openpilot v0.5.5 release

Merge opendbc subtree
Squashed 'opendbc/' changes from 42f8c12..62b7a01
2026-06-13 03:54:37 +08:00 · 2018-10-21 15:00:31 -07:00 · 2018-10-21 14:52:59 -07:00 · 2018-10-21 14:52:59 -07:00 · 2018-10-21 14:52:58 -07:00 · 2018-10-21 14:52:57 -07:00
158 changed files with 2576 additions and 1037 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
@@ -1,9 +1,9 @@
-[![](https://i.imgur.com/VlKV6V8.png)](#)
+[![](https://i.imgur.com/UetIFyH.jpg)](#)

 Welcome to openpilot
 ======

-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras, Toyotas, and a Chevy. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

 The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.

@@ -14,7 +14,7 @@ openpilot is developed by [comma.ai](https://comma.ai/) and users like you.

 We have a [Twitter you should follow](https://twitter.com/comma_ai).

-Also, we have a 3500+ person [community on slack](https://slack.comma.ai).
+Also, we have a several thousand people community on [slack](https://slack.comma.ai).

 <table>
  <tr>
@@ -41,50 +41,54 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
 Supported Cars
 ------

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

 <sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
 <sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
@@ -99,8 +103,11 @@ Community Maintained Cars
 | Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
 | -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
 | Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Tesla         | Model S 2012              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |
+| Tesla         | Model S 2013              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |

 [[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
+[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)

 Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

@@ -113,7 +120,7 @@ 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 +1,25 @@
+Version 0.5.5 (2018-10-20)
+========================
+ * Increase allowed Honda positive accelerations
+ * Fix sporadic unexpected braking when passing semi-trucks in Toyota
+ * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
+
+Version 0.5.4 (2018-09-25)
+========================
+ * New Driving Model
+ * New Driver Monitoring Model
+ * Improve longitudinal mpc in mid-low speed braking
+ * Honda Accord hybrid support thanks to energee!
+ * Ship mpc binaries and sensibly reduce build time
+ * Calibration more stable
+ * More Hyundai and Kia cars supported thanks to emmertex!
+ * Various GM Volt improvements thanks to vntarasov!
+
 Version 0.5.3 (2018-09-03)
 ========================
 * Hyundai Santa Fe support!
 * Honda Pilot 2019 support thanks to energee!
- * Toyota 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
@@ -409,6 +410,7 @@ struct Live100Data {
  alertStatus @38 :AlertStatus;
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
+  alertType @44 :Text;
  awarenessStatus @26 :Float32;
  angleOffset @27 :Float32;
  gpsPlannerActive @40 :Bool;
@@ -1557,6 +1559,13 @@ struct Boot {
  lastPmsg @2 :Data;
 }

+struct LiveParametersData {
+  valid @0 :Bool;
+  gyroBias @1 :Float32;
+  angleOffset @2 :Float32;
+}
+
+
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
@@ -1622,5 +1631,6 @@ struct Event {
    orbFeaturesSummary @58 :OrbFeaturesSummary;
    driverMonitoring @59 :DriverMonitoring;
    boot @60 :Boot;
+    liveParameters @61 :LiveParametersData;
  }
 }
--- 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/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@@ -6,7 +6,7 @@ from cffi import FFI

 TMPDIR = "/tmp/ccache"

-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
+def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
  try:
    os.mkdir(tmpdir)
@@ -21,19 +21,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
      mod = __import__(cache)
    except Exception:
      print "cache miss", cache
-      compile_code(cache, c_code, c_header, tmpdir)
+      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
      mod = __import__(cache)
  finally:
    os.close(fd)

  return mod.ffi, mod.lib

-def compile_code(name, c_code, c_header, directory):
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
  ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp')
+  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
  ffibuilder.cdef(c_header)
  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
-  os.environ['CFLAGS'] = ""
+  os.environ['CFLAGS'] = cflags
  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)

 def wrap_compiled(name, directory):
--- 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([
@@ -73,10 +75,8 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
      [0, 0, 1],
  ]))

