Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en

2026-02-19 06:34:00 +08:00 · 2020-01-17 22:31:23 +10:00
parent 1d8aec0fe3 cc35879b9d
commit 2eb80acd9b
195 changed files with 5662 additions and 4369 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -3,11 +3,14 @@ venv/
 .tags
 .ipynb_checkpoints
 .idea
+.overlay_init
+.overlay_consistent
 .sconsign.dblite
 .vscode
 model2.png
 a.out

+*.dylib
 *.DSYM
 *.d
 *.pyc
@@ -27,6 +30,7 @@ a.out
 config.json
 clcache

+persist
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
@@ -51,4 +55,5 @@ panda_jungle

 .coverage*
 htmlcov
+pandaextra

--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -17,12 +17,14 @@ RUN apt-get update && apt-get install -y \
    libffi-dev \
    libglew-dev \
    libgles2-mesa-dev \
+    libglfw3-dev \
    libglib2.0-0 \
    liblzma-dev \
    libmysqlclient-dev \
    libomp-dev \
    libopencv-dev \
    libssl-dev \
+    libsqlite3-dev \
    libtool \
    libusb-1.0-0-dev \
    libzmq5-dev \
--- a/27
+++ b/27
@@ -8,71 +8,54 @@ opencv-python= "==3.4.2.17"
 PyQt5 = "*"
 ipython = "*"
 networkx = "==2.3"
-azure-common = "==1.1.23"
+azure-core = "==1.1.1"
+azure-common = "==1.1.24"
 azure-nspkg = "==3.0.2"
 azure-storage-blob = "==2.1.0"
 azure-storage-common = "==2.1.0"
 azure-storage-nspkg = "==3.1.0"
-bincopy = "*"
-bleach = "*"
 boto = "*"
 "boto3" = "*"
-celery = "*"
 control = "*"
 datadog = "*"
-decorator = "*"
 dlib = "*"
-dominate = "*"
 elasticsearch = "*"
-fasteners = "*"
 future = "*"
 futures = "*"
-gevent = "*"
 pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
 gunicorn = "*"
 "h5py" = "*"
 hexdump = "*"
 "html5lib" = "*"
 imageio = "*"
-intervaltree = "*"
 ipykernel = "*"
 joblib = "*"
 json-logging-py = "*"
 jupyter = "*"
 libarchive = "*"
 lru-dict = "*"
-lxml = "*"
 "mpld3" = "*"
 msgpack-python = "*"
 nbstripout = "*"
-nose-parameterized = "*"
 numpy = "*"
 osmium = "*"
 pbr = "*"
 percache = "*"
 pprofile = "*"
-psutil = "*"
 pycurl = "*"
 git-pylint-commit-hook = "*"
 pymongo = "*"
 "pynmea2" = "*"
 pypolyline = "*"
-pysendfile = "*"
 python-logstash = "*"
-pyvcd = "*"
 redis = "*"
-redlock = "*"
 "s2sphere" = "*"
 scikit-image = "*"
 "subprocess32" = "*"
-supervisor = "*"
 tenacity = "*"
 tensorflow-gpu = ""
-utm = "*"
-"v4l2" = "*"
 PyJWT = "==1.4.1"
 PyMySQL = "==0.9.2"
-Theano = "*"
 Werkzeug = "*"
 "backports.lzma" = "*"
 Flask-Cors = "*"
@@ -84,7 +67,6 @@ PyNaCl = "*"
 reverse_geocoder = "*"
 Shapely = "*"
 SQLAlchemy = "*"
-uWSGI = "*"
 scipy = "*"
 fastcluster = "*"
 backports-abc = "*"
@@ -92,15 +74,13 @@ pygame = "*"
 simplejson = "*"
 python-logstash-async = "*"
 seaborn = "*"
-tensorflow-estimator = "*"
 pyproj = "*"
 mock = "*"
-blinker = "*"
-gast = "==0.2.2"
 matplotlib = "*"
 dictdiffer = "*"
 aenum = "*"
 coverage = "*"
+azure-cli-core = "*"

 [packages]
 overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
@@ -144,6 +124,5 @@ pillow = "*"
 scons = "*"
 cysignals = "*"

-
 [requires]
 python_version = "3.7.3"
--- a/Pipfile.lock
+++ b/Pipfile.lock
--- a/README.md
+++ b/README.md
@@ -57,7 +57,7 @@ openpilot should preserve all other vehicle's stock features, including, but are
 Supported Hardware
 ------

-At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON to the car. In the future, we'd like to support other platforms as well.
+At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. In the future, we'd like to support other platforms as well, like gaming PCs.

 Supported Cars
 ------
@@ -159,6 +159,8 @@ Limitations of openpilot ALC and LDW

 openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.

+While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
+
 Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:

 * Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,12 @@
+Version 0.7.1 (2020-01-20)
+========================
+ * comma two support!
+ * Lane Change Assist above 45 mph!
+ * Replace zmq with custom messaging library, msgq!
+ * Supercombo model: calibration and driving models are combined for better lead estimate
+ * More robust updater thanks to jyoung8607! Requires NEOS update
+ * Improve low speed ACC tuning
+
 Version 0.7 (2019-12-13)
 ========================
 * Move to SCons build system!
--- a/9
+++ b/9
@@ -46,6 +46,7 @@ else:
    "#phonelibs/capnp-cpp/include",
    "#phonelibs/capnp-c/include",
    "#phonelibs/zmq/x64/include",
+    "#external/tensorflow/include",
  ]
  libpath = [
    "#phonelibs/capnp-cpp/x64/lib",
@@ -55,6 +56,7 @@ else:
    "#phonelibs/zmq/x64/lib",
    "#phonelibs/libyuv/x64/lib",
    "#external/zmq/lib",
+    "#external/tensorflow/lib",
    "#cereal",
    "#selfdrive/common",
    "/usr/lib",
@@ -62,6 +64,7 @@ else:
  ]

  rpath = ["phonelibs/capnp-cpp/x64/lib",
+           "external/tensorflow/lib",
           "cereal",
           "selfdrive/common"]

@@ -201,11 +204,13 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])

+SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/loggerd/SConscript'])
+
 if arch == "aarch64":
  SConscript(['selfdrive/logcatd/SConscript'])
-  SConscript(['selfdrive/ui/SConscript'])
  SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/loggerd/SConscript'])
+  SConscript(['selfdrive/clocksd/SConscript'])

 SConscript(['selfdrive/locationd/SConscript'])

--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -10,5 +10,5 @@ libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
-libcereal_shared.so
+libcereal_shared.*

--- a/cereal/README.md
+++ b/cereal/README.md
@@ -0,0 +1,42 @@
+What is cereal?
+----
+
+cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
+
+Imagine this use case:
+* A sensor process reads gyro measurements directly from an IMU and publishes a sensorEvents packet
+* A calibration process subscribes to the sensorEvents packet to use the IMU
+* A localization process subscribes to the sensorEvents packet to use the IMU also
+
+
+Messaging Spec
+----
+
+You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
+
+All Events have a logMonoTime and a valid. Then a big union defines the packet type.
+
+
+Pub Sub Backends
+----
+
+cereal supports two backends, one based on [zmq](https://zeromq.org/), the other called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+
+Example
+---
+```python
+import cereal.messaging as messaging
+
+# in subscriber
+sm = messaging.SubMaster(['sensorEvents'])
+while 1:
+  sm.update()
+  print(sm['sensorEvents'])
+
+# in publisher
+pm = messaging.PubMaster(['sensorEvents'])
+dat = messaging.new_message()
+dat.init('sensorEvents', 1)
+dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
+pm.send('sensorEvents', dat)
+```
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -29,7 +29,7 @@ cereal_objects = env.SharedObject([
  ])

 env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects)
+env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])

 cereal_dir = Dir('.')
 services_h = env.Command(
@@ -49,7 +49,7 @@ Depends('messaging/impl_zmq.cc', services_h)

 # note, this rebuilds the deps shared, zmq is statically linked to make APK happy
 # TODO: get APK to load system zmq to remove the static link
-shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else []
+shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
 env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)

 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -88,15 +88,16 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    lowMemory @63;
    stockAeb @64;
    ldw @65;
-
+    carUnrecognized @66;
+    radarCommIssue @67;
    # dragonpilot
-    manualSteeringRequired @66;
-    manualSteeringRequiredBlinkersOn @67;
-    leadCarMoving @68;
-    leadCarDetected @69;
-    preAutoLaneChangeLeft @70;
-    preAutoLaneChangeRight @71;
-    autoLaneChange @72;
+    manualSteeringRequired @68;
+    manualSteeringRequiredBlinkersOn @69;
+    leadCarMoving @70;
+    leadCarDetected @71;
+    preAutoLaneChangeLeft @72;
+    preAutoLaneChangeRight @73;
+    autoLaneChange @74;
  }
 }

@@ -419,11 +420,11 @@ struct CarParams {

  enum SafetyModel {
    silent @0;
-    honda @1;
+    hondaNidec @1;
    toyota @2;
    elm327 @3;
    gm @4;
-    hondaBosch @5;
+    hondaBoschGiraffe @5;
    ford @6;
    cadillac @7;
    hyundai @8;
@@ -437,7 +438,9 @@ struct CarParams {
    toyotaIpas @16;
    allOutput @17;
    gmAscm @18;
-    noOutput @19;  # like silent but with silent CAN TXs
+    noOutput @19;  # like silent but without silent CAN TXs
+    hondaBoschHarness @20;
+    volkswagenPq @21;
  }

  enum SteerControlType {
@@ -453,7 +456,9 @@ struct CarParams {

  struct CarFw {
    ecu @0 :Ecu;
-    fwVersion @1 :Text;
+    fwVersion @1 :Data;
+    address @2: UInt32;
+    subAddress @3: UInt8;
  }

  enum Ecu {
@@ -461,5 +466,11 @@ struct CarParams {
    esp @1;
    fwdRadar @2;
    fwdCamera @3;
+    engine @4;
+    unknown @5;
+
+    # Toyota only
+    dsu @6;
+    apgs @7;
  }
 }
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -312,6 +312,7 @@ struct HealthData {
  hasGps @6 :Bool;
  canSendErrs @7 :UInt32;
  canFwdErrs @8 :UInt32;
+  canRxErrs @19 :UInt32;
  gmlanSendErrs @9 :UInt32;
  hwType @10 :HwType;
  fanSpeedRpm @11 :UInt16;
@@ -486,6 +487,7 @@ struct ControlsState @0x97ff69c53601abf1 {
  decelForTurn @47 :Bool;

  decelForModel @54 :Bool;
+  canErrorCounter @57 :UInt32;

  lateralControlState :union {
    indiState @52 :LateralINDIState;
@@ -577,6 +579,7 @@ struct ModelData {
  leadFuture @7 :LeadData;
  speed @8 :List(Float32);
  meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;

  struct PathData {
    points @0 :List(Float32);
@@ -607,6 +610,7 @@ struct ModelData {
    yuvCorrection @5 :List(Float32);
    inputTransform @6 :List(Float32);
  }
+
  struct MetaData {
    engagedProb @0 :Float32;
    desirePrediction @1 :List(Float32);
@@ -614,6 +618,11 @@ struct ModelData {
    gasDisengageProb @3 :Float32;
    steerOverrideProb @4 :Float32;
  }
+
+  struct LongitudinalData {
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
 }

 struct CalibrationFeatures {
@@ -1761,6 +1770,8 @@ struct DriverMonitoring {
  leftBlinkProb @8 :Float32;
  rightBlinkProb @9 :Float32;
  irPwrDEPRECATED @10 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
 }

 struct Boot {
--- a/cereal/messaging/init.py
+++ b/cereal/messaging/init.py
@@ -1,6 +1,7 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+import capnp

 assert MultiplePublishersError
 assert MessagingError
@@ -116,6 +117,7 @@ def recv_one_retry(sock):
    if dat is not None:
      return log.Event.from_bytes(dat)

+# TODO: This does not belong in messaging
 def get_one_can(logcan):
  while True:
    can = recv_one_retry(logcan)
@@ -147,12 +149,12 @@ class SubMaster():
      self.freq[s] = service_list[s].frequency

      data = new_message()
-      if s in ['can', 'sensorEvents', 'liveTracks', 'sendCan',
-               'ethernetData', 'cellInfo', 'wifiScan',
-               'trafficEvents', 'orbObservation', 'carEvents']:
-        data.init(s, 0)
-      else:
+      try:
        data.init(s)
+      except capnp.lib.capnp.KjException:
+        # lists
+        data.init(s, 0)
+
      self.data[s] = getattr(data, s)
      self.logMonoTime[s] = 0
      self.valid[s] = data.valid
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -4,6 +4,8 @@
 #include <csignal>
 #include <map>

