openpilot v0.5.4 release

Merge opendbc subtree
Squashed 'opendbc/' changes from af7fff8..42f8c12
2026-06-12 12:44:17 +08:00 · 2018-09-25 00:13:41 -07:00 · 2018-09-25 00:04:00 -07:00 · 2018-09-25 00:04:00 -07:00 · 2018-09-25 00:03:58 -07:00 · 2018-09-25 00:03:58 -07:00
143 changed files with 1589 additions and 517 deletions
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -2,7 +2,7 @@ FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1

 RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
-RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2

 COPY requirements_openpilot.txt /tmp/
 RUN pip install -r /tmp/requirements_openpilot.txt
@@ -17,3 +17,5 @@ COPY ./phonelibs /tmp/openpilot/phonelibs
 COPY ./pyextra /tmp/openpilot/pyextra

 RUN mkdir -p /tmp/openpilot/selfdrive/test/out
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
--- a/README.md
+++ b/README.md
@@ -46,8 +46,8 @@ Supported Cars
 | 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           |
+| GM<sup>3</sup>     | Volt 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| GM<sup>3</sup>     | Volt 2018             | Adaptive Cruise      | 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          |
@@ -67,13 +67,17 @@ Supported Cars
 | 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           |
+| Hyundai<sup>6</sup>| Elantra 2017          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          |
+| Hyundai<sup>6</sup>| Genesis 2018          | All                  | Yes     | Stock          | 19mph            | 34mph          |
+| Kia<sup>6</sup>    | Sorento 2018          | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Kia<sup>6</sup>    | Stinger 2018          | SCC + LKAS           | 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 2017       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 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           |
@@ -113,7 +117,7 @@ In Progress Cars
  - '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.
+- All Kia with SCC and LKAS.

 How can I add support for my car?
 ------
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,8 +1,19 @@
+Version 0.5.4 (2018-09-25)
+========================
+ * New Driving Model
+ * New Driver Monitoring Model
+ * Improve longitudinal mpc in mid-low speed braking
+ * Honda Accord hybrid support thanks to energee!
+ * Ship mpc binaries and sensibly reduce build time
+ * Calibration more stable
+ * More Hyundai and Kia cars supported thanks to emmertex!
+ * Various GM Volt improvements thanks to vntarasov!
+
 Version 0.5.3 (2018-09-03)
 ========================
 * Hyundai Santa Fe support!
 * Honda Pilot 2019 support thanks to energee!
- * Toyota Hyghlander support thanks to daehahn!
+ * Toyota Highlander support thanks to daehahn!
 * Improve steering tuning for Honda Odyssey

 Version 0.5.2 (2018-08-16)
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -42,7 +42,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
-    calibrationInProgress @20;
+    calibrationIncomplete @20;
    calibrationInvalid @21;
    controlsMismatch @22;
    pcmEnable @23;
@@ -68,6 +68,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preDriverUnresponsive @43;
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
+    belowSteerSpeed @46;
+    calibrationProgress @47;
+    lowBattery @48;
  }
 }

@@ -284,6 +287,7 @@ struct CarParams {
  enableApgs @28 :Bool; # advanced parking guidance system

  minEnableSpeed @17 :Float32;
+  minSteerSpeed @49 :Float32;
  safetyModel @18 :Int16;
  safetyParam @41 :Int16;

--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -276,6 +276,7 @@ struct ThermalData {
  startedTs @13 :UInt64;

  thermalStatus @14 :ThermalStatus;
+  chargerDisabled @17 :Bool;

  enum ThermalStatus {
    green @0;   # all processes run
--- a/common/dbc.py
+++ b/common/dbc.py
@@ -1,7 +1,6 @@
 import re
 import os
 import struct
-import bitstring
 import sys
 import numbers
 from collections import namedtuple, defaultdict
@@ -17,6 +16,7 @@ DBCSignal = namedtuple(
  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
                "factor", "offset", "tmin", "tmax", "units"])

+
 class dbc(object):
  def __init__(self, fn):
    self.name, _ = os.path.splitext(os.path.basename(fn))
@@ -122,6 +122,16 @@ class dbc(object):
      msg_id = self.msg_name_to_address[msg_id]
    return msg_id

+  def reverse_bytes(self, x):
+    return ((x & 0xff00000000000000) >> 56) | \
+           ((x & 0x00ff000000000000) >> 40) | \
+           ((x & 0x0000ff0000000000) >> 24) | \
+           ((x & 0x000000ff00000000) >> 8) | \
+           ((x & 0x00000000ff000000) << 8) | \
+           ((x & 0x0000000000ff0000) << 24) | \
+           ((x & 0x000000000000ff00) << 40) | \
+           ((x & 0x00000000000000ff) << 56)
+
  def encode(self, msg_id, dd):
    """Encode a CAN message using the dbc.

@@ -131,35 +141,40 @@ class dbc(object):
    """
    msg_id = self.lookup_msg_id(msg_id)

-    # TODO: Stop using bitstring, which is super slow.
    msg_def = self.msgs[msg_id]
    size = msg_def[0][1]

-    bsf = bitstring.Bits(hex="00"*size)
+    result = 0
    for s in msg_def[1]:
      ival = dd.get(s.name)
      if ival is not None:
+
+        b2 = s.size
+        if s.is_little_endian:
+          b1 = s.start_bit
+        else:
+          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
+        bo = 64 - (b1 + s.size)
+
        ival = (ival / s.factor) - s.offset
        ival = int(round(ival))

-        # should pack this
+        if s.is_signed and ival < 0:
+          ival = (1 << b2) + ival
+
+        shift = b1 if s.is_little_endian else bo
+        mask = ((1 << b2) - 1) << shift
+        dat = (ival & ((1 << b2) - 1)) << shift
+
        if s.is_little_endian:
-          ss = s.start_bit
-        else:
-          ss = self.bits_index[s.start_bit]
+          mask = self.reverse_bytes(mask)
+          dat = self.reverse_bytes(dat)

+        result &= ~mask
+        result |= dat

-        if s.is_signed:
-          tbs = bitstring.Bits(int=ival, length=s.size)
-        else:
-          tbs = bitstring.Bits(uint=ival, length=s.size)
-
-        lpad = bitstring.Bits(bin="0b"+"0"*ss)
-        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
-        tbs = lpad+tbs+rpad
-
-        bsf |= tbs
-    return bsf.tobytes()
+    result = struct.pack('>Q', result)
+    return result[:size]

  def decode(self, x, arr=None, debug=False):
    """Decode a CAN message using the dbc.
@@ -195,55 +210,77 @@ class dbc(object):
    if debug:
      print name

-    blen = 8*len(x[2])
-
-    st = x[2].rjust(8, '\x00')
+    st = x[2].ljust(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:
        continue

-      # big or little endian?
-      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
-      if s[3] is False:
-        ss = self.bits_index[s[1]]
-        if be is None:
-          be = struct.unpack(">Q", st)[0]
-        x2_int = be
-        data_bit_pos = (blen - (ss + s[2]))
+      start_bit = s[1]
+      signal_size = s[2]
+      little_endian = s[3]
+      signed = s[4]
+      factor = s[5]
+      offset = s[6]
+
+      b2 = signal_size
+      if little_endian:
+        b1 = start_bit
      else:
+        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
+      bo = 64 - (b1 + signal_size)
+
+      if little_endian:
        if le is None:
          le = struct.unpack("<Q", st)[0]
-        x2_int = le >> (64 - 8 * size)
-        ss = s[1]
-        data_bit_pos = ss
+        shift_amount = b1
+        tmp = le
+      else:
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        shift_amount = bo
+        tmp = be

-      if data_bit_pos < 0:
+      if shift_amount < 0:
        continue
-      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)

-      if s[4] and (ival & (1<<(s[2]-1))): # signed
-        ival -= (1<<s[2])
+      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
+      if signed and (tmp >> (b2 - 1)):
+        tmp -= (1 << b2)

-      # control the offset
-      ival = (ival * s[5]) + s[6]
-      #if debug:
-      #  print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
+      tmp = tmp * factor + offset
+
+      # if debug:
+      #   print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])

      if arr is None:
-        out[s[0]] = ival
+        out[s[0]] = tmp
      else:
-        out[arr.index(s[0])] = ival
+        out[arr.index(s[0])] = tmp
    return name, out

  def get_signals(self, msg):
    msg = self.lookup_msg_id(msg)
    return [sgs.name for sgs in self.msgs[msg][1]]

+
 if __name__ == "__main__":
   from opendbc import DBC_PATH
+   import numpy as np

-   dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
-   print dbc_test.get_signals(0xe4)
+   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
+   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x25, 0, encoded))
+   assert decoded == msg
+
+   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
+   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
+   assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
+
+   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x2b0, 0, encoded))
+
+   assert decoded == msg
--- a/common/filter_simple.py
+++ b/common/filter_simple.py
@@ -0,0 +1,10 @@
+class FirstOrderFilter():
+  # first order filter
+  def __init__(self, x0, ts, dt):
+    self.k = (dt / ts) / (1. + dt / ts)
+    self.x = x0
+
+  def update(self, x):
+    self.x = (1. - self.k) * self.x + self.k * x
+
+
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -57,6 +57,8 @@ model_frame_from_road_frame = np.dot(model_intrinsics,
 bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

+model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
+
 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
--- a/opendbc/cadillac_ct6_powertrain.dbc
+++ b/opendbc/cadillac_ct6_powertrain.dbc
@@ -189,7 +189,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
--- a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
+++ b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
@@ -126,7 +126,7 @@ BO_ 1302 ODOMETER: 8 XXX

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
+CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

 VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
--- a/opendbc/gm_global_a_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
@@ -180,7 +180,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 BO_ 1034 ASCM_40A: 7 K124_ASCM

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -355,7 +355,7 @@ BO_ 1302 ODOMETER: 8 XXX

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
+CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

 VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
--- a/opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
+++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
@@ -0,0 +1,295 @@
+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_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON INTERCEPTOR
+
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ZEROS : 23|16@0+ (1,0) [0|15000] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH2 : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-2985|2985] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 XXX
+ SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+
+
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/mercedes_benz_e350_2010.dbc
+++ b/opendbc/mercedes_benz_e350_2010.dbc
@@ -36,27 +36,141 @@ BS_:
 BU_: XXX


-BO_ 3 NEW_MSG_1: 8 XXX
- SG_ STEERING_ANGLE : 7|32@0- (1,0) [0|4294967295] "" XXX
- SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
+BO_ 3 STEER_SENSOR: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_RATE : 19|12@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_DIRECTION : 4|1@0+ (1,2) [0|1] "" XXX
+ SG_ STEER_ANGLE : 3|12@0- (-0.5,0) [-500|500] "degrees" XXX

