Merge branch 'master' into mqb-long

3 years ago · 3a13793c8e
parent d5fe666e56 3f34a7082a
commit 3a13793c8e
106 changed files with 3757 additions and 1873 deletions
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@ -1,13 +1,5 @@
 name: 'openpilot env setup'

-env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
-  BUILD: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
-
 inputs:
  save-cache:
    default: false
@ -42,4 +34,4 @@ runs:

    # build our docker image
    - shell: bash
-      run: eval "$BUILD"
+      run: eval ${{ env.BUILD }}
--- a/3
+++ b/3
@ -99,9 +99,6 @@ if arch == "larch64":
    "#third_party/libyuv/larch64/lib",
    "/usr/lib/aarch64-linux-gnu"
  ]
-  cpppath += [
-    "#system/camerad/include",
-  ]
  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
  rpath += ["/usr/local/lib"]
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit cea51afd67b5c56f7a18207ef91c5e45d6345526
+Subproject commit 2335f98bbe628ec6fde92c8d929ecaf373b125af
--- a/common/gpio.cc
+++ b/common/gpio.cc
@ -4,11 +4,11 @@
 #include <unistd.h>

 #include <cstring>
+#include <linux/gpio.h>
+#include <sys/ioctl.h>

 #include "common/util.h"
-
-// We assume that all pins have already been exported on boot,
-// and that we have permission to write to them.
+#include "common/swaglog.h"

 int gpio_init(int pin_nr, bool output) {
  char pin_dir_path[50];
@ -30,3 +30,36 @@ int gpio_set(int pin_nr, bool high) {
  }
  return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
 }
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
+
+  // Assumed that all interrupt pins are unexported and rights are given to
+  // read from gpiochip0.
+  std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
+  int fd = open(gpiochip_path.c_str(), O_RDONLY);
+  if (fd < 0) {
+    LOGE("Error opening gpiochip0 fd")
+    return -1;
+  }
+
+  // Setup event
+  struct gpioevent_request rq;
+  rq.lineoffset = pin_nr;
+  rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
+
+  /* Requesting both edges as the data ready pulse from the lsm6ds sensor is
+     very short(75us) and is mostly detected as falling edge instead of rising.
+     So if it is detected as rising the following falling edge is skipped. */
+  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
+
+  strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
+  int ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
+  if (ret == -1) {
+    LOGE("Unable to get line event from ioctl : %s", strerror(errno));
+    close(fd);
+    return -1;
+  }
+
+  close(fd);
+  return rq.fd;
+}
--- a/common/gpio.h
+++ b/common/gpio.h
@ -8,6 +8,11 @@
  #define GPIO_UBLOX_PWR_EN     34
  #define GPIO_STM_RST_N        124
  #define GPIO_STM_BOOT0        134
+  #define GPIO_BMX_ACCEL_INT    21
+  #define GPIO_BMX_GYRO_INT     23
+  #define GPIO_BMX_MAGN_INT     87
+  #define GPIO_LSM_INT          84
+  #define GPIOCHIP_INT          0
 #else
  #define GPIO_HUB_RST_N        0
  #define GPIO_UBLOX_RST_N      0
@ -15,7 +20,14 @@
  #define GPIO_UBLOX_PWR_EN     0
  #define GPIO_STM_RST_N        0
  #define GPIO_STM_BOOT0        0
+  #define GPIO_BMX_ACCEL_INT    0
+  #define GPIO_BMX_GYRO_INT     0
+  #define GPIO_BMX_MAGN_INT     0
+  #define GPIO_LSM_INT          0
+  #define GPIOCHIP_INT          0
 #endif

 int gpio_init(int pin_nr, bool output);
 int gpio_set(int pin_nr, bool high);
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -57,7 +57,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
 |Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
-|Hyundai|Ioniq 5 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
+|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
@ -78,12 +78,12 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|EV6 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
+|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
 |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
 |Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
--- a/release/files_common
+++ b/release/files_common
@ -101,6 +101,7 @@ selfdrive/car/interfaces.py
 selfdrive/car/vin.py
 selfdrive/car/disable_ecu.py
 selfdrive/car/fw_versions.py
+selfdrive/car/fw_query_definitions.py
 selfdrive/car/ecu_addrs.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
--- a/release/files_tici
+++ b/release/files_tici
@ -9,6 +9,8 @@ selfdrive/assets/training_wide/*

 system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
+system/camerad/cameras/camera_util.cc
+system/camerad/cameras/camera_util.h
 system/camerad/cameras/real_debayer.cl

 selfdrive/sensord/rawgps/*
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -468,7 +468,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
 }


-void peripheral_control_thread(Panda *panda) {
+void peripheral_control_thread(Panda *panda, bool no_fan_control) {
  util::set_thread_name("boardd_peripheral_control");

  SubMaster sm({"deviceState", "driverCameraState"});
@ -488,7 +488,7 @@ void peripheral_control_thread(Panda *panda) {
    // Other pandas don't have fan/IR to control
    if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue;

-    if (sm.updated("deviceState")) {
+    if (sm.updated("deviceState") && !no_fan_control) {
      // Fan speed
      uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
      if (fan_speed != prev_fan_speed || cnt % 100 == 0) {
@ -496,6 +496,7 @@ void peripheral_control_thread(Panda *panda) {
        prev_fan_speed = fan_speed;
      }
    }
+
    if (sm.updated("driverCameraState")) {
      auto event = sm["driverCameraState"];
      int cur_integ_lines = event.getDriverCameraState().getIntegLines();
@ -568,7 +569,7 @@ void boardd_main_thread(std::vector<std::string> serials) {
    std::vector<std::thread> threads;

    threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
-    threads.emplace_back(peripheral_control_thread, peripheral_panda);
+    threads.emplace_back(peripheral_control_thread, peripheral_panda, getenv("NO_FAN_CONTROL") != nullptr);

    threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
    threads.emplace_back(can_recv_thread, pandas);
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@ -3,10 +3,13 @@ from typing import Dict
 from cereal import car
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
 Ecu = car.CarParams.Ecu

 SPEED_FROM_RPM = 0.008587

+
 class CarControllerParams:
  ANGLE_DELTA_BP = [0., 5., 15.]
  ANGLE_DELTA_V = [5., .8, .15]     # windup limit
@ -14,13 +17,25 @@ class CarControllerParams:
  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
  STEER_THRESHOLD = 1.0

+
 class CAR:
  BODY = "COMMA BODY"

+
 CAR_INFO: Dict[str, CarInfo] = {
  CAR.BODY: CarInfo("comma body", package="All"),
 }

+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      bus=0,
+    ),
+  ],
+)
+
 FW_VERSIONS = {
  CAR.BODY: {
    (Ecu.engine, 0x720, None): [
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -3,8 +3,11 @@ from enum import Enum
 from typing import Dict, List, Optional, Union

 from cereal import car
+from panda.python import uds
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
+
 Ecu = car.CarParams.Ecu


@ -129,6 +132,42 @@ FINGERPRINTS = {
  }],
 }

+CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf132)
+CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf132)
+
+CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
+CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
+
+CHRYSLER_RX_OFFSET = -0x280
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [CHRYSLER_VERSION_REQUEST],
+      [CHRYSLER_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
+      rx_offset=CHRYSLER_RX_OFFSET,
+      bus=0,
+    ),
+    Request(
+      [CHRYSLER_VERSION_REQUEST],
+      [CHRYSLER_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
+      bus=0,
+    ),
+    Request(
+      [CHRYSLER_SOFTWARE_VERSION_REQUEST],
+      [CHRYSLER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.engine, Ecu.transmission],
+      bus=0,
+    ),
+  ],
+)
+
 FW_VERSIONS = {
  CAR.PACIFICA_2019_HYBRID: {
    (Ecu.hcp, 0x7e2, None): [],
@ -187,12 +226,6 @@ FW_VERSIONS = {
      b'68540431AB',
      b'68484467AC',
    ],
-    (Ecu.gateway, 0x18DACBF1, None): [
-      b'68402660AB',
-      b'68445283AB',
-      b'68533631AB',
-      b'68500483AB',
-    ],
  },

  CAR.RAM_HD: {
@ -224,10 +257,6 @@ FW_VERSIONS = {
      b'M2370131MB',
      b'M2421132MB',
    ],
-    (Ecu.gateway, 0x18DACBF1, None): [
-      b'68488419AB',
-      b'68535476AB',
-    ],
  },
 }

--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@ -1,3 +1,4 @@
+import math
 from cereal import car
 from common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
@ -7,14 +8,19 @@ from selfdrive.car.ford.values import CarControllerParams
 VisualAlert = car.CarControl.HUDControl.VisualAlert


-def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo):
+def apply_ford_steer_angle_limits(apply_angle, apply_angle_last, vEgo):
  # rate limit
-  steer_up = apply_steer * apply_steer_last > 0. and abs(apply_steer) > abs(apply_steer_last)
-  rate_limit = CarControllerParams.STEER_RATE_LIMIT_UP if steer_up else CarControllerParams.STEER_RATE_LIMIT_DOWN
+  steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
+  rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
  max_angle_diff = interp(vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
-  apply_steer = clip(apply_steer, (apply_steer_last - max_angle_diff), (apply_steer_last + max_angle_diff))
+  apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff))

-  return apply_steer
+  # absolute limit (LatCtlPath_An_Actl)
+  apply_path_angle = math.radians(apply_angle) / CarControllerParams.STEER_RATIO
+  apply_path_angle = clip(apply_path_angle, -0.4995, 0.5240)
+  apply_angle = math.degrees(apply_path_angle) * CarControllerParams.STEER_RATIO
+
+  return apply_angle


 class CarController:
@ -24,7 +30,7 @@ class CarController:
    self.packer = CANPacker(dbc_name)
    self.frame = 0

-    self.apply_steer_last = 0
+    self.apply_angle_last = 0
    self.main_on_last = False
    self.lkas_enabled_last = False
    self.steer_alert_last = False
@ -38,52 +44,62 @@ class CarController:
    main_on = CS.out.cruiseState.available
    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)

+    ### acc buttons ###
    if CC.cruiseControl.cancel:
-      # cancel stock ACC
-      can_sends.append(fordcan.spam_cancel_button(self.packer))
+      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True))
+    elif CC.cruiseControl.resume:
+      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True))
+
+    # if stock lane centering is active or in standby, toggle it off
+    # the stock system checks for steering pressed, and eventually disengages cruise control
+    if (self.frame % 200) == 0 and CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0:
+      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, tja_toggle=True))
+

-    # apply rate limits
-    new_steer = actuators.steeringAngleDeg
-    apply_steer = apply_ford_steer_angle_limits(new_steer, self.apply_steer_last, CS.out.vEgo)
+    ### lateral control ###
+    if CC.latActive:
+      apply_angle = apply_ford_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo)
+    else:
+      apply_angle = CS.out.steeringAngleDeg