+typedef void (*sighandler_t)(int sig);
+
 #include "services.h"

 #include "impl_msgq.hpp"
--- a/cereal/messaging/impl_msgq.cc
+++ b/cereal/messaging/impl_msgq.cc
@@ -85,7 +85,6 @@ Message * MSGQSubSocket::receive(bool non_blocking){
  msgq_msg_t msg;

  MSGQMessage *r = NULL;
-  r = NULL;

  int rc = msgq_msg_recv(&msg, q);

@@ -109,17 +108,23 @@ Message * MSGQSubSocket::receive(bool non_blocking){
    }
  }

-  if (rc > 0){
-    r = new MSGQMessage;
-    r->takeOwnership(msg.data, msg.size);
-  }
-  errno = msgq_do_exit ? EINTR : 0;

  if (!non_blocking){
    std::signal(SIGINT, prev_handler_sigint);
    std::signal(SIGTERM, prev_handler_sigterm);
  }

+  errno = msgq_do_exit ? EINTR : 0;
+
+  if (rc > 0){
+    if (msgq_do_exit){
+      msgq_msg_close(&msg); // Free unused message on exit
+    } else {
+      r = new MSGQMessage;
+      r->takeOwnership(msg.data, msg.size);
+    }
+  }
+
  return (Message*)r;
 }

--- a/cereal/messaging/messaging.cc
+++ b/cereal/messaging/messaging.cc
@@ -4,20 +4,20 @@

 Context * Context::create(){
  Context * c;
-  if (std::getenv("MSGQ")){
-    c = new MSGQContext();
-  } else {
+  if (std::getenv("ZMQ")){
    c = new ZMQContext();
+  } else {
+    c = new MSGQContext();
  }
  return c;
 }

 SubSocket * SubSocket::create(){
  SubSocket * s;
-  if (std::getenv("MSGQ")){
-    s = new MSGQSubSocket();
-  } else {
+  if (std::getenv("ZMQ")){
    s = new ZMQSubSocket();
+  } else {
+    s = new MSGQSubSocket();
  }
  return s;
 }
@@ -60,10 +60,10 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri

 PubSocket * PubSocket::create(){
  PubSocket * s;
-  if (std::getenv("MSGQ")){
-    s = new MSGQPubSocket();
-  } else {
+  if (std::getenv("ZMQ")){
    s = new ZMQPubSocket();
+  } else {
+    s = new MSGQPubSocket();
  }
  return s;
 }
@@ -82,10 +82,10 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){

 Poller * Poller::create(){
  Poller * p;
-  if (std::getenv("MSGQ")){
-    p = new MSGQPoller();
-  } else {
+  if (std::getenv("ZMQ")){
    p = new ZMQPoller();
+  } else {
+    p = new MSGQPoller();
  }
  return p;
 }
--- a/cereal/messaging/msgq.cc
+++ b/cereal/messaging/msgq.cc
@@ -23,8 +23,8 @@

 #include "msgq.hpp"

-void sigusr1_handler(int signal) {
-  assert(signal == SIGUSR1);
+void sigusr2_handler(int signal) {
+  assert(signal == SIGUSR2);
 }

 uint64_t msgq_get_uid(void){
@@ -80,7 +80,7 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
  assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes

-  std::signal(SIGUSR1, sigusr1_handler);
+  std::signal(SIGUSR2, sigusr2_handler);

  const char * prefix = "/dev/shm/";
  char * full_path = new char[strlen(path) + strlen(prefix) + 1];
@@ -136,7 +136,7 @@ void msgq_close_queue(msgq_queue_t *q){


 void msgq_init_publisher(msgq_queue_t * q) {
-  std::cout << "Starting publisher" << std::endl;
+  //std::cout << "Starting publisher" << std::endl;
  uint64_t uid = msgq_get_uid();

  *q->write_uid = uid;
@@ -150,6 +150,15 @@ void msgq_init_publisher(msgq_queue_t * q) {
  q->write_uid_local = uid;
 }

+static void thread_signal(uint32_t tid) {
+  #ifndef SYS_tkill
+    // TODO: this won't work for multithreaded programs
+    kill(tid, SIGUSR2);
+  #else
+    syscall(SYS_tkill, tid, SIGUSR2);
+  #endif
+}
+
 void msgq_init_subscriber(msgq_queue_t * q) {
  assert(q != NULL);
  assert(q->num_readers != NULL);
@@ -173,7 +182,7 @@ void msgq_init_subscriber(msgq_queue_t * q) {
        *q->read_uids[i] = 0;

        // Wake up reader in case they are in a poll
-        syscall(SYS_tkill, old_uid & 0xFFFFFFFF, SIGUSR1);
+        thread_signal(old_uid & 0xFFFFFFFF);
      }

      continue;
@@ -196,7 +205,7 @@ void msgq_init_subscriber(msgq_queue_t * q) {
    }
  }

-  std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
+  //std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
  msgq_reset_reader(q);
 }

@@ -278,8 +287,7 @@ int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
  // Notify readers
  for (uint64_t i = 0; i < num_readers; i++){
    uint64_t reader_uid = *q->read_uids[i];
-
-    syscall(SYS_tkill, reader_uid & 0xFFFFFFFF, SIGUSR1);
+    thread_signal(reader_uid & 0xFFFFFFFF);
  }

  return msg->size;
--- a/cereal/service_list.yaml
+++ b/cereal/service_list.yaml
@@ -25,7 +25,7 @@ encodeIdx: [8015, true, 20.]
 liveTracks: [8016, true, 20.]
 sendcan: [8017, true, 100.]
 logMessage: [8018, true, 0.]
-liveCalibration: [8019, true, 5.]
+liveCalibration: [8019, true, 4., 4]
 androidLog: [8020, true, 0.]
 carState: [8021, true, 100., 10]
 # 8022 is reserved for sshd
@@ -68,7 +68,7 @@ orbFeaturesSummary: [8062, true, 0.]
 driverMonitoring: [8063, true, 5., 1]
 liveParameters: [8064, true, 10.]
 liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 5.]
+cameraOdometry: [8066, true, 20.]
 pathPlan: [8067, true, 20.]
 kalmanOdometry: [8068, true, 0.]
 thumbnail: [8069, true, 0.2, 1]
--- a/common/android.py
+++ b/common/android.py
@@ -1,20 +1,32 @@
+import os
 import binascii
 import itertools
 import re
 import struct
 import subprocess

+ANDROID = os.path.isfile('/EON')
+
 def getprop(key):
+  if not ANDROID:
+    return ""
  return subprocess.check_output(["getprop", key], encoding='utf8').strip()

-def get_imei():
-  ret = getprop("oem.device.imeicache")
-  if ret == "":
+def get_imei(slot):
+  slot = str(slot)
+  if slot not in ("0", "1"):
+    raise ValueError("SIM slot must be 0 or 1")
+
+  ret = parse_service_call_string(["iphonesubinfo", "3" ,"i32", str(slot)])
+  if not ret:
    ret = "000000000000000"
  return ret

 def get_serial():
-  return getprop("ro.serialno")
+  ret = getprop("ro.serialno")
+  if ret == "":
+    ret = "cccccccc"
+  return ret

 def get_subscriber_info():
  ret = parse_service_call_string(["iphonesubinfo", "7"])
@@ -60,6 +72,8 @@ def parse_service_call_string(call):
    return None

 def parse_service_call_bytes(call):
+  if not ANDROID:
+    return None
  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
  if 'Parcel' not in ret:
    return None
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -78,28 +78,6 @@ class SwagLogger(logging.Logger):
    self.log_local = local()
    self.log_local.ctx = {}

-  def findCaller(self, stack_info=None):
-    """
-      Find the stack frame of the caller so that we can note the source
-      file name, line number and function name.
-      """
-    # f = currentframe()
-    f = sys._getframe(3)
-    #On some versions of IronPython, currentframe() returns None if
-    #IronPython isn't run with -X:Frames.
-    if f is not None:
-      f = f.f_back
-    rv = "(unknown file)", 0, "(unknown function)"
-    while hasattr(f, "f_code"):
-      co = f.f_code
-      filename = os.path.normcase(co.co_filename)
-      if filename in (logging._srcfile, _srcfile):
-        f = f.f_back
-        continue
-      rv = (co.co_filename, f.f_lineno, co.co_name)
-      break
-    return rv
-
  def local_ctx(self):
    try:
      return self.log_local.ctx
--- a/common/params.py
+++ b/common/params.py
@@ -69,9 +69,10 @@ keys = {
  "IsLdwEnabled": [TxType.PERSISTENT],
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
+  "IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
  "IsRHD": [TxType.PERSISTENT],
  "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
  "IsUploadRawEnabled": [TxType.PERSISTENT],
  "LastUpdateTime": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
@@ -80,6 +81,7 @@ keys = {
  "LongitudinalControl": [TxType.PERSISTENT],
  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "Passive": [TxType.PERSISTENT],
  "RecordFront": [TxType.PERSISTENT],
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -5,21 +5,31 @@ from common.basedir import BASEDIR

 class Spinner():
  def __init__(self):
-    self.spinner_proc = subprocess.Popen(["./spinner"],
-                                         stdin=subprocess.PIPE,
-                                         cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
-                                         close_fds=True)
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None

  def __enter__(self):
    return self

  def update(self, spinner_text):
-    self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
-    self.spinner_proc.stdin.flush()
+    if self.spinner_proc is not None:
+      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+      try:
+        self.spinner_proc.stdin.flush()
+      except BrokenPipeError:
+        pass

  def close(self):
    if self.spinner_proc is not None:
-      self.spinner_proc.stdin.close()
+      try:
+        self.spinner_proc.stdin.close()
+      except BrokenPipeError:
+        pass
      self.spinner_proc.terminate()
      self.spinner_proc = None

--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -44,6 +44,7 @@ def get_calib_from_vp(vp):
  roll_calib = 0
  return roll_calib, pitch_calib, yaw_calib

+
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
@@ -61,6 +62,13 @@ def vp_from_ke(m):
  """
  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])

+
+def vp_from_rpy(rpy):
+  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
+  ke = np.dot(eon_intrinsics, e)
+  return vp_from_ke(ke)
+
+
 def roll_from_ke(m):
  # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
  return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
--- a/installer/updater/update.json
+++ b/installer/updater/update.json
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e.zip",
-  "ota_hash": "07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6.img",
-  "recovery_len": 15848748,
-  "recovery_hash": "3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
+  "ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
+  "recovery_len": 15861036,
+  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
 }
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -6,21 +6,54 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

+if [ -z "$BASEDIR" ]; then
+  BASEDIR="/data/openpilot"
+fi
+
 if [ -z "$PASSIVE" ]; then
  export PASSIVE="1"
 fi

+STAGING_ROOT="/data/safe_staging"
+
 function launch {
  # Wifi scan
  wpa_cli IFNAME=wlan0 SCAN

-  ## apply update
-  #if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-  #  git reset --hard @{u} &&
-  #  git clean -xdf &&
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
  #
-  #  exec "${BASH_SOURCE[0]}"
-  #fi
+  # 1. The BASEDIR init file has to exist, with a newer modtime than anything in
+  #    the BASEDIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${BASEDIR}/.overlay_init" ]; then
+    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
+    if [ $? -eq 0 ]; then
+      echo "${BASEDIR} has been modified, skipping overlay update installation"
+    else
+      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
+        if [ ! -d /data/safe_staging/old_openpilot ]; then
+          echo "Valid overlay update found, installing"
+          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
+
+          mv $BASEDIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $BASEDIR
+
+          # The mv changed our working directory to /data/safe_staging/old_openpilot
+          cd "${BASEDIR}"
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          exec "${LAUNCHER_LOCATION}"
+        else
+          echo "openpilot backup found, not updating"
+          # TODO: restore backup? This means the updater didn't start after swapping
+        fi
+      fi
+    fi
+  fi

  # no cpu rationing for now
  echo 0-3 > /dev/cpuset/background/cpus
@@ -32,17 +65,17 @@ function launch {
  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

  # Remove old NEOS update file
+  # TODO: move this code to the updater
  if [ -d /data/neoupdate ]; then
    rm -rf /data/neoupdate
  fi