-  ground_from_camera_frame = np.linalg.inv(camera_frame_from_road_ground)
-
-  low_camera_from_high_camera = np.dot(camera_frame_from_road_high, ground_from_camera_frame)
-  high_camera_from_low_camera = np.linalg.inv(low_camera_from_high_camera)
+  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
+  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)

  return high_camera_from_low_camera

--- 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/opendbc/toyota_prius_2017_adas.dbc
+++ b/opendbc/toyota_prius_2017_adas.dbc
@@ -182,80 +182,95 @@ BO_ 543 TRACK_A_15: 8 XXX
 BO_ 544 TRACK_B_0: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 545 TRACK_B_1: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 546 TRACK_B_2: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 547 TRACK_B_3: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 548 TRACK_B_4: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 549 TRACK_B_5: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 550 TRACK_B_6: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 551 TRACK_B_7: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 552 TRACK_B_8: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 553 TRACK_B_9: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 554 TRACK_B_10: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 555 TRACK_B_11: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 556 TRACK_B_12: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 557 TRACK_B_13: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 558 TRACK_B_14: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 559 TRACK_B_15: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
-
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.1.3
+v1.1.6
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -56,6 +56,7 @@ int controls_allowed = 0;
 #include "safety/safety_toyota.h"
 #ifdef PANDA
 #include "safety/safety_toyota_ipas.h"
+#include "safety/safety_tesla.h"
 #endif
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
@@ -100,6 +101,7 @@ typedef struct {
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
+#define SAFETY_TESLA 8
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -117,6 +119,7 @@ const safety_hook_config safety_hook_registry[] = {
  {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
  {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
+  {SAFETY_TESLA, &tesla_hooks},
 #endif
  {SAFETY_ALLOUTPUT, &alloutput_hooks},
  {SAFETY_ELM327, &elm327_hooks},
--- 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/board/safety/safety_tesla.h
+++ b/panda/board/safety/safety_tesla.h
@@ -0,0 +1,287 @@
+// board enforces
+//   in-state
+//      accel set/resume
+//   out-state
+//      cancel button
+//      regen paddle
+//      accel rising edge
+//      brake rising edge
+//      brake > 0mph
+//
+int fmax_limit_check(float val, const float MAX, const float MIN) {
+  return (val > MAX) || (val < MIN);
+}
+
+// 2m/s are added to be less restrictive
+const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_UP = {
+    {2., 7., 17.},
+    {5., .8, .25}};
+
+const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_DOWN = {
+    {2., 7., 17.},
+    {5., 3.5, .8}};
+
+const struct lookup_t TESLA_LOOKUP_MAX_ANGLE = {
+    {2., 29., 38.},
+    {410., 92., 36.}};
+
+const int TESLA_RT_INTERVAL = 250000; // 250ms between real time checks
+
+// state of angle limits
+float tesla_desired_angle_last = 0; // last desired steer angle
+float tesla_rt_angle_last = 0.; // last real time angle
+float tesla_ts_angle_last = 0;
+
+int tesla_controls_allowed_last = 0;
+
+int tesla_brake_prev = 0;
+int tesla_gas_prev = 0;
+int tesla_speed = 0;
+int eac_status = 0;
+
+int tesla_ignition_started = 0;
+
+
+void set_gmlan_digital_output(int to_set);
+void reset_gmlan_switch_timeout(void);
+void gmlan_switch_init(int timeout_enable);
+
+
+static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push)
+{
+  set_gmlan_digital_output(0); // #define GMLAN_HIGH 0
+  reset_gmlan_switch_timeout(); //we're still in tesla safety mode, reset the timeout counter and make sure our output is enabled