    # send steering commands at 20Hz
    if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
      lca_rq = 1 if CC.latActive else 0

-      # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented
-      path_angle = apply_steer
+      # use LatCtlPath_An_Actl to actuate steering
+      # path angle is the car wheel angle, not the steering wheel angle
+      path_angle = math.radians(apply_angle) / CarControllerParams.STEER_RATIO

-      # convert steer angle to curvature
-      curvature = self.VM.calc_curvature(apply_steer, CS.out.vEgo, 0.0)
+      # ramp rate: 0=Slow, 1=Medium, 2=Fast, 3=Immediately
+      # TODO: try slower ramp speed when driver torque detected
+      ramp_type = 3
+      precision = 1  # 0=Comfortable, 1=Precise (the stock system always uses comfortable)

-      # TODO: get other actuators
-      curvature_rate = 0
-      path_offset = 0
+      offset_roll_compensation_curvature = clip(self.VM.calc_curvature(0, CS.out.vEgo, -CS.yaw_data["VehYaw_W_Actl"]), -0.02, 0.02094)

-      ramp_type = 3  # 0=Slow, 1=Medium, 2=Fast, 3=Immediately
-      precision = 0  # 0=Comfortable, 1=Precise
-
-      self.apply_steer_last = apply_steer
-      can_sends.append(fordcan.create_lkas_command(self.packer, apply_steer, curvature))
+      self.apply_angle_last = apply_angle
+      can_sends.append(fordcan.create_lka_command(self.packer, apply_angle, 0))
      can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
-                                                  path_offset, path_angle, curvature_rate, curvature))
+                                                  0, path_angle, 0, offset_roll_compensation_curvature))
+

+    ### ui ###
    send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)

    # send lkas ui command at 1Hz or if ui state changes
    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values))
+      can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))

    # send acc ui command at 20Hz or if ui state changes
    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values))
+      can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))

    self.main_on_last = main_on
    self.lkas_enabled_last = CC.latActive
    self.steer_alert_last = steer_alert

    new_actuators = actuators.copy()
-    new_actuators.steeringAngleDeg = apply_steer
+    new_actuators.steeringAngleDeg = apply_angle

    self.frame += 1
    return new_actuators, can_sends
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@ -3,7 +3,7 @@ from common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.ford.values import CANBUS, DBC
+from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams

 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
@ -22,7 +22,7 @@ class CarState(CarStateBase):
    # car speed
    ret.vEgoRaw = cp.vl["EngVehicleSpThrottle2"]["Veh_V_ActlEng"] * CV.KPH_TO_MS
    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"] * CV.RAD_TO_DEG
+    ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"]
    ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1

    # gas pedal
@ -37,7 +37,7 @@ class CarState(CarStateBase):
    # steering wheel
    ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
    ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
-    ret.steeringPressed = cp.vl["Lane_Assist_Data3_FD1"]["LaHandsOff_B_Actl"] == 0
+    ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
    ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
    ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
    # ret.espDisabled = False  # TODO: find traction control signal
@ -46,6 +46,8 @@ class CarState(CarStateBase):
    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
    ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
    ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
+    ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
+    ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3

    # gear
    if self.CP.transmissionType == TransmissionType.automatic:
@ -65,6 +67,7 @@ class CarState(CarStateBase):
    # button presses
    ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1
    ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
+    # TODO: block this going to the camera otherwise it will enable stock TJA
    ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])

    # lock info
@ -77,9 +80,13 @@ class CarState(CarStateBase):
      ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
      ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0

+    # Stock steering buttons so that we can passthru blinkers etc.
+    self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
    # Stock values from IPMA so that we can retain some stock functionality
    self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
    self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
+    # Use stock sensor values
+    self.yaw_data = cp.vl["Yaw_Data_FD1"]

    return ret

@ -97,6 +104,8 @@ class CarState(CarStateBase):
      ("Veh_V_DsplyCcSet", "EngBrakeData"),                  # PCM ACC set speed (mph)
                                                             # The units might change with IPC settings?
      ("CcStat_D_Actl", "EngBrakeData"),                     # PCM ACC status
+      ("AccStopMde_D_Rq", "EngBrakeData"),                   # PCM ACC standstill
+      ("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"),              # PCM ACC enable
      ("StePinComp_An_Est", "SteeringPinion_Data"),          # PSCM estimated steering angle (deg)
                                                             # Calculates steering angle (and offset) from pinion
                                                             # angle and driving measurements.
@ -104,7 +113,6 @@ class CarState(CarStateBase):
                                                             # to zero at the beginning of the drive.
      ("SteeringColumnTorque", "EPAS_INFO"),                 # PSCM steering column torque (Nm)
      ("EPAS_Failure", "EPAS_INFO"),                         # PSCM EPAS status
-      ("LaHandsOff_B_Actl", "Lane_Assist_Data3_FD1"),        # PSCM LKAS hands off wheel
      ("TurnLghtSwtch_D_Stat", "Steering_Data_FD1"),         # SCCM Turn signal switch
      ("TjaButtnOnOffPress", "Steering_Data_FD1"),           # SCCM ACC button, lane-centering/traffic jam assist toggle
      ("DrStatDrv_B_Actl", "BodyInfo_3_FD1"),                # BCM Door open, driver
@ -112,6 +120,38 @@ class CarState(CarStateBase):
      ("DrStatRl_B_Actl", "BodyInfo_3_FD1"),                 # BCM Door open, rear left
      ("DrStatRr_B_Actl", "BodyInfo_3_FD1"),                 # BCM Door open, rear right
      ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"),     # RCM Seatbelt status, driver
+      ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"),       # SCCM Passthru the remaining buttons
+      ("WiprFront_D_Stat", "Steering_Data_FD1"),
+      ("LghtAmb_D_Sns", "Steering_Data_FD1"),
+      ("AccButtnGapDecPress", "Steering_Data_FD1"),
+      ("AccButtnGapIncPress", "Steering_Data_FD1"),
+      ("AslButtnOnOffCnclPress", "Steering_Data_FD1"),
+      ("AslButtnOnOffPress", "Steering_Data_FD1"),
+      ("CcAslButtnCnclPress", "Steering_Data_FD1"),
+      ("LaSwtchPos_D_Stat", "Steering_Data_FD1"),
+      ("CcAslButtnCnclResPress", "Steering_Data_FD1"),
+      ("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"),
+      ("CcAslButtnIndxDecPress", "Steering_Data_FD1"),
+      ("CcAslButtnIndxIncPress", "Steering_Data_FD1"),
+      ("CcAslButtnOffCnclPress", "Steering_Data_FD1"),
+      ("CcAslButtnOnOffCncl", "Steering_Data_FD1"),
+      ("CcAslButtnOnPress", "Steering_Data_FD1"),
+      ("CcAslButtnResDecPress", "Steering_Data_FD1"),
+      ("CcAslButtnResIncPress", "Steering_Data_FD1"),
+      ("CcAslButtnSetDecPress", "Steering_Data_FD1"),
+      ("CcAslButtnSetIncPress", "Steering_Data_FD1"),
+      ("CcAslButtnSetPress", "Steering_Data_FD1"),
+      ("CcAsllButtnResPress", "Steering_Data_FD1"),
+      ("CcButtnOffPress", "Steering_Data_FD1"),
+      ("CcButtnOnOffCnclPress", "Steering_Data_FD1"),
+      ("CcButtnOnOffPress", "Steering_Data_FD1"),
+      ("CcButtnOnPress", "Steering_Data_FD1"),
+      ("HeadLghtHiFlash_D_Actl", "Steering_Data_FD1"),
+      ("HeadLghtHiOn_B_StatAhb", "Steering_Data_FD1"),
+      ("AhbStat_B_Dsply", "Steering_Data_FD1"),
+      ("AccButtnGapTogglePress", "Steering_Data_FD1"),
+      ("WiprFrontSwtch_D_Stat", "Steering_Data_FD1"),
+      ("HeadLghtHiCtrl_D_RqAhb", "Steering_Data_FD1"),
    ]

    checks = [
@ -122,6 +162,7 @@ class CarState(CarStateBase):
      ("EngVehicleSpThrottle", 100),
      ("BrakeSnData_4", 50),
      ("EngBrakeData", 10),
+      ("Cluster_Info1_FD1", 10),
      ("SteeringPinion_Data", 100),
      ("EPAS_INFO", 50),
      ("Lane_Assist_Data3_FD1", 33),
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@ -1,7 +1,10 @@
-from common.numpy_fast import clip
+from cereal import car
+from selfdrive.car.ford.values import CANBUS

+HUDControl = car.CarControl.HUDControl

-def create_lkas_command(packer, angle_deg: float, curvature: float):
+
+def create_lka_command(packer, angle_deg: float, curvature: float):
  """
  Creates a CAN message for the Ford LKAS Command.

@ -20,7 +23,7 @@ def create_lkas_command(packer, angle_deg: float, curvature: float):
    "LdwActvStats_D_Req": 0,            # LDW status [0|7]
    "LdwActvIntns_D_Req": 0,            # LDW intensity [0|3], shake alert strength
  }
-  return packer.make_can_msg("Lane_Assist_Data1", 0, values)
+  return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values)


 def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, curvature_rate: float, curvature: float):
@ -38,20 +41,20 @@ def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path
  """

  values = {
-    "LatCtlRng_L_Max": 0,                                                   # Unknown [0|126] meter
-    "HandsOffCnfm_B_Rq": 0,                                                 # Unknown: 0=Inactive, 1=Active [0|1]
-    "LatCtl_D_Rq": lca_rq,                                                  # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": ramp_type,                                       # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-    "LatCtlPrecision_D_Rq": precision,                                      # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-    "LatCtlPathOffst_L_Actl": clip(path_offset, -5.12, 5.11),               # Path offset [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": clip(path_angle, -0.5, 0.5235),                   # Path angle [-0.5|0.5235] radians
-    "LatCtlCurv_NoRate_Actl": clip(curvature_rate, -0.001024, 0.00102375),  # Curvature rate [-0.001024|0.00102375] 1/meter^2
-    "LatCtlCurv_No_Actl": clip(curvature, -0.02, 0.02094),                  # Curvature [-0.02|0.02094] 1/meter
+    "LatCtlRng_L_Max": 0,                                   # Unknown [0|126] meter
+    "HandsOffCnfm_B_Rq": 0,                                 # Unknown: 0=Inactive, 1=Active [0|1]
+    "LatCtl_D_Rq": lca_rq,                                  # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7]
+    "LatCtlRampType_D_Rq": ramp_type,                       # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
+    "LatCtlPrecision_D_Rq": precision,                      # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+    "LatCtlPathOffst_L_Actl": path_offset,                  # Path offset [-5.12|5.11] meter
+    "LatCtlPath_An_Actl": path_angle,                       # Path angle [-0.4995|0.5240] radians
+    "LatCtlCurv_NoRate_Actl": curvature_rate,               # Curvature rate [-0.001024|0.00102375] 1/meter^2
+    "LatCtlCurv_No_Actl": curvature,                        # Curvature [-0.02|0.02094] 1/meter
  }
-  return packer.make_can_msg("LateralMotionControl", 0, values)
+  return packer.make_can_msg("LateralMotionControl", CANBUS.main, values)


-def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, stock_values: dict):
+def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
  """
  Creates a CAN message for the Ford IPC IPMA/LKAS status.

