diff --git a/car.capnp b/car.capnp
index 695f4a91bc47fd..00a7cf545053b7 100644
--- a/car.capnp
+++ b/car.capnp
@@ -91,6 +91,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     carUnrecognized @66;
     radarCommIssue @67;
     driverMonitorLowAcc @68;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
   }
 }
 
@@ -151,7 +154,7 @@ struct CarState {
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
-  
+
   # blindspot sensors
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
@@ -379,6 +382,7 @@ struct CarParams {
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   communityFeature @46: Bool;  # true if a community maintained feature is detected
   fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
 
   struct LateralParams {
     torqueBP @0 :List(Int32);
@@ -456,8 +460,9 @@ struct CarParams {
 
   enum TransmissionType {
     unknown @0;
-    automatic @1;
-    manual @2;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
   }
 
   struct CarFw {
@@ -496,4 +501,9 @@ struct CarParams {
     fw @1;
     fixed @2;
   }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
 }
diff --git a/log.capnp b/log.capnp
index e825b00861d9e1..375fc375605779 100644
--- a/log.capnp
+++ b/log.capnp
@@ -352,6 +352,24 @@ struct HealthData {
 
   enum FaultType {
     relayMalfunction @0;
+    unusedInterruptHandled @1;
+    interruptRateCan1 @2;
+    interruptRateCan2 @3;
+    interruptRateCan3 @4;
+    interruptRateTach @5;
+    interruptRateGmlan @6;
+    interruptRateInterrupts @7;
+    interruptRateSpiDma @8;
+    interruptRateSpiCs @9;
+    interruptRateUart1 @10;
+    interruptRateUart2 @11;
+    interruptRateUart3 @12;
+    interruptRateUart5 @13;
+    interruptRateUartDma @14;
+    interruptRateUsb @15;
+    interruptRateTim1 @16;
+    interruptRateTim3 @17;
+    registerDivergent @18;
   }
 
   enum HwType {
@@ -805,7 +823,7 @@ struct PathPlan {
 
 struct LiveLocationKalman {
 
-  # More info on reference frames: 
+  # More info on reference frames:
   # https://github.com/commaai/openpilot/tree/master/common/transformations
 
   positionECEF @0 : Measurement;
@@ -821,10 +839,10 @@ struct LiveLocationKalman {
   orientationECEF @6 : Measurement;
   orientationNED @7 : Measurement;
   angularVelocityDevice @8 : Measurement;
-  
+
   # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
   orientationNEDCalibrated @9 : Measurement;
-  
+
   # Calibrated frame is simply device frame
   # aligned with the vehicle
   velocityCalibrated @10 : Measurement;
@@ -835,7 +853,7 @@ struct LiveLocationKalman {
   gpsTimeOfWeek @14 :Float64;
   status @15 :Status;
   unixTimestampMillis @16 :Int64;
-  
+
   enum Status {
     uninitialized @0;
     uncalibrated @1;
@@ -1775,12 +1793,14 @@ struct UiLayoutState {
   activeApp @0 :App;
   sidebarCollapsed @1 :Bool;
   mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
 
   enum App {
     home @0;
     music @1;
     nav @2;
     settings @3;
+    none @4;
   }
 }
 
@@ -1971,7 +1991,7 @@ struct Event {
     sendcan @17 :List(CanData);
     logMessage @18 :Text;
     liveCalibration @19 :LiveCalibrationData;
-    androidLogEntry @20 :AndroidLogEntry;
+    androidLog @20 :AndroidLogEntry;
     gpsLocation @21 :GpsLocationData;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
diff --git a/messaging/messaging_pyx_setup.py b/messaging/messaging_pyx_setup.py
index a763d89f862586..f5962d0c2b2310 100644
--- a/messaging/messaging_pyx_setup.py
+++ b/messaging/messaging_pyx_setup.py
@@ -34,7 +34,8 @@ def get_ext_filename(self, ext_name):
 libraries = ['zmq']
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 
-if ARCH == "aarch64":
+if ARCH == "aarch64" and os.path.isdir("/system"):
+  # android
   extra_compile_args += ["-Wno-deprecated-register"]
   libraries += ['gnustl_shared']
 
diff --git a/service_list.yaml b/service_list.yaml
index 960cd44f5587db..e56ed57abe22c6 100644
--- a/service_list.yaml
+++ b/service_list.yaml
@@ -76,6 +76,7 @@ carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
 dMonitoringState: [8073, true, 5., 1]
+offroadLayout: [8074, false, 0.]
 
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
@@ -103,19 +104,31 @@ testJoystick: [8056, false, 0.]
 # gpsd -- publishes EON's gps
 #   publishes: gpsNMEA
 
-# visiond -- talks to the cameras, runs the model, saves the videos
-#   publishes:  frame, model, driverMonitoring, cameraOdometry, thumbnail
+# camerad -- publishes camera frames
+#   publishes: frame, frontFrame, thumbnail
+#   subscribes: driverState
+
+# dmonitoringmodeld -- runs face detection on camera frames
+#   publishes: driverState
 
 # **** stateful data transformers ****
 
+# modeld -- runs & publishes the model 
+#   publishes: model, cameraOdometry
+#   subscribes: liveCalibration, pathPlan
+
 # plannerd -- decides where to drive the car
 #   subscribes: carState, model, radarState, controlsState, liveParameters
 #   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc
 
 # controlsd -- drives the car by sending CAN messages to panda
-#   subscribes: can, thermal, health, plan, pathPlan, driverMonitoring, liveCalibration
+#   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
 #   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams
 
+# dmonitoringd -- processes driver monitoring data and publishes driver awareness
+#   subscribes: driverState, liveCalibration, carState, model, gpsLocation
+#   publishes: dMonitoringState
+
 # radard -- processes the radar and vision data
 #   subscribes: can, controlsState, model, liveParameters
 #   publishes:  radarState, liveTracks