+
+  //int bus_number = (to_push->RDTR >> 4) & 0xFF;
+  uint32_t addr;
+  if (to_push->RIR & 4)
+  {
+    // Extended
+    // Not looked at, but have to be separated
+    // to avoid address collision
+    addr = to_push->RIR >> 3;
+  }
+  else
+  {
+    // Normal
+    addr = to_push->RIR >> 21;
+  }
+
+  if (addr == 0x45)
+  {
+    // 6 bits starting at position 0
+    int lever_position = (to_push->RDLR & 0x3F);
+    if (lever_position == 2)
+    { // pull forward
+      // activate openpilot
+      controls_allowed = 1;
+      //}
+    }
+    else if (lever_position == 1)
+    { // push towards the back
+      // deactivate openpilot
+      controls_allowed = 0;
+    }
+  }
+
+  // Detect drive rail on (ignition) (start recording)
+  if (addr == 0x348)
+  {
+    // GTW_status
+    int drive_rail_on = (to_push->RDLR & 0x0001);
+    tesla_ignition_started = drive_rail_on == 1;
+  }
+
+  // exit controls on brake press
+  // DI_torque2::DI_brakePedal 0x118
+  if (addr == 0x118)
+  {
+    // 1 bit at position 16
+    if (((to_push->RDLR & 0x8000)) >> 15 == 1)
+    {
+      //disable break cancel by commenting line below
+      controls_allowed = 0;
+    }
+    //get vehicle speed in m/s. Tesla gives MPH
+    tesla_speed = ((((((to_push->RDLR >> 24) & 0x0F) << 8) + ((to_push->RDLR >> 16) & 0xFF)) * 0.05 - 25) * 1.609 / 3.6);
+    if (tesla_speed < 0)
+    {
+      tesla_speed = 0;
+    }
+  }
+
+  // exit controls on EPAS error
+  // EPAS_sysStatus::EPAS_eacStatus 0x370
+  if (addr == 0x370)
+  {
+    // if EPAS_eacStatus is not 1 or 2, disable control
+    eac_status = ((to_push->RDHR >> 21)) & 0x7;
+    // For human steering override we must not disable controls when eac_status == 0
+    // Additional safety: we could only allow eac_status == 0 when we have human steering allowed
+    if ((controls_allowed == 1) && (eac_status != 0) && (eac_status != 1) && (eac_status != 2))
+    {
+      controls_allowed = 0;
+      //puts("EPAS error! \n");
+    }
+  }
+  //get latest steering wheel angle
+  if (addr == 0x00E)
+  {
+    float angle_meas_now = (int)((((to_push->RDLR & 0x3F) << 8) + ((to_push->RDLR >> 8) & 0xFF)) * 0.1 - 819.2);
+    uint32_t ts = TIM2->CNT;
+    uint32_t ts_elapsed = get_ts_elapsed(ts, tesla_ts_angle_last);
+
+    // *** angle real time check
+    // add 1 to not false trigger the violation and multiply by 25 since the check is done every 250 ms and steer angle is updated at     100Hz
+    float rt_delta_angle_up = interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) * 25. + 1.;
+    float rt_delta_angle_down = interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) * 25. + 1.;
+    float highest_rt_angle = tesla_rt_angle_last + (tesla_rt_angle_last > 0 ? rt_delta_angle_up : rt_delta_angle_down);
+    float lowest_rt_angle = tesla_rt_angle_last - (tesla_rt_angle_last > 0 ? rt_delta_angle_down : rt_delta_angle_up);
+
+    if ((ts_elapsed > TESLA_RT_INTERVAL) || (controls_allowed && !tesla_controls_allowed_last))
+    {
+      tesla_rt_angle_last = angle_meas_now;
+      tesla_ts_angle_last = ts;
+    }
+
+    // check for violation;
+    if (fmax_limit_check(angle_meas_now, highest_rt_angle, lowest_rt_angle))
+    {
+      // We should not be able to STEER under these conditions
+      // Other sending is fine (to allow human override)
+      controls_allowed = 0;
+      //puts("WARN: RT Angle - No steer allowed! \n");
+    }
+    else
+    {
+      controls_allowed = 1;
+    }
+
+    tesla_controls_allowed_last = controls_allowed;
+  }
+}
+
+// all commands: gas/regen, friction brake and steering
+// if controls_allowed and no pedals pressed
+//     allow all commands up to limit
+// else
+//     block all commands that produce actuation
+
+static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send)
+{
+
+  uint32_t addr;
+  float angle_raw;
+  float desired_angle;
+
+  addr = to_send->RIR >> 21;
+
+  // do not transmit CAN message if steering angle too high
+  // DAS_steeringControl::DAS_steeringAngleRequest