@ -63,23 +66,47 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo
  """

  # LaActvStats_D_Dsply
-  # TODO: get LDW state from OP
+  #    R  Intvn Warn Supprs Avail No
+  # L
+  # Intvn  24    19    14     9   4
+  # Warn   23    18    13     8   3
+  # Supprs 22    17    12     7   2
+  # Avail  21    16    11     6   1
+  # No     20    15    10     5   0
+  #
+  # TODO: test suppress state
  if enabled:
-    lines = 6
+    lines = 0  # NoLeft_NoRight
+    if hud_control.leftLaneDepart:
+      lines += 4
+    elif hud_control.leftLaneVisible:
+      lines += 1
+    if hud_control.rightLaneDepart:
+      lines += 20
+    elif hud_control.rightLaneVisible:
+      lines += 5
  elif main_on:
    lines = 0
  else:
-    lines = 30
+    if hud_control.leftLaneDepart:
+      lines = 3  # WarnLeft_NoRight
+    elif hud_control.rightLaneDepart:
+      lines = 15  # NoLeft_WarnRight
+    else:
+      lines = 30  # LA_Off
+
+  # TODO: use level 1 for no sound when less severe?
+  hands_on_wheel_dsply = 2 if steer_alert else 0

  values = {
    **stock_values,
    "LaActvStats_D_Dsply": lines,                           # LKAS status (lines) [0|31]
-    "LaHandsOff_D_Dsply": 2 if steer_alert else 0,          # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
+    "LaHandsOff_D_Dsply": hands_on_wheel_dsply,             # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
  }
-  return packer.make_can_msg("IPMA_Data", 0, values)
+  return packer.make_can_msg("IPMA_Data", CANBUS.main, values)


-def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values: dict):
+def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
  """
  Creates a CAN message for the Ford IPC adaptive cruise, forward collision
  warning and traffic jam assist status.
@ -89,14 +116,32 @@ def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values: di
  Frequency is 20Hz.
  """

+  # Tja_D_Stat
+  if enabled:
+    if hud_control.leftLaneDepart:
+      status = 3  # ActiveInterventionLeft
+    elif hud_control.rightLaneDepart:
+      status = 4  # ActiveInterventionRight
+    else:
+      status = 2  # Active
+  elif main_on:
+    if hud_control.leftLaneDepart:
+      status = 5  # ActiveWarningLeft
+    elif hud_control.rightLaneDepart:
+      status = 6  # ActiveWarningRight
+    else:
+      status = 1  # Standby
+  else:
+    status = 0    # Off
+
  values = {
    **stock_values,
-    "Tja_D_Stat": 2 if enabled else (1 if main_on else 0),  # TJA status: 0=Off, 1=Standby, 2=Active, 3=InterventionLeft, 4=InterventionRight, 5=WarningLeft, 6=WarningRight, 7=NotUsed [0|7]
+    "Tja_D_Stat": status,
  }
-  return packer.make_can_msg("ACCDATA_3", 0, values)
+  return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)


-def spam_cancel_button(packer, cancel=1):
+def create_button_command(packer, stock_values: dict, cancel = False, resume = False, tja_toggle = False, bus = CANBUS.camera):
  """
  Creates a CAN message for the Ford SCCM buttons/switches.

@ -104,6 +149,9 @@ def spam_cancel_button(packer, cancel=1):
  """

  values = {
-    "CcAslButtnCnclPress": cancel,  # CC cancel button
+    **stock_values,
+    "CcAslButtnCnclPress": 1 if cancel else 0,      # CC cancel button
+    "CcAsllButtnResPress": 1 if resume else 0,      # CC resume button
+    "TjaButtnOnOffPress": 1 if tja_toggle else 0,   # TJA toggle button
  }
-  return packer.make_can_msg("Steering_Data_FD1", 0, values)
+  return packer.make_can_msg("Steering_Data_FD1", bus, values)
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
-from selfdrive.car.ford.values import CAR, TransmissionType, GearShifter
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
 from selfdrive.car.interfaces import CarInterfaceBase


@ -12,59 +12,59 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):
  @staticmethod
  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
+    if car_fw is None:
+      car_fw = []
+
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

    ret.carName = "ford"
-    #ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
    ret.dashcamOnly = True
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]

    # Angle-based steering
-    # TODO: use curvature control when ready
    ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.steerActuatorDelay = 0.1
+    ret.steerActuatorDelay = 0.4
    ret.steerLimitTimer = 1.0
-
-    # TODO: detect stop-and-go vehicles
-    stop_and_go = False
+    tire_stiffness_factor = 1.0

    if candidate == CAR.ESCAPE_MK4:
      ret.wheelbase = 2.71
      ret.steerRatio = 14.3  # Copied from Focus
-      tire_stiffness_factor = 0.5328  # Copied from Focus
      ret.mass = 1750 + STD_CARGO_KG

+    elif candidate == CAR.EXPLORER_MK6:
+      ret.wheelbase = 3.025
+      ret.steerRatio = 16.8  # learned
+      ret.mass = 2050 + STD_CARGO_KG
+
    elif candidate == CAR.FOCUS_MK4:
      ret.wheelbase = 2.7
-      ret.steerRatio = 14.3
-      tire_stiffness_factor = 0.5328
+      ret.steerRatio = 13.8  # learned
      ret.mass = 1350 + STD_CARGO_KG

    else:
      raise ValueError(f"Unsupported car: ${candidate}")

-    # Auto Transmission: Gear_Shift_by_Wire_FD1
-    # TODO: detect transmission in car_fw?
-    if 0x5A in fingerprint[0]:
+    # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
+    found_ecus = [fw.ecu for fw in car_fw]
+    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]:
      ret.transmissionType = TransmissionType.automatic
    else:
      ret.transmissionType = TransmissionType.manual
+      ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS

    # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
    # TODO: detect bsm in car_fw?
    ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0]

-    # min speed to enable ACC. if car can do stop and go, then set enabling speed
-    # to a negative value, so it won't matter.
-    ret.minEnableSpeed = -1. if (stop_and_go) else 20. * CV.MPH_TO_MS
    # LCA can steer down to zero
    ret.minSteerSpeed = 0.

-    ret.centerToFront = ret.wheelbase * 0.44
-
+    ret.autoResumeSng = ret.minEnableSpeed == -1.
    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+    ret.centerToFront = ret.wheelbase * 0.44
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                         tire_stiffness_factor=tire_stiffness_factor)
-
    return ret

  def _update(self, c):
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@ -1,9 +1,12 @@
 from collections import namedtuple
+from dataclasses import dataclass
+from enum import Enum
 from typing import Dict, List, Union

 from cereal import car
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo
+from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

 Ecu = car.CarParams.Ecu
 TransmissionType = car.CarParams.TransmissionType
@ -20,8 +23,11 @@ class CarControllerParams:
  # Message: ACCDATA_3
  ACC_UI_STEP = 5

-  STEER_RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
-  STEER_RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
+  STEER_RATIO = 2.75
+  STEER_DRIVER_ALLOWANCE = 0.8
+
+  RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
+  RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])


 class RADAR:
@ -37,14 +43,40 @@ class CANBUS:

 class CAR:
  ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
+  EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
  FOCUS_MK4 = "FORD FOCUS 4TH GEN"


+@dataclass
+class FordCarInfo(CarInfo):
+  package: str = "Co-Pilot360 Assist+"
+  harness: Enum = Harness.ford_q3
+
+
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
-  CAR.ESCAPE_MK4: CarInfo("Ford Escape", "NA"),
-  CAR.FOCUS_MK4: CarInfo("Ford Focus", "NA"),
+  CAR.ESCAPE_MK4: [
+    FordCarInfo("Ford Escape 2020"),
+    FordCarInfo("Ford Kuga EU", "Driver Assistance Pack"),
+  ],
+  CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-21"),
+  CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
 }

+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.engine],
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      bus=0,
+      whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
+    ),
+  ],
+)

 FW_VERSIONS = {
  CAR.ESCAPE_MK4: {
@ -63,6 +95,33 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7E0, None): [
      b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
+    (Ecu.shiftByWire, 0x732, None): [
+    ],
+  },
+  CAR.EXPLORER_MK6: {
+    (Ecu.eps, 0x730, None): [
+      b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x732, None): [
+      b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
  },
  CAR.FOCUS_MK4: {
    (Ecu.eps, 0x730, None): [
@ -80,11 +139,14 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7E0, None): [
      b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
+    (Ecu.shiftByWire, 0x732, None): [
+    ],
  },
 }


 DBC = {
  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
+  CAR.EXPLORER_MK6: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
 }
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+import capnp
+from dataclasses import dataclass, field
+import struct
+from typing import Dict, List
+
+import panda.python.uds as uds
+
+
+def p16(val):
+  return struct.pack("!H", val)
+
+
+class StdQueries:
+  # FW queries
+  TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
+  TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
+
+  SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
+  SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
+
+  DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
+                                      uds.SESSION_TYPE.DEFAULT])
+  DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
+                                      uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
+
+  EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
+                                       uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
+  EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
+                                        uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
+
+  MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+  MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+
+  UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
+  UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
+
+  OBD_VERSION_REQUEST = b'\x09\x04'
+  OBD_VERSION_RESPONSE = b'\x49\x04'
+
+  # VIN queries
+  OBD_VIN_REQUEST = b'\x09\x02'
+  OBD_VIN_RESPONSE = b'\x49\x02\x01'
+
+  UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
+  UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
+
+
+@dataclass
+class Request:
+  request: List[bytes]
+  response: List[bytes]
+  whitelist_ecus: List[int] = field(default_factory=list)
+  rx_offset: int = 0x8
+  bus: int = 1
+
+
+@dataclass
+class FwQueryConfig:
+  requests: List[Request]
+  # Overrides and removes from essential ecus for specific models and ecus (exact matching)
+  non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -1,9 +1,7 @@
 #!/usr/bin/env python3
-import struct
 import traceback
 from collections import defaultdict
-from dataclasses import dataclass, field
-from typing import Any, List, Optional, Set, Tuple
+from typing import Any, Optional, Set, Tuple
 from tqdm import tqdm

 import panda.python.uds as uds
@ -12,237 +10,16 @@ from selfdrive.car.ecu_addrs import get_ecu_addrs
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.car.toyota.values import CAR as TOYOTA
 from system.swaglog import cloudlog

 Ecu = car.CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]

+FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
+VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)

