From 3150e2d7c47a296c2eeecb1e3f2676abc1534b01 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Tue, 4 Feb 2020 15:36:37 +0100
Subject: [PATCH 01/32] Add BSM Signnals

---
 opendbc/generator/toyota/_toyota_2017.dbc | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc
index 3ad15b80556732..403ba10ea44f79 100644
--- 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";

From 643fb77681688a57a90978dc0ffcc0129ee27792 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Tue, 4 Feb 2020 15:45:12 +0100
Subject: [PATCH 02/32] update with BSM signal

---
 opendbc/lexus_ct200h_2018_pt_generated.dbc      |  12 ++++++++++++
 opendbc/lexus_gs300h_2017_pt_generated.dbc      |  12 ++++++++++++
 opendbc/lexus_is_2018_pt_generated.dbc          |  12 ++++++++++++
 opendbc/lexus_rx_350_2016_pt_generated.dbc      |  12 ++++++++++++
 opendbc/lexus_rx_hybrid_2017_pt_generated.dbc   |  12 ++++++++++++
 opendbc/toyota_avalon_2017_pt_generated.dbc     |  12 ++++++++++++
 .../toyota_camry_hybrid_2018_pt_generated.dbc   |  12 ++++++++++++
 opendbc/toyota_corolla_2017_pt_generated.dbc    |  12 ++++++++++++
 opendbc/toyota_highlander_2017_pt_generated.dbc |  12 ++++++++++++
 ...yota_highlander_hybrid_2018_pt_generated.dbc |  12 ++++++++++++
 opendbc/toyota_nodsu_hybrid_pt_generated.dbc    |  12 ++++++++++++
 opendbc/toyota_nodsu_pt_generated.dbc           |  12 ++++++++++++
 opendbc/toyota_prius_2017_pt_generated.dbc      |  12 ++++++++++++
 opendbc/toyota_rav4_2017_pt_generated.dbc       |  12 ++++++++++++
 .../toyota_rav4_hybrid_2017_pt_generated.dbc    |  12 ++++++++++++
 opendbc/toyota_sienna_xle_2018_pt_generated.dbc |  12 ++++++++++++
 panda/board/obj/panda.bin.signed                | Bin 33540 -> 0 bytes
 17 files changed, 192 insertions(+)
 delete mode 100644 panda/board/obj/panda.bin.signed

diff --git a/opendbc/lexus_ct200h_2018_pt_generated.dbc b/opendbc/lexus_ct200h_2018_pt_generated.dbc
index 0f322dd16e49f1..4dd4ef349e5e11 100644
--- 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
index 5bd0bbf5d9d577..d1fedd57ad2039 100644
--- 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
index 0b1f5315e40e09..9437e6a56f4691 100644
--- 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
index 2370835ae36b0c..78aebcc7dee326 100644
--- 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
index ef9052b28133ee..85082d5718f350 100644
--- 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
index 026191e9bacc77..ae218007d61f8f 100644
--- 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
index f60681a17a184d..dd3be27443bbd0 100644
--- 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
index f02e50195caf59..2c00a712fa3be5 100644
--- 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
index a5306ac8f64d05..45d952841d6506 100644
--- 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
index d19ac45fff0727..580e8a0fc65ac9 100644
--- 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
index 28ad1d61aca454..061ce8375c443e 100644
--- 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
index ab54939b50a4df..6f376c6bd6d66d 100644
--- 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
index 2bd788e2d2105c..3af6c9a2f0bcf1 100644
--- 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
index a9e8a03e517da6..47292581c9fbae 100644
--- 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
index 27ced0f9cdb393..af6d235f67caea 100644
--- 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
index 2cbd918ce3e08a..386fa0d83f181b 100644
--- 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
deleted file mode 100644
index f48f6203cb7a40ae1b39925d5c6b5fadfeeab4e1..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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zY+S|%o%!4|E14y_gbh>e4l3Q87LtHSu58hRE@e1gbsMt#AUn*DFX;o-NdA5qA8sYv
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zImkl@T*>8nYFWW>uCLHB3y<<WWAZ0>VoYbf_>)-~K*e_wDPRrbT*i63oK>(1o>msd
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From 1b63fcf27d8bb7ce76dbb19094bb6665d92b4e94 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Tue, 4 Feb 2020 18:16:55 +0100
Subject: [PATCH 03/32] Enable BSM Code

Now with option to keep it on all the time
---
 selfdrive/car/toyota/carcontroller.py | 60 ++++++++++++++++++++++++++-
 1 file changed, 59 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index ee52c0821abf07..b864d4e55c15e3 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -28,6 +28,22 @@
               0x373, 0x374, 0x375, 0x380, 0x381, 0x382,
               0x383]
 
+# Blindspot codes
+LEFT_BLINDSPOT = '\x41'
+RIGHT_BLINDSPOT = '\x42'
+BLINDSPOTDEBUG = True
+BLINDSPOTALWAYSON = False
+
+def set_blindspot_debug_mode(lr,enable):
+  if enable:
+    m = lr + "\x02\x10\x60\x00\x00\x00\x00"
+  else:
+    m = lr + "\x02\x10\x01\x00\x00\x00\x00"
+  return make_can_msg(1872, m, 0, False)
+
+def poll_blindspot_status(lr):
+  m = lr + "\x02\x21\x69\x00\x00\x00\x00"
+  return make_can_msg(1872, m, 0, False)
 
 def accel_hysteresis(accel, accel_steady, enabled):
 