  # Check for NEOS update
-  if [ $(< /VERSION) != "13" ]; then
+  if [ $(< /VERSION) != "14" ]; then
    if [ -f "$DIR/scripts/continue.sh" ]; then
      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
    fi

-    git clean -xdf
    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
  fi

--- a/models/driving_model.dlc
+++ b/models/driving_model.dlc
--- a/models/monitoring_model_q.dlc
+++ b/models/monitoring_model_q.dlc
--- a/models/posenet.dlc
+++ b/models/posenet.dlc
--- a/models/supercombo.dlc
+++ b/models/supercombo.dlc
--- a/opendbc/.gitignore
+++ b/opendbc/.gitignore
@@ -1,6 +1,7 @@
 *.pyc
 *.os
 *.tmp
+*.dylib
 .*.swp
 can/*.so
 can/build/
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -274,9 +281,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -262,7 +269,7 @@ BO_ 392 GEARBOX: 6 XXX

 BO_ 399 STEER_STATUS: 6 EPS
 SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/azure-pipelines.yml
+++ b/opendbc/azure-pipelines.yml
@@ -14,3 +14,6 @@ steps:
    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
  displayName: 'Python linter'
+- script: |
+    docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
+  displayName: 'Generator test'
--- a/opendbc/can/packer_pyx_setup.py
+++ b/opendbc/can/packer_pyx_setup.py
@@ -1,6 +1,7 @@
 import os
 import sysconfig
 import subprocess
+import platform
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module

 from Cython.Build import cythonize
@@ -38,6 +39,10 @@ ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pyl
 if ARCH == "aarch64":
  extra_compile_args += ["-Wno-deprecated-register"]

+if platform.system() == "Darwin":
+  libdbc = "libdbc.dylib"
+else:
+  libdbc = "libdbc.so"

 setup(name='CAN packer',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
@@ -52,9 +57,13 @@ setup(name='CAN packer',
            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
          ],
          extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
+            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
          ],
        )
      ),
      nthreads=4,
 )
+
+if platform.system() == "Darwin":
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib packer_pyx.so")
+
--- a/opendbc/can/parser_pyx_setup.py
+++ b/opendbc/can/parser_pyx_setup.py
@@ -1,6 +1,7 @@
 import os
 import subprocess
 import sysconfig
+import platform
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module

 from Cython.Build import cythonize
@@ -38,6 +39,11 @@ ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pyl
 if ARCH == "aarch64":
  extra_compile_args += ["-Wno-deprecated-register"]

+if platform.system() == "Darwin":
+  libdbc = "libdbc.dylib"
+else:
+  libdbc = "libdbc.so"
+
 setup(name='CAN parser',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
@@ -51,9 +57,13 @@ setup(name='CAN parser',
            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
          ],
          extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
+            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
          ],
        )
      ),
      nthreads=4,
 )
+
+if platform.system() == "Darwin":
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib parser_pyx.so")
+
--- a/opendbc/can/tests/test_generator.sh
+++ b/opendbc/can/tests/test_generator.sh
@@ -0,0 +1,13 @@
+#!/bin/bash -e
+
+cd ../../generator/
+
+# run generator
+./generator.py
+
+if [ -n "$(git status --untracked-files=no --porcelain)" ]; then
+  echo "Unexpected changes after running generator.py";
+  exit 1
+else
+  echo "Success";
+fi
--- a/opendbc/generator/honda/_bosch_2018.dbc
+++ b/opendbc/generator/honda/_bosch_2018.dbc
@@ -64,7 +64,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -92,9 +94,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

@@ -106,6 +109,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 450 EPB_STATUS: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/generator/honda/_honda_2017.dbc
+++ b/opendbc/generator/honda/_honda_2017.dbc
@@ -64,6 +64,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -142,7 +149,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_OFF_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
@@ -152,10 +159,12 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@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

--- a/opendbc/generator/honda/acura_ilx_2016_can.dbc
+++ b/opendbc/generator/honda/acura_ilx_2016_can.dbc
@@ -27,9 +27,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/generator/honda/acura_rdx_2018_can.dbc
+++ b/opendbc/generator/honda/acura_rdx_2018_can.dbc
@@ -15,7 +15,7 @@ BO_ 392 GEARBOX: 6 XXX

 BO_ 399 STEER_STATUS: 6 EPS
 SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
+++ b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
@@ -25,16 +25,19 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc
+++ b/opendbc/generator/honda/honda_crv_touring_2016_can.dbc
@@ -9,7 +9,7 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 6 EPS
 SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
 SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
--- a/opendbc/generator/honda/honda_fit_ex_2018_can.dbc
+++ b/opendbc/generator/honda/honda_fit_ex_2018_can.dbc
@@ -27,9 +27,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc
+++ b/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc
@@ -27,9 +27,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/generator/honda/honda_odyssey_exl_2018.dbc
+++ b/opendbc/generator/honda/honda_odyssey_exl_2018.dbc
@@ -19,9 +19,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
+++ b/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
@@ -12,11 +12,12 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 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_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON

 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
--- a/opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
+++ b/opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
@@ -27,9 +27,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
+++ b/opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
@@ -22,9 +22,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

@@ -110,6 +113,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 450 EPB_STATUS: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

@@ -110,6 +113,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 450 EPB_STATUS: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

@@ -110,6 +113,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 450 EPB_STATUS: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -272,16 +279,19 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

@@ -110,6 +113,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 450 EPB_STATUS: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

@@ -110,6 +113,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 450 EPB_STATUS: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -256,7 +263,7 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 6 EPS
 SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
 SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -274,9 +281,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/honda_fit_hybrid_2018_can_generated.dbc
+++ b/opendbc/honda_fit_hybrid_2018_can_generated.dbc
@@ -266,9 +266,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -68,7 +68,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -96,9 +98,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

@@ -110,6 +113,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 450 EPB_STATUS: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -266,9 +273,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
+++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -259,11 +266,12 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 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_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON

 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -274,9 +281,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -269,9 +276,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

--- a/panda/README.md
+++ b/panda/README.md
@@ -39,9 +39,11 @@ Find user made scripts on the [wiki](https://community.comma.ai/wiki/index.php/P

 Note that you may have to setup [udev rules](https://community.comma.ai/wiki/index.php/Panda#Linux_udev_rules) for Linux, such as
 ```
-sudo -i
-echo 'SUBSYSTEMS=="usb", ATTR{idVendor}=="bbaa", ATTR{idProduct}=="ddcc", MODE:="0666"' > /etc/udev/rules.d/11-panda.rules
-exit
+sudo tee /etc/udev/rules.d/11-panda.rules <<EOF
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
+EOF
+sudo udevadm control --reload-rules && sudo udevadm trigger
 ```

 Usage (JavaScript)
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.7.0
+v1.7.3
--- a/panda/board/boards/grey.h
+++ b/panda/board/boards/grey.h
@@ -11,6 +11,28 @@ void grey_init(void) {
  current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
 }

+void grey_set_esp_gps_mode(uint8_t mode) {
+  switch (mode) {
+    case ESP_GPS_DISABLED:
+      // GPS OFF
+      set_gpio_output(GPIOC, 14, 0);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    case ESP_GPS_ENABLED:
+      // GPS ON
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 1);
+      break;
+    case ESP_GPS_BOOTMODE:
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    default:
+      puts("Invalid ESP/GPS mode\n");
+      break;
+  }
+}
+
 const board board_grey = {
  .board_type = "Grey",
  .harness_config = &white_harness_config,
@@ -19,7 +41,7 @@ const board board_grey = {
  .enable_can_transcievers = white_enable_can_transcievers,
  .set_led = white_set_led,
  .set_usb_power_mode = white_set_usb_power_mode,
-  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_esp_gps_mode = grey_set_esp_gps_mode,
  .set_can_mode = white_set_can_mode,
  .usb_power_mode_tick = white_usb_power_mode_tick,
  .check_ignition = white_check_ignition,
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -14,6 +14,7 @@ typedef struct {

 #define BUS_MAX 4U

+uint32_t can_rx_errs = 0;
 uint32_t can_send_errs = 0;
 uint32_t can_fwd_errs = 0;
 uint32_t gmlan_send_errs = 0;
@@ -381,7 +382,7 @@ void can_rx(uint8_t can_number) {
      can_send(&to_send, bus_fwd_num, true);
    }

-    safety_rx_hook(&to_push);
+    can_rx_errs += safety_rx_hook(&to_push) ? 0U : 1U;
    ignition_can_hook(&to_push);

    current_board->set_led(LED_BLUE, true);
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -45,6 +45,7 @@ struct __attribute__((packed)) health_t {
  uint32_t uptime_pkt;
  uint32_t voltage_pkt;
  uint32_t current_pkt;
+  uint32_t can_rx_errs_pkt;
  uint32_t can_send_errs_pkt;
  uint32_t can_fwd_errs_pkt;
  uint32_t gmlan_send_errs_pkt;
@@ -170,6 +171,7 @@ int get_health_pkt(void *dat) {

  health->controls_allowed_pkt = controls_allowed;
  health->gas_interceptor_detected_pkt = gas_interceptor_detected;
+  health->can_rx_errs_pkt = can_rx_errs;
  health->can_send_errs_pkt = can_send_errs;
  health->can_fwd_errs_pkt = can_fwd_errs;
  health->gmlan_send_errs_pkt = gmlan_send_errs;
@@ -475,12 +477,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
        can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
      }
      break;
-    // **** 0xdf: set long controls allowed
-    case 0xdf:
-      if (hardwired) {
-        long_controls_allowed = setup->b.wValue.w & 1U;
-      }
-      break;
    // **** 0xe0: uart read
    case 0xe0:
      ur = get_ring_by_number(setup->b.wValue.w);
@@ -671,7 +667,7 @@ void __attribute__ ((noinline)) enable_fpu(void) {
 #define EON_HEARTBEAT_IGNITION_CNT_ON 5U
 #define EON_HEARTBEAT_IGNITION_CNT_OFF 2U

-// called once per second
+// called at 1Hz
 void TIM1_BRK_TIM9_IRQ_Handler(void) {
  if (TIM9->SR != 0) {
    can_live = pending_can_live;
@@ -740,6 +736,9 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
    uptime_cnt += 1U;
    safety_mode_cnt += 1U;
    ignition_can_cnt += 1U;
+
+    // synchronous safety check
+    safety_tick(current_hooks);
  }
  TIM9->SR = 0;
 }
--- a/panda/board/provision.h
+++ b/panda/board/provision.h
@@ -11,3 +11,9 @@ void get_provision_chunk(uint8_t *resp) {
  }
 }

+uint8_t chunk[PROVISION_CHUNK_LEN];
+bool is_provisioned(void) {
+  (void)memcpy(chunk, (uint8_t *)0x1fff79e0, PROVISION_CHUNK_LEN);
+  return (memcmp(chunk, "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff", 0x20) != 0);
+}
+
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -19,11 +19,11 @@

 // from cereal.car.CarParams.SafetyModel
 #define SAFETY_SILENT 0U
-#define SAFETY_HONDA 1U
+#define SAFETY_HONDA_NIDEC 1U
 #define SAFETY_TOYOTA 2U
 #define SAFETY_ELM327 3U
 #define SAFETY_GM 4U
-#define SAFETY_HONDA_BOSCH 5U
+#define SAFETY_HONDA_BOSCH_GIRAFFE 5U
 #define SAFETY_FORD 6U
 #define SAFETY_CADILLAC 7U
 #define SAFETY_HYUNDAI 8U
@@ -36,12 +36,13 @@
 #define SAFETY_ALLOUTPUT 17U
 #define SAFETY_GM_ASCM 18U
 #define SAFETY_NOOUTPUT 19U
+#define SAFETY_HONDA_BOSCH_HARNESS 20U

 uint16_t current_safety_mode = SAFETY_SILENT;
 const safety_hooks *current_hooks = &nooutput_hooks;

-void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
-  current_hooks->rx(to_push);
+int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
+  return current_hooks->rx(to_push);
 }

 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -56,7 +57,7 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  return current_hooks->fwd(bus_num, to_fwd);
 }

-bool addr_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
+bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
  bool allowed = false;
  for (int i = 0; i < len; i++) {
    if ((addr == addr_list[i].addr) && (bus == addr_list[i].bus)) {
@@ -67,6 +68,106 @@ bool addr_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
  return allowed;
 }