-def p16(val):
-  return struct.pack("!H", val)
-
-
-TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
-TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
-
-SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
-SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
-
-DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
-                                    uds.SESSION_TYPE.DEFAULT])
-DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
-                                    uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
-
-EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
-                                     uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
-EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
-                                      uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
-
-UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
-UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
-
-
-HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xf100)  # Long description
-HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
-  p16(0xf100)
-HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
-
-
-TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
-TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
-
-VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
-VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
-
-OBD_VERSION_REQUEST = b'\x09\x04'
-OBD_VERSION_RESPONSE = b'\x49\x04'
-
-DEFAULT_RX_OFFSET = 0x8
-VOLKSWAGEN_RX_OFFSET = 0x6a
-
-MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-MAZDA_VERSION_RESPONSE =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-
-NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
-NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
-
-NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
-NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
-
-NISSAN_VERSION_REQUEST_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-NISSAN_VERSION_RESPONSE_STANDARD =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-
-NISSAN_RX_OFFSET = 0x20
-
-SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
-SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
-
-CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xf132)
-CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(0xf132)
-
-CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
-CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
-
-CHRYSLER_RX_OFFSET = -0x280
-
-FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-FORD_VERSION_RESPONSE =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-
-
-@dataclass
-class Request:
-  brand: str
-  request: List[bytes]
-  response: List[bytes]
-  whitelist_ecus: List[int] = field(default_factory=list)
-  rx_offset: int = DEFAULT_RX_OFFSET
-  bus: int = 1
-
-
-REQUESTS: List[Request] = [
-  # Subaru
-  Request(
-    "subaru",
-    [TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
-    [TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-  ),
-  # Hyundai
-  Request(
-    "hyundai",
-    [HYUNDAI_VERSION_REQUEST_LONG],
-    [HYUNDAI_VERSION_RESPONSE],
-  ),
-  Request(
-    "hyundai",
-    [HYUNDAI_VERSION_REQUEST_MULTI],
-    [HYUNDAI_VERSION_RESPONSE],
-  ),
-  # Honda
-  Request(
-    "honda",
-    [UDS_VERSION_REQUEST],
-    [UDS_VERSION_RESPONSE],
-  ),
-  # Toyota
-  Request(
-    "toyota",
-    [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
-    [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
-    bus=0,
-  ),
-  Request(
-    "toyota",
-    [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
-    [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
-    bus=0,
-  ),
-  Request(
-    "toyota",
-    [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
-    [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
-    bus=0,
-  ),
-  # Volkswagen
-  Request(
-    "volkswagen",
-    [VOLKSWAGEN_VERSION_REQUEST_MULTI],
-    [VOLKSWAGEN_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
-    rx_offset=VOLKSWAGEN_RX_OFFSET,
-  ),
-  Request(
-    "volkswagen",
-    [VOLKSWAGEN_VERSION_REQUEST_MULTI],
-    [VOLKSWAGEN_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.engine, Ecu.transmission],
-  ),
-  # Mazda
-  Request(
-    "mazda",
-    [MAZDA_VERSION_REQUEST],
-    [MAZDA_VERSION_RESPONSE],
-  ),
-  # Nissan
-  Request(
-    "nissan",
-    [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
-    [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
-  ),
-  Request(
-    "nissan",
-    [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
-    [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
-    rx_offset=NISSAN_RX_OFFSET,
-  ),
-  Request(
-    "nissan",
-    [NISSAN_VERSION_REQUEST_STANDARD],
-    [NISSAN_VERSION_RESPONSE_STANDARD],
-    rx_offset=NISSAN_RX_OFFSET,
-  ),
-  # Body
-  Request(
-    "body",
-    [TESTER_PRESENT_REQUEST, UDS_VERSION_REQUEST],
-    [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE],
-    bus=0,
-  ),
-  # Chrysler / FCA / Stellantis
-  Request(
-    "chrysler",
-    [CHRYSLER_VERSION_REQUEST],
-    [CHRYSLER_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
-    rx_offset=CHRYSLER_RX_OFFSET,
-  ),
-  Request(
-    "chrysler",
-    [CHRYSLER_VERSION_REQUEST],
-    [CHRYSLER_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
-  ),
-  Request(
-    "chrysler",
-    [CHRYSLER_SOFTWARE_VERSION_REQUEST],
-    [CHRYSLER_SOFTWARE_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.engine, Ecu.transmission],
-  ),
-  # Ford
-  Request(
-    "ford",
-    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
-    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.engine],
-  ),
-  Request(
-    "ford",
-    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
-    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
-    bus=0,
-    whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
-  ),
-]
+MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
+REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]


 def chunks(l, n=128):
@ -261,9 +38,8 @@ def build_fw_dict(fw_versions, filter_brand=None):


 def get_brand_addrs():
-  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
  brand_addrs = defaultdict(set)
-  for brand, cars in versions.items():
+  for brand, cars in VERSIONS.items():
    for fw in cars.values():
      brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
  return brand_addrs
@ -325,19 +101,19 @@ def match_fw_to_car_exact(fw_versions_dict):

  for candidate, fws in candidates.items():
    for ecu, expected_versions in fws.items():
+      config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
      ecu_type = ecu[0]
      addr = ecu[1:]
-      found_versions = fw_versions_dict.get(addr, set())
-      if ecu_type == Ecu.abs and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions):
-        continue

-      # On some Toyota models, the engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions):
-        continue
+      found_versions = fw_versions_dict.get(addr, set())
+      if not len(found_versions):
+        # Some models can sometimes miss an ecu, or show on two different addresses
+        if candidate in config.non_essential_ecus.get(ecu_type, []):
+          continue

-      # Ignore non essential ecus
-      if ecu_type not in ESSENTIAL_ECUS and not len(found_versions):
-        continue
+        # Ignore non essential ecus
+        if ecu_type not in ESSENTIAL_ECUS:
+          continue

      # Virtual debug ecu doesn't need to match the database
      if ecu_type == Ecu.debug:
@ -358,11 +134,10 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
  if allow_fuzzy:
    exact_matches.append((False, match_fw_to_car_fuzzy))

-  brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys()
  for exact_match, match_func in exact_matches:
    # For each brand, attempt to fingerprint using all FW returned from its queries
    matches = set()
-    for brand in brands:
+    for brand in VERSIONS.keys():
      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
      matches |= match_func(fw_versions_dict)

@ -376,13 +151,9 @@ def get_present_ecus(logcan, sendcan):
  queries = list()
  parallel_queries = list()
  responses = set()
-  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
-
-  for r in REQUESTS:
-    if r.brand not in versions:
-      continue

-    for brand_versions in versions[r.brand].values():
+  for brand, r in REQUESTS:
+    for brand_versions in VERSIONS[brand].values():
      for ecu_type, addr, sub_addr in brand_versions:
        # Only query ecus in whitelist if whitelist is not empty
        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
@ -411,9 +182,9 @@ def get_brand_ecu_matches(ecu_rx_addrs):
  """Returns dictionary of brands and matches with ECUs in their FW versions"""

  brand_addrs = get_brand_addrs()
-  brand_matches = {r.brand: set() for r in REQUESTS}
+  brand_matches = {brand: set() for brand, _ in REQUESTS}

-  brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS)
+  brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS)
  for addr, sub_addr, _ in ecu_rx_addrs:
    # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
    for brand, rx_offset in brand_rx_offsets:
@ -442,7 +213,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa


 def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
-  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+  versions = VERSIONS.copy()
  if query_brand is not None:
    versions = {query_brand: versions[query_brand]}

@ -473,12 +244,12 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,

  # Get versions and build capnp list to put into CarParams
  car_fw = []
-  requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand]
+  requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand]
  for addr in tqdm(addrs, disable=not progress):
    for addr_chunk in chunks(addr):
-      for r in requests:
+      for brand, r in requests:
        try:
-          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
+          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
                   (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]

          if addrs:
@ -486,12 +257,12 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
            for (addr, rx_addr), version in query.get_data(timeout).items():
              f = car.CarParams.CarFw.new_message()

-              f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown)
+              f.ecu = ecu_types.get((brand, addr[0], addr[1]), Ecu.unknown)
              f.fwVersion = version
              f.address = addr[0]
              f.responseAddress = rx_addr
              f.request = r.request
-              f.brand = r.brand
+              f.brand = brand
              f.bus = r.bus

              if addr[1] is not None:
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -6,6 +6,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -142,6 +143,14 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }

+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.UDS_VERSION_RESPONSE],
+    ),
+  ],
+)

 FW_VERSIONS = {
  CAR.ACCORD: {
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -28,7 +28,7 @@ class CarInterface(CarInterfaceBase):
    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None

    # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
+    ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR | CANFD_CAR)
    ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable

    ret.pcmCruise = not ret.openpilotLongitudinalControl
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -3,9 +3,12 @@ from dataclasses import dataclass
 from typing import Dict, List, Optional, Union

 from cereal import car
+from panda.python import uds
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
+
 Ecu = car.CarParams.Ecu


@ -272,6 +275,26 @@ FINGERPRINTS = {
  }],
 }

+HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf100)  # Long description
+HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
+  p16(0xf100)
+HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_MULTI],
+      [HYUNDAI_VERSION_RESPONSE],
+    ),
+  ],
+)

 FW_VERSIONS = {
  CAR.IONIQ: {
@ -1273,6 +1296,7 @@ FW_VERSIONS = {
  },
  CAR.KIA_EV6: {
    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00CV  IEB \x03 101!\x10\x18 58520-CV100',
      b'\xf1\x8758520CV100\xf1\x00CV  IEB \x02 101!\x10\x18 58520-CV100',
    ],
    (Ecu.eps, 0x7d4, None): [
@ -1284,6 +1308,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
+      b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.05 99210-CV000 211027',
    ],
  },
  CAR.IONIQ_5: {
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@ -2,9 +2,11 @@ from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union

+from cereal import car
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
-from cereal import car
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
 Ecu = car.CarParams.Ecu


@ -50,6 +52,7 @@ class LKAS_LIMITS:
  DISABLE_SPEED = 45    # kph
  ENABLE_SPEED = 52     # kph

+
 class Buttons:
  NONE = 0
  SET_PLUS = 1
@ -58,8 +61,17 @@ class Buttons:
  CANCEL = 4


+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+    ),
+  ],
+)
+
 FW_VERSIONS = {
-  CAR.CX5_2022 : {
+  CAR.CX5_2022: {
    (Ecu.eps, 0x730, None): [
      b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@ -2,9 +2,12 @@ from dataclasses import dataclass
 from typing import Dict, List, Optional, Union
 from enum import Enum

+from cereal import car
+from panda.python import uds
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
-from cereal import car
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
 Ecu = car.CarParams.Ecu