+  if (addr == 0x488)
+  {
+    angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
+    desired_angle = angle_raw * 0.1 - 1638.35;
+    int16_t violation = 0;
+    int st_enabled = (to_send->RDLR & 0x400000) >> 22;
+
+    if (st_enabled == 0) {
+      //steering is not enabled, do not check angles and do send
+      tesla_desired_angle_last = desired_angle;
+      return true;
+    }
+
+    if (controls_allowed)
+    {
+      // add 1 to not false trigger the violation
+      float delta_angle_up = interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) + 1.;
+      float delta_angle_down = interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) + 1.;
+      float highest_desired_angle = tesla_desired_angle_last + (tesla_desired_angle_last > 0 ? delta_angle_up : delta_angle_down);
+      float lowest_desired_angle = tesla_desired_angle_last - (tesla_desired_angle_last > 0 ? delta_angle_down : delta_angle_up);
+      float TESLA_MAX_ANGLE = interpolate(TESLA_LOOKUP_MAX_ANGLE, tesla_speed) + 1.;
+
+      //check for max angles
+      violation |= fmax_limit_check(desired_angle, TESLA_MAX_ANGLE, -TESLA_MAX_ANGLE);
+
+      //check for angle delta changes
+      violation |= fmax_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
+
+      if (violation)
+      {
+        controls_allowed = 0;
+        return false;
+      }
+      tesla_desired_angle_last = desired_angle;
+      return true;
+    }
+    return false;
+  }
+  return true;
+}
+
+static int tesla_tx_lin_hook(int lin_num, uint8_t *data, int len)
+{
+  // LIN is not used on the Tesla
+  return false;
+}
+
+static void tesla_init(int16_t param)
+{
+  controls_allowed = 0;
+  tesla_ignition_started = 0;
+  gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
+}
+
+static int tesla_ign_hook()
+{
+  return tesla_ignition_started;
+}
+
+static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd)
+{
+
+  int32_t addr = to_fwd->RIR >> 21;
+
+  if (bus_num == 0)
+  {
+
+    // change inhibit of GTW_epasControl
+    if (addr == 0x101)
+    {
+      to_fwd->RDLR = to_fwd->RDLR | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
+      int checksum = (((to_fwd->RDLR & 0xFF00) >> 8) + (to_fwd->RDLR & 0xFF) + 2) & 0xFF;
+      to_fwd->RDLR = to_fwd->RDLR & 0xFFFF;
+      to_fwd->RDLR = to_fwd->RDLR + (checksum << 16);
+      return 2;
+    }
+
+    // remove EPB_epasControl
+    if (addr == 0x214)
+    {
+      return false;
+    }
+
+    return 2; // Custom EPAS bus
+  }
+  if (bus_num == 2)
+  {
+
+    // remove GTW_epasControl in forwards
+    if (addr == 0x101)
+    {
+      return false;
+    }
+
+    return 0; // Chassis CAN
+  }
+  return false;
+}
+
+const safety_hooks tesla_hooks = {
+    .init = tesla_init,
+    .rx = tesla_rx_hook,
+    .tx = tesla_tx_hook,
+    .tx_lin = tesla_tx_lin_hook,
+    .ignition = tesla_ign_hook,
+    .fwd = tesla_fwd_hook,
+};
--- a/panda/tests/safety/test.c
+++ b/panda/tests/safety/test.c
@@ -183,3 +183,13 @@ void init_tests_honda(void){
  brake_prev = 0;
  gas_prev = 0;
 }
+
+
+void set_gmlan_digital_output(int to_set){
+}
+
+void reset_gmlan_switch_timeout(void){
+}
+
+void gmlan_switch_init(int timeout_enable){
+}
--- 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/assets/sounds/Icon
+++ b/selfdrive/assets/sounds/Icon
--- a/selfdrive/assets/sounds/hq_disengaged.mp3
+++ b/selfdrive/assets/sounds/hq_disengaged.mp3
--- a/selfdrive/assets/sounds/hq_engaged.mp3
+++ b/selfdrive/assets/sounds/hq_engaged.mp3
--- a/selfdrive/assets/sounds/hq_warning_0.mp3
+++ b/selfdrive/assets/sounds/hq_warning_0.mp3
--- a/selfdrive/assets/sounds/hq_warning_1.mp3
+++ b/selfdrive/assets/sounds/hq_warning_1.mp3
--- a/selfdrive/assets/sounds/hq_warning_2.mp3
+++ b/selfdrive/assets/sounds/hq_warning_2.mp3
--- 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
@@ -11,7 +11,7 @@ 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
@@ -26,7 +26,11 @@ class CarControllerParams():
    self.STEER_DRIVER_FACTOR = 100     # from dbc
    self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop

-    self.ADAS_KEEPALIVE_STEP = 10
+    # Takes case of "Service Adaptive Cruise" and "Service Front Camera"
+    # dashboard messages.
+    self.ADAS_KEEPALIVE_STEP = 100
+    self.CAMERA_KEEPALIVE_STEP = 100
+
    # pedal lookups, only for Volt
    MAX_GAS = 3072              # Only a safety limit
    ZERO_GAS = 2048
@@ -55,15 +59,15 @@ 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
-    self.lkas_active = False
-    self.inhibit_steer_for = 0
    self.steer_idx = 0
    self.apply_steer_last = 0
    self.car_fingerprint = car_fingerprint
+    self.allow_controls = allow_controls
+    self.lka_icon_status_last = (False, False)

    # Setup detection helper. Routes commands to
    # an appropriate CAN bus number.
@@ -77,6 +81,10 @@ class CarController(object):
             hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt):
    """ Controls thread """

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

    # Send CAN commands.
@@ -86,14 +94,11 @@ 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 +115,7 @@ 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 +123,8 @@ 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)))
@@ -137,7 +143,7 @@ class CarController(object):

      # 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)
@@ -155,10 +161,21 @@ class CarController(object):
        can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
        can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))

-      # Send ADAS keepalive, 10hz
      if frame % P.ADAS_KEEPALIVE_STEP == 0:
        can_sends += gmcan.create_adas_keepalive(canbus.powertrain)

+    # Show green icon when LKA torque is applied, and
+    # alarming orange icon when approaching torque limit.
+    # If not sent again, LKA icon disappears in about 5 seconds.
+    # Conveniently, sending camera message periodically also works as a keepalive.
+    lka_active = CS.lkas_status == 1
+    lka_critical = lka_active and abs(actuators.steer) > 0.9
+    lka_icon_status = (lka_active, lka_critical)
+    if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
+        or lka_icon_status != self.lka_icon_status_last:
+      can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical))
+      self.lka_icon_status_last = lka_icon_status
+
    # Send chimes
    if self.chime != chime:
      duration = 0x3c
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -84,14 +84,21 @@ 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,
@@ -127,6 +134,16 @@ def create_chime_command(bus, chime_type, duration, repeat_cnt):
  dat = [chime_type, duration, repeat_cnt, 0xff, 0]
  return [0x10400060, 0, "".join(map(chr, dat)), bus]

+def create_lka_icon_command(bus, active, critical):
+  if active:
+    if critical:
+      dat = "\x40\xc0\x14"
+    else:
+      dat = "\x40\x40\x18"
+  else:
+    dat = "\x00\x00\x00"
+  return [0x104c006c, 0, dat, bus]
+
 # TODO: WIP
 '''
 def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):
--- 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:
@@ -297,7 +294,7 @@ 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 +322,11 @@ 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
@@ -49,6 +49,11 @@ 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
@@ -10,7 +10,6 @@ from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET,
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.honda.carstate import CarState, get_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH, CAR, HONDA_BOSCH
-from selfdrive.controls.lib.planner import A_ACC_MAX

 try:
  from selfdrive.car.honda.carcontroller import CarController
@@ -128,7 +127,7 @@ class CarInterface(object):
    # accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
    # unless aTargetMax is very high and then we scale with it; this help in quicker restart