@@ -94,6 +110,11 @@ def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_
     self.last_standstill = False
     self.standstill_req = False
     self.angle_control = False
+    self.blindspot_poll_counter = 0
+    self.blindspot_blink_counter_left = 0
+    self.blindspot_blink_counter_right = 0
+    self.blindspot_debug_enabled_left = False
+    self.blindspot_debug_enabled_right = False
 
     self.steer_angle_enabled = False
     self.ipas_reset_counter = 0
@@ -196,7 +217,44 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
     self.last_standstill = CS.standstill
 
     can_sends = []
-
+    
+    # Enable blindspot debug mode once
+    if BLINDSPOTDEBUG:
+      self.blindspot_poll_counter += 1
+    if self.blindspot_poll_counter > 1000: # 10 seconds after start
+      if CS.left_blinker_on or BLINDSPOTALWAYSON:
+        self.blindspot_blink_counter_left += 1
+        #print "debug Left Blinker on"
+      elif CS.right_blinker_on or BLINDSPOTALWAYSON:
+        self.blindspot_blink_counter_right += 1
+      else:
+        self.blindspot_blink_counter_left = 0
+        self.blindspot_blink_counter_right = 0
+        #print "debug Left Blinker off"
+        if self.blindspot_debug_enabled_left:
+          can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, False))
+          self.blindspot_debug_enabled_left = False
+          #print "debug Left blindspot debug disabled"
+        if self.blindspot_debug_enabled_right:
+          can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
+          self.blindspot_debug_enabled_right = False
+          #print "debug Right blindspot debug disabled"
+      if self.blindspot_blink_counter_left > 9 and not self.blindspot_debug_enabled_left: #check blinds
+        can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, True))
+        #print "debug Left blindspot debug enabled"
+        self.blindspot_debug_enabled_left = True
+      if self.blindspot_blink_counter_right > 5 and not self.blindspot_debug_enabled_right: #enable blindspot debug mode
+        if CS.v_ego > 6: #polling at low speeds switches camera off
+          can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
+          #print "debug Right blindspot debug enabled"
+          self.blindspot_debug_enabled_right = True
+    if self.blindspot_debug_enabled_left:
+      if self.blindspot_poll_counter % 20 == 0 and self.blindspot_poll_counter > 1001:  # Poll blindspots at 5 Hz
+        can_sends.append(poll_blindspot_status(LEFT_BLINDSPOT))
+    if self.blindspot_debug_enabled_right:
+      if self.blindspot_poll_counter % 20 == 10 and self.blindspot_poll_counter > 1005:  # Poll blindspots at 5 Hz
+        can_sends.append(poll_blindspot_status(RIGHT_BLINDSPOT))
+        
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
 

From 73dce4259f8b1187f42b81d12e4a211b84825a8e Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Tue, 4 Feb 2020 18:19:04 +0100
Subject: [PATCH 04/32] add two blindspot booleans

---
 cereal/arne182.capnp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/cereal/arne182.capnp b/cereal/arne182.capnp
index 13fda807a69287..02e27ad7ec60ac 100644
--- a/cereal/arne182.capnp
+++ b/cereal/arne182.capnp
@@ -90,7 +90,7 @@ struct CarStateArne182 {
 
 
 struct Arne182Status { 
-  blindspot @0 :Bool;
+  rightBlindspot @0 :Bool;
   distanceToggle @1 :Float32;
   laneDepartureToggle @2 :Bool;
   accSlowToggle @3 :Bool;
@@ -98,6 +98,7 @@ struct Arne182Status {
   readdistancelines @5 :Float32;
   gasbuttonstatus @6 :Float32;
   lkMode @7 :Bool;
+  leftBlindspot@8 :Bool;
   }
 
 struct LiveTrafficData {

From e128ec7f4df49be0543f8eee63730df30ab2938f Mon Sep 17 00:00:00 2001
From: Shane <shane@smiskol.com>
Date: Wed, 5 Feb 2020 00:31:06 -0600
Subject: [PATCH 05/32] fix for travis, make_can_msg only takes 3 args

---
 selfdrive/car/toyota/carcontroller.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index b864d4e55c15e3..92affffc4aea74 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -34,19 +34,21 @@
 BLINDSPOTDEBUG = True
 BLINDSPOTALWAYSON = False
 
+
 def set_blindspot_debug_mode(lr,enable):
   if enable:
     m = lr + "\x02\x10\x60\x00\x00\x00\x00"
   else:
     m = lr + "\x02\x10\x01\x00\x00\x00\x00"
-  return make_can_msg(1872, m, 0, False)
+  return make_can_msg(1872, m, 0)
+
 
 def poll_blindspot_status(lr):
   m = lr + "\x02\x21\x69\x00\x00\x00\x00"
-  return make_can_msg(1872, m, 0, False)
+  return make_can_msg(1872, m, 0)
 
-def accel_hysteresis(accel, accel_steady, enabled):
 
