dbc file
 HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]
--- a/selfdrive/car/hyundai/init.py
+++ b/selfdrive/car/hyundai/init.py
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -0,0 +1,76 @@
+from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+from selfdrive.car.hyundai.hyundaican import create_lkas11, create_lkas12, \
+                                             create_1191, create_1156, \
+                                             create_clu11
+from selfdrive.car.hyundai.values import Buttons
+from selfdrive.can.packer import CANPacker
+
+
+# Steer torque limits
+
+class SteerLimitParams:
+  STEER_MAX = 250   # 409 is the max
+  STEER_DELTA_UP = 3
+  STEER_DELTA_DOWN = 7
+  STEER_DRIVER_ALLOWANCE = 50
+  STEER_DRIVER_MULTIPLIER = 2
+  STEER_DRIVER_FACTOR = 1
+
+class CarController(object):
+  def __init__(self, dbc_name, car_fingerprint, enable_camera):
+    self.apply_steer_last = 0
+    self.car_fingerprint = car_fingerprint
+    self.lkas11_cnt = 0
+    self.cnt = 0
+    self.last_resume_cnt = 0
+    self.enable_camera = enable_camera
+    # True when giraffe switch 2 is low and we need to replace all the camera messages
+    # otherwise we forward the camera msgs and we just replace the lkas cmd signals
+    self.camera_disconnected = False
+
+    self.packer = CANPacker(dbc_name)
+
+  def update(self, sendcan, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
+
+    if not self.enable_camera:
+      return
+
+    ### Steering Torque
+    apply_steer = actuators.steer * SteerLimitParams.STEER_MAX
+
+    apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, SteerLimitParams)
+
+    if not enabled:
+      apply_steer = 0
+
+    steer_req = 1 if enabled else 0
+
+    self.apply_steer_last = apply_steer
+
+    can_sends = []
+
+    self.lkas11_cnt = self.cnt % 0x10
+    self.clu11_cnt = self.cnt % 0x10
+
+    if self.camera_disconnected:
+      if (self.cnt % 10) == 0:
+        can_sends.append(create_lkas12())
+      if (self.cnt % 50) == 0:
+        can_sends.append(create_1191())
+      if (self.cnt % 7) == 0:
+        can_sends.append(create_1156())
+
+    can_sends.append(create_lkas11(self.packer, apply_steer, steer_req, self.lkas11_cnt,
+                                   enabled, CS.lkas11, hud_alert, keep_stock=(not self.camera_disconnected)))
+
+    if pcm_cancel_cmd:
+      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))
+    elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
+      self.last_resume_cnt = self.cnt
+      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
+
+    ### Send messages to canbus
+    sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
+
+    self.cnt += 1
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -0,0 +1,220 @@
+from selfdrive.car.hyundai.values import DBC
+from selfdrive.can.parser import CANParser
+from selfdrive.config import Conversions as CV
+from common.kalman.simple_kalman import KF1D
+import numpy as np
+
+
+def get_can_parser(CP):
+
+  signals = [
+    # sig_name, sig_address, default
+    ("WHL_SPD_FL", "WHL_SPD11", 0),
+    ("WHL_SPD_FR", "WHL_SPD11", 0),
+    ("WHL_SPD_RL", "WHL_SPD11", 0),
+    ("WHL_SPD_RR", "WHL_SPD11", 0),
+
+    ("YAW_RATE", "ESP12", 0),
+
+    ("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
+    ("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
+    ("CF_Gway_TSigLHSw", "CGW1", 0),
+    ("CF_Gway_TurnSigLh", "CGW1", 0),
+    ("CF_Gway_TSigRHSw", "CGW1", 0),
+    ("CF_Gway_TurnSigRh", "CGW1", 0),
+
+    ("BRAKE_ACT", "EMS12", 0),
+    ("PV_AV_CAN", "EMS12", 0),
+    ("TPS", "EMS12", 0),
+
+    ("CYL_PRES", "ESP12", 0),
+
+    ("CF_Clu_CruiseSwState", "CLU11", 0),
+    ("CF_Clu_CruiseSwMain" , "CLU11", 0),
+    ("CF_Clu_SldMainSW", "CLU11", 0),
+    ("CF_Clu_ParityBit1", "CLU11", 0),
+    ("CF_Clu_VanzDecimal" , "CLU11", 0),
+    ("CF_Clu_Vanz", "CLU11", 0),
+    ("CF_Clu_SPEED_UNIT", "CLU11", 0),
+    ("CF_Clu_DetentOut", "CLU11", 0),
+    ("CF_Clu_RheostatLevel", "CLU11", 0),
+    ("CF_Clu_CluInfo", "CLU11", 0),
+    ("CF_Clu_AmpInfo", "CLU11", 0),
+    ("CF_Clu_AliveCnt1", "CLU11", 0),
+
+    ("CF_Lvr_Gear","LVR12",0),
+
+    ("ACCEnable", "TCS13", 0),
+    ("ACC_REQ", "TCS13", 0),
+    ("DriverBraking", "TCS13", 0),
+    ("DriverOverride", "TCS13", 0),
+
+    ("ESC_Off_Step", "TCS15", 0),
+
+    ("CF_Lvr_GearInf", "LVR11", 0),        #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
+
+    ("CR_Mdps_DrvTq", "MDPS11", 0),
+
+    ("CR_Mdps_StrColTq", "MDPS12", 0),
+    ("CF_Mdps_ToiActive", "MDPS12", 0),
+    ("CF_Mdps_ToiUnavail", "MDPS12", 0),
+    ("CF_Mdps_FailStat", "MDPS12", 0),
+    ("CR_Mdps_OutTq", "MDPS12", 0),
+
+    ("VSetDis", "SCC11", 0),
+    ("SCCInfoDisplay", "SCC11", 0),
+    ("ACCMode", "SCC12", 1),
+
+    ("SAS_Angle", "SAS11", 0),
+    ("SAS_Speed", "SAS11", 0),
+  ]
+
+  checks = [
+    # address, frequency
+    ("MDPS12", 50),
+    ("MDPS11", 100),
+    ("TCS15", 10),
+    ("TCS13", 50),
+    ("CLU11", 50),
+    ("ESP12", 100),
+    ("EMS12", 100),
+    ("CGW1", 10),
+    ("CGW4", 5),
+    ("WHL_SPD11", 50),
+    ("SCC11", 50),
+    ("SCC12", 50),
+    ("SAS11", 100)
+  ]
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
+
+def get_camera_parser(CP):
+
+  signals = [
+    # sig_name, sig_address, default
+    ("CF_Lkas_LdwsSysState", "LKAS11", 0),
+    ("CF_Lkas_SysWarning", "LKAS11", 0),
+    ("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
+    ("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
+    ("CF_Lkas_HbaLamp", "LKAS11", 0),
+    ("CF_Lkas_FcwBasReq", "LKAS11", 0),
+    ("CF_Lkas_ToiFlt", "LKAS11", 0),
+    ("CF_Lkas_HbaSysState", "LKAS11", 0),
+    ("CF_Lkas_FcwOpt", "LKAS11", 0),
+    ("CF_Lkas_HbaOpt", "LKAS11", 0),
+    ("CF_Lkas_FcwSysState", "LKAS11", 0),
+    ("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
+    ("CF_Lkas_FusionState", "LKAS11", 0),