-    return float(max(0.714, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
+    return float(min(speedLimiter, accelLimiter))

  @staticmethod
  def get_params(candidate, fingerprint):
@@ -204,9 +203,10 @@ 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,
  }],
@@ -90,7 +90,7 @@ FINGERPRINTS = {
    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
  }],
  CAR.PILOT_2019: [{
-    57: 3, 145: 8, 228: 5, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 983: 8, 985: 3, 1029: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
+    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1039: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
  }],
  # Ridgeline w/ Added Comma Pedal Support (512L & 513L)
  CAR.RIDGELINE: [{
@@ -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),
@@ -42,6 +44,11 @@ def get_can_parser(CP):
    ("CF_Clu_AmpInfo", "CLU11", 0),
    ("CF_Clu_AliveCnt1", "CLU11", 0),

+    ("CF_Clu_InhibitD", "CLU15", 0),
+    ("CF_Clu_InhibitP", "CLU15", 0),
+    ("CF_Clu_InhibitN", "CLU15", 0),
+    ("CF_Clu_InhibitR", "CLU15", 0),
+
    ("CF_Lvr_Gear","LVR12",0),

    ("ACCEnable", "TCS13", 0),
@@ -149,7 +156,7 @@ 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)
@@ -202,7 +209,7 @@ class CarState(object):
      self.pedal_gas = cp.vl["EMS12"]['TPS']
    self.car_gas = cp.vl["EMS12"]['TPS']

-    # Gear Selecton - This should be compatible with all Kia/Hyundai with Auto's
+    # Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
    gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
    if gear == 5:
      self.gear_shifter = "drive"
@@ -215,6 +222,18 @@ class CarState(object):
    else:
      self.gear_shifter = "unknown"

+    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
+    if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
+      self.gear_shifter_cluster = "drive"
+    elif cp.vl["CLU15"]["CF_Clu_InhibitN"] == 1:
+      self.gear_shifter_cluster = "neutral"
+    elif cp.vl["CLU15"]["CF_Clu_InhibitP"] == 1:
+      self.gear_shifter_cluster = "park"
+    elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
+      self.gear_shifter_cluster = "reverse"
+    else:
+      self.gear_shifter_cluster = "unknown"
+
    # save the entire LKAS11 and CLU11
    self.lkas11 = cp_cam.vl["LKAS11"]
    self.clu11 = cp.vl["CLU11"]
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -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 +69,68 @@ 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 = 0.00006
+      ret.steerRateCost = 0.5
+      ret.mass = 1275 + std_cargo
+      ret.wheelbase = 2.7
+      ret.steerRatio = 13.73   #Spec
+      tire_stiffness_factor = 0.385
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
+      ret.minSteerSpeed = 32 * 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
@@ -152,7 +191,10 @@ class CarInterface(object):
    ret.wheelSpeeds.rr = self.CS.v_wheel_rr

    # gear shifter
-    ret.gearShifter = self.CS.gear_shifter
+    if self.CP.carFingerprint == CAR.ELANTRA:
+      ret.gearShifter = self.CS.gear_shifter_cluster
+    else:
+      ret.gearShifter = self.CS.gear_shifter

    # gas pedal
    ret.gas = self.CS.car_gas
@@ -201,7 +243,12 @@ 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 +287,9 @@ 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/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@@ -10,24 +10,30 @@ import selfdrive.messaging as messaging
 from selfdrive.car.toyota.values import NO_DSU_CAR


-RADAR_MSGS = list(range(0x210, 0x220))
+RADAR_A_MSGS = list(range(0x210, 0x220))
+RADAR_B_MSGS = list(range(0x220, 0x230))

 def _create_radard_can_parser():
  dbc_f = 'toyota_prius_2017_adas.dbc'
-  msg_n = len(RADAR_MSGS)
-  signals = zip(['LONG_DIST'] * msg_n + ['NEW_TRACK'] * msg_n + ['LAT_DIST'] * msg_n +
-                ['REL_SPEED'] * msg_n + ['VALID'] * msg_n,
-                RADAR_MSGS * 5,
-                [255] * msg_n + [1] * msg_n + [0] * msg_n + [0] * msg_n + [0] * msg_n)
-  checks = zip(RADAR_MSGS, [20]*msg_n)
+
+  msg_a_n = len(RADAR_A_MSGS)
+  msg_b_n = len(RADAR_B_MSGS)
+
+  signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
+                ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
+                RADAR_A_MSGS * 5 + RADAR_B_MSGS,
+                [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
+
+  checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))