+def accel_hysteresis(accel, accel_steady, enabled):
   # for small accel oscillations within ACCEL_HYST_GAP, don't change the accel command
   if not enabled:
     # send 0 when disabled, otherwise acc faults

From 2da00ce7d4186734ea4348676f8beda35f7f38a3 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Wed, 5 Feb 2020 11:48:55 +0100
Subject: [PATCH 06/32] Do not shutdown eon

---
 selfdrive/boardd/boardd.cc | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index c341600bb72895..560df26c144a82 100644
--- 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");

From 334c18bd027095c8b36eb66c2e4faa7b35bb3f95 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Wed, 5 Feb 2020 14:12:05 +0100
Subject: [PATCH 07/32] change string to bytes

make_can_msg now only support bytes of strings
---
 selfdrive/car/toyota/carcontroller.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 92affffc4aea74..96059b1f9285d3 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -29,22 +29,22 @@
               0x383]
 
 # Blindspot codes
-LEFT_BLINDSPOT = '\x41'
-RIGHT_BLINDSPOT = '\x42'
+LEFT_BLINDSPOT = b'\x41'
+RIGHT_BLINDSPOT = b'\x42'
 BLINDSPOTDEBUG = True
 BLINDSPOTALWAYSON = False
 
 
 def set_blindspot_debug_mode(lr,enable):
   if enable:
-    m = lr + "\x02\x10\x60\x00\x00\x00\x00"
+    m = lr + b"\x02\x10\x60\x00\x00\x00\x00"
   else:
-    m = lr + "\x02\x10\x01\x00\x00\x00\x00"
+    m = lr + b"\x02\x10\x01\x00\x00\x00\x00"
   return make_can_msg(1872, m, 0)
 
 
 def poll_blindspot_status(lr):
-  m = lr + "\x02\x21\x69\x00\x00\x00\x00"
+  m = lr + b"\x02\x21\x69\x00\x00\x00\x00"
   return make_can_msg(1872, m, 0)
 
 

From 2309eb3dc1fefbfbbcd1fc6d6e5774b92e0b7f35 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Wed, 5 Feb 2020 15:57:51 +0100
Subject: [PATCH 08/32] Recognise Blindspot

---
 selfdrive/car/toyota/carstate.py | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index f1c58c083ae8bd..f55d77ce7f4ba0 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -54,6 +54,14 @@ def get_can_parser(CP):
     ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ("BLINDSPOT","DEBUG", 0),
+    ("BLINDSPOTSIDE","DEBUG",65),
+    ("BLINDSPOTD1","DEBUG", 0),
+    ("BLINDSPOTD2","DEBUG", 0),
+    ("ACC_DISTANCE", "JOEL_ID", 2),
+    ("LANE_WARNING", "JOEL_ID", 1),
+    ("ACC_SLOW", "JOEL_ID", 0),
+    ("DISTANCE_LINES", "PCM_CRUISE_SM", 0),
   ]
 
   checks = [
@@ -216,6 +224,19 @@ def update(self, cp, cp_cam):
       self.gasbuttonstatus = 0
     msg = messaging_arne.new_message()
     msg.init('arne182Status')
+    if cp.vl["DEBUG"]['BLINDSPOTSIDE']==65: #Left
+      if (cp.vl["DEBUG"]['BLINDSPOTD1'] > 10) or (cp.vl["DEBUG"]['BLINDSPOTD1'] > 10):
+        msg.arne182Status.leftBlindspot = bool(1)
+        print("Left Blindspot Detected")
+      else:
+        msg.arne182Status.leftBlindspot = bool(0)
+    elif  cp.vl["DEBUG"]['BLINDSPOTSIDE']==66: #Right
+      if (cp.vl["DEBUG"]['BLINDSPOTD1'] > 10) or (cp.vl["DEBUG"]['BLINDSPOTD1'] > 10):
+        msg.arne182Status.rightBlindspot = bool(1)
+        print("Right Blindspot Detected")
+      else:
+        msg.arne182Status.rightBlindspot = bool(0)
+    
     msg.arne182Status.gasbuttonstatus = self.gasbuttonstatus
     if not travis:
       self.arne_pm.send('arne182Status', msg)

From a2a1938ec2dadd3e8af07a477dacf3555e108b10 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Thu, 6 Feb 2020 09:37:34 +0100
Subject: [PATCH 09/32] Enable debugging and refactor blindspot code

---
 selfdrive/car/toyota/carcontroller.py | 31 +++++++++++----------------
 1 file changed, 13 insertions(+), 18 deletions(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 96059b1f9285d3..3701a5a96d02c6 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -31,21 +31,20 @@
 # Blindspot codes
 LEFT_BLINDSPOT = b'\x41'
 RIGHT_BLINDSPOT = b'\x42'
-BLINDSPOTDEBUG = True
-BLINDSPOTALWAYSON = False
+BLINDSPOTALWAYSON = True
 
 
 def set_blindspot_debug_mode(lr,enable):
   if enable:
-    m = lr + b"\x02\x10\x60\x00\x00\x00\x00"
+    m = lr + b'\x02\x10\x60\x00\x00\x00\x00'
   else:
-    m = lr + b"\x02\x10\x01\x00\x00\x00\x00"
-  return make_can_msg(1872, m, 0)
+    m = lr + b'\x02\x10\x01\x00\x00\x00\x00'
+  return make_can_msg(0x750, m, 0)
 