+// compute the time elapsed (in microseconds) from 2 counter samples
+// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
+uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
+  return ts - ts_last;
+}
+
+int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len) {
+  int bus = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
+
+  int index = -1;
+  for (int i = 0; i < len; i++) {
+    for (uint8_t j = 0U; addr_list[i].addr[j] != 0; j++) {
+      if ((addr == addr_list[i].addr[j]) && (bus == addr_list[i].bus)) {
+        index = i;
+        goto Return;
+      }
+    }
+  }
+Return:
+  return index;
+}
+
+// 1Hz safety function called by main. Now just a check for lagging safety messages
+void safety_tick(const safety_hooks *hooks) {
+  uint32_t ts = TIM2->CNT;
+  if (hooks->addr_check != NULL) {
+    for (int i=0; i < hooks->addr_check_len; i++) {
+      uint32_t elapsed_time = get_ts_elapsed(ts, hooks->addr_check[i].last_timestamp);
+      // lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
+      // Quite conservative to not risk false triggers.
+      // 2s of lag is worse case, since the function is called at 1Hz
+      bool lagging = elapsed_time > MAX(hooks->addr_check[i].expected_timestep * MAX_MISSED_MSGS, 1e6);
+      hooks->addr_check[i].lagging = lagging;
+      if (lagging) {
+        controls_allowed = 0;
+      }
+    }
+  }
+}
+
+void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {
+  if (index != -1) {
+    uint8_t expected_counter = (addr_list[index].last_counter + 1U) % (addr_list[index].max_counter + 1U);
+    addr_list[index].wrong_counters += (expected_counter == counter) ? -1 : 1;
+    addr_list[index].wrong_counters = MAX(MIN(addr_list[index].wrong_counters, MAX_WRONG_COUNTERS), 0);
+    addr_list[index].last_counter = counter;
+  }
+}
+
+bool is_msg_valid(AddrCheckStruct addr_list[], int index) {
+  bool valid = true;
+  if (index != -1) {
+    if ((!addr_list[index].valid_checksum) || (addr_list[index].wrong_counters >= MAX_WRONG_COUNTERS)) {
+      valid = false;
+      controls_allowed = 0;
+    }
+  }
+  return valid;
+}
+
+void update_addr_timestamp(AddrCheckStruct addr_list[], int index) {
+  if (index != -1) {
+    uint32_t ts = TIM2->CNT;
+    addr_list[index].last_timestamp = ts;
+  }
+}
+
+bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
+                       AddrCheckStruct *rx_checks,
+                       const int rx_checks_len,
+                       uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
+                       uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
+                       uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push)) {
+
+  int index = get_addr_check_index(to_push, rx_checks, rx_checks_len);
+  update_addr_timestamp(rx_checks, index);
+
+  if (index != -1) {
+    // checksum check
+    if ((get_checksum != NULL) && (compute_checksum != NULL)) {
+      if (rx_checks[index].check_checksum) {
+        uint8_t checksum = get_checksum(to_push);
+        uint8_t checksum_comp = compute_checksum(to_push);
+        rx_checks[index].valid_checksum = checksum_comp == checksum;
+      }
+    }
+
+    // counter check
+    if (get_counter != NULL) {
+      if (rx_checks[index].max_counter > 0U) {
+        uint8_t counter = get_counter(to_push);
+        update_counter(rx_checks, index, counter);
+      }
+    }
+  }
+  return is_msg_valid(rx_checks, index);
+}
+
+
 typedef struct {
  uint16_t id;
  const safety_hooks *hooks;
@@ -74,11 +175,12 @@ typedef struct {

 const safety_hook_config safety_hook_registry[] = {
  {SAFETY_SILENT, &nooutput_hooks},
-  {SAFETY_HONDA, &honda_hooks},
+  {SAFETY_HONDA_NIDEC, &honda_nidec_hooks},
  {SAFETY_TOYOTA, &toyota_hooks},
  {SAFETY_ELM327, &elm327_hooks},
  {SAFETY_GM, &gm_hooks},
-  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
+  {SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_giraffe_hooks},
+  {SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
  {SAFETY_HYUNDAI, &hyundai_hooks},
  {SAFETY_CHRYSLER, &chrysler_hooks},
  {SAFETY_SUBARU, &subaru_hooks},
@@ -113,12 +215,6 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
  return set_status;
 }

-// compute the time elapsed (in microseconds) from 2 counter samples
-// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
-uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
-  return ts - ts_last;
-}
-
 // convert a trimmed integer to signed 32 bit int
 int to_signed(int d, int bits) {
  int d_signed = d;
--- a/panda/board/safety/safety_cadillac.h
+++ b/panda/board/safety/safety_cadillac.h
@@ -23,7 +23,7 @@ int cadillac_get_torque_idx(int addr, int array_size) {
  return MIN(MAX(addr - 0x151, 0), array_size);  // 0x151 is id 0, 0x152 is id 1 and so on...
 }

-static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);

@@ -51,6 +51,7 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  if ((addr == 0x152) || (addr == 0x154)) {
    cadillac_supercruise_on = (GET_BYTE(to_push, 4) & 0x10) != 0;
  }
+  return 1;
 }

 static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -58,7 +59,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);

-  if (!addr_allowed(addr, bus, CADILLAC_TX_MSGS, sizeof(CADILLAC_TX_MSGS) / sizeof(CADILLAC_TX_MSGS[0]))) {
+  if (!msg_allowed(addr, bus, CADILLAC_TX_MSGS, sizeof(CADILLAC_TX_MSGS) / sizeof(CADILLAC_TX_MSGS[0]))) {
    tx = 0;
  }

--- a/panda/board/safety/safety_chrysler.h
+++ b/panda/board/safety/safety_chrysler.h
@@ -6,13 +6,20 @@ const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
 const AddrBus CHRYSLER_TX_MSGS[] = {{571, 0}, {658, 0}, {678, 0}};

+// TODO: do checksum and counter checks
+AddrCheckStruct chrysler_rx_checks[] = {
+  {.addr = {544}, .bus = 0, .expected_timestep = 10000U},
+  {.addr = {500}, .bus = 0, .expected_timestep = 20000U},
+};
+const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
+
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
 uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured

-static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);

@@ -36,10 +43,13 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    chrysler_cruise_engaged_last = cruise_engaged;
  }

+  // TODO: add gas pressed check
+
  // check if stock camera ECU is on bus 0
  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
    relay_malfunction = true;
  }
+  return 1;
 }

 static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -48,7 +58,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);

-  if (!addr_allowed(addr, bus, CHRYSLER_TX_MSGS, sizeof(CHRYSLER_TX_MSGS) / sizeof(CHRYSLER_TX_MSGS[0]))) {
+  if (!msg_allowed(addr, bus, CHRYSLER_TX_MSGS, sizeof(CHRYSLER_TX_MSGS) / sizeof(CHRYSLER_TX_MSGS[0]))) {
    tx = 0;
  }

@@ -137,4 +147,6 @@ const safety_hooks chrysler_hooks = {
  .tx = chrysler_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = chrysler_fwd_hook,
+  .addr_check = chrysler_rx_checks,
+  .addr_check_len = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]),
 };
--- a/panda/board/safety/safety_defaults.h
+++ b/panda/board/safety/safety_defaults.h
@@ -1,5 +1,6 @@
-void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  UNUSED(to_push);
+  return true;
 }

 // *** no output safety mode ***
--- a/panda/board/safety/safety_elm327.h
+++ b/panda/board/safety/safety_elm327.h
@@ -12,7 +12,7 @@ static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  //Check valid 29 bit send addresses for ISO 15765-4
  //Check valid 11 bit send addresses for ISO 15765-4
  if ((addr != 0x18DB33F1) && ((addr & 0x1FFF00FF) != 0x18DA00F1) &&
-      ((addr != 0x7DF) && ((addr & 0x1FFFFFF8) != 0x7E0))) {
+      ((addr & 0x1FFFFF00) != 0x700)) {
    tx = 0;
  }
  return tx;
--- a/panda/board/safety/safety_ford.h
+++ b/panda/board/safety/safety_ford.h
@@ -11,7 +11,7 @@ int ford_brake_prev = 0;
 int ford_gas_prev = 0;
 bool ford_moving = false;

-static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  int addr = GET_ADDR(to_push);
  int bus = GET_BUS(to_push);
@@ -58,6 +58,7 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x3CA)) {
    relay_malfunction = true;
  }
+  return 1;
 }

 // all commands: just steering
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -23,6 +23,16 @@ const AddrBus GM_TX_MSGS[] = {{384, 0}, {1033, 0}, {1034, 0}, {715, 0}, {880, 0}
                              {789, 2},  // ch bus
                              {0x104c006c, 3}, {0x10400060, 3}};  // gmlan

+// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
+AddrCheckStruct gm_rx_checks[] = {
+  {.addr = {388}, .bus = 0, .expected_timestep = 100000U},
+  {.addr = {842}, .bus = 0, .expected_timestep = 100000U},
+  {.addr = {481}, .bus = 0, .expected_timestep = 100000U},
+  {.addr = {241}, .bus = 0, .expected_timestep = 100000U},
+  {.addr = {417}, .bus = 0, .expected_timestep = 100000U},
+};
+const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);
+
 int gm_brake_prev = 0;
 int gm_gas_prev = 0;
 bool gm_moving = false;
@@ -31,7 +41,7 @@ int gm_desired_torque_last = 0;
 uint32_t gm_ts_last = 0;
 struct sample_t gm_torque_driver;         // last few driver torques measured

-static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);

@@ -82,7 +92,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  // exit controls on rising edge of gas press
  if (addr == 417) {
    int gas = GET_BYTE(to_push, 6);
-    if (gas && !gm_gas_prev && long_controls_allowed) {
+    if (gas && !gm_gas_prev) {
      controls_allowed = 0;
    }
    gm_gas_prev = gas;
@@ -103,6 +113,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) {
    relay_malfunction = true;
  }
+  return 1;
 }

 // all commands: gas/regen, friction brake and steering
@@ -117,7 +128,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);

-  if (!addr_allowed(addr, bus, GM_TX_MSGS, sizeof(GM_TX_MSGS)/sizeof(GM_TX_MSGS[0]))) {
+  if (!msg_allowed(addr, bus, GM_TX_MSGS, sizeof(GM_TX_MSGS)/sizeof(GM_TX_MSGS[0]))) {
    tx = 0;
  }

@@ -134,7 +145,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  if (addr == 789) {
    int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
    brake = (0x1000 - brake) & 0xFFF;
-    if (!current_controls_allowed || !long_controls_allowed) {
+    if (!current_controls_allowed) {
      if (brake != 0) {
        tx = 0;
      }
@@ -197,7 +208,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
    // Disabled message is !engaged with gas
    // value that corresponds to max regen.
-    if (!current_controls_allowed || !long_controls_allowed) {
+    if (!current_controls_allowed) {
      bool apply = GET_BYTE(to_send, 0) & 1U;
      if (apply || (gas_regen != GM_MAX_REGEN)) {
        tx = 0;
@@ -219,4 +230,6 @@ const safety_hooks gm_hooks = {
  .tx = gm_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = default_fwd_hook,
+  .addr_check = gm_rx_checks,
+  .addr_check_len = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]),
 };
--- a/panda/board/safety/safety_gm_ascm.h
+++ b/panda/board/safety/safety_gm_ascm.h
@@ -41,4 +41,3 @@ const safety_hooks gm_ascm_hooks = {
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = gm_ascm_fwd_hook,
 };
-
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -7,109 +7,165 @@
 //      brake rising edge
 //      brake > 0mph
 const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}};
-const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}};  // Bosch Harness
 const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}};  // Bosch Giraffe
+const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}};  // Bosch Harness
 const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;  // ratio between offset and gain from dbc file
+
+// Nidec and Bosch giraffe have pt on bus 0
+AddrCheckStruct honda_rx_checks[] = {
+  {.addr = {0x1A6, 0x296}, .bus = 0, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
+  {.addr = {       0x158}, .bus = 0, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+  {.addr = {       0x17C}, .bus = 0, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+};
+const int HONDA_RX_CHECKS_LEN = sizeof(honda_rx_checks) / sizeof(honda_rx_checks[0]);
+
+// Bosch harness has pt on bus 1
+AddrCheckStruct honda_bh_rx_checks[] = {
+  {.addr = {0x296}, .bus = 1, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
+  {.addr = {0x158}, .bus = 1, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+  {.addr = {0x17C}, .bus = 1, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
+};
+const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);
+
 int honda_brake = 0;
 int honda_gas_prev = 0;
 bool honda_brake_pressed_prev = false;
 bool honda_moving = false;
-bool honda_bosch_hardware = false;
 bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
+enum {HONDA_N_HW, HONDA_BG_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;