+    ("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
+    ("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
+  ]
+
+  checks = []
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+
+class CarState(object):
+  def __init__(self, CP):
+
+    self.CP = CP
+
+    # initialize can parser
+    self.car_fingerprint = CP.carFingerprint
+
+    # vEgo kalman filter
+    dt = 0.01
+    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
+    # R = 1e3
+    self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
+                         A=np.matrix([[1.0, dt], [0.0, 1.0]]),
+                         C=np.matrix([1.0, 0.0]),
+                         K=np.matrix([[0.12287673], [0.29666309]]))
+    self.v_ego = 0.0
+    self.left_blinker_on = 0
+    self.left_blinker_flash = 0
+    self.right_blinker_on = 0
+    self.right_blinker_flash = 0
+
+  def update(self, cp, cp_cam):
+    # copy can_valid
+    self.can_valid = cp.can_valid
+
+    # update prevs, update must run once per Loop
+    self.prev_left_blinker_on = self.left_blinker_on
+    self.prev_right_blinker_on = self.right_blinker_on
+
+    self.door_all_closed = True
+    self.seatbelt = cp.vl["CGW1"]['CF_Gway_DrvSeatBeltSw']
+
+    self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
+    self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']
+
+    self.park_brake = False
+    self.main_on = True
+    self.acc_active = cp.vl["SCC12"]['ACCMode'] != 0
+    self.pcm_acc_status = int(self.acc_active)
+
+    # calc best v_ego estimate, by averaging two opposite corners
+    self.v_wheel_fl = cp.vl["WHL_SPD11"]['WHL_SPD_FL'] * CV.KPH_TO_MS
+    self.v_wheel_fr = cp.vl["WHL_SPD11"]['WHL_SPD_FR'] * CV.KPH_TO_MS
+    self.v_wheel_rl = cp.vl["WHL_SPD11"]['WHL_SPD_RL'] * CV.KPH_TO_MS
+    self.v_wheel_rr = cp.vl["WHL_SPD11"]['WHL_SPD_RR'] * CV.KPH_TO_MS
+    self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
+
+    self.low_speed_lockout = self.v_wheel < 1.0
+
+    # Kalman filter, even though Hyundai raw wheel speed is heaviliy filtered by default
+    if abs(self.v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
+      self.v_ego_x = np.matrix([[self.v_wheel], [0.0]])
+
+    self.v_ego_raw = self.v_wheel
+    v_ego_x = self.v_ego_kf.update(self.v_wheel)
+    self.v_ego = float(v_ego_x[0])
+    self.a_ego = float(v_ego_x[1])
+    is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"])
+    speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
+    self.cruise_set_speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
+    self.standstill = not self.v_wheel > 0.1
+
+    self.angle_steers = cp.vl["SAS11"]['SAS_Angle']
+    self.angle_steers_rate = cp.vl["SAS11"]['SAS_Speed']
+    self.yaw_rate = cp.vl["ESP12"]['YAW_RATE']
+    self.main_on = True
+    self.left_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigLHSw']
+    self.left_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigLh']
+    self.right_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigRHSw']
+    self.right_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigRh']
+    self.steer_override = abs(cp.vl["MDPS11"]['CR_Mdps_DrvTq']) > 100.
+    self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
+    self.steer_error = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
+    self.brake_error = 0
+    self.steer_torque_driver = cp.vl["MDPS11"]['CR_Mdps_DrvTq']
+    self.steer_torque_motor = cp.vl["MDPS12"]['CR_Mdps_OutTq']
+    self.stopped = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
+
+    self.user_brake = 0
+
+    self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
+    self.brake_lights = bool(self.brake_pressed)
+    if (cp.vl["TCS13"]["DriverOverride"] == 0 and cp.vl["TCS13"]['ACC_REQ'] == 1):
+      self.pedal_gas = 0
+    else:
+      self.pedal_gas = cp.vl["EMS12"]['TPS']
+    self.car_gas = cp.vl["EMS12"]['TPS']
+
+    # Gear Selecton - This should be compatible with all Kia/Hyundai with Auto's
+    gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
+    if gear == 5:
+      self.gear_shifter = "drive"
+    elif gear == 6:
+      self.gear_shifter = "neutral"
+    elif gear == 0:
+      self.gear_shifter = "park"
+    elif gear == 7:
+      self.gear_shifter = "reverse"
+    else:
+      self.gear_shifter = "unknown"
+
+    # save the entire LKAS11 and CLU11
+    self.lkas11 = cp_cam.vl["LKAS11"]
+    self.clu11 = cp.vl["CLU11"]
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -0,0 +1,67 @@
+import crcmod
+
+hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
+
+def make_can_msg(addr, dat, alt):
+  return [addr, 0, dat, alt]
+
+def create_lkas11(packer, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
+  values = {
+    "CF_Lkas_Icon": 3 if enabled else 0,
+    "CF_Lkas_LdwsSysState": lkas11["CF_Lkas_LdwsSysState"] if keep_stock else 1,
+    "CF_Lkas_SysWarning": hud_alert,
+    "CF_Lkas_LdwsLHWarning": lkas11["CF_Lkas_LdwsLHWarning"] if keep_stock else 0,
+    "CF_Lkas_LdwsRHWarning": lkas11["CF_Lkas_LdwsRHWarning"] if keep_stock else 0,
+    "CF_Lkas_HbaLamp": lkas11["CF_Lkas_HbaLamp"] if keep_stock else 0,
+    "CF_Lkas_FcwBasReq": lkas11["CF_Lkas_FcwBasReq"] if keep_stock else 0,
+    "CR_Lkas_StrToqReq": apply_steer,
+    "CF_Lkas_ActToi": steer_req,
+    "CF_Lkas_ToiFlt": lkas11["CF_Lkas_ToiFlt"] if keep_stock else 0,
+    "CF_Lkas_HbaSysState": lkas11["CF_Lkas_HbaSysState"] if keep_stock else 1,
+    "CF_Lkas_FcwOpt": lkas11["CF_Lkas_FcwOpt"] if keep_stock else 0,
+    "CF_Lkas_HbaOpt": lkas11["CF_Lkas_HbaOpt"] if keep_stock else 3,
+    "CF_Lkas_MsgCount": cnt,
+    "CF_Lkas_FcwSysState": lkas11["CF_Lkas_FcwSysState"] if keep_stock else 0,
+    "CF_Lkas_FcwCollisionWarning": lkas11["CF_Lkas_FcwCollisionWarning"] if keep_stock else 0,
+    "CF_Lkas_FusionState": lkas11["CF_Lkas_FusionState"] if keep_stock else 0,
+    "CF_Lkas_Chksum": 0,