 
 def poll_blindspot_status(lr):
-  m = lr + b"\x02\x21\x69\x00\x00\x00\x00"
-  return make_can_msg(1872, m, 0)
+  m = lr + b'\x02\x21\x69\x00\x00\x00\x00'
+  return make_can_msg(0x750, m, 0)
 
 
 def accel_hysteresis(accel, accel_steady, enabled):
@@ -112,7 +111,6 @@ def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_
     self.last_standstill = False
     self.standstill_req = False
     self.angle_control = False
-    self.blindspot_poll_counter = 0
     self.blindspot_blink_counter_left = 0
     self.blindspot_blink_counter_right = 0
     self.blindspot_debug_enabled_left = False
@@ -221,9 +219,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
     can_sends = []
     
     # Enable blindspot debug mode once
-    if BLINDSPOTDEBUG:
-      self.blindspot_poll_counter += 1
-    if self.blindspot_poll_counter > 1000: # 10 seconds after start
+    if frame > 1000: # 10 seconds after start
       if CS.left_blinker_on or BLINDSPOTALWAYSON:
         self.blindspot_blink_counter_left += 1
         #print "debug Left Blinker on"
@@ -232,29 +228,28 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
       else:
         self.blindspot_blink_counter_left = 0
         self.blindspot_blink_counter_right = 0
-        #print "debug Left Blinker off"
         if self.blindspot_debug_enabled_left:
           can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, False))
           self.blindspot_debug_enabled_left = False
-          #print "debug Left blindspot debug disabled"
+          print ("debug Left blindspot debug disabled")
         if self.blindspot_debug_enabled_right:
           can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
           self.blindspot_debug_enabled_right = False
-          #print "debug Right blindspot debug disabled"
+          print("debug Right blindspot debug disabled")
       if self.blindspot_blink_counter_left > 9 and not self.blindspot_debug_enabled_left: #check blinds
         can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, True))
-        #print "debug Left blindspot debug enabled"
+        print("debug Left blindspot debug enabled")
         self.blindspot_debug_enabled_left = True
       if self.blindspot_blink_counter_right > 5 and not self.blindspot_debug_enabled_right: #enable blindspot debug mode
         if CS.v_ego > 6: #polling at low speeds switches camera off
           can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
-          #print "debug Right blindspot debug enabled"
+          print("debug Right blindspot debug enabled")
           self.blindspot_debug_enabled_right = True
     if self.blindspot_debug_enabled_left:
-      if self.blindspot_poll_counter % 20 == 0 and self.blindspot_poll_counter > 1001:  # Poll blindspots at 5 Hz
+      if frame % 20 == 0 and frame > 1001:  # Poll blindspots at 5 Hz
         can_sends.append(poll_blindspot_status(LEFT_BLINDSPOT))
     if self.blindspot_debug_enabled_right:
-      if self.blindspot_poll_counter % 20 == 10 and self.blindspot_poll_counter > 1005:  # Poll blindspots at 5 Hz
+      if frame % 20 == 10 and frame > 1005:  # Poll blindspots at 5 Hz
         can_sends.append(poll_blindspot_status(RIGHT_BLINDSPOT))
         
     #*** control msgs ***

From 427b66b5a03ca4f1f5400d80f6716ffd19861a18 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Thu, 6 Feb 2020 11:42:12 +0100
Subject: [PATCH 10/32] Add more debug

---
 selfdrive/car/toyota/carcontroller.py | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 3701a5a96d02c6..d5557d57cbcc13 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -220,11 +220,16 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
     
     # Enable blindspot debug mode once
     if frame > 1000: # 10 seconds after start
-      if CS.left_blinker_on or BLINDSPOTALWAYSON:
+      if BLINDSPOTALWAYSON:
         self.blindspot_blink_counter_left += 1
-        #print "debug Left Blinker on"
-      elif CS.right_blinker_on or BLINDSPOTALWAYSON:
         self.blindspot_blink_counter_right += 1
+        print("debug blindspot alwayson!")
+      elif CS.left_blinker_on:
+        self.blindspot_blink_counter_left += 1
+        print("debug Left Blinker on")
+      elif CS.right_blinker_on:
+        self.blindspot_blink_counter_right += 1
+        print("debug Right Blinker on")
       else:
         self.blindspot_blink_counter_left = 0
         self.blindspot_blink_counter_right = 0
@@ -245,12 +250,18 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
           can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
           print("debug Right blindspot debug enabled")
           self.blindspot_debug_enabled_right = True
+        else:
+          can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
+          self.blindspot_debug_enabled_right = False
+          print("debug Right blindspot debug disabled")
     if self.blindspot_debug_enabled_left:
       if frame % 20 == 0 and frame > 1001:  # Poll blindspots at 5 Hz
         can_sends.append(poll_blindspot_status(LEFT_BLINDSPOT))
+        print("debug Left blindspot poll")
     if self.blindspot_debug_enabled_right:
       if frame % 20 == 10 and frame > 1005:  # Poll blindspots at 5 Hz
         can_sends.append(poll_blindspot_status(RIGHT_BLINDSPOT))
+        print("debug Right blindspot poll")
         