-BO_ 5 NEW_MSG_2: 8 XXX
- SG_ BRAKE_POSITION : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ BRAKE_PRESSED : 0|8@1+ (1,0) [0|17] "" XXX
+BO_ 5 BRAKE_MODULE: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_HOLD : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_POSITION : 17|10@0+ (1,0) [0|65535] "" XXX
+ SG_ DRIVER_BRAKE : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COMPUTER_BRAKE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSED : 0|1@1+ (1,0) [0|1] "" XXX

-BO_ 69 NEW_MSG_3: 8 XXX
- SG_ TURN_SIGNAL_LEVER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ CRUISE_CONTROL_LEVER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEERING_WHEEL_BUTTONS : 32|8@1+ (1,0) [0|255] "4 directional, 2 volume control, & 2 phone buttons" XXX
- SG_ MORE_STEERING_WHEELS_BUTTONS : 40|8@1+ (1,0) [0|255] "" XXX
+BO_ 69 DRIVER_CONTROLS: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ STEERING_WHEEL_BUTTONS : 32|16@1+ (1,0) [0|255] "4 directional, 2 volume control & 2 phone buttons" XXX
+ SG_ LEFT_BLINKER : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAM_TOGGLE : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAM_MOMENTARY : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_CANCEL : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_RESUME : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_ACCEL_HIGH : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_DECEL_HIGH : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_ACCEL_LOW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_DECEL_LOW : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_XFF : 15|8@0+ (1,0) [0|255] "" XXX

-BO_ 1 NEW_MSG_4: 8 XXX
- SG_ DOOR_LOCK_STATUS : 31|16@0+ (1,0) [0|65535] "" XXX
+BO_ 513 WHEEL_ENCODERS: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ WHEEL_ENCODER_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_ENCODER_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_ENCODER_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_ENCODER_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 261 GAS_PEDAL: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ENGINE_RPM : 4|5@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_PEDAL : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ COMBINED_GAS : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 DOOR_SENSORS: 8 XXX
+ SG_ BRAKE_PRESSED : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_RR : 7|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_FL : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FL : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FR : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_RL : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_RR : 6|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 885 SEATBELT_SENSORS: 8 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ SEATBELT_PASSENGER_LATCHED : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 257 CRUISE_CONTROL: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_DISABLED : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X002 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_1 : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACCELERATING : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LONGITUDINAL_ACCEL_REQUEST : 15|8@0- (1,0) [0|127] "" XXX
+
+BO_ 260 CRUISE_CONTROL2: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_XFF : 31|8@0+ (1,0) [0|65535] "" XXX
+ SG_ SET_ME_X02 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_XFF2 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 14 STEER_TORQUE: 8 XXX
+ SG_ STEER_TORQUE : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 888 CRUISE_CONTROL3: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_DISABLED : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ENABLED : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X004 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X002 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_SET_SPEED : 15|8@0+ (1,0) [0|63] "mph" XXX
+ SG_ CRUISE_SPEED_CHANGE : 55|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 307 POWER_SEATS: 8 XXX
+ SG_ DRIVER_FORWARD : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_BACK : 1|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 109 GEAR_LEVER: 8 XXX
+ SG_ PARK_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEUTRAL_UP : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEUTRAL_DOWN : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ REVERSE : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 115 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 0|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 581 IGNITION: 8 XXX
+
+BO_ 515 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_MOVING_FR : 22|1@1+ (1,0) [0|15] "" XXX
+ SG_ WHEEL_MOVING_RL : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_MOVING_FL : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_MOVING_RR : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_SPEED_FL : 2|11@0+ (0.0375,0) [0|255] "mph" XXX
+ SG_ WHEEL_SPEED_FR : 18|11@0+ (0.0375,0) [0|255] "mph" XXX
+ SG_ WHEEL_SPEED_RL : 34|11@0+ (0.0375,0) [0|255] "mph" XXX
+ SG_ WHEEL_SPEED_RR : 50|11@0+ (0.0375,0) [0|255] "mph" XXX




-CM_ SG_ 5 BRAKE_PRESSED "appears to be boolean (brake pressed)";
-CM_ SG_ 69 MORE_STEERING_WHEELS_BUTTONS "back, ok, voice assistance, and mute buttons";
+CM_ SG_ 3 STEER_DIRECTION "0 = left, 1 = right";
+CM_ SG_ 5 BRAKE_POSITION "computer and driver";
+CM_ SG_ 5 BRAKE_PRESSED "computer and driver";
+CM_ SG_ 261 GAS_PEDAL "user gas input";
+CM_ SG_ 261 COMBINED_GAS "computer and driver gas";
+CM_ SG_ 257 CRUISE_ACCELERATING "";
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.1.3
+v1.1.5
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -8,7 +8,7 @@
 //      brake rising edge
 //      brake > 0mph

-const int GM_MAX_STEER = 255;
+const int GM_MAX_STEER = 300;
 const int GM_MAX_RT_DELTA = 128;          // max delta torque allowed for real time checks
 const int32_t GM_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int GM_MAX_RATE_UP = 7;
@@ -22,7 +22,7 @@ const int GM_MAX_BRAKE = 350;
 int gm_brake_prev = 0;
 int gm_gas_prev = 0;
 int gm_speed = 0;
-// silence everything if stock ECUs are still online
+// silence everything if stock car control ECUs are still online
 int gm_ascm_detected = 0;
 int gm_ignition_started = 0;
 int gm_rt_torque_last = 0;
@@ -63,8 +63,11 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    gm_speed = to_push->RDLR & 0xFFFF;
  }

-  // check if stock ASCM ECU is still online
-  if (bus_number == 0 && addr == 715) {
+  // Check if ASCM or LKA camera are online
+  // on powertrain bus.
+  // 384 = ASCMLKASteeringCmd
+  // 715 = ASCMGasRegenCmd
+  if (bus_number == 0 && (addr == 384 || addr == 715)) {
    gm_ascm_detected = 1;
    controls_allowed = 0;
  }
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -7,6 +7,7 @@ const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
 const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;

 int hyundai_camera_detected = 0;
+int hyundai_camera_bus = 0;
 int hyundai_giraffe_switch_2 = 0;          // is giraffe switch 2 high?
 int hyundai_rt_torque_last = 0;
 int hyundai_desired_torque_last = 0;
@@ -39,6 +40,11 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    controls_allowed = 0;
  }

+  // Find out which bus the camera is on
+  if (addr == 832) {
+    hyundai_camera_bus = bus;
+  }
+
  // enter controls on rising edge of ACC, exit controls on ACC off
  if ((to_push->RIR>>21) == 1057) {
    // 2 bits: 13-14
@@ -51,8 +57,8 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    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)) {
+  // 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
+  if ((to_push->RIR>>21) == 832 && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
    hyundai_giraffe_switch_2 = 1;
  }
 }
@@ -123,21 +129,22 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  // 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;
-  }
+  // TODO: fix bug preventing the button msg to be fwd'd on bus 2
+  //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 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;
-    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
+  if ((bus_num == 0 || bus_num == hyundai_camera_bus) && hyundai_giraffe_switch_2) {
+
+    if ((to_fwd->RIR>>21) == 832 && bus_num == hyundai_camera_bus) return -1;
+    if (bus_num == 0) return hyundai_camera_bus;
+    if (bus_num == hyundai_camera_bus) return 0;
  }
  return -1;
 }
--- a/panda/tests/safety/test_gm.py
+++ b/panda/tests/safety/test_gm.py
@@ -5,7 +5,7 @@ import libpandasafety_py

 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
-MAX_STEER = 255
+MAX_STEER = 300
 MAX_BRAKE = 350
 MAX_GAS = 3072
 MAX_REGEN = 1404
--- a/panda/tests/safety/test_hyundai.py
+++ b/panda/tests/safety/test_hyundai.py
@@ -168,18 +168,18 @@ class TestHyundaiSafety(unittest.TestCase):
      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)))
+  #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__":
--- a/selfdrive/boardd/Makefile
+++ b/selfdrive/boardd/Makefile
@@ -13,8 +13,8 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
             -Werror=return-type \
             -Werror=format-extra-args

-CFLAGS = -std=gnu11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
+CFLAGS = -std=gnu11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)

 ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
 ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -4,14 +4,14 @@ 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.car.gm.values import CAR, DBC, AccState
 from selfdrive.can.packer import CANPacker


 class CarControllerParams():
  def __init__(self, car_fingerprint):
    if car_fingerprint == CAR.VOLT:
-      self.STEER_MAX = 255
+      self.STEER_MAX = 300
      self.STEER_STEP = 2              # how often we update the steer cmd
      self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
      self.STEER_DELTA_DOWN = 17       # ~0.3s from peak torque to zero
@@ -29,11 +29,11 @@ class CarControllerParams():
    self.ADAS_KEEPALIVE_STEP = 10
    # pedal lookups, only for Volt
    MAX_GAS = 3072              # Only a safety limit
-    ZERO_GAS = 2048
+    self.ZERO_GAS = 2048
    MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
    self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
-    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
+    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, MAX_GAS]
    self.BRAKE_LOOKUP_BP = [-1., -0.25]
    self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]

@@ -55,7 +55,7 @@ def actuator_hystereses(final_pedal, pedal_steady):


 class CarController(object):
-  def __init__(self, canbus, car_fingerprint):
+  def __init__(self, canbus, car_fingerprint, allow_controls):
    self.pedal_steady = 0.
    self.start_time = sec_since_boot()
    self.chime = 0
@@ -64,6 +64,7 @@ class CarController(object):
    self.steer_idx = 0
    self.apply_steer_last = 0
    self.car_fingerprint = car_fingerprint
+    self.allow_controls = allow_controls

    # Setup detection helper. Routes commands to
    # an appropriate CAN bus number.
@@ -77,8 +78,11 @@ class CarController(object):
             hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt):
    """ Controls thread """

-    P = self.params
+    # Sanity check.
+    if not self.allow_controls:
+      return

+    P = self.params
    # Send CAN commands.
    can_sends = []
    canbus = self.canbus
@@ -86,14 +90,11 @@ class CarController(object):
    ### STEER ###

    if (frame % P.STEER_STEP) == 0:
-      final_steer = actuators.steer if enabled else 0.
-      apply_steer = final_steer * P.STEER_MAX
-
-      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:
+      if lkas_enabled:
+        apply_steer = actuators.steer * P.STEER_MAX
+        apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P)
+      else:
        apply_steer = 0

      self.apply_steer_last = apply_steer
@@ -110,7 +111,7 @@ class CarController(object):

    if self.car_fingerprint == CAR.VOLT:
      # no output if not enabled, but keep sending keepalive messages
-      # threat pedals as one
+      # treat pedals as one
      final_pedal = actuators.gas - actuators.brake