  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)

+
 class RadarInterface(object):
  def __init__(self, CP):
    # radar
    self.pts = {}
-    self.validCnt = {key: 0 for key in RADAR_MSGS}
+    self.seen_valid = {key: False for key in RADAR_A_MSGS}
    self.track_id = 0

    self.delay = 0.0  # Delay of radar
@@ -52,7 +58,7 @@ class RadarInterface(object):
      tm = int(sec_since_boot() * 1e9)
      updated_messages.update(self.rcp.update(tm, True))
      # TODO: do not hardcode last msg
-      if 0x21f in updated_messages:
+      if 0x22f in updated_messages:
        break

    errors = []
@@ -62,32 +68,33 @@ class RadarInterface(object):
    ret.canMonoTimes = canMonoTimes

    for ii in updated_messages:
-      cpt = self.rcp.vl[ii]
+      if ii in RADAR_A_MSGS:
+        cpt = self.rcp.vl[ii]

-      if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
-        self.validCnt[ii] = 0    # reset counter
+        if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
+          self.seen_valid[ii] = False    # reset validity

-      if cpt['VALID'] and cpt['LONG_DIST'] < 255:
-        self.validCnt[ii] += 1
-      else:
-        self.validCnt[ii] = max(self.validCnt[ii] -1, 0)
-      #print ii, self.validCnt[ii], cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
+        if cpt['LONG_DIST'] < 255 and cpt['VALID']:
+          self.seen_valid[ii] = True

-      # radar point only valid if there have been enough valid measurements
-      if self.validCnt[ii] > 0:
-        if ii not in self.pts or cpt['NEW_TRACK']:
-          self.pts[ii] = car.RadarState.RadarPoint.new_message()
-          self.pts[ii].trackId = self.track_id
-          self.track_id += 1
-        self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
-        self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
-        self.pts[ii].vRel = cpt['REL_SPEED']
-        self.pts[ii].aRel = float('nan')
-        self.pts[ii].yvRel = float('nan')
-        self.pts[ii].measured = bool(cpt['VALID'])
-      else:
-        if ii in self.pts:
-          del self.pts[ii]
+        score = self.rcp.vl[ii+16]['SCORE']
+        # print ii, score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
+
+        # radar point only valid if it's a valid measurement and score is above 50
+        if (cpt['VALID'] or score > 50) and cpt['LONG_DIST'] < 255 and self.seen_valid[ii]:
+          if ii not in self.pts or cpt['NEW_TRACK']:
+            self.pts[ii] = car.RadarState.RadarPoint.new_message()
+            self.pts[ii].trackId = self.track_id
+            self.track_id += 1
+          self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
+          self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
+          self.pts[ii].vRel = cpt['REL_SPEED']
+          self.pts[ii].aRel = float('nan')
+          self.pts[ii].yvRel = float('nan')
+          self.pts[ii].measured = bool(cpt['VALID'])
+        else:
+          if ii in self.pts:
+            del self.pts[ii]

    ret.points = self.pts.values()
    return ret
--- 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 "0.5.5-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
@@ -336,6 +352,7 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
    "alertSize": AM.alert_size,
    "alertStatus": AM.alert_status,
    "alertBlinkingRate": AM.alert_rate,
+    "alertType": AM.alert_type,
    "awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
    "driverMonitoringOn": bool(driver_status.monitor_on),
    "canMonoTimes": list(CS.canMonoTimes),
@@ -410,6 +427,7 @@ 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 +486,10 @@ 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 +510,8 @@ 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 +526,7 @@ 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
--- 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
@@ -4,6 +4,7 @@ CXX = clang++