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)

From 200ff0b48c8a842f7a6de7dd5bca5cda1aac516c Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Thu, 6 Feb 2020 12:58:32 +0100
Subject: [PATCH 11/32] Require 20% more torque and 40% less torque
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

When increasing steering angle require 20% more torque if at 100° and require 40% less torque if returning back to straight
---
 selfdrive/controls/lib/latcontrol_lqr.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_lqr.py b/selfdrive/controls/lib/latcontrol_lqr.py
index 668d76275c8eeb..701cb83bb48494 100644
--- a/selfdrive/controls/lib/latcontrol_lqr.py
+++ b/selfdrive/controls/lib/latcontrol_lqr.py
@@ -48,12 +48,12 @@ def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, ste
 
     steers_max = get_steer_max(CP, v_ego)
     if (self.output_steer > 0.0) and (angle_steers > 0.0):
-      factor = -1.0
+      factor = -0.4
     elif (self.output_steer < 0.0) and (angle_steers < 0.0):
-      factor = -1.0
+      factor = -0.4
     else:
-      factor = 1.0
-    torque_scale = (1-factor*max(abs(angle_steers)/100,1.0)*0.3)*(0.45 + v_ego / 60.0)**2  # Scale actuator model with speed
+      factor = 0.2
+    torque_scale = (1-factor*max(abs(angle_steers)/100,1.0))*(0.45 + v_ego / 60.0)**2  # Scale actuator model with speed
 
     # Subtract offset. Zero angle should correspond to zero torque
     self.angle_steers_des = path_plan.angleSteers - path_plan.angleOffset

From d6485099bd0abe2edaa1c6df72562df220f5324f Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Thu, 6 Feb 2020 13:10:11 +0100
Subject: [PATCH 12/32] try without alwayson

---
 selfdrive/car/toyota/carcontroller.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index d5557d57cbcc13..54f43da1ada481 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -31,7 +31,7 @@
 # Blindspot codes
 LEFT_BLINDSPOT = b'\x41'
 RIGHT_BLINDSPOT = b'\x42'
-BLINDSPOTALWAYSON = True
+BLINDSPOTALWAYSON = False
 
 
 def set_blindspot_debug_mode(lr,enable):
@@ -250,10 +250,10 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
           can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
           print("debug Right blindspot debug enabled")
           self.blindspot_debug_enabled_right = True
-        else:
-          can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
-          self.blindspot_debug_enabled_right = False
-          print("debug Right blindspot debug disabled")
+      if CS.v_ego < 6 and self.blindspot_debug_enabled_right: # if enabled and speed falls below 6m/s
+        can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
+        self.blindspot_debug_enabled_right = False
+        print("debug Right blindspot debug disabled")
     if self.blindspot_debug_enabled_left:
       if frame % 20 == 0 and frame > 1001:  # Poll blindspots at 5 Hz
         can_sends.append(poll_blindspot_status(LEFT_BLINDSPOT))

From fc9f8d24b29b586b18f1b45fa7ba3193d2532fac Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Thu, 6 Feb 2020 13:40:34 +0100
Subject: [PATCH 13/32] pass make_can_msg direct values

---
 selfdrive/car/toyota/carcontroller.py | 59 +++++++++++++++------------
 1 file changed, 33 insertions(+), 26 deletions(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 54f43da1ada481..184dda79c223bf 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -34,17 +34,17 @@
 BLINDSPOTALWAYSON = False
 
 
-def set_blindspot_debug_mode(lr,enable):
-  if enable:
-    m = lr + b'\x02\x10\x60\x00\x00\x00\x00'
-  else:
-    m = lr + b'\x02\x10\x01\x00\x00\x00\x00'
-  return make_can_msg(0x750, m, 0)
+#def set_blindspot_debug_mode(lr,enable):
+#  if enable:
+#    m = lr + b'\x02\x10\x60\x00\x00\x00\x00'
+#  else:
+#    m = lr + b'\x02\x10\x01\x00\x00\x00\x00'
+#  return make_can_msg(0x750, m, 0)
 
 
-def poll_blindspot_status(lr):
-  m = lr + b'\x02\x21\x69\x00\x00\x00\x00'
-  return make_can_msg(0x750, m, 0)
+#def poll_blindspot_status(lr):
+#  m = lr + b'\x02\x21\x69\x00\x00\x00\x00'
+#  return make_can_msg(0x750, m, 0)
 