      # *** apply pedal hysteresis ***
@@ -118,7 +119,8 @@ class CarController(object):
        final_pedal, self.pedal_steady)

      if not enabled:
-        apply_gas = P.MAX_ACC_REGEN  # TODO: do we really need to send max regen when not enabled?
+        # Stock ECU sends max regen when not enabled.
+        apply_gas = P.MAX_ACC_REGEN
        apply_brake = 0
      else:
        apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
@@ -128,16 +130,22 @@ class CarController(object):
      if (frame % 4) == 0:
        idx = (frame / 4) % 4

-        at_full_stop = enabled and CS.standstill
-        near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
+        car_stopping = apply_gas < P.ZERO_GAS
+        standstill = CS.pcm_acc_status == AccState.STANDSTILL
+        at_full_stop = enabled and standstill and car_stopping
+        near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) and car_stopping
        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))

-        at_full_stop = enabled and CS.standstill
-        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
+        # Auto-resume from full stop by resetting ACC control
+        acc_enabled = enabled
+        if standstill and not car_stopping:
+          acc_enabled = False
+
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, acc_enabled, at_full_stop))

      # Send dashboard UI commands (ACC status), 25hz
      if (frame % 4) == 0:
-        can_sends.append(gmcan.create_acc_dashboard_command(canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car))
+        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))

      # Radar needs to know current speed and yaw rate (50hz),
      # and that ADAS is alive (10hz)
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -60,17 +60,15 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st

 def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):

-  if apply_brake == 0:
-    mode = 0x1
-  else:
+  mode = 0x1
+  if apply_brake > 0:
    mode = 0xa

-    if at_full_stop:
-      mode = 0xd
-    # TODO: this is to have GM bringing the car to complete stop,
-    # but currently it conflicts with OP controls, so turned off.
-    #elif near_stop:
-    #  mode = 0xb
+  if near_stop:
+    mode = 0xb
+
+  if at_full_stop:
+    mode = 0xd

  brake = (0x1000 - apply_brake) & 0xfff
  checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
@@ -84,14 +82,21 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f

  return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)

-def create_acc_dashboard_command(bus, acc_engaged, target_speed_ms, lead_car_in_sight):
-  engaged = 0x90 if acc_engaged else 0
-  lead_car = 0x10 if lead_car_in_sight else 0
-  target_speed = int(target_speed_ms * 208) & 0xfff
-  speed_high = target_speed >> 8
-  speed_low = target_speed & 0xff
-  dat = [0x01, 0x00, engaged | speed_high, speed_low, 0x01, lead_car]
-  return [0x370, 0, "".join(map(chr, dat)), bus]
+def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight):
+  # Not a bit shift, dash can round up based on low 4 bits.
+  target_speed = int(target_speed_kph * 16) & 0xfff
+
+  values = {
+    "ACCAlwaysOne" : 1,
+    "ACCResumeButton" : 0,
+    "ACCSpeedSetpoint" : target_speed,
+    "ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
+    "ACCCmdActive" : acc_engaged,
+    "ACCAlwaysOne2" : 1,
+    "ACCLeadCar" : lead_car_in_sight
+  }
+
+  return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)

 def create_adas_time_status(bus, tt, idx):
  dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -4,7 +4,7 @@ from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.gm.values import DBC, CAR
+from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser

 try:
@@ -21,12 +21,6 @@ class CM:
  LOW_CHIME = 0x86
  HIGH_CHIME = 0x87

-# GM cars have 4 CAN buses, which creates many ways
-# of how the car can be connected to.
-# This ia a helper class for the interface to be setup-agnostic.
-# Supports single Panda setup (connected to OBDII port),
-# and a CAN forwarding setup (connected to camera module connector).
-
 class CanBus(object):
  def __init__(self):
    self.powertrain = 0
@@ -54,7 +48,7 @@ class CarInterface(object):
    # sending if read only is False
    if sendcan is not None:
      self.sendcan = sendcan
-      self.CC = CarController(canbus, CP.carFingerprint)
+      self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera)

  @staticmethod
  def compute_gb(accel, speed):
@@ -73,8 +67,11 @@ class CarInterface(object):

    ret.enableCruise = False

-    # TODO: gate this on detection
-    ret.enableCamera = True
+    # Presence of a camera on the object bus is ok.
+    # Have to go passive if ASCM is online (ACC-enabled cars),
+    # or camera is on powertrain bus (LKA cars without ACC).
+    ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
+
    std_cargo = 136

    if candidate == CAR.VOLT:
@@ -196,7 +193,7 @@ class CarInterface(object):
    ret.cruiseState.available = bool(self.CS.main_on)
    cruiseEnabled = self.CS.pcm_acc_status != 0
    ret.cruiseState.enabled = cruiseEnabled
-    ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
+    ret.cruiseState.standstill = False

    ret.leftBlinker = self.CS.left_blinker_on
    ret.rightBlinker = self.CS.right_blinker_on
@@ -279,8 +276,6 @@ class CarInterface(object):
        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
      if ret.gasPressed:
        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-      if ret.cruiseState.standstill:
-        events.append(create_event('resumeRequired', [ET.WARNING]))

      # handle button presses
      for b in ret.buttonEvents:
@@ -297,7 +292,7 @@ class CarInterface(object):
        events.append(create_event('pcmEnable', [ET.ENABLE]))
      if not self.CS.acc_active:
        events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
-  
+
    ret.events = events

    # update previous brake/gas pressed
@@ -325,7 +320,11 @@ class CarInterface(object):
      "chimeRepeated": (CM.LOW_CHIME, -1),
      "chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)]

-    self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, \
+    # For Openpilot, "enabled" includes pre-enable.
+    # In GM, PCM faults out if ACC command overlaps user gas.
+    enabled = c.enabled and not self.CS.user_gas_pressed
+
+    self.CC.update(self.sendcan, enabled, self.CS, self.frame, \
      c.actuators,
      hud_v_cruise, c.hudControl.lanesVisible, \
      c.hudControl.leadVisible, \
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -12,6 +12,12 @@ class CruiseButtons:
  MAIN        = 5
  CANCEL      = 6

+class AccState:
+  OFF        = 0
+  ACTIVE     = 1
+  FAULTED    = 3
+  STANDSTILL = 4
+
 def is_eps_status_ok(eps_status, car_fingerprint):
  valid_eps_status = []
  if car_fingerprint == CAR.VOLT:
@@ -49,6 +55,12 @@ FINGERPRINTS = {

 STEER_THRESHOLD = 1.0

+
+STOCK_CONTROL_MSGS = {
+  CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
+}
+
 DBC = {
  CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -73,7 +73,7 @@ def get_can_signals(CP):

  if CP.radarOffCan:
    # Civic is only bosch to use the same brake message as other hondas.
-    if CP.carFingerprint != CAR.CIVIC_HATCH:
+    if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH):
      signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
      checks += [("BRAKE_MODULE", 50)]
    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@@ -88,7 +88,7 @@ def get_can_signals(CP):
                ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
    checks += [("CRUISE_PARAMS", 50)]

-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
    signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
  else:
    signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
@@ -179,7 +179,7 @@ class CarState(object):

    # ******************* parse out can *******************

-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15): # TODO: find wheels moving bit in dbc
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc
      self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
      self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
    else:
@@ -234,7 +234,7 @@ class CarState(object):
    self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
    self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']

-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH):
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH):
      self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
      self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
      self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
@@ -261,7 +261,7 @@ class CarState(object):
    if self.CP.radarOffCan:
      self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
      self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
-      if self.CP.carFingerprint == CAR.CIVIC_HATCH:
+      if self.CP.carFingerprint in (CAR.CIVIC_HATCH, CAR.ACCORDH):
        self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
        self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
                          (self.brake_switch and self.brake_switch_prev and \
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -204,9 +204,10 @@ class CarInterface(object):
      ret.longitudinalKiBP = [0., 35.]
      ret.longitudinalKiV = [0.18, 0.12]

-    elif candidate in (CAR.ACCORD, CAR.ACCORD_15):
+    elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
      stop_and_go = True
-      ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
+      if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
+        ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
      ret.mass = 3279. * CV.LB_TO_KG + std_cargo
      ret.wheelbase = 2.83
      ret.centerToFront = ret.wheelbase * 0.39
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -7,7 +7,6 @@ class CruiseButtons:
  CANCEL      = 2
  MAIN        = 1

-
 #car chimes: enumeration from dbc file. Chimes are for alerts and warnings
 class CM:
  MUTE = 0
@@ -16,7 +15,6 @@ class CM:
  REPEATED = 1
  CONTINUOUS = 2

-
 #car beepss: enumeration from dbc file. Beeps are for activ and deactiv
 class BP:
  MUTE = 0
@@ -35,10 +33,10 @@ class AH:
  SEATBELT       = [5, 5]
  SPEED_TOO_HIGH = [6, 8]

-
 class CAR:
  ACCORD = "HONDA ACCORD 2018 SPORT 2T"
  ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
+  ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING"
  CIVIC = "HONDA CIVIC 2016 TOURING"
  CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
  ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
@@ -50,14 +48,16 @@ class CAR:
  PILOT_2019 = "HONDA PILOT 2019 ELITE"
  RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"

-
 FINGERPRINTS = {
  CAR.ACCORD: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
  }],
  CAR.ACCORD_15: [{
    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
  }],
+  CAR.ACCORDH: [{
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
+  }],
  CAR.ACURA_ILX: [{
    57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
  }],
@@ -98,10 +98,10 @@ FINGERPRINTS = {
  }]
 }

-
 DBC = {
  CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
  CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
+  CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
  CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
  CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
  CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
@@ -114,10 +114,10 @@ DBC = {
  CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
 }

-
 STEER_THRESHOLD = {
  CAR.ACCORD: 1200,
  CAR.ACCORD_15: 1200,
+  CAR.ACCORDH: 1200,
  CAR.ACURA_ILX: 1200,
  CAR.ACURA_RDX: 400,
  CAR.CIVIC: 1200,
@@ -133,6 +133,7 @@ STEER_THRESHOLD = {
 SPEED_FACTOR = {
  CAR.ACCORD: 1.,
  CAR.ACCORD_15: 1.,
+  CAR.ACCORDH: 1.,
  CAR.ACURA_ILX: 1.,
  CAR.ACURA_RDX: 1.,
  CAR.CIVIC: 1.,
@@ -159,4 +160,4 @@ VEHICLE_STATE_MSG = {
 }

 # TODO: get these from dbc file
-HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]
+HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -61,7 +61,7 @@ class CarController(object):
      if (self.cnt % 7) == 0:
        can_sends.append(create_1156())

-    can_sends.append(create_lkas11(self.packer, apply_steer, steer_req, self.lkas11_cnt,
+    can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
                                   enabled, CS.lkas11, hud_alert, keep_stock=(not self.camera_disconnected)))

    if pcm_cancel_cmd:
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -17,11 +17,13 @@ def get_can_parser(CP):
    ("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),
+    ("CF_Gway_ParkBrakeSw", "CGW1", 0),