+    "CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
+    "CF_Lkas_LdwsOpt_USM": lkas11["CF_Lkas_LdwsOpt_USM"] if keep_stock else 3,
+  }
+
+  dat = packer.make_can_msg("LKAS11", 0, values)[2]
+  dat = dat[:6] + dat[7]
+  checksum = hyundai_checksum(dat)
+
+  values["CF_Lkas_Chksum"] = checksum
+
+  return packer.make_can_msg("LKAS11", 0, values)
+
+def create_lkas12():
+  return make_can_msg(1342, "\x00\x00\x00\x00\x60\x05", 0)
+
+
+def create_1191():
+  return make_can_msg(1191, "\x01\x00", 0)
+
+
+def create_1156():
+  return make_can_msg(1156, "\x08\x20\xfe\x3f\x00\xe0\xfd\x3f", 0)
+
+def create_clu11(packer, clu11, button):
+  values = {
+    "CF_Clu_CruiseSwState": button,
+    "CF_Clu_CruiseSwMain": clu11["CF_Clu_CruiseSwMain"],
+    "CF_Clu_SldMainSW": clu11["CF_Clu_SldMainSW"],
+    "CF_Clu_ParityBit1": clu11["CF_Clu_ParityBit1"],
+    "CF_Clu_VanzDecimal": clu11["CF_Clu_VanzDecimal"],
+    "CF_Clu_Vanz": clu11["CF_Clu_Vanz"],
+    "CF_Clu_SPEED_UNIT": clu11["CF_Clu_SPEED_UNIT"],
+    "CF_Clu_DetentOut": clu11["CF_Clu_DetentOut"],
+    "CF_Clu_RheostatLevel": clu11["CF_Clu_RheostatLevel"],
+    "CF_Clu_CluInfo": clu11["CF_Clu_CluInfo"],
+    "CF_Clu_AmpInfo": clu11["CF_Clu_AmpInfo"],
+    "CF_Clu_AliveCnt1": 0,
+  }
+
+  return packer.make_can_msg("CLU11", 0, values)
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -0,0 +1,259 @@
+#!/usr/bin/env python
+from cereal import car, log
+from common.realtime import sec_since_boot
+from selfdrive.config import Conversions as CV
+from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
+from selfdrive.controls.lib.vehicle_model import VehicleModel
+from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
+from selfdrive.car.hyundai.values import CAMERA_MSGS, get_hud_alerts
+
+try:
+  from selfdrive.car.hyundai.carcontroller import CarController
+except ImportError:
+  CarController = None
+
+
+class CarInterface(object):
+  def __init__(self, CP, sendcan=None):
+    self.CP = CP
+    self.VM = VehicleModel(CP)
+    self.idx = 0
+    self.lanes = 0
+    self.lkas_request = 0
+
+    self.gas_pressed_prev = False
+    self.brake_pressed_prev = False
+    self.can_invalid_count = 0
+    self.cruise_enabled_prev = False
+
+    # *** init the major players ***
+    self.CS = CarState(CP)
+    self.cp = get_can_parser(CP)
+    self.cp_cam = get_camera_parser(CP)
+
+    # sending if read only is False
+    if sendcan is not None:
+      self.sendcan = sendcan
+      self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera)
+
+  @staticmethod
+  def compute_gb(accel, speed):
+    return float(accel) / 3.0
+
+  @staticmethod
+  def calc_accel_override(a_ego, a_target, v_ego, v_target):
+    return 1.0
+
+  @staticmethod
+  def get_params(candidate, fingerprint):
+
+    # kg of standard extra cargo to count for drive, gas, etc...
+    std_cargo = 136
+
+    ret = car.CarParams.new_message()
+
+    ret.carName = "hyundai"
+    ret.carFingerprint = candidate
+    ret.radarOffCan = True
+
+    ret.safetyModel = car.CarParams.SafetyModels.hyundai
+
+    ret.enableCruise = True  # stock acc
+
+    # FIXME: hardcoding honda civic 2016 touring params so they can be used to
+    # scale unknown params for other cars
+    mass_civic = 2923 * CV.LB_TO_KG + std_cargo
+    wheelbase_civic = 2.70
+    centerToFront_civic = wheelbase_civic * 0.4
+    centerToRear_civic = wheelbase_civic - centerToFront_civic
+    rotationalInertia_civic = 2500
+    tireStiffnessFront_civic = 192150
+    tireStiffnessRear_civic = 202500
+
+    ret.steerActuatorDelay = 0.1  # Default delay, Prius has larger delay
+
+    #borrowing a lot from corolla, given similar car size
+    ret.steerKf = 0.00005   # full torque for 20 deg at 80mph means 0.00007818594
+    ret.steerRateCost = 0.5
+    ret.mass = 3982 * CV.LB_TO_KG + std_cargo
+    ret.wheelbase = 2.766
+    ret.steerRatio = 13.8 * 1.15   # 15% higher at the center seems reasonable
+    ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+    ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
+    ret.longitudinalKpBP = [0.]
+    ret.longitudinalKpV = [0.]
+    ret.longitudinalKiBP = [0.]
+    ret.longitudinalKiV = [0.]
+    tire_stiffness_factor = 1.
+
+    ret.centerToFront = ret.wheelbase * 0.4
+
+    # min speed to enable ACC. if car can do stop and go, then set enabling speed
+    # to a negative value, so it won't matter.
+    ret.minEnableSpeed = -1.
+
+    centerToRear = ret.wheelbase - ret.centerToFront
+
+    # TODO: get actual value, for now starting with reasonable value for
+    # civic and scaling by mass and wheelbase
+    ret.rotationalInertia = rotationalInertia_civic * \
+                            ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
+
+    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
+    # mass and CG position, so all cars will have approximately similar dyn behaviors
+    ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
+                             ret.mass / mass_civic * \
+                             (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
+    ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
+                            ret.mass / mass_civic * \
+                            (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
+
+
+    # no rear steering, at least on the listed cars above
+    ret.steerRatioRear = 0.
+    ret.steerControlType = car.CarParams.SteerControlType.torque
+
+    # steer, gas, brake limitations VS speed
+    ret.steerMaxBP = [0.]
+    ret.steerMaxV = [1.0]
+    ret.gasMaxBP = [0.]
+    ret.gasMaxV = [1.]
+    ret.brakeMaxBP = [0.]
+    ret.brakeMaxV = [1.]
+    ret.longPidDeadzoneBP = [0.]
+    ret.longPidDeadzoneV = [0.]
+
+    ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
+
+    ret.steerLimitAlert = False
+    ret.stoppingControl = False