 
 def accel_hysteresis(accel, accel_steady, enabled):
@@ -223,45 +223,52 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
       if BLINDSPOTALWAYSON:
         self.blindspot_blink_counter_left += 1
         self.blindspot_blink_counter_right += 1
-        print("debug blindspot alwayson!")
+        #print("debug blindspot alwayson!")
       elif CS.left_blinker_on:
         self.blindspot_blink_counter_left += 1
-        print("debug Left Blinker on")
+        #print("debug Left Blinker on")
       elif CS.right_blinker_on:
         self.blindspot_blink_counter_right += 1
-        print("debug Right Blinker on")
+        #print("debug Right Blinker on")
       else:
         self.blindspot_blink_counter_left = 0
         self.blindspot_blink_counter_right = 0
         if self.blindspot_debug_enabled_left:
-          can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, False))
+          #can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, False))
+          can_sends.append(make_can_msg(0x750, b'\x41\x02\x10\x01\x00\x00\x00\x00', 0))
           self.blindspot_debug_enabled_left = False
-          print ("debug Left blindspot debug disabled")
+          #print ("debug Left blindspot debug disabled")
         if self.blindspot_debug_enabled_right:
-          can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
+          #can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
+          can_sends.append(make_can_msg(0x750, b'\x42\x02\x10\x01\x00\x00\x00\x00', 0))
           self.blindspot_debug_enabled_right = False
-          print("debug Right blindspot debug disabled")
+          #print("debug Right blindspot debug disabled")
       if self.blindspot_blink_counter_left > 9 and not self.blindspot_debug_enabled_left: #check blinds
-        can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, True))
-        print("debug Left blindspot debug enabled")
+        #can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, True))
+        can_sends.append(make_can_msg(0x750, b'\x41\x02\x10\x60\x00\x00\x00\x00', 0))
+        #print("debug Left blindspot debug enabled")
         self.blindspot_debug_enabled_left = True
       if self.blindspot_blink_counter_right > 5 and not self.blindspot_debug_enabled_right: #enable blindspot debug mode
         if CS.v_ego > 6: #polling at low speeds switches camera off
-          can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
-          print("debug Right blindspot debug enabled")
+          can_sends.append(make_can_msg(0x750, b'\x42\x02\x10\x60\x00\x00\x00\x00', 0))
+          #can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
+          #print("debug Right blindspot debug enabled")
           self.blindspot_debug_enabled_right = True
       if CS.v_ego < 6 and self.blindspot_debug_enabled_right: # if enabled and speed falls below 6m/s
-        can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
+        can_sends.append(make_can_msg(0x750, b'\x42\x02\x10\x01\x00\x00\x00\x00', 0))
+        #can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
         self.blindspot_debug_enabled_right = False
-        print("debug Right blindspot debug disabled")
+        #print("debug Right blindspot debug disabled")
     if self.blindspot_debug_enabled_left:
       if frame % 20 == 0 and frame > 1001:  # Poll blindspots at 5 Hz
-        can_sends.append(poll_blindspot_status(LEFT_BLINDSPOT))
-        print("debug Left blindspot poll")
+        #can_sends.append(poll_blindspot_status(LEFT_BLINDSPOT))
+        can_sends.append(make_can_msg(0x750, b'\x41\x02\x21\x69\x00\x00\x00\x00', 0))
+        #print("debug Left blindspot poll")
     if self.blindspot_debug_enabled_right:
       if frame % 20 == 10 and frame > 1005:  # Poll blindspots at 5 Hz
-        can_sends.append(poll_blindspot_status(RIGHT_BLINDSPOT))
-        print("debug Right blindspot poll")
+        can_sends.append(make_can_msg(0x750, b'\x42\x02\x21\x69\x00\x00\x00\x00', 0))
+        #can_sends.append(poll_blindspot_status(RIGHT_BLINDSPOT))
+        #print("debug Right blindspot poll")
         
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)

From 4bd142ed29d3c2630a69f2aba9c1a2a63f7a7d68 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 08:45:02 +0100
Subject: [PATCH 14/32] Try get correct string

---
 selfdrive/boardd/boardd_api_impl.pyx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index 3f50fbaab6c5ca..37debd89a5124b 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -18,7 +18,7 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   for can_msg in can_msgs:
     f.address = can_msg[0]
     f.busTime = can_msg[1]
-    f.dat = can_msg[2]
+    f.dat = can_msg[2].hex()
     f.src = can_msg[3]
     can_list.push_back(f)
   cdef string out

From b8ca5e0e4e690c706d1f5210683a48c1f753fbac Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 12:01:49 +0100
Subject: [PATCH 15/32] Print can messages

---
 selfdrive/boardd/boardd_api_impl.pyx | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index 37debd89a5124b..b7ba5eee8727d7 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -18,7 +18,8 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   for can_msg in can_msgs:
     f.address = can_msg[0]
     f.busTime = can_msg[1]
-    f.dat = can_msg[2].hex()
+    f.dat = can_msg[2]
+    print(f.dat)
     f.src = can_msg[3]
     can_list.push_back(f)
   cdef string out

From ee12ea8d0ce2ac4adab1bb335d7a29c7cbaea156 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 12:54:01 +0100
Subject: [PATCH 16/32] only print address 0x750

---
 selfdrive/boardd/boardd_api_impl.pyx | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index b7ba5eee8727d7..d3e5581cff74e4 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -19,7 +19,8 @@ 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]
-    print(f.dat)
+    if f.address = 0x750:
+      print(f.dat)
     f.src = can_msg[3]
     can_list.push_back(f)
   cdef string out

From 3f6df60c3e624e9f1e2a2b775672d8b59423f501 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 14:05:20 +0100
Subject: [PATCH 17/32] python syntax