-static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

-  int addr = GET_ADDR(to_push);
+static uint8_t honda_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  int checksum_byte = GET_LEN(to_push) - 1;
+  return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU;
+}
+
+static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
  int len = GET_LEN(to_push);
-  int bus = GET_BUS(to_push);
+  uint8_t checksum = 0U;
+  unsigned int addr = GET_ADDR(to_push);
+  while (addr > 0U) {
+    checksum += (addr & 0xFU); addr >>= 4;
+  }
+  for (int j = 0; (j < len); j++) {
+    uint8_t byte = GET_BYTE(to_push, j);
+    checksum += (byte & 0xFU) + (byte >> 4U);
+    if (j == (len - 1)) {
+      checksum -= (byte & 0xFU);  // remove checksum in message
+    }
+  }
+  return (8U - checksum) & 0xFU;
+}

-  // sample speed
-  if (addr == 0x158) {
-    // first 2 bytes
-    honda_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
+static uint8_t honda_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  int counter_byte = GET_LEN(to_push) - 1;
+  return ((uint8_t)(GET_BYTE(to_push, counter_byte)) >> 4U) & 0x3U;
+}
+
+static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid;
+  if (honda_hw == HONDA_BH_HW) {
+    valid = addr_safety_check(to_push, honda_bh_rx_checks, HONDA_BH_RX_CHECKS_LEN,
+                              honda_get_checksum, honda_compute_checksum, honda_get_counter);
+  } else {
+    valid = addr_safety_check(to_push, honda_rx_checks, HONDA_RX_CHECKS_LEN,
+                              honda_get_checksum, honda_compute_checksum, honda_get_counter);
  }

-  // state machine to enter and exit controls
-  // 0x1A6 for the ILX, 0x296 for the Civic Touring
-  if ((addr == 0x1A6) || (addr == 0x296)) {
-    int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
-    switch (button) {
-      case 2:  // cancel
+  if (valid) {
+    int addr = GET_ADDR(to_push);
+    int len = GET_LEN(to_push);
+    int bus = GET_BUS(to_push);
+
+    // sample speed
+    if (addr == 0x158) {
+      // first 2 bytes
+      honda_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
+    }
+
+    // state machine to enter and exit controls
+    // 0x1A6 for the ILX, 0x296 for the Civic Touring
+    if ((addr == 0x1A6) || (addr == 0x296)) {
+      int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
+      switch (button) {
+        case 2:  // cancel
+          controls_allowed = 0;
+          break;
+        case 3:  // set
+        case 4:  // resume
+          controls_allowed = 1;
+          break;
+        default:
+          break; // any other button is irrelevant
+      }
+    }
+
+    // user brake signal on 0x17C reports applied brake from computer brake on accord
+    // and crv, which prevents the usual brake safety from working correctly. these
+    // cars have a signal on 0x1BE which only detects user's brake being applied so
+    // in these cases, this is used instead.
+    // most hondas: 0x17C bit 53
+    // accord, crv: 0x1BE bit 4
+    // exit controls on rising edge of brake press or on brake press when speed > 0
+    bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
+    if (is_user_brake_msg) {
+      bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
+      if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
        controls_allowed = 0;
-        break;
-      case 3:  // set
-      case 4:  // resume
-        controls_allowed = 1;
-        break;
-      default:
-        break; // any other button is irrelevant
+      }
+      honda_brake_pressed_prev = brake_pressed;
    }
-  }

-  // user brake signal on 0x17C reports applied brake from computer brake on accord
-  // and crv, which prevents the usual brake safety from working correctly. these
-  // cars have a signal on 0x1BE which only detects user's brake being applied so
-  // in these cases, this is used instead.
-  // most hondas: 0x17C bit 53
-  // accord, crv: 0x1BE bit 4
-  // exit controls on rising edge of brake press or on brake press when speed > 0
-  bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
-  if (is_user_brake_msg) {
-    bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
-    if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
-      controls_allowed = 0;
-    }
-    honda_brake_pressed_prev = brake_pressed;
-  }
-
-  // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
-  // length check because bosch hardware also uses this id (0x201 w/ len = 8)
-  if ((addr == 0x201) && (len == 6)) {
-    gas_interceptor_detected = 1;
-    int gas_interceptor = GET_INTERCEPTOR(to_push);
-    if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
-        (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
-        long_controls_allowed) {
-      controls_allowed = 1;
-    }
-    gas_interceptor_prev = gas_interceptor;
-  }
-
-  // exit controls on rising edge of gas press if no interceptor
-  if (!gas_interceptor_detected) {
-    if (addr == 0x17C) {
-      int gas = GET_BYTE(to_push, 0);
-      if (gas && !(honda_gas_prev) && long_controls_allowed) {
+    // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
+    // length check because bosch hardware also uses this id (0x201 w/ len = 8)
+    if ((addr == 0x201) && (len == 6)) {
+      gas_interceptor_detected = 1;
+      int gas_interceptor = GET_INTERCEPTOR(to_push);
+      if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
+          (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
        controls_allowed = 1;
      }
-      honda_gas_prev = gas;
+      gas_interceptor_prev = gas_interceptor;
    }
-  }
-  if ((bus == 2) && (addr == 0x1FA)) {
-    bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
-    int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);

-    // Forward AEB when stock braking is higher than openpilot braking
-    // only stop forwarding when AEB event is over
-    if (!honda_stock_aeb) {
-      honda_fwd_brake = false;
-    } else if (honda_stock_brake >= honda_brake) {
-      honda_fwd_brake = true;
-    } else {
-      // Leave Honda forward brake as is
+    // exit controls on rising edge of gas press if no interceptor
+    if (!gas_interceptor_detected) {
+      if (addr == 0x17C) {
+        int gas = GET_BYTE(to_push, 0);
+        if (gas && !honda_gas_prev) {
+          controls_allowed = 1;
+        }
+        honda_gas_prev = gas;
+      }
    }
-  }
+    if ((bus == 2) && (addr == 0x1FA)) {
+      bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
+      int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);

-  // if steering controls messages are received on the destination bus, it's an indication
-  // that the relay might be malfunctioning
-  int bus_rdr_car = (board_has_relay()) ? 0 : 2;  // radar bus, car side
-  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
-    if ((honda_bosch_hardware && (bus == bus_rdr_car)) ||
-      (!honda_bosch_hardware && (bus == 0))) {
-      relay_malfunction = true;
+      // Forward AEB when stock braking is higher than openpilot braking
+      // only stop forwarding when AEB event is over
+      if (!honda_stock_aeb) {
+        honda_fwd_brake = false;
+      } else if (honda_stock_brake >= honda_brake) {
+        honda_fwd_brake = true;
+      } else {
+        // Leave Honda forward brake as is
+      }
+    }
+
+    // if steering controls messages are received on the destination bus, it's an indication
+    // that the relay might be malfunctioning
+    int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2;  // radar bus, car side
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
+      if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) ||
+        ((honda_hw == HONDA_N_HW) && (bus == 0))) {
+        relay_malfunction = true;
+      }
    }
  }
+  return valid;
 }

 // all commands: gas, brake and steering
@@ -124,16 +180,12 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);

-  if (honda_bosch_hardware) {
-    if (board_has_relay() && !addr_allowed(addr, bus, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]))) {
-      tx = 0;
-    }
-    if (!board_has_relay() && !addr_allowed(addr, bus, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]))) {
-      tx = 0;
-    }
-  }
-  if (!honda_bosch_hardware && !addr_allowed(addr, bus, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]))) {
-    tx = 0;
+  if (honda_hw == HONDA_BG_HW) {
+    tx = msg_allowed(addr, bus, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
+  } else if (honda_hw == HONDA_BH_HW) {
+    tx = msg_allowed(addr, bus, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
+  } else {
+    tx = msg_allowed(addr, bus, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
  }

  if (relay_malfunction) {
@@ -150,7 +202,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  // BRAKE: safety check
  if ((addr == 0x1FA) && (bus == 0)) {
    honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
-    if (!current_controls_allowed || !long_controls_allowed) {
+    if (!current_controls_allowed) {
      if (honda_brake != 0) {
        tx = 0;
      }
@@ -175,7 +227,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

  // GAS: safety check
  if (addr == 0x200) {
-    if (!current_controls_allowed || !long_controls_allowed) {
+    if (!current_controls_allowed) {
      if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
        tx = 0;
      }
@@ -185,9 +237,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
  // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
  // This avoids unintended engagements while still allowing resume spam
-  int bus_pt = ((board_has_relay()) && honda_bosch_hardware)? 1 : 0;
-  if ((addr == 0x296) && honda_bosch_hardware &&
-      !current_controls_allowed && (bus == bus_pt)) {
+  int bus_pt = (honda_hw == HONDA_BH_HW)? 1 : 0;
+  if ((addr == 0x296) && !current_controls_allowed && (bus == bus_pt)) {
    if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
      tx = 0;
    }
@@ -197,23 +248,31 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return tx;
 }

-static void honda_init(int16_t param) {
+static void honda_nidec_init(int16_t param) {
  UNUSED(param);
  controls_allowed = false;
  relay_malfunction = false;
-  honda_bosch_hardware = false;
+  honda_hw = HONDA_N_HW;
  honda_alt_brake_msg = false;
 }

-static void honda_bosch_init(int16_t param) {
+static void honda_bosch_giraffe_init(int16_t param) {
  controls_allowed = false;
  relay_malfunction = false;
-  honda_bosch_hardware = true;
+  honda_hw = HONDA_BG_HW;
  // Checking for alternate brake override from safety parameter
  honda_alt_brake_msg = (param == 1) ? true : false;
 }

-static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static void honda_bosch_harness_init(int16_t param) {
+  controls_allowed = false;
+  relay_malfunction = false;
+  honda_hw = HONDA_BH_HW;
+  // Checking for alternate brake override from safety parameter
+  honda_alt_brake_msg = (param == 1) ? true : false;
+}
+
+static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  // fwd from car to camera. also fwd certain msgs from camera to car
  // 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
  // 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
@@ -229,9 +288,7 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
      bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
      bool is_acc_hud_msg = addr == 0x30C;
      bool is_brake_msg = addr == 0x1FA;
-      bool block_fwd = is_lkas_msg ||
-                       (is_acc_hud_msg && long_controls_allowed) ||
-                       (is_brake_msg && long_controls_allowed && !honda_fwd_brake);
+      bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
      if (!block_fwd) {
        bus_fwd = 0;
      }
@@ -242,8 +299,8 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {

 static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  int bus_fwd = -1;
-  int bus_rdr_cam = (board_has_relay()) ? 2 : 1;  // radar bus, camera side
-  int bus_rdr_car = (board_has_relay()) ? 0 : 2;  // radar bus, car side
+  int bus_rdr_cam = (honda_hw == HONDA_BH_HW) ? 2 : 1;  // radar bus, camera side
+  int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2;  // radar bus, car side

  if (!relay_malfunction) {
    if (bus_num == bus_rdr_car) {
@@ -260,18 +317,32 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  return bus_fwd;
 }

-const safety_hooks honda_hooks = {
-  .init = honda_init,
+const safety_hooks honda_nidec_hooks = {
+  .init = honda_nidec_init,
  .rx = honda_rx_hook,
  .tx = honda_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
-  .fwd = honda_fwd_hook,
+  .fwd = honda_nidec_fwd_hook,
+  .addr_check = honda_rx_checks,
+  .addr_check_len = sizeof(honda_rx_checks) / sizeof(honda_rx_checks[0]),
 };

-const safety_hooks honda_bosch_hooks = {
-  .init = honda_bosch_init,
+const safety_hooks honda_bosch_giraffe_hooks = {
+  .init = honda_bosch_giraffe_init,
  .rx = honda_rx_hook,
  .tx = honda_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = honda_bosch_fwd_hook,
+  .addr_check = honda_rx_checks,
+  .addr_check_len = sizeof(honda_rx_checks) / sizeof(honda_rx_checks[0]),
+};
+
+const safety_hooks honda_bosch_harness_hooks = {
+  .init = honda_bosch_harness_init,
+  .rx = honda_rx_hook,
+  .tx = honda_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = honda_bosch_fwd_hook,
+  .addr_check = honda_bh_rx_checks,
+  .addr_check_len = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]),
 };
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -5,16 +5,22 @@ const int HYUNDAI_MAX_RATE_UP = 3;
 const int HYUNDAI_MAX_RATE_DOWN = 7;
 const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
 const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
-
 const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}};