@ -75,6 +78,33 @@ FINGERPRINTS = {
  ]
 }

+NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
+NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
+
+NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
+NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
+
+NISSAN_RX_OFFSET = 0x20
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
+      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+    ),
+    Request(
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
+      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+      rx_offset=NISSAN_RX_OFFSET,
+    ),
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      rx_offset=NISSAN_RX_OFFSET,
+    ),
+  ],
+)
+
 FW_VERSIONS = {
  CAR.ALTIMA: {
    (Ecu.fwdCamera, 0x707, None): [
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@ -2,9 +2,11 @@ from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union

+from cereal import car
+from panda.python import uds
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
-from cereal import car
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16

 Ecu = car.CarParams.Ecu

@ -71,6 +73,19 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
  CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
 }

+SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
+SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+    ),
+  ],
+)

 FW_VERSIONS = {
  CAR.ASCENT: {
@ -89,6 +104,7 @@ FW_VERSIONS = {
      b'\000\000e~\037@ \'',
      b'\x00\x00e@\x1f@ $',
      b'\x00\x00d\xb9\x00\x00\x00\x00',
+      b'\x00\x00e@\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xbb,\xa0t\a',
@ -96,11 +112,13 @@ FW_VERSIONS = {
      b'\xf1\x82\xbb,\xa0t\a',
      b'\xf1\x82\xd9,\xa0@\a',
      b'\xf1\x82\xd1,\xa0q\x07',
+      b'\xd1,\xa0q\x07',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\x00\xfe\xf7\x00\x00',
      b'\001\xfe\xf9\000\000',
      b'\x01\xfe\xf7\x00\x00',
+      b'\x01\xfe\xfa\x00\x00',
    ],
  },
  CAR.LEGACY: {
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@ -22,7 +22,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
 FINGERPRINTS = {
  CAR.AP2_MODELS: [
    {
-      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4
+      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 7, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1792: 8, 1798: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1825: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1842: 8, 1848: 8, 1864: 8, 1872: 8, 1880: 8, 1888: 8, 1892: 8, 1896: 8, 1912: 8, 1937: 8, 1953: 8, 1960: 8, 1968: 8, 1992: 8, 2001: 8, 2008: 3, 2015: 8, 2016: 8, 2043: 5, 2045: 4
    },
  ],
  CAR.AP1_MODELS: [
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -41,13 +41,14 @@ routes = [
  CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
  CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),

+  CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
  #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),

  CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
  CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
-  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV),
+  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
  CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),

  CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@ -6,7 +6,7 @@ from parameterized import parameterized
 from cereal import car
 from selfdrive.car.car_helpers import get_interface_attr, interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import REQUESTS, match_fw_to_car
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, match_fw_to_car

 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@ -59,14 +59,25 @@ class TestFwFingerprint(unittest.TestCase):
            for ecu in ecus.keys():
              self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")

+  def test_missing_versions_and_configs(self):
+    brand_versions = set(VERSIONS.keys())
+    brand_configs = set(FW_QUERY_CONFIGS.keys())
+    if len(brand_configs - brand_versions):
+      with self.subTest():
+        self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")
+
+    if len(brand_versions - brand_configs):
+      with self.subTest():
+        self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
+
  def test_fw_request_ecu_whitelist(self):
-    for brand in set(r.brand for r in REQUESTS):
+    for brand, config in FW_QUERY_CONFIGS.items():
      with self.subTest(brand=brand):
-        whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
+        whitelisted_ecus = set([ecu for r in config.requests for ecu in r.whitelist_ecus])
        brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])

        # each ecu in brand's fw versions needs to be whitelisted at least once
-        ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
+        ecus_not_whitelisted = brand_ecus - whitelisted_ecus

        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
        self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase):

      checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
      checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
-      if self.CP.carName in ("honda", "toyota"):
+      if self.CP.carName not in ("hyundai", "volkswagen", "subaru", "gm", "body"):
        # TODO: fix standstill mismatches for other makes
        checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()

@ -243,7 +243,8 @@ class TestCarModelBase(unittest.TestCase):
      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
        if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05:
          brake_pressed = False
-      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
+      safety_brake_pressed = self.safety.get_brake_pressed_prev() or self.safety.get_regen_braking_prev()
+      checks['brakePressed'] += brake_pressed != safety_brake_pressed

      if self.CP.pcmCruise:
        # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@ -13,6 +13,7 @@ TESLA AP2 MODEL S: [.nan, 2.5, .nan]

 # Guess
 FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
+FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 ###

--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -230,11 +230,10 @@ class CarInterface(CarInterfaceBase):
    # to a negative value, so it won't matter.
    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED

-    if ret.enableGasInterceptor:
-      set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
-    elif candidate in TSS2_CAR:
+    if candidate in TSS2_CAR or ret.enableGasInterceptor:
      set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
-      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      if candidate in TSS2_CAR:
+        ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
    else:
      set_long_tune(ret.longitudinalTuning, LongTunes.TSS)

--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@ -2,9 +2,8 @@
 from enum import Enum

 class LongTunes(Enum):
-  PEDAL = 0
-  TSS2 = 1
-  TSS = 2
+  TSS2 = 0
+  TSS = 1

 class LatTunes(Enum):
  INDI_PRIUS = 0
@ -28,7 +27,7 @@ class LatTunes(Enum):
 ###### LONG ######
 def set_long_tune(tune, name):
  # Improved longitudinal tune
-  if name == LongTunes.TSS2 or name == LongTunes.PEDAL:
+  if name == LongTunes.TSS2:
    tune.deadzoneBP = [0., 8.05]
    tune.deadzoneV = [.0, .14]
    tune.kpBP = [0., 5., 20.]
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -7,6 +7,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

 Ecu = car.CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@ -198,6 +199,35 @@ STATIC_DSU_MSGS = [
  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]

+TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
+TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
+      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
+      bus=0,
+    ),
+    Request(
+      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
+      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
+      bus=0,
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      bus=0,
+    ),
+  ],
+  non_essential_ecus={
+    # FIXME: On some models, abs can sometimes be missing
+    Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
+    # On some models, the engine can show on two different addresses
+    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS],
+  }
+)
+
 FW_VERSIONS = {
  CAR.AVALON: {
    (Ecu.abs, 0x7b0, None): [
@ -511,13 +541,16 @@ FW_VERSIONS = {
  CAR.CAMRYH_TSS2: {
    (Ecu.eps, 0x7a1, None): [
      b'8965B33630\x00\x00\x00\x00\x00\x00',
+      b'8965B33650\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'F152633D00\x00\x00\x00\x00\x00\x00',
+      b'F152633D60\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x018966306Q6000\x00\x00\x00\x00',
      b'\x018966306Q7000\x00\x00\x00\x00',
+      b'\x01896633T20000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 15): [
      b'\x018821F6201200\x00\x00\x00\x00',
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@ -1,19 +1,12 @@
 #!/usr/bin/env python3
 import re
-import struct
 import traceback

 import cereal.messaging as messaging
-import panda.python.uds as uds
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from selfdrive.car.fw_query_definitions import StdQueries
 from system.swaglog import cloudlog

-OBD_VIN_REQUEST = b'\x09\x02'
-OBD_VIN_RESPONSE = b'\x49\x02\x01'
-
-UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
-UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
-
 VIN_UNKNOWN = "0" * 17
 VIN_RE = "[A-HJ-NPR-Z0-9]{17}"

@ -25,7 +18,7 @@ def is_valid_vin(vin: str):
 def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
  addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1]  # engine, VMCU, 29-bit engine, PGM-FI
  for i in range(retry):
-    for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
+    for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
      try:
        query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug)
        for (addr, rx_addr), vin in query.get_data(timeout).items():
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@ -18,6 +18,7 @@ class CarController:
    self.packer_pt = CANPacker(dbc_name)

    self.apply_steer_last = 0
+    self.gra_acc_counter_last = None
    self.frame = 0
    self.hcaSameTorqueCount = 0
    self.hcaEnabledFrameCount = 0
@ -94,15 +95,15 @@ class CarController:

    # **** Stock ACC Button Controls **************************************** #

-    if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:
-      idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
-      if CC.cruiseControl.cancel:
-        can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
-      elif CC.cruiseControl.resume:
-        can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
+    gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
+    if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
+      counter = (CS.gra_stock_values["COUNTER"] + 1) % 16
+      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter,
+                                                           cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))

    new_actuators = actuators.copy()
    new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX

+    self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
    self.frame += 1
    return new_actuators, can_sends
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@ -26,11 +26,11 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
  return packer.make_can_msg("LDW_02", bus, values)


-def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
+def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
  values = gra_stock_values.copy()

  values.update({
-    "COUNTER": idx,
+    "COUNTER": counter,
    "GRA_Abbrechen": cancel,
    "GRA_Tip_Wiederaufnahme": resume,
  })
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@ -23,11 +23,11 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
  return packer.make_can_msg("LDW_Status", bus, values)


-def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
+def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
  values = gra_stock_values.copy()

  values.update({
-    "COUNTER": idx,
+    "COUNTER": counter,
    "GRA_Abbrechen": cancel,
    "GRA_Recall": resume,
  })
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -4,9 +4,11 @@ from enum import Enum
 from typing import Dict, List, Union

 from cereal import car
+from panda.python import uds
 from opendbc.can.can_define import CANDefine
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16

 Ecu = car.CarParams.Ecu
 NetworkLocation = car.CarParams.NetworkLocation
@ -17,7 +19,6 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])

 class CarControllerParams:
  HCA_STEP = 2                            # HCA_01/HCA_1 message frequency 50Hz
-  GRA_ACC_STEP = 3                        # GRA_ACC_01/GRA_Neu message frequency 33Hz
  ACC_CONTROL_STEP = 2                    # ACC_06/ACC_07/ACC_System frequency 50Hz

  ACCEL_MAX = 2.0                         # 2.0 m/s max acceleration
@ -244,6 +245,30 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
 # ECU SW part numbers are invalid for vehicle ID and compatibility checks. Try to have
 # them repaired by the tuner before including them in openpilot.

+VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
+VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
+
+VOLKSWAGEN_RX_OFFSET = 0x6a
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [VOLKSWAGEN_VERSION_REQUEST_MULTI],
+      [VOLKSWAGEN_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
+      rx_offset=VOLKSWAGEN_RX_OFFSET,
+    ),
+    Request(
+      [VOLKSWAGEN_VERSION_REQUEST_MULTI],
+      [VOLKSWAGEN_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.engine, Ecu.transmission],
+    ),
+  ],
+)
+
 FW_VERSIONS = {
  CAR.ARTEON_MK1: {
    (Ecu.engine, 0x7e0, None): [
@ -749,6 +774,7 @@ FW_VERSIONS = {
      b'\xf1\x875G0906259L \xf1\x890002',
      b'\xf1\x875G0906259Q \xf1\x890002',
      b'\xf1\x878V0906259F \xf1\x890002',
+      b'\xf1\x878V0906259J \xf1\x890002',
      b'\xf1\x878V0906259K \xf1\x890001',
      b'\xf1\x878V0906264B \xf1\x890003',
      b'\xf1\x878V0907115B \xf1\x890007',
@ -767,6 +793,7 @@ FW_VERSIONS = {
      b'\xf1\x870DD300046F \xf1\x891602',
      b'\xf1\x870DD300046G \xf1\x891601',
      b'\xf1\x870DL300012E \xf1\x892012',
+      b'\xf1\x870GC300011  \xf1\x890403',
      b'\xf1\x870GC300013M \xf1\x892402',
      b'\xf1\x870GC300042J \xf1\x891402',
    ],
@ -774,6 +801,7 @@ FW_VERSIONS = {
      b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114',
      b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
      b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100',
+      b'\xf1\x875Q0959655AR\xf1\x890315\xf1\x82\x1311110011131115311211012331239321212100',
      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
@ -784,6 +812,7 @@ FW_VERSIONS = {
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -215,7 +215,7 @@ class Controls:
        controls_state = log.ControlsState.from_bytes(controls_state)
        self.v_cruise_kph = controls_state.vCruise

-      if self.sm['pandaStates'][0].controlsAllowed:
+      if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
        self.state = State.enabled

  def update_events(self, CS):
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@ -91,6 +91,7 @@ class LongControl:
      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds)
    else:
      v_target = 0.0
+      v_target_now = 0.0
      v_target_1sec = 0.0
      a_target = 0.0

@ -131,7 +132,6 @@ class LongControl:
                                     feedforward=a_target,
                                     freeze_integrator=freeze_integrator)

-
    self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])

    return self.last_output_accel
--- a/selfdrive/debug/sensor_data_to_hist.py
+++ b/selfdrive/debug/sensor_data_to_hist.py
@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+'''
+printing the gap between interrupts in a histogram to check if the
+frequency is what we expect, the bmx is not interrupt driven for as we
+get interrupts in a 2kHz rate.
+'''
+
+import argparse
+import sys
+from collections import defaultdict
+
+from tools.lib.logreader import LogReader
+from tools.lib.route import Route
+
+import matplotlib.pyplot as plt
+
+SRC_BMX = "bmx055"
+SRC_LSM = "lsm6ds3"
+
+
+def parseEvents(log_reader):
+  bmx_data = defaultdict(list)
+  lsm_data = defaultdict(list)
+
+  for m in log_reader:
+    # only sensorEvents
+    if m.which() != 'sensorEvents':
+      continue
+
+    for se in m.sensorEvents:
+      # convert data to dictionary
+      d = se.to_dict()
+
+      if d["timestamp"] == 0:
+        continue # empty event?
+
+      if d["source"] == SRC_BMX and "acceleration" in d:
+        bmx_data["accel"].append(d["timestamp"] / 1e9)
+
+      if d["source"] == SRC_BMX and "gyroUncalibrated" in d:
+        bmx_data["gyro"].append(d["timestamp"] / 1e9)
+
+      if d["source"] == SRC_LSM and "acceleration" in d:
+        lsm_data["accel"].append(d["timestamp"] / 1e9)
+
+      if d["source"] == SRC_LSM and "gyroUncalibrated" in d:
+        lsm_data["gyro"].append(d["timestamp"] / 1e9)
+
+  return bmx_data, lsm_data
+
+
+def cleanData(data):
+  if len(data) == 0:
+    return [], []
+
+  data.sort()
+  prev = data[0]
+  diffs = []
+  for v in data[1:]:
+    diffs.append(v - prev)
+    prev = v
+  return data, diffs
+
+
+def logAvgValues(data, sensor):
+  if len(data) == 0:
+    print(f"{sensor}: no data to average")
+    return
+
+  avg = sum(data) / len(data)
+  hz  = 1 / avg
+  print(f"{sensor}: data_points: {len(data)} avg [ns]: {avg} avg [Hz]: {hz}")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("route", type=str, help="route name")
+  parser.add_argument("segment", type=int, help="segment number")
+  args = parser.parse_args()
+
+  r = Route(args.route)
+  logs = r.log_paths()
+
+  if len(logs) == 0:
+    print("NO data routes")
+    sys.exit(0)
+
+  if args.segment >= len(logs):
+    print(f"RouteID: {args.segment} out of range, max: {len(logs) -1}")
+    sys.exit(0)
+
+  lr = LogReader(logs[args.segment])
+  bmx_data, lsm_data = parseEvents(lr)
+
+  # sort bmx accel data, and then cal all the diffs, and to a histogram of those
+  bmx_accel, bmx_accel_diffs = cleanData(bmx_data["accel"])
+  bmx_gyro, bmx_gyro_diffs = cleanData(bmx_data["gyro"])
+  lsm_accel, lsm_accel_diffs = cleanData(lsm_data["accel"])
+  lsm_gyro, lsm_gyro_diffs = cleanData(lsm_data["gyro"])
+
+  # get out the averages
+  logAvgValues(bmx_accel_diffs, "bmx accel")
+  logAvgValues(bmx_gyro_diffs, "bmx gyro ")
+  logAvgValues(lsm_accel_diffs, "lsm accel")
+  logAvgValues(lsm_gyro_diffs, "lsm gyro ")
+
+  fig, axs = plt.subplots(1, 2, tight_layout=True)
+  axs[0].hist(bmx_accel_diffs, bins=50)
+  axs[0].set_title("bmx_accel")
+  axs[1].hist(bmx_gyro_diffs, bins=50)
+  axs[1].set_title("bmx_gyro")
+
+  figl, axsl = plt.subplots(1, 2, tight_layout=True)
+  axsl[0].hist(lsm_accel_diffs, bins=50)
+  axsl[0].set_title("lsm_accel")
+  axsl[1].hist(lsm_gyro_diffs, bins=50)
+  axsl[1].set_title("lsm_gyro")
+
+  print("check plot...")
+  plt.show()
+
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@ -67,20 +67,30 @@ if __name__ == "__main__":
    print("Timeout fetching data from EPS")
    quit()

-  coding_variant, current_coding_array = None, None
+  coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0
+  coding_length = len(current_coding)
+
  # EV_SteerAssisMQB covers the majority of MQB racks (EPS_MQB_ZFLS)
-  # APA racks (MQB_PP_APA) have a different coding layout, which should
-  # be easy to support once we identify the specific config bit
  if odx_file == "EV_SteerAssisMQB\x00":
    coding_variant = "ZF"
-    current_coding_array = struct.unpack("!4B", current_coding)
-    hca_enabled = (current_coding_array[0] & (1 << 4) != 0)
-    hca_text = ("DISABLED", "ENABLED")[hca_enabled]
-    print(f"   Lane Assist:  {hca_text}")
+    coding_byte = 0
+    coding_bit = 4
+
+  # APA racks (MQB_PP_APA) have a different coding layout
+  elif odx_file == "EV_SteerAssisVWBSMQBA\x00\x00\x00\x00":
+    coding_variant = "APA"
+    coding_byte = 3
+    coding_bit = 0
+
  else:
    print("Configuration changes not yet supported on this EPS!")
    quit()

+  current_coding_array = struct.unpack(f"!{coding_length}B", current_coding)
+  hca_enabled = (current_coding_array[coding_byte] & (1 << coding_bit) != 0)
+  hca_text = ("DISABLED", "ENABLED")[hca_enabled]
+  print(f"   Lane Assist:  {hca_text}")
+
  try:
    params = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION).decode("utf-8")
    param_version_system_params = params[1:3]
@ -101,14 +111,14 @@ if __name__ == "__main__":
  if args.action in ["enable", "disable"]:
    print("\nAttempting configuration update")

-    assert(coding_variant == "ZF")  # revisit when we have the APA rack coding bit
+    assert(coding_variant in ("ZF", "APA")) 
    # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the
    # bit we care about is always in the same place in the first byte
    if args.action == "enable":
-      new_byte_0 = current_coding_array[0] | (1 << 4)
+      new_byte = current_coding_array[coding_byte] | (1 << coding_bit)
    else:
-      new_byte_0 = current_coding_array[0] & ~(1 << 4)
-    new_coding = new_byte_0.to_bytes(1, "little") + current_coding[1:]
+      new_byte = current_coding_array[coding_byte] & ~(1 << coding_bit)
+    new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:]

    try:
      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)  # type: ignore
--- a/selfdrive/loggerd/encoderd.cc
+++ b/selfdrive/loggerd/encoderd.cc
@ -52,17 +52,23 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
      VisionBuf buf_info = vipc_client.buffers[0];
      LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height);

-      // main encoder
-      encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                     cam_info.fps, cam_info.bitrate,
-                                     cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
-                                     buf_info.width, buf_info.height, false));
-      // qcamera encoder
-      if (cam_info.has_qcamera) {
-        encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                       qcam_info.fps, qcam_info.bitrate,
-                                       qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
-                                       qcam_info.frame_width, qcam_info.frame_height, false));
+      if (buf_info.width > 0 && buf_info.height > 0) {
+        // main encoder
+        encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
+                                      cam_info.fps, cam_info.bitrate,
+                                      cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
+                                      buf_info.width, buf_info.height, false));
+        // qcamera encoder
+        if (cam_info.has_qcamera) {
+          encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
+                                        qcam_info.fps, qcam_info.bitrate,
+                                        qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
+                                        qcam_info.frame_width, qcam_info.frame_height, false));
+        }
+      } else {
+        LOGE("not initting empty encoder");
+        s->max_waiting--;
+        break;
      }
    }

--- a/selfdrive/sensord/SConscript
+++ b/selfdrive/sensord/SConscript
@ -13,7 +13,7 @@ sensors = [
  'sensors/lsm6ds3_temp.cc',
  'sensors/mmc5603nj_magn.cc',
 ]
-libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj']
+libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread']
 if arch == "larch64":
  libs.append('i2c')
 env.Program('_sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)
--- a/selfdrive/sensord/sensors/bmx055_accel.cc
+++ b/selfdrive/sensord/sensors/bmx055_accel.cc
@ -43,7 +43,7 @@ fail:
  return ret;
 }

-void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) {
+bool BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) {
  uint64_t start_time = nanos_since_boot();
  uint8_t buffer[6];
  int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer));
@ -66,4 +66,5 @@ void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) {
  svec.setV(xyz);
  svec.setStatus(true);

+  return true;
 }
--- a/selfdrive/sensord/sensors/bmx055_accel.h
+++ b/selfdrive/sensord/sensors/bmx055_accel.h
@ -33,5 +33,6 @@ class BMX055_Accel : public I2CSensor {
 public:
  BMX055_Accel(I2CBus *bus);
  int init();
-  void get_event(cereal::SensorEventData::Builder &event);
+  bool get_event(cereal::SensorEventData::Builder &event);
+  int shutdown() { return 0; }
 };
--- a/selfdrive/sensord/sensors/bmx055_gyro.cc
+++ b/selfdrive/sensord/sensors/bmx055_gyro.cc
@ -54,7 +54,7 @@ fail:
  return ret;
 }