+    ret.startAccel = 0.0
+
+    return ret
+
+  # returns a car.CarState
+  def update(self, c):
+    # ******************* do can recv *******************
+    canMonoTimes = []
+    self.cp.update(int(sec_since_boot() * 1e9), False)
+    self.cp_cam.update(int(sec_since_boot() * 1e9), False)
+    self.CS.update(self.cp, self.cp_cam)
+    # create message
+    ret = car.CarState.new_message()
+    # speeds
+    ret.vEgo = self.CS.v_ego
+    ret.vEgoRaw = self.CS.v_ego_raw
+    ret.aEgo = self.CS.a_ego
+    ret.yawRate = self.CS.yaw_rate
+    ret.standstill = self.CS.standstill
+    ret.wheelSpeeds.fl = self.CS.v_wheel_fl
+    ret.wheelSpeeds.fr = self.CS.v_wheel_fr
+    ret.wheelSpeeds.rl = self.CS.v_wheel_rl
+    ret.wheelSpeeds.rr = self.CS.v_wheel_rr
+
+    # gear shifter
+    ret.gearShifter = self.CS.gear_shifter
+
+    # gas pedal
+    ret.gas = self.CS.car_gas
+    ret.gasPressed = self.CS.pedal_gas > 1e-3   # tolerance to avoid false press reading
+
+    # brake pedal
+    ret.brake = self.CS.user_brake
+    ret.brakePressed = self.CS.brake_pressed != 0
+    ret.brakeLights = self.CS.brake_lights
+
+    # steering wheel
+    ret.steeringAngle = self.CS.angle_steers
+    ret.steeringRate = self.CS.angle_steers_rate  # it's unsigned
+
+    ret.steeringTorque = self.CS.steer_torque_driver
+    ret.steeringPressed = self.CS.steer_override
+
+    # cruise state
+    ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
+    if self.CS.pcm_acc_status != 0:
+      ret.cruiseState.speed = self.CS.cruise_set_speed
+    else:
+      ret.cruiseState.speed = 0
+    ret.cruiseState.available = bool(self.CS.main_on)
+    ret.cruiseState.standstill = False
+
+    # TODO: button presses
+    buttonEvents = []
+
+    if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
+      be = car.CarState.ButtonEvent.new_message()
+      be.type = 'leftBlinker'
+      be.pressed = self.CS.left_blinker_on != 0
+      buttonEvents.append(be)
+
+    if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
+      be = car.CarState.ButtonEvent.new_message()
+      be.type = 'rightBlinker'
+      be.pressed = self.CS.right_blinker_on != 0
+      buttonEvents.append(be)
+
+    ret.buttonEvents = buttonEvents
+    ret.leftBlinker = bool(self.CS.left_blinker_on)
+    ret.rightBlinker = bool(self.CS.right_blinker_on)
+
+    ret.doorOpen = not self.CS.door_all_closed
+    ret.seatbeltUnlatched = not self.CS.seatbelt
+
+    #ret.genericToggle = self.CS.generic_toggle
+
+    # events
+    events = []
+    if not self.CS.can_valid:
+      self.can_invalid_count += 1
+      if self.can_invalid_count >= 5:
+        events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+    else:
+      self.can_invalid_count = 0
+    if not ret.gearShifter == 'drive':
+      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+    if ret.doorOpen:
+      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+    if ret.seatbeltUnlatched:
+      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+    if self.CS.esp_disabled:
+      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+    if not self.CS.main_on:
+      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    if ret.gearShifter == 'reverse':
+      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+    if self.CS.steer_error:
+      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
+
+    # enable request in prius is simple, as we activate when Toyota is active (rising edge)
+    if ret.cruiseState.enabled and not self.cruise_enabled_prev:
+      events.append(create_event('pcmEnable', [ET.ENABLE]))
+    elif not ret.cruiseState.enabled:
+      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
+
+    # disable on pedals rising edge or when brake is pressed and speed isn't zero
+    if (ret.gasPressed and not self.gas_pressed_prev) or \
+      (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgoRaw > 0.1)):
+      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+
+    if ret.gasPressed:
+      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+
+    ret.events = events
+    ret.canMonoTimes = canMonoTimes
+
+    self.gas_pressed_prev = ret.gasPressed
+    self.brake_pressed_prev = ret.brakePressed
+    self.cruise_enabled_prev = ret.cruiseState.enabled
+
+    return ret.as_reader()
+
+  def apply(self, c, perception_state=log.Live20Data.new_message()):
+
+    hud_alert = get_hud_alerts(c.hudControl.visualAlert, c.hudControl.audibleAlert)
+
+    self.CC.update(self.sendcan, c.enabled, self.CS, c.actuators,
+                   c.cruiseControl.cancel, hud_alert)
+
+    return False
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+from cereal import car
+import time
+
+
+class RadarInterface(object):
+  def __init__(self, CP):
+    # radar
+    self.pts = {}
+    self.delay = 0.1
+
+  def update(self):
+
+    ret = car.RadarState.new_message()
+    time.sleep(0.05)  # radard runs on RI updates
+
+    return ret
+
+if __name__ == "__main__":
+  RI = RadarInterface(None)
+  while 1:
+    ret = RI.update()
+    print(chr(27) + "[2J")
+    print ret
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -0,0 +1,29 @@
+from selfdrive.car import dbc_dict
+
+def get_hud_alerts(visual_alert, audble_alert):
+  if visual_alert == "steerRequired":
+    return 4 if audble_alert != "none" else 5
+  else:
+    return 0
+
+class CAR:
+  SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
+
+class Buttons:
+  NONE = 0
+  RES_ACCEL = 1
+  SET_DECEL = 2
+  CANCEL = 4
+
+FINGERPRINTS = {
+  CAR.SANTA_FE: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
+  }],
+}
+
+CAMERA_MSGS = [832, 1156, 1191, 1342]   # msgs sent by the camera
+
+DBC = {
+  CAR.SANTA_FE: dbc_dict('hyundai_santa_fe_2019_ccan', None),
+}
+
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -120,7 +120,7 @@ class CarInterface(object):
      ret.steerKf = 0.00006

    elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
-      ret.safetyParam = 100 
+      ret.safetyParam = 100
      ret.wheelbase = 2.82448
      ret.steerRatio = 13.7
      tire_stiffness_factor = 0.7933
@@ -128,6 +128,15 @@ class CarInterface(object):
      ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
      ret.steerKf = 0.00006

+    elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
+      ret.safetyParam = 100
+      ret.wheelbase = 2.78
+      ret.steerRatio = 16.0
+      tire_stiffness_factor = 0.444 # not optimized yet
+      ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
+      ret.steerKf = 0.00006
+
    ret.steerRateCost = 1.
    ret.centerToFront = ret.wheelbase * 0.44

@@ -136,9 +145,11 @@ class CarInterface(object):

    # min speed to enable ACC. if car can do stop and go, then set enabling speed
    # to a negative value, so it won't matter.
-    if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]: # rav4 hybrid can do stop and go
+    # hybrid models can't do stop and go even though the stock ACC can't
+    if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
+                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH]:
      ret.minEnableSpeed = -1.
-    elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
+    elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER]: # TODO: hack ICE to do stop and go
      ret.minEnableSpeed = 19. * CV.MPH_TO_MS

    centerToRear = ret.wheelbase - ret.centerToFront
@@ -233,16 +244,14 @@ class CarInterface(object):
    ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
    ret.cruiseState.available = bool(self.CS.main_on)
    ret.cruiseState.speedOffset = 0.
-    if self.CP.carFingerprint == CAR.RAV4H:
-      # ignore standstill in hybrid rav4, since pcm allows to restart without
+    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH]:
+      # ignore standstill in hybrid vehicles, since pcm allows to restart without
      # receiving any special command
      ret.cruiseState.standstill = False
    else:
      ret.cruiseState.standstill = self.CS.pcm_acc_status == 7

-    # TODO: button presses
    buttonEvents = []
-
    if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
      be = car.CarState.ButtonEvent.new_message()
      be.type = 'leftBlinker'
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -10,6 +10,8 @@ class CAR:
  CHRH = "TOYOTA C-HR HYBRID 2018"
  CAMRY = "TOYOTA CAMRY 2018"
  CAMRYH = "TOYOTA CAMRY HYBRID 2018"
+  HIGHLANDER = "TOYOTA HIGHLANDER 2017"
+  HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"


 class ECU:
@@ -19,49 +21,49 @@ class ECU:


 # addr: (ecu, cars, bus, 1/freq*100, vl)
-STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   2, '\x00\x00\x00\x46'),
-               (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
+STATIC_MSGS = [
+  (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
+  (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,  40, '\x06\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
+  (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),

-               (0x292, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,   3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
-               (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,   3, '\x00\x00\x00\x00\x00\x00\x8c'),
-               (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-               (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
+  (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   3, '\x03\x00\x20\x00\x00\x52'),
+  (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   2, '\x00\x00\x00\x46'),
+  (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),
+  (0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER), 1,  7, '\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,   3, '\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, '\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
+  (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),
+  (0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
+  (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,  100, '\x00\x00\x01\x79'),
+  (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),

-               (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
-               (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
-
-               (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
-               (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),
-
-               (0x32E, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-               (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, '\x0f\xff\x26\x40\x00\x1f\x00'),
-               (0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, '\x00\x00\x00\x80\x03\x00\x08'),
-               (0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
-               (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, '\x00\x00\x4d\x82\x40\x02\x00'),
-               (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),
-
-               (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0,  40, '\x06\x00'),
-
-               (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
-               (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-               (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-               (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-               (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
-               (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-               (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
-               (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
-               (0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
-               (0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
-               (0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-               (0x497, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-               (0x4CC, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
-               (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
-               (0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
-              ]
+  (0x292, ECU.APGS, (CAR.PRIUS), 0,   3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
+  (0x32E, ECU.APGS, (CAR.PRIUS), 0,  20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (0x396, ECU.APGS, (CAR.PRIUS), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
+  (0x43A, ECU.APGS, (CAR.PRIUS), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
+  (0x43B, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (0x497, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (0x4CC, ECU.APGS, (CAR.PRIUS), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
+]

 ECU_FINGERPRINT = {
  ECU.CAM: 0x2e4,   # steer torque cmd
@@ -81,7 +83,7 @@ FINGERPRINTS = {
  }],
  CAR.RAV4H: [{
    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
- }],
+  }],
  CAR.PRIUS: [{
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  },
@@ -119,6 +121,16 @@ FINGERPRINTS = {
  {
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572:8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  }],
+  CAR.HIGHLANDER: [{
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  # 2017 Highlander Limited
+  {
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
+  CAR.HIGHLANDERH: [{
+    36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
 }