+// TODO: do checksum and counter checks
+AddrCheckStruct hyundai_rx_checks[] = {
+  {.addr = {897}, .bus = 0, .expected_timestep = 10000U},
+  {.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
+};
+const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);
+
 int hyundai_rt_torque_last = 0;
 int hyundai_desired_torque_last = 0;
 int hyundai_cruise_engaged_last = 0;
 uint32_t hyundai_ts_last = 0;
 struct sample_t hyundai_torque_driver;         // last few driver torques measured

-static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);

@@ -24,11 +30,6 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    update_sample(&hyundai_torque_driver, torque_driver_new);
  }

-  // check if stock camera ECU is on bus 0
-  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
-    relay_malfunction = true;
-  }
-
  // enter controls on rising edge of ACC, exit controls on ACC off
  if (addr == 1057) {
    // 2 bits: 13-14
@@ -41,6 +42,14 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    }
    hyundai_cruise_engaged_last = cruise_engaged;
  }
+
+  // TODO: check gas pressed
+
+  // check if stock camera ECU is on bus 0
+  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
+    relay_malfunction = true;
+  }
+  return 1;
 }

 static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -49,7 +58,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);

-  if (!addr_allowed(addr, bus, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]))) {
+  if (!msg_allowed(addr, bus, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]))) {
    tx = 0;
  }

@@ -140,4 +149,6 @@ const safety_hooks hyundai_hooks = {
  .tx = hyundai_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = hyundai_fwd_hook,
+  .addr_check = hyundai_rx_checks,
+  .addr_check_len = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]),
 };
--- a/panda/board/safety/safety_mazda.h
+++ b/panda/board/safety/safety_mazda.h
@@ -22,7 +22,6 @@
 #define MAZDA_DRIVER_TORQUE_ALLOWANCE 15
 #define MAZDA_DRIVER_TORQUE_FACTOR 1

-
 int mazda_cruise_engaged_last = 0;
 int mazda_rt_torque_last = 0;
 int mazda_desired_torque_last = 0;
@@ -30,7 +29,7 @@ uint32_t mazda_ts_last = 0;
 struct sample_t mazda_torque_driver;         // last few driver torques measured

 // track msgs coming from OP so that we know what CAM msgs to drop and what to forward
-void mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);

@@ -58,6 +57,7 @@ void mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == MAZDA_CAM) && (addr == MAZDA_WHEEL_SPEED)) {
    relay_malfunction = true;
  }
+  return 1;
 }

 static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -146,4 +146,5 @@ const safety_hooks mazda_hooks = {
  .tx = mazda_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = mazda_fwd_hook,
+  // TODO: add addr safety checks
 };
--- a/panda/board/safety/safety_subaru.h
+++ b/panda/board/safety/safety_subaru.h
@@ -10,13 +10,20 @@ const int SUBARU_DRIVER_TORQUE_FACTOR = 10;

 const AddrBus SUBARU_TX_MSGS[] = {{0x122, 0}, {0x164, 0}, {0x221, 0}, {0x322, 0}};

+// TODO: do checksum and counter checks after adding the signals to the outback dbc file
+AddrCheckStruct subaru_rx_checks[] = {
+  {.addr = {0x119, 0x371}, .bus = 0, .expected_timestep = 20000U},
+  {.addr = {0x240, 0x144}, .bus = 0, .expected_timestep = 50000U},
+};
+const int SUBARU_RX_CHECK_LEN = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]);
+
 int subaru_cruise_engaged_last = 0;
 int subaru_rt_torque_last = 0;
 int subaru_desired_torque_last = 0;
 uint32_t subaru_ts_last = 0;
 struct sample_t subaru_torque_driver;         // last few driver torques measured

-static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);

@@ -41,9 +48,12 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    subaru_cruise_engaged_last = cruise_engaged;
  }

+  // TODO: enforce cancellation on gas pressed
+
  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
    relay_malfunction = true;
  }
+  return 1;
 }

 static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -51,7 +61,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);

-  if (!addr_allowed(addr, bus, SUBARU_TX_MSGS, sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))) {
+  if (!msg_allowed(addr, bus, SUBARU_TX_MSGS, sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))) {
    tx = 0;
  }

@@ -141,4 +151,6 @@ const safety_hooks subaru_hooks = {
  .tx = subaru_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = subaru_fwd_hook,
+  .addr_check = subaru_rx_checks,
+  .addr_check_len = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]),
 };
--- a/panda/board/safety/safety_tesla.h
+++ b/panda/board/safety/safety_tesla.h
@@ -44,7 +44,7 @@ void reset_gmlan_switch_timeout(void);
 void gmlan_switch_init(int timeout_enable);


-static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int 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

@@ -120,6 +120,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

    tesla_controls_allowed_last = controls_allowed;
  }
+  return 1;
 }

 // all commands: gas/regen, friction brake and steering
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -18,11 +18,16 @@ const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2

 const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and gain from dbc file

-// allowed DSU messages on bus 0 and 1
 const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}, {0x344, 0}, {0x365, 0}, {0x366, 0}, {0x4CB, 0},  // DSU bus 0
-                                         {0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1},  // DSU bus 1
-                                         {0x2E4, 0}, {0x411, 0}, {0x412, 0}, {0x343, 0}, {0x1D2, 0}, // LKAS + ACC
-                                         {0x200, 0}};  // interceptor
+                                  {0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1},  // DSU bus 1
+                                  {0x2E4, 0}, {0x411, 0}, {0x412, 0}, {0x343, 0}, {0x1D2, 0},  // LKAS + ACC
+                                  {0x200, 0}};  // interceptor
+
+AddrCheckStruct toyota_rx_checks[] = {
+  {.addr = {0x260}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 20000U},
+  {.addr = {0x1D2}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 30000U},
+};
+const int TOYOTA_RX_CHECKS_LEN = sizeof(toyota_rx_checks) / sizeof(toyota_rx_checks[0]);

 // global actuation limit states
 int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
@@ -36,65 +41,84 @@ int toyota_gas_prev = 0;
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps


-static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-
-  int bus = GET_BUS(to_push);
+static uint8_t toyota_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
  int addr = GET_ADDR(to_push);
-
-  // get eps motor torque (0.66 factor in dbc)
-  if (addr == 0x260) {
-    int torque_meas_new = (GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6);
-    torque_meas_new = to_signed(torque_meas_new, 16);
-
-    // scale by dbc_factor
-    torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
-
-    // update array of sample
-    update_sample(&toyota_torque_meas, torque_meas_new);
-
-    // increase torque_meas by 1 to be conservative on rounding
-    toyota_torque_meas.min--;
-    toyota_torque_meas.max++;
+  int len = GET_LEN(to_push);
+  uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U) + (uint8_t)(len);
+  for (int i = 0; i < (len - 1); i++) {
+    checksum += (uint8_t)GET_BYTE(to_push, i);
  }
+  return checksum;
+}

-  // enter controls on rising edge of ACC, exit controls on ACC off
-  if (addr == 0x1D2) {
-    // 5th bit is CRUISE_ACTIVE
-    int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
-    if (!cruise_engaged) {
-      controls_allowed = 1;
+static uint8_t toyota_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  int checksum_byte = GET_LEN(to_push) - 1;
+  return (uint8_t)(GET_BYTE(to_push, checksum_byte));
+}
+
+static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, toyota_rx_checks, TOYOTA_RX_CHECKS_LEN,
+                                 toyota_get_checksum, toyota_compute_checksum, NULL);
+  if (valid) {
+    int bus = GET_BUS(to_push);
+    int addr = GET_ADDR(to_push);
+
+    // get eps motor torque (0.66 factor in dbc)
+    if (addr == 0x260) {
+      int torque_meas_new = (GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6);
+      torque_meas_new = to_signed(torque_meas_new, 16);
+
+      // scale by dbc_factor
+      torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
+
+      // update array of sample
+      update_sample(&toyota_torque_meas, torque_meas_new);
+
+      // increase torque_meas by 1 to be conservative on rounding
+      toyota_torque_meas.min--;
+      toyota_torque_meas.max++;
    }
-    if (cruise_engaged && !toyota_cruise_engaged_last) {
-      controls_allowed = 1;
-    }
-    toyota_cruise_engaged_last = cruise_engaged;
-  }

-  // exit controls on rising edge of interceptor gas press
-  if (addr == 0x201) {
-    gas_interceptor_detected = 1;
-    int gas_interceptor = GET_INTERCEPTOR(to_push);
-    if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
-        (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
-        long_controls_allowed) {
-      controls_allowed = 1;
+    // enter controls on rising edge of ACC, exit controls on ACC off
+    if (addr == 0x1D2) {
+      // 5th bit is CRUISE_ACTIVE
+      int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
+      if (!cruise_engaged) {
+        controls_allowed = 1;
+      }
+      if (cruise_engaged && !toyota_cruise_engaged_last) {
+        controls_allowed = 1;
+      }
+      toyota_cruise_engaged_last = cruise_engaged;
    }
-    gas_interceptor_prev = gas_interceptor;
-  }

-  // exit controls on rising edge of gas press
-  if (addr == 0x2C1) {
-    int gas = GET_BYTE(to_push, 6) & 0xFF;
-    if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
-      controls_allowed = 1;
+    // exit controls on rising edge of interceptor gas press
+    if (addr == 0x201) {
+      gas_interceptor_detected = 1;
+      int gas_interceptor = GET_INTERCEPTOR(to_push);
+      if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
+          (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD)) {
+        controls_allowed = 1;
+      }
+      gas_interceptor_prev = gas_interceptor;
    }
-    toyota_gas_prev = gas;
-  }

-  // 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
-  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x2E4) && (bus == 0)) {
-    relay_malfunction = true;
+    // exit controls on rising edge of gas press
+    if (addr == 0x2C1) {
+      int gas = GET_BYTE(to_push, 6) & 0xFF;
+      if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected) {
+        controls_allowed = 1;
+      }
+      toyota_gas_prev = gas;
+    }
+
+    // 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x2E4) && (bus == 0)) {
+      relay_malfunction = true;
+    }
  }
+  return valid;
 }

 static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -103,7 +127,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);

-  if (!addr_allowed(addr, bus, TOYOTA_TX_MSGS, sizeof(TOYOTA_TX_MSGS)/sizeof(TOYOTA_TX_MSGS[0]))) {
+  if (!msg_allowed(addr, bus, TOYOTA_TX_MSGS, sizeof(TOYOTA_TX_MSGS)/sizeof(TOYOTA_TX_MSGS[0]))) {
    tx = 0;
  }

@@ -116,7 +140,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

    // GAS PEDAL: safety check
    if (addr == 0x200) {
-      if (!controls_allowed || !long_controls_allowed) {
+      if (!controls_allowed) {
        if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
          tx = 0;
        }
@@ -127,7 +151,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
    if (addr == 0x343) {
      int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
      desired_accel = to_signed(desired_accel, 16);
-      if (!controls_allowed || !long_controls_allowed) {
+      if (!controls_allowed) {
        if (desired_accel != 0) {
          tx = 0;
        }
@@ -210,7 +234,7 @@ static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
      int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
      // in TSS2 the camera does ACC as well, so filter 0x343
      int is_acc_msg = (addr == 0x343);
-      int block_msg = is_lkas_msg || (is_acc_msg && long_controls_allowed);
+      int block_msg = is_lkas_msg || is_acc_msg;
      if (!block_msg) {
        bus_fwd = 0;
      }
@@ -225,4 +249,6 @@ const safety_hooks toyota_hooks = {
  .tx = toyota_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = toyota_fwd_hook,
+  .addr_check = toyota_rx_checks,
+  .addr_check_len = sizeof(toyota_rx_checks)/sizeof(toyota_rx_checks[0]),
 };
--- a/panda/board/safety/safety_toyota_ipas.h
+++ b/panda/board/safety/safety_toyota_ipas.h
@@ -31,9 +31,9 @@ uint32_t ts_angle_last = 0;
 int controls_allowed_last = 0;


-static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  // check standard toyota stuff as well
-  toyota_rx_hook(to_push);
+  bool valid = toyota_rx_hook(to_push);

  int addr = GET_ADDR(to_push);