-void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) {
+bool BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) {
  uint64_t start_time = nanos_since_boot();
  uint8_t buffer[6];
  int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer));
@ -76,5 +76,5 @@ void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) {
  auto svec = event.initGyroUncalibrated();
  svec.setV(xyz);
  svec.setStatus(true);
-
+  return true;
 }
--- a/selfdrive/sensord/sensors/bmx055_gyro.h
+++ b/selfdrive/sensord/sensors/bmx055_gyro.h
@ -33,5 +33,6 @@ class BMX055_Gyro : public I2CSensor {
 public:
  BMX055_Gyro(I2CBus *bus);
  int init();
-  void get_event(cereal::SensorEventData::Builder &event);
+  bool get_event(cereal::SensorEventData::Builder &event);
+  int shutdown() { return 0; }
 };
--- a/selfdrive/sensord/sensors/bmx055_magn.cc
+++ b/selfdrive/sensord/sensors/bmx055_magn.cc
@ -213,7 +213,7 @@ bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *
 }


-void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) {
+bool BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) {
  uint64_t start_time = nanos_since_boot();
  uint8_t buffer[8];
  int16_t _x, _y, x, y, z;
@ -221,7 +221,8 @@ void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) {
  int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
  assert(len == sizeof(buffer));

-  if (parse_xyz(buffer, &_x, &_y, &z)) {
+  bool parsed = parse_xyz(buffer, &_x, &_y, &z);
+  if (parsed) {
    event.setSource(cereal::SensorEventData::SensorSource::BMX055);
    event.setVersion(2);
    event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
@ -247,4 +248,6 @@ void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) {
  // at a 100 Hz. When reading the registers we have to check the ready bit
  // To verify the measurement was completed this cycle.
  set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED);
+
+  return parsed;
 }
--- a/selfdrive/sensord/sensors/bmx055_magn.h
+++ b/selfdrive/sensord/sensors/bmx055_magn.h
@ -59,5 +59,6 @@ class BMX055_Magn : public I2CSensor{
 public:
  BMX055_Magn(I2CBus *bus);
  int init();
-  void get_event(cereal::SensorEventData::Builder &event);
+  bool get_event(cereal::SensorEventData::Builder &event);
+  int shutdown() { return 0; }
 };
--- a/selfdrive/sensord/sensors/bmx055_temp.cc
+++ b/selfdrive/sensord/sensors/bmx055_temp.cc
@ -28,7 +28,7 @@ fail:
  return ret;
 }

-void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) {
+bool BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) {
  uint64_t start_time = nanos_since_boot();
  uint8_t buffer[1];
  int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer));
@ -41,4 +41,5 @@ void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) {
  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
  event.setTimestamp(start_time);
  event.setTemperature(temp);
+  return true;
 }
--- a/selfdrive/sensord/sensors/bmx055_temp.h
+++ b/selfdrive/sensord/sensors/bmx055_temp.h
@ -8,5 +8,6 @@ class BMX055_Temp : public I2CSensor {
 public:
  BMX055_Temp(I2CBus *bus);
  int init();
-  void get_event(cereal::SensorEventData::Builder &event);
+  bool get_event(cereal::SensorEventData::Builder &event);
+  int shutdown() { return 0; }
 };
--- a/selfdrive/sensord/sensors/file_sensor.cc
+++ b/selfdrive/sensord/sensors/file_sensor.cc
@ -12,3 +12,7 @@ int FileSensor::init() {
 FileSensor::~FileSensor() {
  file.close();
 }
+
+bool FileSensor::has_interrupt_enabled() {
+  return false;
+}
--- a/selfdrive/sensord/sensors/file_sensor.h
+++ b/selfdrive/sensord/sensors/file_sensor.h
@ -14,5 +14,6 @@ public:
  FileSensor(std::string filename);
  ~FileSensor();
  int init();
-  virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
+  bool has_interrupt_enabled();
+  virtual bool get_event(cereal::SensorEventData::Builder &event) = 0;
 };
--- a/selfdrive/sensord/sensors/i2c_sensor.cc
+++ b/selfdrive/sensord/sensors/i2c_sensor.cc
@ -15,8 +15,12 @@ int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) {
  return int32_t(combined) / (1 << 4);
 }

+I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) : bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {}

-I2CSensor::I2CSensor(I2CBus *bus) : bus(bus) {
+I2CSensor::~I2CSensor() {
+  if (gpio_fd != -1) {
+    close(gpio_fd);
+  }
 }

 int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) {
@ -26,3 +30,20 @@ int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len
 int I2CSensor::set_register(uint register_address, uint8_t data) {
  return bus->set_register(get_device_address(), register_address, data);
 }
+
+int I2CSensor::init_gpio() {
+  if (shared_gpio || gpio_nr == 0) {
+    return 0;
+  }
+
+  gpio_fd = gpiochip_get_ro_value_fd("sensord", GPIOCHIP_INT, gpio_nr);
+  if (gpio_fd < 0) {
+    return -1;
+  }
+
+  return 0;
+}
+
+bool I2CSensor::has_interrupt_enabled() {
+  return gpio_nr != 0;
+}
--- a/selfdrive/sensord/sensors/i2c_sensor.h
+++ b/selfdrive/sensord/sensors/i2c_sensor.h
@ -1,9 +1,13 @@
 #pragma once

 #include <cstdint>
+#include <unistd.h>

 #include "cereal/gen/cpp/log.capnp.h"
+
 #include "common/i2c.h"
+#include "common/gpio.h"
+
 #include "selfdrive/sensord/sensors/constants.h"
 #include "selfdrive/sensord/sensors/sensor.h"

@ -15,12 +19,18 @@ int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0);
 class I2CSensor : public Sensor {
 private:
  I2CBus *bus;
+  int gpio_nr;
+  bool shared_gpio;
  virtual uint8_t get_device_address() = 0;

 public:
-  I2CSensor(I2CBus *bus);
+  I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
+  ~I2CSensor();
  int read_register(uint register_address, uint8_t *buffer, uint8_t len);
  int set_register(uint register_address, uint8_t data);
+  int init_gpio();
+  bool has_interrupt_enabled();
  virtual int init() = 0;
-  virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
+  virtual bool get_event(cereal::SensorEventData::Builder &event) = 0;
+  virtual int shutdown() = 0;
 };
--- a/selfdrive/sensord/sensors/light_sensor.cc
+++ b/selfdrive/sensord/sensors/light_sensor.cc
@ -5,7 +5,7 @@
 #include "common/timing.h"
 #include "selfdrive/sensord/sensors/constants.h"

-void LightSensor::get_event(cereal::SensorEventData::Builder &event) {
+bool LightSensor::get_event(cereal::SensorEventData::Builder &event) {
  uint64_t start_time = nanos_since_boot();
  file.clear();
  file.seekg(0);
@ -19,4 +19,6 @@ void LightSensor::get_event(cereal::SensorEventData::Builder &event) {
  event.setType(SENSOR_TYPE_LIGHT);
  event.setTimestamp(start_time);
  event.setLight(value);
+
+  return true;
 }
--- a/selfdrive/sensord/sensors/light_sensor.h
+++ b/selfdrive/sensord/sensors/light_sensor.h
@ -4,5 +4,6 @@
 class LightSensor : public FileSensor {
 public:
  LightSensor(std::string filename) : FileSensor(filename){};
-  void get_event(cereal::SensorEventData::Builder &event);
+  bool get_event(cereal::SensorEventData::Builder &event);
+  int shutdown() { return 0; }
 };
--- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc
+++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc
@ -5,11 +5,12 @@
 #include "common/swaglog.h"
 #include "common/timing.h"

-LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus) : I2CSensor(bus) {}
+LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {}

 int LSM6DS3_Accel::init() {
  int ret = 0;
  uint8_t buffer[1];
+  uint8_t value = 0;

  ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1);
  if(ret < 0) {
@ -27,20 +28,69 @@ int LSM6DS3_Accel::init() {
    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
  }

+  ret = init_gpio();
+  if (ret < 0) {
+    goto fail;
+  }
+
  // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz
  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ);
  if (ret < 0) {
    goto fail;
  }

+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, LSM6DS3_ACCEL_DRDY_PULSE_MODE);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // enable data ready interrupt for accel on INT1
+  // (without resetting existing interrupts)
+  ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value |= LSM6DS3_ACCEL_INT1_DRDY_XL;
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);

 fail:
  return ret;
 }

-void LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) {
+int LSM6DS3_Accel::shutdown() {
+  int ret = 0;
+
+  // disable data ready interrupt for accel on INT1
+  uint8_t value = 0;
+  ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL);
+  ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);
+  if (ret < 0) {
+    goto fail;
+  }
+  return ret;
+
+fail:
+  LOGE("Could not disable lsm6ds3 acceleration interrupt!")
+  return ret;
+}
+
+bool LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) {
+
+  if (has_interrupt_enabled()) {
+    // INT1 shared with gyro, check STATUS_REG who triggered
+    uint8_t status_reg = 0;
+    read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg));
+    if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) {
+      return false;
+    }
+  }

-  uint64_t start_time = nanos_since_boot();
  uint8_t buffer[6];
  int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
  assert(len == sizeof(buffer));
@ -54,11 +104,11 @@ void LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) {
  event.setVersion(1);
  event.setSensor(SENSOR_ACCELEROMETER);
  event.setType(SENSOR_TYPE_ACCELEROMETER);
-  event.setTimestamp(start_time);

  float xyz[] = {y, -x, z};
  auto svec = event.initAcceleration();
  svec.setV(xyz);
  svec.setStatus(true);

+  return true;
 }
--- a/selfdrive/sensord/sensors/lsm6ds3_accel.h
+++ b/selfdrive/sensord/sensors/lsm6ds3_accel.h
@ -6,21 +6,28 @@
 #define LSM6DS3_ACCEL_I2C_ADDR       0x6A

 // Registers of the chip
+#define LSM6DS3_ACCEL_I2C_REG_DRDY_CFG  0x0B
 #define LSM6DS3_ACCEL_I2C_REG_ID        0x0F
+#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D
 #define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL  0x10
+#define LSM6DS3_ACCEL_I2C_REG_STAT_REG  0x1E
 #define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28

 // Constants
-#define LSM6DS3_ACCEL_CHIP_ID        0x69
-#define LSM6DS3TRC_ACCEL_CHIP_ID     0x6A
-#define LSM6DS3_ACCEL_ODR_104HZ      (0b0100 << 4)
+#define LSM6DS3_ACCEL_CHIP_ID         0x69
+#define LSM6DS3TRC_ACCEL_CHIP_ID      0x6A
+#define LSM6DS3_ACCEL_ODR_104HZ       (0b0100 << 4)
+#define LSM6DS3_ACCEL_INT1_DRDY_XL    0b1
+#define LSM6DS3_ACCEL_DRDY_XLDA       0b1
+#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7)


 class LSM6DS3_Accel : public I2CSensor {
  uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;}
  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
 public:
-  LSM6DS3_Accel(I2CBus *bus);
+  LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
  int init();
-  void get_event(cereal::SensorEventData::Builder &event);
+  bool get_event(cereal::SensorEventData::Builder &event);
+  int shutdown();
 };
--- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
+++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
@ -8,12 +8,12 @@