 STEER_THRESHOLD = 100
@@ -133,6 +145,8 @@ DBC = {
  CAR.CHRH: dbc_dict('toyota_chr_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
  CAR.CAMRY: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
  CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
+  CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'),
+  CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
 }

 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -1,15 +1,20 @@
 #include "selfdrive/common/params.h"

-#include "selfdrive/common/util.h"
-
 #ifndef _GNU_SOURCE
 #define _GNU_SOURCE
 #endif  // _GNU_SOURCE

-#include <sys/file.h>
-#include <unistd.h>
-#include <stdlib.h>
 #include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/file.h>
+
+#include <map>
+#include <string>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/utilpp.h"

 namespace {

@@ -152,3 +157,40 @@ void read_db_value_blocking(const char* params_path, const char* key,
    }
  }
 }
+
+int read_db_all(const char* params_path, std::map<std::string, std::string> *params) {
+  int err = 0;
+
+  if (params_path == NULL) {
+    params_path = default_params_path;
+  }
+
+  std::string lock_path = util::string_format("%s/.lock", params_path);
+
+  int lock_fd = open(lock_path.c_str(), 0);
+  if (lock_fd < 0) return -1;
+
+  err = flock(lock_fd, LOCK_EX);
+  if (err < 0) return err;
+
+  std::string key_path = util::string_format("%s/d", params_path);
+  DIR *d = opendir(key_path.c_str());
+  if (!d) {
+    close(lock_fd);
+    return -1;
+  }
+
+  struct dirent *de = NULL;
+  while ((de = readdir(d))) {
+    if (!isalnum(de->d_name[0])) continue;
+    std::string key = std::string(de->d_name);
+    std::string value = util::read_file(util::string_format("%s/%s", key_path.c_str(), key.c_str()));
+
+    (*params)[key] = value;
+  }
+
+  closedir(d);
+
+  close(lock_fd);
+  return 0;
+}
--- a/selfdrive/common/params.h
+++ b/selfdrive/common/params.h
@@ -32,4 +32,10 @@ void read_db_value_blocking(const char* params_path, const char* key,
 }  // extern "C"
 #endif

+#ifdef __cplusplus
+#include <map>
+#include <string>
+int read_db_all(const char* params_path, std::map<std::string, std::string> *params);
+#endif
+
 #endif  // _SELFDRIVE_COMMON_PARAMS_H_
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.5.2-release"
+#define COMMA_VERSION "0.5.3-release"
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -448,12 +448,6 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):

  fcw_enabled = params.get("IsFcwEnabled") == "1"
  geofence = None
-  try:
-    from selfdrive.controls.lib.geofence import Geofence
-    geofence = Geofence(params.get("IsGeofenceEnabled") == "1")
-  except ImportError:
-    # geofence not available
-    params.put("IsGeofenceEnabled", "-1")

  PL = Planner(CP, fcw_enabled)
  LoC = LongControl(CP, CI.compute_gb)
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -17,12 +17,12 @@ from selfdrive.controls.lib.pathplanner import PathPlanner
 from selfdrive.controls.lib.longitudinal_mpc import libmpc_py
 from selfdrive.controls.lib.speed_smoother import speed_smoother
 from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
+from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU

 _DT = 0.01    # 100Hz
 _DT_MPC = 0.2  # 5Hz
 MAX_SPEED_ERROR = 2.0
 AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distracted
-_LEAD_ACCEL_TAU = 1.5

 GPS_PLANNER_ADDR = "192.168.5.1"

@@ -163,7 +163,7 @@ class LongitudinalMpc(object):
    dat.liveLongitudinalMpc.vLead = list(self.mpc_solution[0].v_l)
    dat.liveLongitudinalMpc.aLead = list(self.mpc_solution[0].a_l)
    dat.liveLongitudinalMpc.cost = self.mpc_solution[0].cost
-    dat.liveLongitudinalMpc.aLeadTau = self.l
+    dat.liveLongitudinalMpc.aLeadTau = self.a_lead_tau
    dat.liveLongitudinalMpc.qpIterations = qp_iterations
    dat.liveLongitudinalMpc.mpcId = self.mpc_id
    dat.liveLongitudinalMpc.calculationTime = calculation_time
@@ -178,7 +178,7 @@ class LongitudinalMpc(object):
    self.cur_state = ffi.new("state_t *")
    self.cur_state[0].v_ego = 0
    self.cur_state[0].a_ego = 0
-    self.l = _LEAD_ACCEL_TAU
+    self.a_lead_tau = _LEAD_ACCEL_TAU

  def set_cur_state(self, v, a):
    self.cur_state[0].v_ego = v
@@ -197,16 +197,10 @@ class LongitudinalMpc(object):
        v_lead = 0.0
        a_lead = 0.0

-      # Learn if constant acceleration
-      if abs(a_lead) < 0.5:
-        self.l = _LEAD_ACCEL_TAU
-      else:
-        self.l *= 0.9
-
-      l = max(self.l, -a_lead / (v_lead + 0.01))
+      self.a_lead_tau = max(lead.aLeadTau, -a_lead / (v_lead + 0.01))
      self.new_lead = False
      if not self.prev_lead_status or abs(x_lead - self.prev_lead_x) > 2.5:
-        self.libmpc.init_with_simulation(self.v_mpc, x_lead, v_lead, a_lead, l)
+        self.libmpc.init_with_simulation(self.v_mpc, x_lead, v_lead, a_lead, self.a_lead_tau)
        self.new_lead = True

      self.prev_lead_status = True
@@ -220,11 +214,11 @@ class LongitudinalMpc(object):
      self.cur_state[0].x_l = 50.0
      self.cur_state[0].v_l = CS.vEgo + 10.0
      self.cur_state[0].a_l = 0.0
-      l = _LEAD_ACCEL_TAU
+      self.a_lead_tau = _LEAD_ACCEL_TAU

    # Calculate mpc
    t = sec_since_boot()
-    n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, l)
+    n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau)
    duration = int((sec_since_boot() - t) * 1e9)
    self.send_mpc_solution(n_its, duration)