@@ -95,6 +95,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
                        (ipas_state==5))) {
    controls_allowed = 0;
  }
+  return valid;
 }

 static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
--- a/panda/board/safety/safety_volkswagen.h
+++ b/panda/board/safety/safety_volkswagen.h
@@ -17,13 +17,22 @@ const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;
 // MSG_GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
 const AddrBus VOLKSWAGEN_TX_MSGS[] = {{MSG_HCA_01, 0}, {MSG_GRA_ACC_01, 0}, {MSG_GRA_ACC_01, 2}, {MSG_LDW_02, 0}};

-struct sample_t volkswagen_torque_driver;           // last few driver torques measured
+// TODO: do checksum and counter checks
+AddrCheckStruct volkswagen_rx_checks[] = {
+  {.addr = {MSG_EPS_01}, .bus = 0, .expected_timestep = 10000U},
+  {.addr = {MSG_ACC_06}, .bus = 0, .expected_timestep = 20000U},
+  {.addr = {MSG_MOTOR_20}, .bus = 0, .expected_timestep = 20000U},
+};
+
+const int VOLKSWAGEN_RX_CHECK_LEN = sizeof(volkswagen_rx_checks) / sizeof(volkswagen_rx_checks[0]);
+
+struct sample_t volkswagen_torque_driver;  // last few driver torques measured
 int volkswagen_rt_torque_last = 0;
 int volkswagen_desired_torque_last = 0;
 uint32_t volkswagen_ts_last = 0;
 int volkswagen_gas_prev = 0;

-static void volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+static int volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);

@@ -50,7 +59,7 @@ static void volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  // exit controls on rising edge of gas press. Bits [12-20)
  if (addr == MSG_MOTOR_20) {
    int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
-    if ((gas > 0) && (volkswagen_gas_prev == 0) && long_controls_allowed) {
+    if ((gas > 0) && (volkswagen_gas_prev == 0)) {
      controls_allowed = 0;
    }
    volkswagen_gas_prev = gas;
@@ -59,6 +68,7 @@ static void volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_01)) {
    relay_malfunction = true;
  }
+  return 1;
 }

 static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -66,7 +76,7 @@ static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int bus = GET_BUS(to_send);
  int tx = 1;

-  if (!addr_allowed(addr, bus, VOLKSWAGEN_TX_MSGS, sizeof(VOLKSWAGEN_TX_MSGS)/sizeof(VOLKSWAGEN_TX_MSGS[0]))) {
+  if (!msg_allowed(addr, bus, VOLKSWAGEN_TX_MSGS, sizeof(VOLKSWAGEN_TX_MSGS)/sizeof(VOLKSWAGEN_TX_MSGS[0]))) {
    tx = 0;
  }

@@ -174,4 +184,6 @@ const safety_hooks volkswagen_hooks = {
  .tx = volkswagen_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = volkswagen_fwd_hook,
+  .addr_check = volkswagen_rx_checks,
+  .addr_check_len = sizeof(volkswagen_rx_checks) / sizeof(volkswagen_rx_checks[0]),
 };
--- a/panda/board/safety_declarations.h
+++ b/panda/board/safety_declarations.h
@@ -1,3 +1,6 @@
+const int MAX_WRONG_COUNTERS = 5;
+const uint8_t MAX_MISSED_MSGS = 10U;
+
 // sample struct that keeps 3 samples in memory
 struct sample_t {
  int values[6];
@@ -16,7 +19,23 @@ typedef struct {
  int bus;
 } AddrBus;

-void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+// params and flags about checksum, counter and frequency checks for each monitored address
+typedef struct {
+  // const params
+  const int addr[3];                 // check either messages (e.g. honda steer). Array MUST terminate with a zero to know its length.
+  const int bus;                     // bus where to expect the addr. Temp hack: -1 means skip the bus check
+  const bool check_checksum;         // true is checksum check is performed
+  const uint8_t max_counter;         // maximum value of the counter. 0 means that the counter check is skipped
+  const uint32_t expected_timestep;  // expected time between message updates [us]
+  // dynamic flags
+  bool valid_checksum;               // true if and only if checksum check is passed
+  int wrong_counters;                // counter of wrong counters, saturated between 0 and MAX_WRONG_COUNTERS
+  uint8_t last_counter;              // last counter value
+  uint32_t last_timestamp;           // micro-s
+  bool lagging;                      // true if and only if the time between updates is excessive
+} AddrCheckStruct;
+
+int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
@@ -30,10 +49,20 @@ bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
  const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
 bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
 float interpolate(struct lookup_t xy, float x);
-bool addr_allowed(int addr, int bus, const AddrBus addr_list[], int len);
+bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len);
+int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len);
+void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter);
+void update_addr_timestamp(AddrCheckStruct addr_list[], int index);
+bool is_msg_valid(AddrCheckStruct addr_list[], int index);
+bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
+                       AddrCheckStruct *addr_check,
+                       const int addr_check_len,
+                       uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
+                       uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
+                       uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push));

 typedef void (*safety_hook_init)(int16_t param);
-typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
+typedef int (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
 typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
 typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
@@ -44,17 +73,18 @@ typedef struct {
  tx_hook tx;
  tx_lin_hook tx_lin;
  fwd_hook fwd;
+  AddrCheckStruct *addr_check;
+  const int addr_check_len;
 } safety_hooks;

+void safety_tick(const safety_hooks *hooks);
+
 // This can be set by the safety hooks
 bool controls_allowed = false;
 bool relay_malfunction = false;
 bool gas_interceptor_detected = false;
 int gas_interceptor_prev = 0;

-// This is set by USB command 0xdf
-bool long_controls_allowed = true;
-
 // time since safety mode has been changed
 uint32_t safety_mode_cnt = 0U;
 // allow 1s of transition timeout after relay changes state before assessing malfunctioning
--- a/panda/board/spi_flasher.h
+++ b/panda/board/spi_flasher.h
@@ -65,11 +65,13 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      // so it's blocked over wifi
      switch (setup->b.wValue.w) {
        case 0:
-          #ifdef ALLOW_DEBUG
+          // TODO: put this back when it's no longer a "devkit"
+          //#ifdef ALLOW_DEBUG
+          #if 1
          if (hardwired) {
          #else
-          // no more bootstub on UNO
-          if (hardwired && hw_type != HW_TYPE_UNO) {
+          // no more bootstub on UNO once OTP block is flashed
+          if (hardwired && ((hw_type != HW_TYPE_UNO) || (!is_provisioned()))) {
          #endif
            puts("-> entering bootloader\n");
            enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
--- a/panda/drivers/windows/ECUsim
+++ b/panda/drivers/windows/ECUsim
@@ -22,32 +22,32 @@
    <ProjectGuid>{D99E2FCD-21A4-4065-949A-31E34E0E69D1}</ProjectGuid>
    <Keyword>Win32Proj</Keyword>
    <RootNamespace>ECUsimCLI</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
  </PropertyGroup>
  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
    <ConfigurationType>Application</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
    <ConfigurationType>Application</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
    <ConfigurationType>Application</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
    <ConfigurationType>Application</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
--- a/panda/drivers/windows/ECUsim
+++ b/panda/drivers/windows/ECUsim
@@ -22,32 +22,32 @@
    <ProjectGuid>{96E0E646-EE76-444D-9A77-A0CD7F781DEB}</ProjectGuid>
    <Keyword>Win32Proj</Keyword>
    <RootNamespace>ECUsimDLL</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
  </PropertyGroup>
  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
--- a/panda/drivers/windows/README.md
+++ b/panda/drivers/windows/README.md
@@ -20,7 +20,7 @@ ______/\\\\\\\\\\\____/\\\\\\\\\_______/\\\\\\\\\\\\\\\______/\\\\\\\\\\________

 # Installing J2534 driver:

-[Download](https://github.com/commaai/panda/files/1742802/panda.J2534.driver.install.zip)
+[Download](https://github.com/commaai/panda/files/4017364/panda.J2534.driver.install.zip)

 Depending on what version of windows you are on, you may need to separately install the WinUSB driver (see next section).

--- a/panda/drivers/windows/panda/panda.vcxproj
+++ b/panda/drivers/windows/panda/panda.vcxproj
@@ -22,32 +22,32 @@
    <ProjectGuid>{5528AEFB-638D-49AF-B9D4-965154E7D531}</ProjectGuid>
    <Keyword>Win32Proj</Keyword>
    <RootNamespace>panda</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
  </PropertyGroup>
  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
--- a/panda/drivers/windows/pandaJ2534DLL
+++ b/panda/drivers/windows/pandaJ2534DLL
@@ -14,21 +14,21 @@
    <ProjectGuid>{7912F978-B48C-4C5D-8BFD-5D1E22158E47}</ProjectGuid>
    <Keyword>Win32Proj</Keyword>
    <RootNamespace>pandaJ2534DLLTest</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
    <ProjectName>Tests</ProjectName>
  </PropertyGroup>
  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
    <UseOfMfc>false</UseOfMfc>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
    <UseOfMfc>false</UseOfMfc>
--- a/panda/drivers/windows/pandaJ2534DLL/MessageRx.h
+++ b/panda/drivers/windows/pandaJ2534DLL/MessageRx.h
@@ -21,7 +21,7 @@ public:
 		}

 		this->next_part = (this->next_part + 1) % 0x10;
-		unsigned int payload_len = MIN(expected_size - msg.size(), max_packet_size);
+		unsigned int payload_len = min(expected_size - msg.size(), max_packet_size);
 		if (piece.size() < payload_len) {
 			//A frame was received that could have held more data.
 			//No examples of this protocol show that happening, so
--- a/panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
+++ b/panda/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
@@ -170,7 +170,7 @@ DWORD PandaJ2534Device::msg_tx_thread() {
 				} else { //Ran out of things that need to be sent now. Sleep!
 					auto time_diff = std::chrono::duration_cast<std::chrono::milliseconds>
 						(this->task_queue.front()->expire - std::chrono::steady_clock::now());
-					sleepDuration = MAX(1, time_diff.count());
+					sleepDuration = max(1, time_diff.count());
 					goto break_flow_ctrl_loop;
 				}
 			}
--- a/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj
+++ b/panda/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj
@@ -14,19 +14,19 @@
    <ProjectGuid>{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}</ProjectGuid>
    <Keyword>Win32Proj</Keyword>
    <RootNamespace>pandaJ2534DLL</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
  </PropertyGroup>
  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
--- a/panda/drivers/windows/panda_playground/panda_playground.vcxproj
+++ b/panda/drivers/windows/panda_playground/panda_playground.vcxproj
@@ -22,32 +22,32 @@
    <ProjectGuid>{691DB635-C272-4B98-897E-0505B970DCA9}</ProjectGuid>
    <Keyword>Win32Proj</Keyword>
    <RootNamespace>panda_playground</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
  </PropertyGroup>
  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
    <ConfigurationType>Application</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
    <ConfigurationType>Application</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
    <ConfigurationType>Application</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
    <ConfigurationType>Application</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
  </PropertyGroup>
--- a/panda/drivers/windows/panda_shared/panda.h
+++ b/panda/drivers/windows/panda_shared/panda.h
@@ -39,7 +39,7 @@
 namespace panda {
 	typedef enum _PANDA_SAFETY_MODE : uint16_t {
 		SAFETY_SILENT = 0,
-		SAFETY_HONDA = 1,
+		SAFETY_HONDA_NIDEC = 1,
 		SAFETY_ALLOUTPUT = 17,
 	} PANDA_SAFETY_MODE;

@@ -78,13 +78,23 @@ namespace panda {

 	#pragma pack(1)
 	typedef struct _PANDA_HEALTH {
+		uint32_t uptime;
 		uint32_t voltage;
 		uint32_t current;
-		uint8_t started;
+		uint32_t can_rx_errs;
+		uint32_t can_send_errs;
+		uint32_t can_fwd_errs;
+		uint32_t gmlan_send_errs;
+		uint32_t faults;
+		uint8_t ignition_line;
+		uint8_t ignition_can;
 		uint8_t controls_allowed;
 		uint8_t gas_interceptor_detected;
-		uint8_t started_signal_detected;
-		uint8_t started_alt;
+		uint8_t car_harness_status;
+		uint8_t usb_power_mode;
+		uint8_t safety_mode;
+		uint8_t fault_status;
+		uint8_t power_save_enabled;
 	} PANDA_HEALTH, *PPANDA_HEALTH;

 	typedef struct _PANDA_CAN_MSG {
--- a/panda/drivers/windows/redist/vscruntimeinfo.nsh.sample
+++ b/panda/drivers/windows/redist/vscruntimeinfo.nsh.sample
@@ -7,7 +7,7 @@
 ;An list of the registry keys has been maintained here: https://stackoverflow.com/a/34209692/627525