 PHONELIBS = ../../../../phonelibs

+UNAME_S := $(shell uname -s)
 UNAME_M := $(shell uname -m)

 CFLAGS = -O3 -fPIC -I.
@@ -13,70 +14,63 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL

 ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado

-ifeq ($(UNAME_M),aarch64)
-ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+ifeq ($(UNAME_S),Darwin)
+	ACADO_LIBS := -lacado_toolkit_s
+else ifeq ($(UNAME_M),aarch64)
+	ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
 else
-ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+	ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
 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/ \
           $(QPOASES_FLAGS) \
           -c -o '$@' '$<'

 generator: generator.cpp
-	$(CXX) -Wall -std=c++11 \
+	$(CXX) -v -Wall -std=c++11 \
         generator.cpp \
         -o generator \
         $(ACADO_FLAGS) \
@@ -88,6 +82,6 @@ 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/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	8f3539a27b	openpilot v0.5.5 release	2018-10-21 15:00:31 -07:00
Vehicle Researcher	e8ae37e36e	Merge opendbc subtree	2018-10-21 14:52:59 -07:00
Vehicle Researcher	d0715b6562	Squashed 'opendbc/' changes from 42f8c12..62b7a01 62b7a01 Add toyota radar SCORE field 718a632 Revert "GM: copy radar header from cadillac (#116)" a5dfd4a GM: copy radar header from cadillac (#116) git-subtree-dir: opendbc git-subtree-split: 62b7a0115307d5ce84a887d5d71ec126eb40d592	2018-10-21 14:52:59 -07:00
Vehicle Researcher	a2c76acf3b	Merge panda subtree	2018-10-21 14:52:58 -07:00
Vehicle Researcher	a51a60b598	Squashed 'panda/' changes from 5253ab0..4dd3f5a 4dd3f5a bump version 6385551 Added Tesla safety changes. (#132) git-subtree-dir: panda git-subtree-split: 4dd3f5ac0101a6a14b003ecac1105e122a8f10bd	2018-10-21 14:52:57 -07:00
Ted Slesinski	7ed5c6554d	Added new fingerprint for EX-L (#401 )	2018-10-20 11:02:00 -07:00
Andrew Frahn	5641fc986d	Revert to using CLU15 message for Gear Selection for Compatability Reasons (#362 ) * 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 * Revert to using CLU15 for Gear Selection * Missing Defines Didn’t realise this was removed as well! * Change Gear Selection Definitions Add logic to use transmission message rather than cluster message for all gear selections UNLESS the car in question does not have the known good transmission messages * Revert Camera CAN Bus * self.candidate * fixed fingerpint, tested on Sorento * Update for Elantra on Hyundai-Dev Branch Latest Elantra values that correlate to progress Community branch.	2018-10-14 07:30:18 -07:00
Vasily Tarasov	c499aa549c	GM: LKA dashboard icon support (#389 ) * GM: LKA dashboard icon support * Decrease camera keepalive interval * Use tuple for LKA icon status	2018-10-12 17:37:13 -07:00
dekerr	0a99fe3baa	Save one inverse call in building transformation matrix (#384 )	2018-10-08 21:02:20 +02:00
Jamezz	8cc32df779	Revert the changes to GM in 0.5.4 (#380 ) * Revert 0.5.4 changes for GM for 18ers * Redo the refactor of stock control msgs * Fixed missing CONTROL_MSGS -> STOCK_CONTROL_MSGS * Remove spacing * Need candidate array idx	2018-10-01 19:13:34 +02:00
George Hotz	8291f35701	Merge pull request #377 from commaai/nowiggle visiond: replace wiggly model with non wiggly model	2018-09-27 13:25:00 -08:00
George Hotz	0f885c87a5	visiond: replace wiggly model with non wiggly model	2018-09-27 09:52:07 -07:00
Vehicle Researcher	a422246dc3	openpilot v0.5.4 release	2018-09-25 00:13:41 -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	e5b2ec4f01	Merge opendbc subtree	2018-09-25 00:04:00 -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
Vehicle Researcher	97f1ee4a0d	Merge panda subtree	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