---
 selfdrive/boardd/boardd_api_impl.pyx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index d3e5581cff74e4..7d94b370e4a69c 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -19,7 +19,7 @@ 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]
-    if f.address = 0x750:
+    if f.address == 0x750:
       print(f.dat)
     f.src = can_msg[3]
     can_list.push_back(f)

From d02b987f6310d7e821e8e1d92fd8140839a06180 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 14:26:35 +0100
Subject: [PATCH 18/32] Print from boardd if 750 is sent

---
 selfdrive/boardd/boardd.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 560df26c144a82..22ee054b69b8be 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -549,6 +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());
   }

From 3eb4b7c11f5e2a3fd62f3b055bb485b303a35fb1 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 15:35:00 +0100
Subject: [PATCH 19/32] send as bytes

---
 selfdrive/car/isotp_parallel_query.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index cda36d50fbd5e7..9daf5ec40a74bf 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -42,7 +42,7 @@ def rx(self):
           elif msg.address in self.msg_addrs.values():
             self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src))
 
-  def _can_tx(self, tx_addr, dat, bus):
+  def _can_tx(self, tx_addr, dat: bytes, bus):
     """Helper function to send single message"""
     msg = [tx_addr, 0, dat, bus]
     self.sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan'))

From 8f36a5d2dd7113161747d4bdf7e41356ab4a11f4 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 15:38:37 +0100
Subject: [PATCH 20/32] try convert back from bytes to string

---
 selfdrive/boardd/boardd_api_impl.pyx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index 7d94b370e4a69c..fd41b581230270 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -18,7 +18,7 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   for can_msg in can_msgs:
     f.address = can_msg[0]
     f.busTime = can_msg[1]
-    f.dat = can_msg[2]
+    f.dat = can_msg[2].hex()
     if f.address == 0x750:
       print(f.dat)
     f.src = can_msg[3]

From 95fbf075b02265e8db4e18c97b4f64805997e79a Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 17:09:11 +0100
Subject: [PATCH 21/32] send as bytes

---
 selfdrive/car/__init__.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 6ad29d4b3a748c..c25a8079f7e36d 100644
--- 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]
 

From 5b78d2f1931e2e40fdf13666b371033110dadbc3 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 18:41:30 +0100
Subject: [PATCH 22/32] send as bytes

---
 opendbc/can/packer_pyx.pyx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/can/packer_pyx.pyx b/opendbc/can/packer_pyx.pyx
index 00f83eca65ff84..26e9f5492ba4f1 100644
--- a/opendbc/can/packer_pyx.pyx
+++ b/opendbc/can/packer_pyx.pyx
@@ -64,4 +64,4 @@ 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]
+    return [addr, 0, <bytes>val, bus]

From 67d9c884965299d9146edc30ce2e653b1b6400dd Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 18:59:11 +0100
Subject: [PATCH 23/32] cstring to bytes

---
 opendbc/can/packer_pyx.pyx | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/opendbc/can/packer_pyx.pyx b/opendbc/can/packer_pyx.pyx
index 26e9f5492ba4f1..67ae183ee0a255 100644
--- 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, <bytes>val, bus]
+    cdef bytes dat = (<char *>&val)[:size]
+    return [addr, 0, dat, bus]

From a5682797f8b366bc034a948fc849542bf37c5eb6 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 20:44:09 +0100
Subject: [PATCH 24/32] Send can_data as bytes

---
 selfdrive/boardd/tests/test_boardd_api.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py
index f41e1e3571049d..d42d103761a293 100644
--- a/selfdrive/boardd/tests/test_boardd_api.py
+++ b/selfdrive/boardd/tests/test_boardd_api.py
@@ -13,7 +13,7 @@ def generate_random_can_data_list():
   can_list = []
   cnt = random.randint(1, 64)
   for j in range(cnt):
-    can_data = np.random.bytes(random.randint(1, 8))
+    can_data = bytes(np.random.bytes(random.randint(1, 8)))
     can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)])
   return can_list, cnt
 

From a2dbcef4a3e76878efafdcad6a9336e9a28cf0ab Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 21:23:48 +0100
Subject: [PATCH 25/32] rather use str.encode

---
 selfdrive/boardd/tests/test_boardd_api.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py
index d42d103761a293..7e489ca6f86532 100644
--- a/selfdrive/boardd/tests/test_boardd_api.py
+++ b/selfdrive/boardd/tests/test_boardd_api.py
@@ -13,8 +13,8 @@ def generate_random_can_data_list():
   can_list = []
   cnt = random.randint(1, 64)
   for j in range(cnt):
-    can_data = bytes(np.random.bytes(random.randint(1, 8)))
-    can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)])
+    can_data = np.random.bytes(random.randint(1, 8))
+    can_list.append([random.randint(0, 128), random.randint(0, 128), str.encode(can_data), random.randint(0, 128)])
   return can_list, cnt
 
 

From d1d0e7b5ffc4d8378273e3aeeb22be7fc96f8ba2 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 21:59:21 +0100
Subject: [PATCH 26/32] Convert all array elements to binary