    ("BRAKE_ACT", "EMS12", 0),
    ("PV_AV_CAN", "EMS12", 0),
@@ -149,7 +151,7 @@ class CarState(object):
    self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
    self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']

-    self.park_brake = False
+    self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
    self.main_on = True
    self.acc_active = cp.vl["SCC12"]['ACCMode'] != 0
    self.pcm_acc_status = int(self.acc_active)
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -1,14 +1,15 @@
 import crcmod
+from selfdrive.car.hyundai.values import CHECKSUM

 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):
+def create_lkas11(packer, car_fingerprint, 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_LdwsSysState": 3 if steer_req 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,
@@ -16,7 +17,7 @@ def create_lkas11(packer, apply_steer, steer_req, cnt, enabled, lkas11, hud_aler
    "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_ToiFlt": 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,
@@ -30,8 +31,19 @@ def create_lkas11(packer, apply_steer, steer_req, cnt, enabled, lkas11, hud_aler
  }

  dat = packer.make_can_msg("LKAS11", 0, values)[2]
-  dat = dat[:6] + dat[7]
-  checksum = hyundai_checksum(dat)
+
+  if car_fingerprint in CHECKSUM["crc8"]:
+    # CRC Checksum as seen on 2019 Hyundai Santa Fe
+    dat = dat[:6] + dat[7]
+    checksum = hyundai_checksum(dat)
+  elif car_fingerprint in CHECKSUM["6B"]:
+    # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
+    dat = [ord(i) for i in dat]
+    checksum = sum(dat[:6]) % 256
+  elif car_fingerprint in CHECKSUM["7B"]:
+    # Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
+    dat = [ord(i) for i in dat]
+    checksum = (sum(dat[:6]) + dat[7]) % 256

  values["CF_Lkas_Chksum"] = checksum

--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -5,7 +5,7 @@ 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
+from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts

 try:
  from selfdrive.car.hyundai.carcontroller import CarController
@@ -25,6 +25,7 @@ class CarInterface(object):
    self.brake_pressed_prev = False
    self.can_invalid_count = 0
    self.cruise_enabled_prev = False
+    self.low_speed_alert = False

    # *** init the major players ***
    self.CS = CarState(CP)
@@ -55,9 +56,7 @@ class CarInterface(object):
    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
@@ -70,28 +69,67 @@ class CarInterface(object):
    tireStiffnessFront_civic = 192150
    tireStiffnessRear_civic = 202500

-    ret.steerActuatorDelay = 0.1  # Default delay, Prius has larger delay
+    ret.steerActuatorDelay = 0.1  # Default delay
+    tire_stiffness_factor = 1.

-    #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]]
+    if candidate == CAR.SANTA_FE:
+      ret.steerKf = 0.00005
+      ret.steerRateCost = 0.5
+      ret.mass = 3982 * CV.LB_TO_KG + std_cargo
+      ret.wheelbase = 2.766
+
+      # Values from optimizer
+      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
+      tire_stiffness_factor = 0.82
+
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
+      ret.minSteerSpeed = 0.
+    elif candidate == CAR.KIA_SORENTO:
+      ret.steerKf = 0.00005
+      ret.steerRateCost = 0.5
+      ret.mass = 1985 + std_cargo
+      ret.wheelbase = 2.78
+      ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
+      ret.minSteerSpeed = 0.
+    elif candidate == CAR.ELANTRA:
+      ret.steerKf = 0.00004
+      ret.steerRateCost = 0.5
+      ret.mass = 1275 + std_cargo
+      ret.wheelbase = 2.7
+      ret.steerRatio = 16.9
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.20], [0.01]]
+      ret.minSteerSpeed = 35 * CV.MPH_TO_MS
+    elif candidate == CAR.GENESIS:
+      ret.steerKf = 0.00005
+      ret.steerRateCost = 0.5
+      ret.mass = 2060 + std_cargo
+      ret.wheelbase = 3.01
+      ret.steerRatio = 16.5
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.16], [0.01]]
+      ret.minSteerSpeed = 35 * CV.MPH_TO_MS
+    elif candidate == CAR.KIA_STINGER:
+      ret.steerKf = 0.00005
+      ret.steerRateCost = 0.5
+      ret.mass = 1825 + std_cargo
+      ret.wheelbase = 2.78
+      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
+      ret.minSteerSpeed = 0.
+
+    ret.minEnableSpeed = -1.   # enable is done by stock ACC, so ignore this
    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
@@ -201,7 +239,12 @@ class CarInterface(object):
    ret.doorOpen = not self.CS.door_all_closed
    ret.seatbeltUnlatched = not self.CS.seatbelt

-    #ret.genericToggle = self.CS.generic_toggle
+
+    # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
+    if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
+      self.low_speed_alert = True
+    if ret.vEgo > (self.CP.minSteerSpeed + 4.):
+      self.low_speed_alert = False

    # events
    events = []
@@ -240,6 +283,9 @@ class CarInterface(object):
    if ret.gasPressed:
      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))

+    if self.low_speed_alert:
+      events.append(create_event('belowSteerSpeed', [ET.WARNING]))
+
    ret.events = events
    ret.canMonoTimes = canMonoTimes

--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -8,6 +8,10 @@ def get_hud_alerts(visual_alert, audble_alert):

 class CAR:
  SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
+  ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
+  GENESIS = "HYUNDAI GENESIS 2018"
+  KIA_SORENTO = "KIA SORENTO GT LINE 2018"  # Top Trim Kia Sorento for Australian Market, AWD Diesel 8sp Auto
+  KIA_STINGER = "KIA STINGER GT2 2018"

 class Buttons:
  NONE = 0
@@ -19,11 +23,32 @@ 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
  }],
+  CAR.ELANTRA: [{
+    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+  CAR.GENESIS: [{
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
+  }],
+  CAR.KIA_SORENTO: [{
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
+  }],
+  CAR.KIA_STINGER: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 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),
+CHECKSUM = {
+  "crc8": [CAR.SANTA_FE],
+  "6B": [CAR.KIA_SORENTO, CAR.GENESIS],
+  "7B": [CAR.KIA_STINGER, CAR.ELANTRA],
 }

+DBC = {
+  CAR.SANTA_FE: dbc_dict('hyundai_santa_fe_2019_ccan', None),
+  CAR.ELANTRA: dbc_dict('hyundai_santa_fe_2019_ccan', None),
+  CAR.GENESIS: dbc_dict('hyundai_santa_fe_2019_ccan', None),
+  CAR.KIA_SORENTO: dbc_dict('hyundai_santa_fe_2019_ccan', None),
+  CAR.KIA_STINGER: dbc_dict('hyundai_santa_fe_2019_ccan', None),
+}
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -145,6 +145,9 @@ class CarController(object):
    # only cut torque when steer state is a known fault
    if not enabled or CS.steer_state in [9, 25]:
      apply_steer = 0
+      apply_steer_req = 0
+    else:
+      apply_steer_req = 1

    self.steer_angle_enabled, self.ipas_reset_counter = \
      ipas_state_transition(self.steer_angle_enabled, enabled, CS.ipas_active, self.ipas_reset_counter)
@@ -192,12 +195,12 @@ class CarController(object):
    # on consecutive messages
    if ECU.CAM in self.fake_ecus:
      if self.angle_control:
-        can_sends.append(create_steer_command(self.packer, 0., frame))
+        can_sends.append(create_steer_command(self.packer, 0., 0, frame))
      else:
-        can_sends.append(create_steer_command(self.packer, apply_steer, frame))
+        can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))

    if self.angle_control:
-      can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled, 
+      can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
                                                 ECU.APGS in self.fake_ecus))
    elif ECU.APGS in self.fake_ecus:
      can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -147,9 +147,9 @@ class CarInterface(object):
    # to a negative value, so it won't matter.
    # 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]:
+                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
      ret.minEnableSpeed = -1.
-    elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER]: # TODO: hack ICE to do stop and go
+    elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
      ret.minEnableSpeed = 19. * CV.MPH_TO_MS

    centerToRear = ret.wheelbase - ret.centerToFront
@@ -244,7 +244,7 @@ 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 in [CAR.RAV4H, CAR.HIGHLANDERH]:
+    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
      # ignore standstill in hybrid vehicles, since pcm allows to restart without
      # receiving any special command
      ret.cruiseState.standstill = False
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -52,11 +52,11 @@ def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
    return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)


-def create_steer_command(packer, steer, raw_cnt):
+def create_steer_command(packer, steer, steer_req, raw_cnt):
  """Creates a CAN message for the Toyota Steer Command."""

  values = {
-    "STEER_REQUEST": abs(steer) > 0.001,
+    "STEER_REQUEST": steer_req,
    "STEER_TORQUE_CMD": steer,
    "COUNTER": raw_cnt,
    "SET_ME_1": 1,
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -109,12 +109,16 @@ FINGERPRINTS = {
    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
  }],
  CAR.CHRH: [{
-    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, 740: 5, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 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, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8,1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 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, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    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, 800: 8, 810: 2, 812: 8, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 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, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 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, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  }],
  CAR.CAMRY: [
  #XLE and LE
  {
    36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 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, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  #XSE and SE
+  {
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 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, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  }],
  CAR.CAMRYH: [
  #LE
--- a/selfdrive/common/ipc.c
+++ b/selfdrive/common/ipc.c
@@ -0,0 +1,119 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <string.h>
+#include <unistd.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/mman.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+
+#include "ipc.h"
+
+int ipc_connect(const char* socket_path) {
+  int err;
+
+  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
+  assert(sock >= 0);
+  struct sockaddr_un addr = {
+    .sun_family = AF_UNIX,
+  };
+  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
+  err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
+  if (err != 0) {
+    close(sock);
+    return -1;
+  }
+
+  return sock;
+}
+
+int ipc_bind(const char* socket_path) {
+  int err;
+
+  unlink(socket_path);
+
+  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
+  struct sockaddr_un addr = {
+    .sun_family = AF_UNIX,
+  };
+  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
+  err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
+  assert(err == 0);
+
+  err = listen(sock, 3);
+  assert(err == 0);
+
+  return sock;
+}
+
+
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds) {
+  int err;
+
+  char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
+  memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
+
+  struct iovec iov = {
+    .iov_base = buf,
+    .iov_len = buf_size,
+  };
+  struct msghdr msg = {
+    .msg_iov = &iov,
+    .msg_iovlen = 1,
+  };
+
+  if (num_fds > 0) {
+    assert(fds);
+
+    msg.msg_control = control_buf;
+    msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
+  }
+
+  if (send) {
+    if (num_fds) {
+      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
+      assert(cmsg);
+      cmsg->cmsg_level = SOL_SOCKET;
+      cmsg->cmsg_type = SCM_RIGHTS;
+      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
+      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
+      // printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
+    }
+    return sendmsg(fd, &msg, 0);
+  } else {
+    int r = recvmsg(fd, &msg, 0);
+    if (r < 0) return r;
+
+    int recv_fds = 0;
+    if (msg.msg_controllen > 0) {
+      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
+      assert(cmsg);
+      assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
+      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
+      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
+      recv_fds /= sizeof(int);
+      // printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
+      // assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
+
+      assert(fds && recv_fds <= num_fds);
+      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
+    }
+
+    if (msg.msg_flags) {
+      for (int i=0; i<recv_fds; i++) {
+        close(fds[i]);
+      }
+      return -1;
+    }
+
+    if (fds) {
+      assert(out_num_fds);
+      *out_num_fds = recv_fds;
+    }
+    return r;
+  }
+}
--- a/selfdrive/common/ipc.h
+++ b/selfdrive/common/ipc.h
@@ -0,0 +1,19 @@
+#ifndef IPC_H
+#define IPC_H
+
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int ipc_connect(const char* socket_path);
+int ipc_bind(const char* socket_path);
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+
+#endif
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/common/params.h"
+#include "common/params.h"

