Merge pull request commaai#538 from arne182/071-clean

071 clean
rav4kumar · Feb 10, 2020 · b3167d8 · b3167d8
2 parents 1df0674 + ec37d0c
commit b3167d8
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Showing 34 changed files with 496 additions and 30 deletions.
diff --git a/cereal/arne182.capnp b/cereal/arne182.capnp
@@ -90,14 +90,15 @@ struct CarStateArne182 {
 
 
 struct Arne182Status { 
-  blindspot @0 :Bool;
+  rightBlindspot @0 :Bool;
   distanceToggle @1 :Float32;
   laneDepartureToggle @2 :Bool;
   accSlowToggle @3 :Bool;
   blindspotside @4 :Float32;
   readdistancelines @5 :Float32;
   gasbuttonstatus @6 :Float32;
   lkMode @7 :Bool;
+  leftBlindspot@8 :Bool;
   }
 
 struct LiveTrafficData {

diff --git a/opendbc/can/packer_pyx.pyx b/opendbc/can/packer_pyx.pyx
@@ -64,4 +64,5 @@ cdef class CANPacker:
       addr, size = self.name_to_address_and_size[name_or_addr.encode('utf8')]
     cdef uint64_t val = self.pack(addr, values, counter)
     val = self.ReverseBytes(val)
-    return [addr, 0, (<char *>&val)[:size], bus]
+    cdef bytes dat = (<char *>&val)[:size]
+    return [addr, 0, dat, bus]
diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -267,6 +267,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/lexus_ct200h_2018_pt_generated.dbc b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/lexus_gs300h_2017_pt_generated.dbc b/opendbc/lexus_gs300h_2017_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/lexus_is_2018_pt_generated.dbc b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/lexus_rx_350_2016_pt_generated.dbc b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_avalon_2017_pt_generated.dbc b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_corolla_2017_pt_generated.dbc b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_highlander_2017_pt_generated.dbc b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_prius_2017_pt_generated.dbc b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_rav4_2017_pt_generated.dbc b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -301,6 +301,18 @@ BO_ 1163 RSA3: 8 FCM
  SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
  SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
 
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
+
+
+BO_ 515 JOEL_ID: 8 XXX
+ SG_ ACC_DISTANCE : 1|2@0+ (1,0) [1|3] "" XXX
+ SG_ LANE_WARNING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_SLOW : 16|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";

diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
@@ -66,7 +66,7 @@ cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
 bool is_pigeon = false;
 const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 30;  // turn off charge after 30 hrs
 const float VBATT_START_CHARGING = 11.5;
-const float VBATT_PAUSE_CHARGING = 11.0;
+const float VBATT_PAUSE_CHARGING = 10.5;
 float voltage_f = 12.5;  // filtered voltage
 uint32_t no_ignition_cnt = 0;
 bool connected_once = false;
@@ -407,8 +407,6 @@ void can_health(PubSocket *publisher) {
     pthread_mutex_lock(&usb_lock);
     libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CLIENT), 0, NULL, 0, TIMEOUT);
     pthread_mutex_unlock(&usb_lock);
-    printf("POWER DOWN DEVICE\n");
-    system("service call power 17 i32 0 i32 1");
   }
   if (!no_ignition_exp && (voltage_f > VBATT_START_CHARGING) && !cdp_mode) {
     printf("TURN ON CHARGING!\n");
@@ -551,6 +549,9 @@ void can_send(SubSocket *subscriber) {
       send[i*4] = (cmsg.getAddress() << 21) | 1;
     }
     assert(cmsg.getDat().size() <= 8);
+    if (cmsg.getAddress() == 0x750) {
+        printf("Sent message to 0x750\n");
+    }
     send[i*4+1] = cmsg.getDat().size() | (cmsg.getSrc() << 4);
     memcpy(&send[i*4+2], cmsg.getDat().begin(), cmsg.getDat().size());
   }

diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
@@ -19,6 +19,16 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
     f.address = can_msg[0]
     f.busTime = can_msg[1]
     f.dat = can_msg[2]
+    #try:
+      #f.dat = can_msg[2].hex()
+    #except:
+      #f.dat = can_msg[2]
+      #print("address")
+      #print(f.address)
+      #print("dat")
+      #print(f.dat)
+    if f.address == 0x750:
+      print(f.dat)
     f.src = can_msg[3]
     can_list.push_back(f)
   cdef string out

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
@@ -126,6 +126,6 @@ def is_ecu_disconnected(fingerprint, fingerprint_list, ecu_fingerprint, car, ecu
   return ecu_in_car and not any(msg in fingerprint for msg in ecu_fingerprint[ecu])
 
 
-def make_can_msg(addr, dat, bus):
+def make_can_msg(addr, dat: bytes, bus):
   return [addr, 0, dat, bus]