---
 selfdrive/boardd/tests/test_boardd_api.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py
index 7e489ca6f86532..c4c38c1cdf6f66 100644
--- a/selfdrive/boardd/tests/test_boardd_api.py
+++ b/selfdrive/boardd/tests/test_boardd_api.py
@@ -14,7 +14,7 @@ def generate_random_can_data_list():
   cnt = random.randint(1, 64)
   for j in range(cnt):
     can_data = np.random.bytes(random.randint(1, 8))
-    can_list.append([random.randint(0, 128), random.randint(0, 128), str.encode(can_data), random.randint(0, 128)])
+    can_list.append(str.encode([random.randint(0, 128)), str.encode(random.randint(0, 128)), can_data.hex(), str.encode(random.randint(0, 128))])
   return can_list, cnt
 
 

From 41fa136fba48da9259e8d5b3a58fc4a73f62fd02 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 22:21:21 +0100
Subject: [PATCH 27/32] try fix syntax

---
 selfdrive/boardd/tests/test_boardd_api.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py
index c4c38c1cdf6f66..38b3b5de13bec2 100644
--- a/selfdrive/boardd/tests/test_boardd_api.py
+++ b/selfdrive/boardd/tests/test_boardd_api.py
@@ -14,7 +14,7 @@ def generate_random_can_data_list():
   cnt = random.randint(1, 64)
   for j in range(cnt):
     can_data = np.random.bytes(random.randint(1, 8))
-    can_list.append(str.encode([random.randint(0, 128)), str.encode(random.randint(0, 128)), can_data.hex(), str.encode(random.randint(0, 128))])
+    can_list.append([str.encode(random.randint(0, 128)), str.encode(random.randint(0, 128)), can_data, str.encode(random.randint(0, 128))])
   return can_list, cnt
 
 

From 4f7d90357d007be99247356465e1de3467514720 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Fri, 7 Feb 2020 22:38:42 +0100
Subject: [PATCH 28/32] test int to str, str to bytes

---
 selfdrive/boardd/tests/test_boardd_api.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py
index 38b3b5de13bec2..9137a0c7c9bf74 100644
--- a/selfdrive/boardd/tests/test_boardd_api.py
+++ b/selfdrive/boardd/tests/test_boardd_api.py
@@ -14,7 +14,7 @@ def generate_random_can_data_list():
   cnt = random.randint(1, 64)
   for j in range(cnt):
     can_data = np.random.bytes(random.randint(1, 8))
-    can_list.append([str.encode(random.randint(0, 128)), str.encode(random.randint(0, 128)), can_data, str.encode(random.randint(0, 128))])
+    can_list.append([str.encode(str(random.randint(0, 128))), str.encode(str(random.randint(0, 128))), can_data, str.encode(str(random.randint(0, 128)))])
   return can_list, cnt
 
 

From 96cc6a28ef7f3f06a9fd889732714d1bb4f9c4a1 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Sat, 8 Feb 2020 18:24:57 +0100
Subject: [PATCH 29/32] figure out what is coming out on address 0x750

---
 selfdrive/boardd/boardd_api_impl.pyx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index fd41b581230270..7d94b370e4a69c 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -18,7 +18,7 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   for can_msg in can_msgs:
     f.address = can_msg[0]
     f.busTime = can_msg[1]
-    f.dat = can_msg[2].hex()
+    f.dat = can_msg[2]
     if f.address == 0x750:
       print(f.dat)
     f.src = can_msg[3]

From 57f4bd3250553ca028a4954fe333b316e4a7cf8d Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Sat, 8 Feb 2020 18:40:57 +0100
Subject: [PATCH 30/32] Try bytes except string

---
 selfdrive/boardd/boardd_api_impl.pyx | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index 7d94b370e4a69c..081e739d34cc8d 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -18,7 +18,14 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   for can_msg in can_msgs:
     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]

From be704b34166ede643aed3bd0aef99f5bb0db6eda Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Sat, 8 Feb 2020 18:48:38 +0100
Subject: [PATCH 31/32] Update boardd_api_impl.pyx

---
 selfdrive/boardd/boardd_api_impl.pyx | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index 081e739d34cc8d..79c5b9223f242b 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -18,14 +18,15 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   for can_msg in can_msgs:
     f.address = can_msg[0]
     f.busTime = can_msg[1]
-    try:
-      f.dat = can_msg[2].hex()
-    except:
-      f.dat = can_msg[2]
-      print("address")
-      print(f.address)
-      print("dat")
-      print(f.dat)
+    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]

From c03423fb72a92f2511153e7d66e20a5ee5ab6657 Mon Sep 17 00:00:00 2001
From: Arne Schwarck <arneschwarck@gmail.com>
Date: Sun, 9 Feb 2020 18:52:45 +0100
Subject: [PATCH 32/32] revert

---
 selfdrive/boardd/tests/test_boardd_api.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py
index 9137a0c7c9bf74..f41e1e3571049d 100644
--- a/selfdrive/boardd/tests/test_boardd_api.py
+++ b/selfdrive/boardd/tests/test_boardd_api.py
@@ -14,7 +14,7 @@ def generate_random_can_data_list():
   cnt = random.randint(1, 64)
   for j in range(cnt):
     can_data = np.random.bytes(random.randint(1, 8))
-    can_list.append([str.encode(str(random.randint(0, 128))), str.encode(str(random.randint(0, 128))), can_data, str.encode(str(random.randint(0, 128)))])
+    can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)])
   return can_list, cnt