 #ifndef _GNU_SOURCE
 #define _GNU_SOURCE
@@ -13,8 +13,8 @@
 #include <map>
 #include <string>

-#include "selfdrive/common/util.h"
-#include "selfdrive/common/utilpp.h"
+#include "common/util.h"
+#include "common/utilpp.h"

 namespace {

--- a/selfdrive/common/utilpp.h
+++ b/selfdrive/common/utilpp.h
@@ -9,10 +9,6 @@
 #include <sstream>
 #include <fstream>

-#ifdef __x86_64
-#include <linux/limits.h>
-#endif
-
 namespace util {

 inline bool starts_with(std::string s, std::string prefix) {
@@ -56,13 +52,13 @@ inline std::string dir_name(std::string const & path) {
 }

 inline std::string readlink(std::string path) {
-    char buff[PATH_MAX];
-    ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
-    if (len != -1) {
-      buff[len] = '\0';
-      return std::string(buff);
-    }
-    return "";
+  char buff[4096];
+  ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
+  if (len != -1) {
+    buff[len] = '\0';
+    return std::string(buff);
+  }
+  return "";
 }

 }
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.5.3-release"
+#define COMMA_VERSION "0.5.4-release"
--- a/selfdrive/common/visionimg.cc
+++ b/selfdrive/common/visionimg.cc
@@ -36,14 +36,17 @@ extern "C" void compute_aligned_width_and_height(int width,
                                      int *aligned_h);
 #endif

-VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
-
-  int aligned_w = 0, aligned_h = 0;
+void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
 #ifdef QCOM
-  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, &aligned_w, &aligned_h);
+  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
 #else
-  aligned_w = width; aligned_h = height;
+  *aligned_w = width; *aligned_h = height;
 #endif
+}
+
+VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
+  int aligned_w = 0, aligned_h = 0;
+  visionimg_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);

  int stride = aligned_w * 3;
  size_t size = aligned_w * aligned_h * 3;
--- a/selfdrive/common/visionimg.h
+++ b/selfdrive/common/visionimg.h
@@ -23,6 +23,7 @@ typedef struct VisionImg {
  size_t size;
 } VisionImg;

+void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
 VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf);

 #ifdef QCOM
--- a/selfdrive/common/visionipc.c
+++ b/selfdrive/common/visionipc.c
@@ -10,6 +10,8 @@
 #include <sys/socket.h>
 #include <sys/un.h>

+#include "ipc.h"
+
 #include "visionipc.h"

 typedef struct VisionPacketWire {
@@ -18,95 +20,14 @@ typedef struct VisionPacketWire {
 } VisionPacketWire;

 int vipc_connect() {
-  int err;
-
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-  assert(sock >= 0);
-  struct sockaddr_un addr = {
-    .sun_family = AF_UNIX,
-    .sun_path = VIPC_SOCKET_PATH,
-  };
-  err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
-  if (err != 0) {
-    close(sock);
-    return -1;
-  }
-
-  return sock;
+  return ipc_connect(VIPC_SOCKET_PATH);
 }

-static int sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
-                             int *out_num_fds) {
-  int err;
-
-  char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
-  memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
-
-  struct iovec iov = {
-    .iov_base = buf,
-    .iov_len = buf_size,
-  };
-  struct msghdr msg = {
-    .msg_iov = &iov,
-    .msg_iovlen = 1,
-  };
-
-  if (num_fds > 0) {
-    assert(fds);
-
-    msg.msg_control = control_buf;
-    msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
-  }
-
-  if (send) {
-    if (num_fds) {
-      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
-      assert(cmsg);
-      cmsg->cmsg_level = SOL_SOCKET;
-      cmsg->cmsg_type = SCM_RIGHTS;
-      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
-      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
-      // printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
-    }
-    return sendmsg(fd, &msg, 0);
-  } else {
-    int r = recvmsg(fd, &msg, 0);
-    if (r < 0) return r;
-
-    int recv_fds = 0;
-    if (msg.msg_controllen > 0) {
-      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
-      assert(cmsg);
-      assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
-      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
-      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
-      recv_fds /= sizeof(int);
-      // printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
-      // assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
-
-      assert(fds && recv_fds <= num_fds);
-      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
-    }
-
-    if (msg.msg_flags) {
-      for (int i=0; i<recv_fds; i++) {
-        close(fds[i]);
-      }
-      return -1;
-    }
-
-    if (fds) {
-      assert(out_num_fds);
-      *out_num_fds = recv_fds;
-    }
-    return r;
-  }
-}

 int vipc_recv(int fd, VisionPacket *out_p) {
  VisionPacketWire p = {0};
  VisionPacket p2 = {0};
-  int ret = sendrecv_with_fds(false, fd, &p, sizeof(p), (int*)p2.fds, VIPC_MAX_FDS, &p2.num_fds);
+  int ret = ipc_sendrecv_with_fds(false, fd, &p, sizeof(p), (int*)p2.fds, VIPC_MAX_FDS, &p2.num_fds);
  if (ret < 0) {
    printf("vipc_recv err: %s\n", strerror(errno));
  } else {
@@ -124,7 +45,7 @@ int vipc_send(int fd, const VisionPacket *p2) {
    .type = p2->type,
    .d = p2->d,
  };
-  return sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
+  return ipc_sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
 }

 void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -46,8 +46,8 @@ def isEnabled(state):


 def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_location,
-                poller, cal_status, overtemp, free_space, driver_status, geofence,
-                state, mismatch_counter, params):
+                poller, cal_status, cal_perc, overtemp, free_space, low_battery,
+                driver_status, geofence, state, mismatch_counter, params):

  # *** read can and compute car states ***
  CS = CI.update(CC)
@@ -80,6 +80,12 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
    # under 15% of space free no enable allowed
    free_space = td.thermal.freeSpace < 0.15

+    # at zero percent battery, OP should not be allowed
+    low_battery = td.thermal.batteryPercent < 1
+
+  if low_battery:
+    events.append(create_event('lowBattery', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+
  if overtemp:
    events.append(create_event('overheat', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

@@ -89,10 +95,11 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
  # *** read calibration status ***
  if cal is not None:
    cal_status = cal.liveCalibration.calStatus
+    cal_perc = cal.liveCalibration.calPerc

  if cal_status != Calibration.CALIBRATED:
    if cal_status == Calibration.UNCALIBRATED:
-      events.append(create_event('calibrationInProgress', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+      events.append(create_event('calibrationIncomplete', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
    else:
      events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

@@ -117,7 +124,7 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
  if geofence is not None and not geofence.in_geofence:
    events.append(create_event('geofence', [ET.NO_ENTRY, ET.WARNING]))

-  return CS, events, cal_status, overtemp, free_space, mismatch_counter
+  return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter


 def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
@@ -224,7 +231,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM


 def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
-                  driver_status, PL, LaC, LoC, VM, angle_offset, passive):
+                  driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc):
  # Given the state, this function returns the actuators

  # reset actuators to zero
@@ -258,7 +265,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,

    # parse warnings from car specific interface
    for e in get_events(events, [ET.WARNING]):
-      AM.add(e, enabled)
+      extra_text = ""
+      if e == "belowSteerSpeed":
+        if is_metric:
+          extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_KPH))) + " kph"
+        else:
+          extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_MPH))) + " mph"
+      AM.add(e, enabled, extra_text_2=extra_text)

  # *** angle offset learning ***

@@ -283,10 +296,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,

  # parse permanent warnings to display constantly
  for e in get_events(events, [ET.PERMANENT]):
-    AM.add(str(e) + "Permanent", enabled)
+    extra_text_1, extra_text_2 = "", ""
+    if e == "calibrationIncomplete":
+      extra_text_1 = str(cal_perc) + "%"
+      extra_text_2 = "35 kph" if is_metric else "15 mph"
+    AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)

  # *** process alerts ***
-
  AM.process_alerts(sec_since_boot())

  return actuators, v_cruise_kph, driver_status, angle_offset
@@ -410,6 +426,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
  carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
  livempc = messaging.pub_sock(context, service_list['liveMpc'].port)

+  is_metric = params.get("IsMetric") == "1"
  passive = params.get("Passive") != "0"
  if not passive:
    while 1:
@@ -468,8 +485,10 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
  v_cruise_kph_last = 0
  overtemp = False
  free_space = False
-  cal_status = Calibration.UNCALIBRATED
+  cal_status = Calibration.INVALID
+  cal_perc = 0
  mismatch_counter = 0
+  low_battery = False

  rk = Ratekeeper(rate, print_delay_threshold=2./1000)

@@ -490,8 +509,8 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
    prof.checkpoint("Ratekeeper", ignore=True)

    # sample data and compute car events
-    CS, events, cal_status, overtemp, free_space, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
-      driver_monitor, gps_location, poller, cal_status, overtemp, free_space, driver_status, geofence, state, mismatch_counter, params)
+    CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
+      driver_monitor, gps_location, poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status, geofence, state, mismatch_counter, params)
    prof.checkpoint("Sample")

    # define plan
@@ -506,7 +525,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):

    # compute actuators
    actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
-      v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive)
+      v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
    prof.checkpoint("State Control")

    # publish data
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -6,11 +6,12 @@ import copy

 # Priority
 class Priority:
-  HIGHEST = 4
-  HIGH = 3
-  MID = 2
-  LOW = 1
  LOWEST = 0
+  LOW_LOWEST = 1
+  LOW = 2
+  MID = 3
+  HIGH = 4
+  HIGHEST = 5