--- a/selfdrive/controls/lib/radar_helpers.py
+++ b/selfdrive/controls/lib/radar_helpers.py
@@ -6,6 +6,7 @@ import numpy as np
 from common.numpy_fast import clip, interp
 from common.kalman.simple_kalman import KF1D

+_LEAD_ACCEL_TAU = 1.5
 NO_FUSION_SCORE = 100 # bad default fusion score

 # radar tracks
@@ -32,6 +33,8 @@ _VLEAD_C = [[1.0, 0.0]]
 #_VLEAD_K = np.matrix([[ 0.05705578], [ 0.03073241]])
 _VLEAD_K = [[ 0.1988689 ], [ 0.28555364]]

+RDR_TO_LDR = 2.7
+

 class Track(object):
  def __init__(self):
@@ -60,6 +63,7 @@ class Track(object):

    if not self.initted:
      self.initted = True
+      self.aLeadTau = _LEAD_ACCEL_TAU
      self.cnt = 1
      self.vision_cnt = 0
      self.vision = False
@@ -92,6 +96,12 @@ class Track(object):

    self.vision_score = NO_FUSION_SCORE

+    # Learn if constant acceleration
+    if abs(self.aLeadK) < 0.5:
+      self.aLeadTau = _LEAD_ACCEL_TAU
+    else:
+      self.aLeadTau *= 0.9
+
  def update_vision_score(self, dist_to_vision, rel_speed_diff):
    # rel speed is very hard to estimate from vision
    if dist_to_vision < 4.0 and rel_speed_diff < 10.:
@@ -110,8 +120,8 @@ class Track(object):
    # Weigh y higher since radar is inaccurate in this dimension
    return [self.dRel, self.yRel*2, self.vRel]

-# ******************* Cluster *******************

+# ******************* Cluster *******************
 if platform.machine() == 'aarch64':
  for x in sys.path:
    pp = os.path.join(x, "phonelibs/hierarchy/lib")
@@ -122,6 +132,7 @@ if platform.machine() == 'aarch64':
 else:
  from scipy.cluster import _hierarchy

+
 def fcluster(Z, t, criterion='inconsistent', depth=2, R=None, monocrit=None):
  # supersimplified function to get fast clustering. Got it from scipy
  Z = np.asarray(Z, order='c')
@@ -130,10 +141,10 @@ def fcluster(Z, t, criterion='inconsistent', depth=2, R=None, monocrit=None):
  _hierarchy.cluster_dist(Z, T, float(t), int(n))
  return T

-RDR_TO_LDR = 2.7

 def mean(l):
-  return sum(l)/len(l)
+  return sum(l) / len(l)
+

 class Cluster(object):
  def __init__(self):
@@ -180,6 +191,10 @@ class Cluster(object):
  def aLeadK(self):
    return mean([t.aLeadK for t in self.tracks])

+  @property
+  def aLeadTau(self):
+    return mean([t.aLeadTau for t in self.tracks])
+
  @property
  def vision(self):
    return any([t.vision for t in self.tracks])
@@ -213,6 +228,7 @@ class Cluster(object):
      "aLeadK": float(self.aLeadK),
      "status": True,
      "fcw": self.is_potential_fcw(),
+      "aLeadTau": float(self.aLeadTau)
    }

  def __str__(self):
--- a/selfdrive/controls/lib/vehicle_model.py
+++ b/selfdrive/controls/lib/vehicle_model.py
@@ -94,9 +94,9 @@ class VehicleModel(object):

 if __name__ == '__main__':
  from selfdrive.car.honda.interface import CarInterface
-  # load car params
-  #CP = CarInterface.get_params("TOYOTA PRIUS 2017", {})
  CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING", {})
+  #from selfdrive.car.hyundai.interface import CarInterface
+  #CP = CarInterface.get_params("HYUNDAI SANTA FE UNLIMITED 2019", {})
  #print CP
  VM = VehicleModel(CP)
  #print VM.steady_state_sol(.1, 0.15)
--- a/selfdrive/loggerd/loggerd
+++ b/selfdrive/loggerd/loggerd
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -10,21 +10,7 @@ from common.basedir import BASEDIR
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 os.environ['BASEDIR'] = BASEDIR

-if __name__ == "__main__":
-  if os.path.isfile("/init.qcom.rc") \
-      and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 6):
-
-    # update continue.sh before updating NEOS
-    if os.path.isfile(os.path.join(BASEDIR, "scripts", "continue.sh")):
-      from shutil import copyfile
-      copyfile(os.path.join(BASEDIR, "scripts", "continue.sh"), "/data/data/com.termux/files/continue.sh")
-
-    # run the updater
-    print("Starting NEOS updater")
-    subprocess.check_call(["git", "clean", "-xdf"], cwd=BASEDIR)
-    os.system(os.path.join(BASEDIR, "installer", "updater", "updater"))
-    raise Exception("NEOS outdated")
-
+def unblock_stdout():
  # get a non-blocking stdout
  child_pid, child_pty = os.forkpty()
  if child_pid != 0: # parent
@@ -54,6 +40,23 @@ if __name__ == "__main__":

    os._exit(os.wait()[1])

+if __name__ == "__main__":
+  if os.path.isfile("/init.qcom.rc") \
+      and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 6):
+
+    # update continue.sh before updating NEOS
+    if os.path.isfile(os.path.join(BASEDIR, "scripts", "continue.sh")):
+      from shutil import copyfile
+      copyfile(os.path.join(BASEDIR, "scripts", "continue.sh"), "/data/data/com.termux/files/continue.sh")
+
+    # run the updater
+    print("Starting NEOS updater")
+    subprocess.check_call(["git", "clean", "-xdf"], cwd=BASEDIR)
+    os.system(os.path.join(BASEDIR, "installer", "updater", "updater"))
+    raise Exception("NEOS outdated")
+
+  unblock_stdout()
+
 import glob
 import shutil
 import hashlib
--- a/selfdrive/sensord/gpsd
+++ b/selfdrive/sensord/gpsd
--- a/selfdrive/sensord/sensord
+++ b/selfdrive/sensord/sensord
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -56,8 +56,16 @@ def set_eon_fan(val):
  if last_eon_fan_val is None or last_eon_fan_val != val:
    bus = SMBus(7, force=True)
    if LEON:
-      i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
-      bus.write_i2c_block_data(0x3d, 0, [i])
+      try:
+        i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
+        bus.write_i2c_block_data(0x3d, 0, [i])
+      except IOError:
+        # tusb320
+        if val == 0:
+          bus.write_i2c_block_data(0x67, 0xa, [0])
+        else:
+          bus.write_i2c_block_data(0x67, 0xa, [0x20])
+          bus.write_i2c_block_data(0x67, 0x8, [(val-1)<<6])
    else:
      bus.write_byte_data(0x21, 0x04, 0x2)
      bus.write_byte_data(0x21, 0x03, (val*2)+1)
@@ -126,6 +134,9 @@ class LocationStarter(object):
 def thermald_thread():
  setup_eon_fan()