-;Microsoft Visual C++ 2015 Redistributable (x86) - 14.0.24123
-!define VCRuntimeRegKey "SOFTWARE\Classes\Installer\Dependencies\{206898cc-4b41-4d98-ac28-9f9ae57f91fe}"
+;Microsoft Visual C++ 2015-2019 Redistributable (x86) - 14.24.28127
+!define VCRuntimeRegKey "Installer\Dependencies\VC,redist.x86,x86,14.24,bundle"
 !define VCRuntimeSetupPath "redist\"
 !define VCRuntimeSetupFile "vc_redist.x86.exe"
--- a/panda/python/init.py
+++ b/panda/python/init.py
@@ -23,14 +23,14 @@ BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
 DEBUG = os.getenv("PANDADEBUG") is not None

 # *** wifi mode ***
-def build_st(target, mkfile="Makefile"):
+def build_st(target, mkfile="Makefile", clean=True):
  from panda import BASEDIR
-  cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
+
+  clean_cmd = "make -f %s clean" % mkfile if clean else ":"
+  cmd = 'cd %s && %s && make -f %s %s' % (os.path.join(BASEDIR, "board"), clean_cmd, mkfile, target)
  try:
    _ = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
  except subprocess.CalledProcessError:
-    #output = exception.output
-    #returncode = exception.returncode
    raise

 def parse_can_buffer(dat):
@@ -111,11 +111,11 @@ class Panda(object):

  # matches cereal.car.CarParams.SafetyModel
  SAFETY_SILENT = 0
-  SAFETY_HONDA = 1
+  SAFETY_HONDA_NIDEC = 1
  SAFETY_TOYOTA = 2
  SAFETY_ELM327 = 3
  SAFETY_GM = 4
-  SAFETY_HONDA_BOSCH = 5
+  SAFETY_HONDA_BOSCH_GIRAFFE = 5
  SAFETY_FORD = 6
  SAFETY_CADILLAC = 7
  SAFETY_HYUNDAI = 8
@@ -128,6 +128,7 @@ class Panda(object):
  SAFETY_ALLOUTPUT = 17
  SAFETY_GM_ASCM = 18
  SAFETY_NOOUTPUT = 19
+  SAFETY_HONDA_BOSCH_HARNESS = 20

  SERIAL_DEBUG = 0
  SERIAL_ESP = 1
@@ -346,25 +347,26 @@ class Panda(object):
  # ******************* health *******************

  def health(self):
-    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 37)
-    a = struct.unpack("IIIIIIIBBBBBBBBB", dat)
+    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 41)
+    a = struct.unpack("IIIIIIIIBBBBBBBBB", dat)
    return {
      "uptime": a[0],
      "voltage": a[1],
      "current": a[2],
-      "can_send_errs": a[3],
-      "can_fwd_errs": a[4],
-      "gmlan_send_errs": a[5],
-      "faults": a[6],
-      "ignition_line": a[7],
-      "ignition_can": a[8],
-      "controls_allowed": a[9],
-      "gas_interceptor_detected": a[10],
-      "car_harness_status": a[11],
-      "usb_power_mode": a[12],
-      "safety_mode": a[13],
-      "fault_status": a[14],
-      "power_save_enabled": a[15]
+      "can_rx_errs": a[3],
+      "can_send_errs": a[4],
+      "can_fwd_errs": a[5],
+      "gmlan_send_errs": a[6],
+      "faults": a[7],
+      "ignition_line": a[8],
+      "ignition_can": a[9],
+      "controls_allowed": a[10],
+      "gas_interceptor_detected": a[11],
+      "car_harness_status": a[12],
+      "usb_power_mode": a[13],
+      "safety_mode": a[14],
+      "fault_status": a[15],
+      "power_save_enabled": a[16]
    }

  # ******************* control *******************
@@ -388,7 +390,7 @@ class Panda(object):
  def get_signature(self):
    part_1 = self._handle.controlRead(Panda.REQUEST_IN, 0xd3, 0, 0, 0x40)
    part_2 = self._handle.controlRead(Panda.REQUEST_IN, 0xd4, 0, 0, 0x40)
-    return part_1 + part_2
+    return bytes(part_1 + part_2)

  def get_type(self):
    return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
--- a/panda/python/uds.py
+++ b/panda/python/uds.py
@@ -268,17 +268,19 @@ _negative_response_codes = {
    0x93: 'voltage too low',
 }

+
 class CanClient():
-  def __init__(self, can_send: Callable[[Tuple[int, bytes, int]], None], can_recv: Callable[[], List[Tuple[int, int, bytes, int]]], tx_addr: int, rx_addr: int, bus: int, debug: bool=False):
+  def __init__(self, can_send: Callable[[Tuple[int, bytes, int]], None], can_recv: Callable[[], List[Tuple[int, int, bytes, int]]], tx_addr: int, rx_addr: int, bus: int, sub_addr: int=None, debug: bool=False):
    self.tx = can_send
    self.rx = can_recv
    self.tx_addr = tx_addr
    self.rx_addr = rx_addr
+    self.sub_addr = sub_addr
    self.bus = bus
    self.debug = debug

  def _recv_filter(self, bus, addr):
-    # handle functionl addresses (switch to first addr to respond)
+    # handle functional addresses (switch to first addr to respond)
    if self.tx_addr == 0x7DF:
      is_response = addr >= 0x7E8 and addr <= 0x7EF
      if is_response:
@@ -303,8 +305,14 @@ class CanClient():
      else:
        for rx_addr, rx_ts, rx_data, rx_bus in msgs or []:
          if self._recv_filter(rx_bus, rx_addr) and len(rx_data) > 0:
-            rx_data = bytes(rx_data) # convert bytearray to bytes
+            rx_data = bytes(rx_data)  # convert bytearray to bytes
+
            if self.debug: print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
+
+            # Cut off sub addr in first byte
+            if self.sub_addr is not None:
+              rx_data = rx_data[1:]
+
            msg_array.append(rx_data)
      # break when non-full buffer is processed
      if len(msgs) < 254:
@@ -316,15 +324,23 @@ class CanClient():
      if delay and not first:
        if self.debug: print(f"CAN-TX: delay - {delay}")
        time.sleep(delay)
+
+      if self.sub_addr is not None:
+        msg = bytes([self.sub_addr]) + msg
+
      if self.debug: print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(msg)}")
+      assert len(msg) <= 8
+
      self.tx(self.tx_addr, msg, self.bus)
      first = False

+
 class IsoTpMessage():
-  def __init__(self, can_client: CanClient, timeout: float=1, debug: bool=False):
+  def __init__(self, can_client: CanClient, timeout: float=1, debug: bool=False, max_len: int=8):
    self._can_client = can_client
    self.timeout = timeout
    self.debug = debug
+    self.max_len = max_len

  def send(self, dat: bytes) -> None:
    # throw away any stale data
@@ -347,12 +363,12 @@ class IsoTpMessage():
    if self.tx_len < 8:
      # single frame (send all bytes)
      if self.debug: print("ISO-TP: TX - single frame")
-      msg = (bytes([self.tx_len]) + self.tx_dat).ljust(8, b"\x00")
+      msg = (bytes([self.tx_len]) + self.tx_dat).ljust(self.max_len, b"\x00")
      self.tx_done = True
    else:
      # first frame (send first 6 bytes)
      if self.debug: print("ISO-TP: TX - first frame")
-      msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:6]).ljust(8, b"\x00")
+      msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:6]).ljust(self.max_len, b"\x00")
    self._can_client.send([msg])

  def recv(self) -> bytes:
@@ -390,7 +406,7 @@ class IsoTpMessage():
      if self.debug: print(f"ISO-TP: RX - first frame - idx={self.rx_idx} done={self.rx_done}")
      if self.debug: print(f"ISO-TP: TX - flow control continue")
      # send flow control message (send all bytes)
-      msg = b"\x30\x00\x00".ljust(8, b"\x00")
+      msg = b"\x30\x00\x00".ljust(self.max_len, b"\x00")
      self._can_client.send([msg])
      return

@@ -400,7 +416,7 @@ class IsoTpMessage():
      self.rx_idx += 1
      assert self.rx_idx & 0xF == rx_data[0] & 0xF, "isotp - rx: invalid consecutive frame index"
      rx_size = self.rx_len - len(self.rx_dat)
-      self.rx_dat += rx_data[1:1+min(rx_size, 7)]
+      self.rx_dat += rx_data[1:1+rx_size]
      if self.rx_len == len(self.rx_dat):
        self.rx_done = True
      if self.debug: print(f"ISO-TP: RX - consecutive frame - idx={self.rx_idx} done={self.rx_done}")
@@ -417,15 +433,17 @@ class IsoTpMessage():
        # scale is 1 milliseconds if first bit == 0, 100 micro seconds if first bit == 1
        delay_div = 1000. if rx_data[2] & 0x80 == 0 else 10000.
        delay_sec = delay_ts / delay_div
+
        # first frame = 6 bytes, each consecutive frame = 7 bytes
-        start = 6 + self.tx_idx * 7
+        num_bytes = self.max_len - 1
+        start = 6 + self.tx_idx * num_bytes
        count = rx_data[1]
-        end = start + count * 7 if count > 0 else self.tx_len
+        end = start + count * num_bytes if count > 0 else self.tx_len
        tx_msgs = []
-        for i in range(start, end, 7):
+        for i in range(start, end, num_bytes):
          self.tx_idx += 1
          # consecutive tx messages
-          msg = (bytes([0x20 | (self.tx_idx & 0xF)]) + self.tx_dat[i:i+7]).ljust(8, b"\x00")
+          msg = (bytes([0x20 | (self.tx_idx & 0xF)]) + self.tx_dat[i:i+num_bytes]).ljust(self.max_len, b"\x00")
          tx_msgs.append(msg)
        # send consecutive tx messages
        self._can_client.send(tx_msgs, delay=delay_sec)
@@ -445,13 +463,14 @@ def get_rx_addr_for_tx_addr(tx_addr):
  if tx_addr < 0xFFF8:
    # standard 11 bit response addr (add 8)
    return tx_addr + 8
-  
+
  if tx_addr > 0x10000000 and tx_addr < 0xFFFFFFFF:
    # standard 29 bit response addr (flip last two bytes)
    return (tx_addr & 0xFFFF0000) + (tx_addr<<8 & 0xFF00) + (tx_addr>>8 & 0xFF)

  raise ValueError("invalid tx_addr: {}".format(tx_addr))

+
 class UdsClient():
  def __init__(self, panda, tx_addr: int, rx_addr: int=None, bus: int=0, timeout: float=1, debug: bool=False):
    self.bus = bus
@@ -714,7 +733,7 @@ class UdsClient():
    if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD or \
      dtc_report_type == DTC_REPORT_TYPE.DTC_BY_SEVERITY_MASK_RECORD:
      data += bytes([dtc_severity_mask_type, dtc_status_mask_type])
-    
+
    resp = self._uds_request(SERVICE_TYPE.READ_DTC_INFORMATION, subfunction=dtc_report_type, data=data)

    # TODO: parse response
--- a/panda/tests/automated/8_gps.py
+++ b/panda/tests/automated/8_gps.py
@@ -0,0 +1,23 @@
+import time
+from panda import PandaSerial
+from .helpers import reset_pandas, test_all_gps_pandas, panda_connect_and_init
+
+# Reset the pandas before running tests
+def aaaa_reset_before_tests():
+  reset_pandas()
+
+@test_all_gps_pandas
+@panda_connect_and_init
+def test_gps_version(p):
+  serial = PandaSerial(p, 1, 9600)
+  # Reset and check twice to make sure the enabling works
+  for i in range(2):
+    # Reset GPS
+    p.set_esp_power(0)
+    time.sleep(0.5)
+    p.set_esp_power(1)
+    time.sleep(1)
+
+    # Read startup message and check if version is contained
+    dat = serial.read(0x1000)    # Read one full panda DMA buffer. This should include the startup message
+    assert b'HPG 1.40ROV' in dat
--- a/Show More
+++ b/Show More