 AlertSize = log.Live100Data.AlertSize
 AlertStatus = log.Live100Data.AlertStatus
@@ -155,7 +156,7 @@ class AlertManager(object):
        "Be ready to take over at any time",
        "Always keep hands on wheel and eyes on road",
        AlertStatus.normal, AlertSize.mid,
-        Priority.LOWEST, None, None, 0., 0., 15.),
+        Priority.LOW_LOWEST, None, None, 0., 0., 15.),

    "ethicalDilemma": Alert(
        "TAKE CONTROL IMMEDIATELY",
@@ -181,6 +182,12 @@ class AlertManager(object):
        AlertStatus.userPrompt, AlertSize.mid,
        Priority.LOW, None, None, 0., 0., .2),

+    "belowSteerSpeed": Alert(
+        "TAKE CONTROL",
+        "Steer Unavailable Below ",
+        AlertStatus.userPrompt, AlertSize.mid,
+        Priority.MID, "steerRequired", None, 0., 0., .1),
+
    "debugAlert": Alert(
        "DEBUG ALERT",
        "",
@@ -236,6 +243,12 @@ class AlertManager(object):
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

+    "lowBatteryNoEntry": Alert(
+        "openpilot Unavailable",
+        "Low Battery",
+        AlertStatus.normal, AlertSize.mid,
+        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
+
    # Cancellation alerts causing soft disabling
    "overheat": Alert(
        "TAKE CONTROL IMMEDIATELY",
@@ -255,7 +268,7 @@ class AlertManager(object):
        AlertStatus.critical, AlertSize.full,
        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

-    "calibrationInProgress": Alert(
+    "calibrationIncomplete": Alert(
        "TAKE CONTROL IMMEDIATELY",
        "Calibration in Progress",
        AlertStatus.critical, AlertSize.full,
@@ -279,6 +292,12 @@ class AlertManager(object):
        AlertStatus.critical, AlertSize.full,
        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),

+    "lowBattery": Alert(
+        "TAKE CONTROL IMMEDIATELY",
+        "Low Battery",
+        AlertStatus.critical, AlertSize.full,
+        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
+
    # Cancellation alerts causing immediate disabling
    "radarCommIssue": Alert(
        "TAKE CONTROL IMMEDIATELY",
@@ -318,13 +337,13 @@ class AlertManager(object):

    "steerUnavailable": Alert(
        "TAKE CONTROL IMMEDIATELY",
-        "Steer Fault: Restart the Car",
+        "LKAS Fault: Restart the Car",
        AlertStatus.critical, AlertSize.full,
        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

    "brakeUnavailable": Alert(
        "TAKE CONTROL IMMEDIATELY",
-        "Brake Fault: Restart the Car",
+        "Cruise Fault: Restart the Car",
        AlertStatus.critical, AlertSize.full,
        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),

@@ -384,7 +403,7 @@ class AlertManager(object):
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    "calibrationInProgressNoEntry": Alert(
+    "calibrationIncompleteNoEntry": Alert(
        "openpilot Unavailable",
        "Calibration in Progress",
        AlertStatus.normal, AlertSize.mid,
@@ -446,13 +465,13 @@ class AlertManager(object):

    "steerUnavailableNoEntry": Alert(
        "openpilot Unavailable",
-        "Steer Fault: Restart the Car",
+        "LKAS Fault: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "brakeUnavailableNoEntry": Alert(
        "openpilot Unavailable",
-        "Brake Fault: Restart the Car",
+        "Cruise Fault: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

@@ -486,23 +505,29 @@ class AlertManager(object):
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

-    # permanent alerts to display on small UI upper box
+    # permanent alerts
    "steerUnavailablePermanent": Alert(
-        "STEER FAULT: Restart the car to engage",
+        "LKAS Fault: Restart the car to engage",
        "",
        AlertStatus.normal, AlertSize.small,
-        Priority.LOWEST, None, None, 0., 0., .2),
+        Priority.LOW_LOWEST, None, None, 0., 0., .2),

    "brakeUnavailablePermanent": Alert(
-        "BRAKE FAULT: Restart the car to engage",
+        "Cruise Fault: Restart the car to engage",
        "",
        AlertStatus.normal, AlertSize.small,
-        Priority.LOWEST, None, None, 0., 0., .2),
+        Priority.LOW_LOWEST, None, None, 0., 0., .2),

    "lowSpeedLockoutPermanent": Alert(
-        "CRUISE FAULT: Restart the car to engage",
+        "Cruise Fault: Restart the car to engage",
        "",
        AlertStatus.normal, AlertSize.small,
+        Priority.LOW_LOWEST, None, None, 0., 0., .2),
+
+    "calibrationIncompletePermanent": Alert(
+        "Calibration in Progress: ",
+        "Drive Above ",
+        AlertStatus.normal, AlertSize.mid,
        Priority.LOWEST, None, None, 0., 0., .2),
  }

@@ -512,10 +537,11 @@ class AlertManager(object):
  def alertPresent(self):
    return len(self.activealerts) > 0

-  def add(self, alert_type, enabled=True, extra_text=''):
+  def add(self, alert_type, enabled=True, extra_text_1='', extra_text_2=''):
    alert_type = str(alert_type)
    added_alert = copy.copy(self.alerts[alert_type])
-    added_alert.alert_text_2 += extra_text
+    added_alert.alert_text_1 += extra_text_1
+    added_alert.alert_text_2 += extra_text_2
    added_alert.start_time = sec_since_boot()

    # if new alert is higher priority, log it
--- a/selfdrive/controls/lib/driver_monitor.py
+++ b/selfdrive/controls/lib/driver_monitor.py
@@ -1,12 +1,14 @@
 import numpy as np
 from common.realtime import sec_since_boot
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
+from common.filter_simple import FirstOrderFilter

 _DT = 0.01                  # update runs at 100Hz
+_DTM = 0.1                  # DM runs at 10Hz
 _AWARENESS_TIME = 180       # 3 minutes limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME = 20.   # a first alert is issued 20s before expiration
 _AWARENESS_PROMPT_TIME = 5. # a second alert is issued 5s before start decelerating the car
-_DISTRACTED_TIME = 8.
+_DISTRACTED_TIME = 7.
 _DISTRACTED_PRE_TIME = 4.
 _DISTRACTED_PROMPT_TIME = 2.
 # measured 1 rad in x FOV. 1152x864 is original image, 160x320 is a right crop for model
@@ -18,13 +20,10 @@ _CAMERA_X_CONV = 0.375      # 160*864/320/1152
 _PITCH_WEIGHT = 1.5  # pitch matters a lot more
 _METRIC_THRESHOLD = 0.4
 _PITCH_POS_ALLOWANCE = 0.08  # rad, to not be too sensitive on positive pitch
-_DTM = 0.1                   # driver monitor runs at 10Hz
 _PITCH_NATURAL_OFFSET = 0.1  # people don't seem to look straight when they drive relaxed, rather a bit up
 _STD_THRESHOLD = 0.1         # above this standard deviation consider the measurement invalid
-_DISTRACTED_FILTER_F = 0.6   # 0.6Hz, 0.25s ts
-_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
-_VARIANCE_FILTER_F = 0.008    # 0.008Hz, 20s ts
-_VARIANCE_FILTER_K = 2 * np.pi * _VARIANCE_FILTER_F * _DTM / (1 + 2 * np.pi * _VARIANCE_FILTER_F * _DTM)
+_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
+_VARIANCE_FILTER_TS = 20.    # 0.008Hz


 class _DriverPose():
@@ -47,15 +46,15 @@ class DriverStatus():
    self.monitor_valid = True   # variance needs to be low
    self.awareness = 1.
    self.driver_distracted = False
-    self.driver_distraction_level = 0.
+    self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, _DTM)
    self.variance_high = False
-    self.variance_level = 0.
+    self.variance_filter = FirstOrderFilter(0., _VARIANCE_FILTER_TS, _DTM)
    self.ts_last_check = 0.
    self._set_timers()

  def _reset_filters(self):
-    self.driver_distraction_level = 0.
-    self.variance_level = 0.
+    self.driver_distraction_filter.x = 0.
+    self.variance_filter.x = 0.
    self.monitor_valid = True

  def _set_timers(self):
@@ -90,11 +89,9 @@ class DriverStatus():
    self.pose.pitch_offset = -driver_monitoring.descriptor[4] * _CAMERA_FOV_Y  # positive y is down
    self.driver_distracted = self._is_driver_distracted(self.pose)
    # first order filters
-    self.driver_distraction_level = (1. - _DISTRACTED_FILTER_K) * self.driver_distraction_level + \
-                                    _DISTRACTED_FILTER_K * self.driver_distracted
+    self.driver_distraction_filter.update(self.driver_distracted)
    self.variance_high = driver_monitoring.std > _STD_THRESHOLD
-    self.variance_level = (1. - _VARIANCE_FILTER_K) * self.variance_level + \
-                          _VARIANCE_FILTER_K * self.variance_high
+    self.variance_filter.update(self.variance_high)

    monitor_param_on_prev = self.monitor_param_on
    monitor_valid_prev = self.monitor_valid
@@ -105,7 +102,7 @@ class DriverStatus():
      self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
      self.ts_last_check = ts

-    self.monitor_valid = _monitor_hysteresys(self.variance_level, monitor_valid_prev)
+    self.monitor_valid = _monitor_hysteresys(self.variance_filter.x, monitor_valid_prev)
    self.monitor_on = self.monitor_valid and self.monitor_param_on
    if monitor_param_on_prev != self.monitor_param_on:
      self._reset_filters()
@@ -114,13 +111,13 @@ class DriverStatus():

  def update(self, events, driver_engaged, ctrl_active, standstill):

-    driver_engaged |= (self.driver_distraction_level < 0.37 and self.monitor_on)
+    driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)

    if (driver_engaged and self.awareness > 0.) or not ctrl_active:
      # always reset if driver is in control (unless we are in red alert state) or op isn't active
      self.awareness = 1.