+  # prevent LEECO from undervoltage
+  BATT_PERC_OFF = 10 if LEON else 3
+
  # now loop
  context = zmq.Context()
  thermal_sock = messaging.pub_sock(context, service_list['thermal'].port)
@@ -160,6 +171,10 @@ def thermald_thread():
      msg.thermal.batteryPercent = int(f.read())
    with open("/sys/class/power_supply/battery/status") as f:
      msg.thermal.batteryStatus = f.read().strip()
+    with open("/sys/class/power_supply/battery/current_now") as f:
+      msg.thermal.batteryCurrent = int(f.read())
+    with open("/sys/class/power_supply/battery/voltage_now") as f:
+      msg.thermal.batteryVoltage = int(f.read())
    with open("/sys/class/power_supply/usb/online") as f:
      msg.thermal.usbOnline = bool(int(f.read()))

@@ -243,7 +258,7 @@ def thermald_thread():

      # shutdown if the battery gets lower than 3%, it's discharging, we aren't running for
      # more than a minute but we were running
-      if msg.thermal.batteryPercent < 3 and msg.thermal.batteryStatus == "Discharging" and \
+      if msg.thermal.batteryPercent < BATT_PERC_OFF and msg.thermal.batteryStatus == "Discharging" and \
         started_seen and (sec_since_boot() - off_ts) > 60:
        os.system('LD_LIBRARY_PATH="" svc power shutdown')

--- a/selfdrive/visiond/visiond
+++ b/selfdrive/visiond/visiond
Author	SHA1	Message	Date
Vehicle Researcher	285c52eb69	openpilot v0.5.3 release	2018-09-03 16:43:12 -07:00
Vehicle Researcher	8f6e36f426	Merge opendbc subtree	2018-09-03 16:41:18 -07:00
Vehicle Researcher	75db5e854e	Squashed 'opendbc/' changes from 2210752..af7fff8 af7fff8 Toyota Highlander: fixed dbc file name 3a979f5 Added Toyota Highlander Hybrid 3148fab Tesla: Add missing line break after VAL_ 69 WprSw6Posn (#109) f70b8dc Hyundai: not sure why steer angle was unigned... seems a bug 1f40c31 Santa Fe: dealing with steer torque integer is easier for now c081f73 Santa Fe: how come the steer angle sign was wrong 0da25ac Toyota Pedal Support (#108) 353aa54 Santa Fe: added lane icon color to dbc 4f76e9b Santa Fe: this signal seems 2 bits long 01cffdc Santa Fe: for now unitless torque request 390b926 added gear to dbc for Hyundai 0a04a43 Hyundai Santa Fe: first dbc commit git-subtree-dir: opendbc git-subtree-split: af7fff8f7f154457b88fb2e0fff789889bc9af70	2018-09-03 16:41:18 -07:00
Vehicle Researcher	f0c5ca7227	Merge panda subtree	2018-09-03 16:41:16 -07:00
Vehicle Researcher	c4bba32347	Squashed 'panda/' changes from b058c14..f2292e4 f2292e4 Hyundai: added safety check for button spam 1a8c4c4 Hyundai safety: fwd option 5398abf Hyundai safety: added tests for cruise enable/disable too a91d7ef added hyundai regression test 487fcae Safety hyundai: fixed RT check 04270b8 Safety Hyundai: bug fixes d0c28b7 Hyndai safety: tuned ad1ba69 Hyundai safety: fixed wrong param 8a1dcbe Hyundai safety: added Santa Fe safety: need to be tested. Removed some unnecessary funcitons 4e9d08a Hyundai safety: controls_allowed ==1 by default for now f42d092 Hyundai all output for now 7927cab compiling the use of bitbang_gmlan only for panda 4fe2dcd build pedal image in CI 3d67294 keep pedal obj folder git-subtree-dir: panda git-subtree-split: f2292e420bd856b8cef6633af46e2641f401e84c	2018-09-03 16:41:16 -07:00
tentious	8970cc8d70	Honda Odyssey 2018/2019 EX-L PID Tuning (#343 ) * Honda Odyssey 2019 EX-L PID Tuning. * Update interface.py - Increased Kp for Odyssey Increases response from 0.4, but oscillation still occurs in very sharp curves.	2018-09-02 20:06:19 -07:00
Ted Slesinski	54f3c2b373	Some code refactoring to Honda (#335 ) * Move vehicle state values (that get sent to radar) into values.py file, its a better place for it :) * idx with offset should only be applied to 0x300 * Adds new honda pilot to vehicle state msg array	2018-08-31 19:57:11 -07:00
Riccardo	2c4e1fd4fa	Added Pilot 2019 as supported car to README	2018-08-28 14:25:00 -07:00
rbiasini	401c4026ac	fixing base UI crash after completing OP guide for the first time (#337 )	2018-08-27 10:43:23 -07:00
Ted Slesinski	22f0a89cf8	Adds 2019 Pilot (#334 )	2018-08-26 22:35:11 -07:00
rbiasini	b942ab58e1	fix critical put and get param that caused sporadic controlsd hanging (#333 ) * fix critical put and get param that caused sporadic controlsd hanging * test fix	2018-08-24 19:45:33 -07:00
Jamezz	c29b311583	Volt: Don't adjust speed on resume from stopped (#325 ) * Don't adjust speed if resuming * Detab	2018-08-23 18:39:11 -07:00
rbiasini	ed72759a48	little endian mask fix (#330 )	2018-08-22 11:36:55 -07:00