-    if (not self.monitor_on or (self.driver_distraction_level > 0.63 and self.driver_distracted)) and \
+    if (not self.monitor_on or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted)) and \
       not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
      self.awareness = max(self.awareness - self.step_change, -0.1)

@@ -142,11 +139,11 @@ class DriverStatus():

 if __name__ == "__main__":
  ds = DriverStatus(True)
-  ds.driver_distraction_level = 1.
+  ds.driver_distraction_filter.x = 0.
  ds.driver_distracted = 1
-  for i in range(1000):
-    ds.update([], False, True, True)
-    print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
+  for i in range(10):
+    ds.update([], False, True, False)
+    print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)
  ds.update([], True, True, False)
-  print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
+  print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)

--- a/selfdrive/controls/lib/lateral_mpc/Makefile
+++ b/selfdrive/controls/lib/lateral_mpc/Makefile
@@ -20,58 +20,49 @@ ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_ca
 endif

 OBJS = \
-  qp/Bounds.o \
-  qp/Constraints.o \
-  qp/CyclingManager.o \
-  qp/Indexlist.o \
-  qp/MessageHandling.o \
-  qp/QProblem.o \
-  qp/QProblemB.o \
-  qp/SubjectTo.o \
-  qp/Utils.o \
-  qp/EXTRAS/SolutionAnalysis.o \
-	mpc_export/acado_qpoases_interface.o \
-  mpc_export/acado_integrator.o \
-  mpc_export/acado_solver.o \
-  mpc_export/acado_auxiliary_functions.o \
-  mpc.o
+  lib_qp/Bounds.o \
+  lib_qp/Constraints.o \
+  lib_qp/CyclingManager.o \
+  lib_qp/Indexlist.o \
+  lib_qp/MessageHandling.o \
+  lib_qp/QProblem.o \
+  lib_qp/QProblemB.o \
+  lib_qp/SubjectTo.o \
+  lib_qp/Utils.o \
+  lib_qp/EXTRAS/SolutionAnalysis.o \
+	lib_mpc_export/acado_qpoases_interface.o \
+  lib_mpc_export/acado_integrator.o \
+  lib_mpc_export/acado_solver.o \
+  lib_mpc_export/acado_auxiliary_functions.o \
+  lateral_mpc.o

 DEPS := $(OBJS:.o=.d)

 .PHONY: all
-all: libcommampc.so
+all: libmpc.so

-libcommampc.so: $(OBJS)
+libmpc.so: $(OBJS)
 	$(CXX) -shared -o '$@' $^ -lm

-
-qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
+lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
 	@echo "[ CXX ] $@"
-	mkdir -p qp
+	mkdir -p lib_qp/EXTRAS
 	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
-           $(QPOASES_FLAGS) \
-           -c -o '$@' '$<'
-
-qp/EXTRAS/%.o: $(PHONELIBS)/qpoases/SRC/EXTRAS/%.cpp
-	@echo "[ CXX ] $@"
-	mkdir -p qp/EXTRAS
-	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

 %.o: %.cpp
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

 %.o: %.c
 	@echo "[ CC ] $@"
 	$(CC) $(CFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

@@ -88,6 +79,6 @@ generate: generator

 .PHONY: clean
 clean:
-	rm -f libcommampc.so generator $(OBJS) $(DEPS)
+	rm -f *.so generator $(OBJS) $(DEPS)

 -include $(DEPS)
--- a/selfdrive/controls/lib/lateral_mpc/generator.cpp
+++ b/selfdrive/controls/lib/lateral_mpc/generator.cpp
@@ -141,7 +141,7 @@ int main( )
  mpc.set( GENERATE_MATLAB_INTERFACE, NO );
  mpc.set( GENERATE_SIMULINK_INTERFACE, NO );

-  if (mpc.exportCode( "mpc_export" ) != SUCCESSFUL_RETURN)
+  if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
    exit( EXIT_FAILURE );

  mpc.printDimensionsQP( );
--- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
+++ b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
--- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.d
+++ b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.d
@@ -0,0 +1,3 @@
+lateral_mpc.o: lateral_mpc.c lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  lib_mpc_export/acado_auxiliary_functions.h
--- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.o
+++ b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.d
@@ -0,0 +1,5 @@
+lib_mpc_export/acado_auxiliary_functions.o: \
+  lib_mpc_export/acado_auxiliary_functions.c \
+  lib_mpc_export/acado_auxiliary_functions.h \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.d
@@ -0,0 +1,3 @@
+lib_mpc_export/acado_integrator.o: lib_mpc_export/acado_integrator.c \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.d
@@ -0,0 +1,24 @@
+lib_mpc_export/acado_qpoases_interface.o: \
+  lib_mpc_export/acado_qpoases_interface.cpp \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.d
@@ -0,0 +1,3 @@
+lib_mpc_export/acado_solver.o: lib_mpc_export/acado_solver.c \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.d
@@ -0,0 +1,14 @@
+lib_qp/Bounds.o: ../../../../phonelibs/qpoases/SRC/Bounds.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Bounds.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.d
@@ -0,0 +1,14 @@
+lib_qp/Constraints.o: ../../../../phonelibs/qpoases/SRC/Constraints.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Constraints.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.d
@@ -0,0 +1,11 @@
+lib_qp/CyclingManager.o: \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/CyclingManager.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.d
@@ -0,0 +1,24 @@
+lib_qp/EXTRAS/SolutionAnalysis.o: \
+  ../../../../phonelibs/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/EXTRAS/SolutionAnalysis.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.d
@@ -0,0 +1,10 @@
+lib_qp/Indexlist.o: ../../../../phonelibs/qpoases/SRC/Indexlist.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Indexlist.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.d
@@ -0,0 +1,9 @@
+lib_qp/MessageHandling.o: \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/MessageHandling.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.d
@@ -0,0 +1,22 @@
+lib_qp/QProblem.o: ../../../../phonelibs/qpoases/SRC/QProblem.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblem.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.d
@@ -0,0 +1,16 @@
+lib_qp/QProblemB.o: ../../../../phonelibs/qpoases/SRC/QProblemB.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/QProblemB.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.d
@@ -0,0 +1,12 @@
+lib_qp/SubjectTo.o: ../../../../phonelibs/qpoases/SRC/SubjectTo.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/SubjectTo.o
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.d
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.d
@@ -0,0 +1,8 @@
+lib_qp/Utils.o: ../../../../phonelibs/qpoases/SRC/Utils.cpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp
--- a/selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.o
+++ b/selfdrive/controls/lib/lateral_mpc/lib_qp/Utils.o
--- a/selfdrive/controls/lib/lateral_mpc/libmpc.so
+++ b/selfdrive/controls/lib/lateral_mpc/libmpc.so
--- a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
+++ b/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
@@ -4,7 +4,7 @@ import subprocess
 from cffi import FFI

 mpc_dir = os.path.dirname(os.path.abspath(__file__))
-libmpc_fn = os.path.join(mpc_dir, "libcommampc.so")
+libmpc_fn = os.path.join(mpc_dir, "libmpc.so")
 subprocess.check_call(["make", "-j4"], cwd=mpc_dir)

 ffi = FFI()
--- a/selfdrive/controls/lib/longitudinal_mpc/Makefile
+++ b/selfdrive/controls/lib/longitudinal_mpc/Makefile
@@ -19,60 +19,52 @@ ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_ca
 endif

 OBJS = \
-  qp/Bounds.o \
-  qp/Constraints.o \
-  qp/CyclingManager.o \
-  qp/Indexlist.o \
-  qp/MessageHandling.o \
-  qp/QProblem.o \
-  qp/QProblemB.o \
-  qp/SubjectTo.o \
-  qp/Utils.o \
-  qp/EXTRAS/SolutionAnalysis.o \
-	mpc_export/acado_qpoases_interface.o \
-  mpc_export/acado_integrator.o \
-  mpc_export/acado_solver.o \
-  mpc_export/acado_auxiliary_functions.o \
-  mpc.o
+  lib_qp/Bounds.o \
+  lib_qp/Constraints.o \
+  lib_qp/CyclingManager.o \
+  lib_qp/Indexlist.o \
+  lib_qp/MessageHandling.o \
+  lib_qp/QProblem.o \
+  lib_qp/QProblemB.o \
+  lib_qp/SubjectTo.o \
+  lib_qp/Utils.o \
+  lib_qp/EXTRAS/SolutionAnalysis.o \
+	lib_mpc_export/acado_qpoases_interface.o \
+  lib_mpc_export/acado_integrator.o \
+  lib_mpc_export/acado_solver.o \
+  lib_mpc_export/acado_auxiliary_functions.o \
+  longitudinal_mpc.o

 DEPS := $(OBJS:.o=.d)

 .PHONY: all
-all: libcommampc1.so libcommampc2.so
+all: libmpc1.so libmpc2.so

-libcommampc1.so: $(OBJS)
+libmpc1.so: $(OBJS)
 	$(CXX) -shared -o '$@' $^ -lm

-libcommampc2.so: libcommampc1.so
-	cp libcommampc1.so libcommampc2.so
+libmpc2.so: libmpc1.so
+	cp libmpc1.so libmpc2.so

-qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
+lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
 	@echo "[ CXX ] $@"
-	mkdir -p qp
+	mkdir -p lib_qp/EXTRAS
 	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
-           $(QPOASES_FLAGS) \
-           -c -o '$@' '$<'
-
-qp/EXTRAS/%.o: $(PHONELIBS)/qpoases/SRC/EXTRAS/%.cpp
-	@echo "[ CXX ] $@"
-	mkdir -p qp/EXTRAS
-	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

 %.o: %.cpp
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

 %.o: %.c
 	@echo "[ CC ] $@"
 	$(CC) $(CFLAGS) -MMD \
-           -I mpc_export/ \
+           -I lib_mpc_export/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

@@ -89,6 +81,6 @@ generate: generator

 .PHONY: clean
 clean:
-	rm -f libcommampc1.so libcommampc2.so generator $(OBJS) $(DEPS)
+	rm -f *.so generator $(OBJS) $(DEPS)

 -include $(DEPS)
--- a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
+++ b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
@@ -18,15 +18,18 @@ int main( )
  DifferentialEquation f;

  DifferentialState x_ego, v_ego, a_ego;
-  DifferentialState x_l, v_l, a_l;
+  DifferentialState x_l, v_l, t;

-  OnlineData lambda;
+  OnlineData lambda, a_l_0;

  Control j_ego;

  auto desired = 4.0 + RW(v_ego, v_l);
  auto d_l = x_l - x_ego;

+  // Directly calculate a_l to prevent instabilites due to discretization
+  auto a_l = a_l_0 * exp(-lambda * t * t / 2);
+
  // Equations of motion
  f << dot(x_ego) == v_ego;
  f << dot(v_ego) == a_ego;
@@ -34,7 +37,7 @@ int main( )

  f << dot(x_l) == v_l;
  f << dot(v_l) == a_l;
-  f << dot(a_l) == -lambda * a_l;
+  f << dot(t) == 1;

  // Running cost
  Function h;
@@ -76,7 +79,7 @@ int main( )
  ocp.minimizeLSQEndTerm(QN, hN);

  ocp.subjectTo( 0.0 <= v_ego);
-  ocp.setNOD(1);
+  ocp.setNOD(2);

  OCPexport mpc(ocp);
  mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
@@ -94,7 +97,7 @@ int main( )
  mpc.set( GENERATE_MATLAB_INTERFACE, NO );
  mpc.set( GENERATE_SIMULINK_INTERFACE, NO );

-  if (mpc.exportCode( "mpc_export" ) != SUCCESSFUL_RETURN)
+  if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
    exit( EXIT_FAILURE );

  mpc.printDimensionsQP( );
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.c
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.d
@@ -0,0 +1,5 @@
+lib_mpc_export/acado_auxiliary_functions.o: \
+  lib_mpc_export/acado_auxiliary_functions.c \
+  lib_mpc_export/acado_auxiliary_functions.h \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.h
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.h
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.o
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
@@ -64,7 +64,7 @@ extern "C"
 /** Number of control/estimation intervals. */
 #define ACADO_N 20
 /** Number of online data values. */
-#define ACADO_NOD 1
+#define ACADO_NOD 2
 /** Number of path constraints. */
 #define ACADO_NPAC 0
 /** Number of control variables. */
@@ -114,11 +114,11 @@ real_t x[ 126 ];
 */
 real_t u[ 20 ];

-/** Column vector of size: 21
+/** Matrix of size: 21 x 2 (row major format)
 * 
 *  Matrix containing 21 online data vectors.
 */
-real_t od[ 21 ];
+real_t od[ 42 ];

 /** Column vector of size: 80
 * 
@@ -155,16 +155,19 @@ real_t x0[ 6 ];
 */
 typedef struct ACADOworkspace_
 {
+/** Column vector of size: 10 */
+real_t rhs_aux[ 10 ];
+
 real_t rk_ttt;

-/** Row vector of size: 50 */
-real_t rk_xxx[ 50 ];
+/** Row vector of size: 51 */
+real_t rk_xxx[ 51 ];

 /** Matrix of size: 4 x 48 (row major format) */
 real_t rk_kkk[ 192 ];

-/** Row vector of size: 50 */
-real_t state[ 50 ];
+/** Row vector of size: 51 */
+real_t state[ 51 ];

 /** Column vector of size: 120 */
 real_t d[ 120 ];
@@ -184,8 +187,8 @@ real_t evGu[ 120 ];
 /** Column vector of size: 30 */
 real_t objAuxVar[ 30 ];

-/** Row vector of size: 8 */
-real_t objValueIn[ 8 ];
+/** Row vector of size: 9 */
+real_t objValueIn[ 9 ];

 /** Row vector of size: 32 */
 real_t objValueOut[ 32 ];
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
@@ -25,14 +25,28 @@ void acado_rhs_forw(const real_t* in, real_t* out)
 const real_t* xd = in;
 const real_t* u = in + 48;
 const real_t* od = in + 49;
+/* Vector of auxiliary variables; number of elements: 10. */
+real_t* a = acadoWorkspace.rhs_aux;
+
+/* Compute intermediate quantities: */
+a[0] = (exp((((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[5])/(real_t)(2.0000000000000000e+00))));
+a[1] = ((real_t)(1.0000000000000000e+00)/(real_t)(2.0000000000000000e+00));
+a[2] = (exp((((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[5])/(real_t)(2.0000000000000000e+00))));
+a[3] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[36])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[36]))*a[1])*a[2]);
+a[4] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[37])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[37]))*a[1])*a[2]);
+a[5] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[38])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[38]))*a[1])*a[2]);
+a[6] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[39])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[39]))*a[1])*a[2]);
+a[7] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[40])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[40]))*a[1])*a[2]);
+a[8] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[41])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[41]))*a[1])*a[2]);
+a[9] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[47])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[47]))*a[1])*a[2]);

 /* Compute outputs: */
 out[0] = xd[1];
 out[1] = xd[2];
 out[2] = u[0];
 out[3] = xd[4];
-out[4] = xd[5];
-out[5] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[5]);
+out[4] = (od[1]*a[0]);
+out[5] = (real_t)(1.0000000000000000e+00);
 out[6] = xd[12];
 out[7] = xd[13];
 out[8] = xd[14];
@@ -57,24 +71,24 @@ out[26] = xd[32];
 out[27] = xd[33];
 out[28] = xd[34];
 out[29] = xd[35];
-out[30] = xd[36];
-out[31] = xd[37];
-out[32] = xd[38];
-out[33] = xd[39];
-out[34] = xd[40];
-out[35] = xd[41];
-out[36] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[36]);
-out[37] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[37]);
-out[38] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[38]);
-out[39] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[39]);
-out[40] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[40]);
-out[41] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[41]);
+out[30] = (od[1]*a[3]);
+out[31] = (od[1]*a[4]);
+out[32] = (od[1]*a[5]);
+out[33] = (od[1]*a[6]);
+out[34] = (od[1]*a[7]);
+out[35] = (od[1]*a[8]);
+out[36] = (real_t)(0.0000000000000000e+00);
+out[37] = (real_t)(0.0000000000000000e+00);
+out[38] = (real_t)(0.0000000000000000e+00);
+out[39] = (real_t)(0.0000000000000000e+00);
+out[40] = (real_t)(0.0000000000000000e+00);
+out[41] = (real_t)(0.0000000000000000e+00);
 out[42] = xd[43];
 out[43] = xd[44];
 out[44] = (real_t)(1.0000000000000000e+00);
 out[45] = xd[46];
-out[46] = xd[47];
-out[47] = (((real_t)(0.0000000000000000e+00)-od[0])*xd[47]);
+out[46] = (od[1]*a[9]);
+out[47] = (real_t)(0.0000000000000000e+00);
 }

 /* Fixed step size:0.2 */
@@ -130,6 +144,7 @@ rk_eta[46] = 0.0000000000000000e+00;
 rk_eta[47] = 0.0000000000000000e+00;
 acadoWorkspace.rk_xxx[48] = rk_eta[48];
 acadoWorkspace.rk_xxx[49] = rk_eta[49];
+acadoWorkspace.rk_xxx[50] = rk_eta[50];

 for (run1 = 0; run1 < 1; ++run1)
 {
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.d
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.d
@@ -0,0 +1,3 @@
+lib_mpc_export/acado_integrator.o: lib_mpc_export/acado_integrator.c \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.o
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.o
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	a422246dc3	openpilot v0.5.4 release	2018-09-25 00:13:41 -07:00
Vehicle Researcher	e5b2ec4f01	Merge opendbc subtree	2018-09-25 00:04:00 -07:00
Vehicle Researcher	906b55a5bd	Squashed 'opendbc/' changes from af7fff8..42f8c12 42f8c12 Adds Chinese Odyssey DBC (#110) 7b87882 Syntax and encoding fixes (#111) f85e646 Update mercedes e350 dbc (#112) git-subtree-dir: opendbc git-subtree-split: 42f8c129c627fa0650b3cc423028c9a758fef86d	2018-09-25 00:04:00 -07:00
Vehicle Researcher	97f1ee4a0d	Merge panda subtree	2018-09-25 00:03:58 -07:00
Vehicle Researcher	5c0935d253	Squashed 'panda/' changes from f2292e4..5253ab0 5253ab0 bump panda 6277139 GM Volt: allowing 300 max steer 63b7926 Hyundai safety: temporarily disabled button spam check to avoid camera faults 53aef76 GM: passive on LKA-only cars (#135) 01b5235 bumped panda version 1c0ffd1 Hyundai safety: simplifications 56794d6 Hyundai Safety Auto-Detect which CAN bus Camera is on (#134) git-subtree-dir: panda git-subtree-split: 5253ab0ee8fd71f67f62ee1d08361459903c7172	2018-09-25 00:03:58 -07:00
Vasily Tarasov	2d450bc3a8	Increase Volt's steering limit (#351 ) * Increase Volt's steering limit * Merge panda subtree	2018-09-22 04:41:44 +02:00
Vasily Tarasov	96c923875b	GM refactor (#374 )	2018-09-22 04:40:52 +02:00
wocsor	14b7eadf63	Add XSE trim to fingerprints (#372 )	2018-09-21 01:06:15 +02:00
Ted Slesinski	402faabd42	Docker environment breaking (#369 ) * Fixes matplotlib dependency * Use version 2.1.2	2018-09-20 02:59:18 +02:00
Ted Slesinski	de79a07745	Add support for accord hybrid (#361 )	2018-09-18 06:39:58 +02:00
wocsor	4b2c137489	update CHR fingerprint (#364 ) CHR 2016 fingerprint has more messages	2018-09-17 22:24:52 +02:00
Andrew Frahn	b3654cbcc9	Kia Sorento and future Multi-Car Support (#346 ) * hyundai WIP * steer_driver_factor is 1 * removed unnecessary file * removed unnecessary code * Update carcontroller.py bug fix * safety tuning and fixed interface stiffness * better lateral tuning, some fixes * Fix set speed * added camera state reading, autoresume from stop, cancel on accel, hud alerts * WIP * Updated for Kia Sorento WIP * Cleanup * clean2 * Bug Fixes * pre-merge * Add all the cars! * Panda to auto-detect Camera Bus * Move Checksum Check * Final Sorento Tuning * Make CAN3 for Cam default * Update README.md * update panda, minor aesthetic updates * few other minor changes * added steer not allowed alert * bup panda version to force panda update * fixed camera alerts	2018-09-10 00:30:36 +02:00
rbiasini	d2b8c4f0cb	fixed sign in after Google change (#357 )	2018-09-08 06:19:48 +02:00
zeeexsixare	50d9c446cf	Tried native Stop and Go on Highlander ICE with no comma pedal: Works! (#353 ) * Trying to make Highlander ICE stop and go * Making acceleration slow for fuel efficiency * Removing annoying commanded disengage beep * Raised accel_max by 50% and commented on chime * Testing if Highlander ICE can resume follow from 0 * Returned to 1.5 m/s2 for testing stop and go * Prep for merging upstream * Prep for upstream merge item #2 * Added Highlander ICE/Hybrid to Stop and Go Also updated table of vehicles * Rollback advertising stop and go for Highlanders * Fix whitespace	2018-09-07 05:03:10 +02:00
Vasily Tarasov	6eb1247426	GM: update readme, ACC is a required package (#354 ) ACC implies Driver Confidence II, but not the other way around. Openpilot requires front, long range radar that only comes with ACC package.	2018-09-07 05:01:53 +02:00
Vasily Tarasov	faea9a42c4	GM: go passive if detected ASCM or LKA camera (#350 ) Since fingerprint is powertrain CAN only, camera still present on object bus is not an issue.	2018-09-06 20:59:05 +02:00
daehahn	86813e6d37	Correct typo for Highlander (#349 )	2018-09-05 15:29:36 -07:00
Vasily Tarasov	012727ef60	Change dashboard command of GM to use packer (#347 ) * Change dashboard command of GM to use packer Also, separate "follow distance" from "engaged". * Fix dashboard setSpeed scaling	2018-09-04 00:21:04 -07:00
Vasily Tarasov	9653f9d6a6	Fix pre-enable engagement on GM (#348 ) In 2017 Volts, PCM fault occurs for a few seconds if ACC gas is commanded while user presses gas pedal. PID winds up, and when PCM fault clears, car gets a "max gas" jolt. In 2018 Volts, PCM fault doesn't time out, which means pre-enable doesn't work at all, and car would slowly decelerate, while openpilot thinks it's engaged.	2018-09-04 00:16:09 -07:00