 #define DEG2RAD(x) ((x) * M_PI / 180.0)

-
-LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus) : I2CSensor(bus) {}
+LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {}

 int LSM6DS3_Gyro::init() {
  int ret = 0;
  uint8_t buffer[1];
+  uint8_t value = 0;

  ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1);
  if(ret < 0) {
@ -31,20 +31,69 @@ int LSM6DS3_Gyro::init() {
    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
  }

+  ret = init_gpio();
+  if (ret < 0) {
+    goto fail;
+  }
+
  // TODO: set scale. Default is +- 250 deg/s
  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ);
  if (ret < 0) {
    goto fail;
  }

+  ret = set_register(LSM6DS3_GYRO_I2C_REG_DRDY_CFG, LSM6DS3_GYRO_DRDY_PULSE_MODE);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // enable data ready interrupt for gyro on INT1
+  // (without resetting existing interrupts)
+  ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value |= LSM6DS3_GYRO_INT1_DRDY_G;
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
+
+fail:
+  return ret;
+}
+
+int LSM6DS3_Gyro::shutdown() {
+  int ret = 0;
+
+  // disable data ready interrupt for accel on INT1
+  uint8_t value = 0;
+  ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value &= ~(LSM6DS3_GYRO_INT1_DRDY_G);
+  ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
+  if (ret < 0) {
+    goto fail;
+  }
+  return ret;

 fail:
+  LOGE("Could not disable lsm6ds3 gyroscope interrupt!")
  return ret;
 }

-void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) {
+bool LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) {
+
+  if (has_interrupt_enabled()) {
+    // INT1 shared with accel, check STATUS_REG who triggered
+    uint8_t status_reg = 0;
+    read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg));
+    if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) {
+      return false;
+    }
+  }

-  uint64_t start_time = nanos_since_boot();
  uint8_t buffer[6];
  int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
  assert(len == sizeof(buffer));
@ -58,11 +107,11 @@ void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) {
  event.setVersion(2);
  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
-  event.setTimestamp(start_time);

  float xyz[] = {y, -x, z};
  auto svec = event.initGyroUncalibrated();
  svec.setV(xyz);
  svec.setStatus(true);

+  return true;
 }
--- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h
+++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.h
@ -6,21 +6,28 @@
 #define LSM6DS3_GYRO_I2C_ADDR       0x6A

 // Registers of the chip
+#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG  0x0B
 #define LSM6DS3_GYRO_I2C_REG_ID        0x0F
+#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D
 #define LSM6DS3_GYRO_I2C_REG_CTRL2_G   0x11
+#define LSM6DS3_GYRO_I2C_REG_STAT_REG  0x1E
 #define LSM6DS3_GYRO_I2C_REG_OUTX_L_G  0x22

 // Constants
-#define LSM6DS3_GYRO_CHIP_ID        0x69
-#define LSM6DS3TRC_GYRO_CHIP_ID     0x6A
-#define LSM6DS3_GYRO_ODR_104HZ      (0b0100 << 4)
+#define LSM6DS3_GYRO_CHIP_ID         0x69
+#define LSM6DS3TRC_GYRO_CHIP_ID      0x6A
+#define LSM6DS3_GYRO_ODR_104HZ       (0b0100 << 4)
+#define LSM6DS3_GYRO_INT1_DRDY_G     0b10
+#define LSM6DS3_GYRO_DRDY_GDA        0b10
+#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7)


 class LSM6DS3_Gyro : public I2CSensor {
  uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;}
  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
 public:
-  LSM6DS3_Gyro(I2CBus *bus);
+  LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
  int init();
-  void get_event(cereal::SensorEventData::Builder &event);
+  bool get_event(cereal::SensorEventData::Builder &event);
+  int shutdown();
 };
--- a/selfdrive/sensord/sensors/lsm6ds3_temp.cc
+++ b/selfdrive/sensord/sensors/lsm6ds3_temp.cc
@ -31,7 +31,7 @@ fail:
  return ret;
 }

-void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) {
+bool LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) {

  uint64_t start_time = nanos_since_boot();
  uint8_t buffer[2];
@ -47,4 +47,5 @@ void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) {
  event.setTimestamp(start_time);
  event.setTemperature(temp);

+  return true;
 }
--- a/selfdrive/sensord/sensors/lsm6ds3_temp.h
+++ b/selfdrive/sensord/sensors/lsm6ds3_temp.h
@ -21,5 +21,6 @@ class LSM6DS3_Temp : public I2CSensor {
 public:
  LSM6DS3_Temp(I2CBus *bus);
  int init();
-  void get_event(cereal::SensorEventData::Builder &event);
+  bool get_event(cereal::SensorEventData::Builder &event);
+  int shutdown() { return 0; }
 };
--- a/selfdrive/sensord/sensors/mmc5603nj_magn.cc
+++ b/selfdrive/sensord/sensors/mmc5603nj_magn.cc
@ -51,7 +51,7 @@ fail:
  return ret;
 }

-void MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) {
+bool MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) {

  uint64_t start_time = nanos_since_boot();
  uint8_t buffer[9];
@ -74,4 +74,5 @@ void MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) {
  svec.setV(xyz);
  svec.setStatus(true);

+  return true;
 }
--- a/selfdrive/sensord/sensors/mmc5603nj_magn.h
+++ b/selfdrive/sensord/sensors/mmc5603nj_magn.h
@ -25,5 +25,6 @@ class MMC5603NJ_Magn : public I2CSensor {
 public:
  MMC5603NJ_Magn(I2CBus *bus);
  int init();
-  void get_event(cereal::SensorEventData::Builder &event);
+  bool get_event(cereal::SensorEventData::Builder &event);
+  int shutdown() { return 0; }
 };
--- a/selfdrive/sensord/sensors/sensor.h
+++ b/selfdrive/sensord/sensors/sensor.h
@ -4,7 +4,10 @@

 class Sensor {
 public:
+  int gpio_fd = -1;
  virtual ~Sensor() {};
  virtual int init() = 0;
-  virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
+  virtual bool get_event(cereal::SensorEventData::Builder &event) = 0;
+  virtual bool has_interrupt_enabled() = 0;
+  virtual int shutdown() = 0;
 };
--- a/selfdrive/sensord/sensors_qcom2.cc
+++ b/selfdrive/sensord/sensors_qcom2.cc
@ -3,6 +3,8 @@
 #include <chrono>
 #include <thread>
 #include <vector>
+#include <poll.h>
+#include <linux/gpio.h>

 #include "cereal/messaging/messaging.h"
 #include "common/i2c.h"
@ -24,6 +26,79 @@
 #define I2C_BUS_IMU 1

 ExitHandler do_exit;
+std::mutex pm_mutex;
+
+void interrupt_loop(int fd, std::vector<Sensor *>& sensors, PubMaster& pm) {
+  struct pollfd fd_list[1] = {0};
+  fd_list[0].fd = fd;
+  fd_list[0].events = POLLIN | POLLPRI;
+
+  uint64_t offset = nanos_since_epoch() - nanos_since_boot();
+
+  while (!do_exit) {
+    int err = poll(fd_list, 1, 100);
+    if (err == -1) {
+      if (errno == EINTR) {
+        continue;
+      }
+      return;
+    } else if (err == 0) {
+      LOGE("poll timed out");
+      continue;
+    }
+
+    if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) {
+      LOGE("no poll events set");
+      continue;
+    }
+
+    // Read all events
+    struct gpioevent_data evdata[16];
+    err = read(fd, evdata, sizeof(evdata));
+    if (err < 0 || err % sizeof(*evdata) != 0) {
+      LOGE("error reading event data %d", err);
+      continue;
+    }
+
+    int num_events = err / sizeof(*evdata);
+    uint64_t ts = evdata[num_events - 1].timestamp - offset;
+
+    MessageBuilder msg;
+    auto orphanage = msg.getOrphanage();
+    std::vector<capnp::Orphan<cereal::SensorEventData>> collected_events;
+    collected_events.reserve(sensors.size());
+
+    for (Sensor *sensor : sensors) {
+      auto orphan = orphanage.newOrphan<cereal::SensorEventData>();
+      auto event = orphan.get();
+      if (!sensor->get_event(event)) {
+        continue;
+      }
+
+      event.setTimestamp(ts);
+      collected_events.push_back(kj::mv(orphan));
+    }
+
+    if (collected_events.size() == 0) {
+      continue;
+    }
+
+    auto events = msg.initEvent().initSensorEvents(collected_events.size());
+    for (int i = 0; i < collected_events.size(); ++i) {
+      events.adoptWithCaveats(i, kj::mv(collected_events[i]));
+    }
+
+    {
+      std::lock_guard<std::mutex> lock(pm_mutex);
+      pm.send("sensorEvents", msg);
+    }
+  }
+
+  // poweroff sensors, disable interrupts
+  for (Sensor *sensor : sensors) {
+    sensor->shutdown();
+  }
+}

 int sensor_loop() {
  I2CBus *i2c_bus_imu;
@ -40,8 +115,8 @@ int sensor_loop() {
  BMX055_Magn bmx055_magn(i2c_bus_imu);
  BMX055_Temp bmx055_temp(i2c_bus_imu);

-  LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu);
-  LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu);
+  LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu, GPIO_LSM_INT);
+  LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu, GPIO_LSM_INT, true); // GPIO shared with accel
  LSM6DS3_Temp lsm6ds3_temp(i2c_bus_imu);

  MMC5603NJ_Magn mmc5603nj_magn(i2c_bus_imu);
@ -73,23 +148,33 @@ int sensor_loop() {
      // Fail on required sensors
      if (sensor.second) {
        LOGE("Error initializing sensors");
+        delete i2c_bus_imu;
        return -1;
      }
    } else {
      if (sensor.first == &bmx055_magn || sensor.first == &mmc5603nj_magn) {
        has_magnetometer = true;
      }
-      sensors.push_back(sensor.first);
+
+      if (!sensor.first->has_interrupt_enabled()) {
+        sensors.push_back(sensor.first);
+      }
    }
  }

  if (!has_magnetometer) {
    LOGE("No magnetometer present");
+    delete i2c_bus_imu;
    return -1;
  }

  PubMaster pm({"sensorEvents"});

+  // thread for reading events via interrupts
+  std::vector<Sensor *> lsm_interrupt_sensors = {&lsm6ds3_accel, &lsm6ds3_gyro};
+  std::thread lsm_interrupt_thread(&interrupt_loop, lsm6ds3_accel.gpio_fd, std::ref(lsm_interrupt_sensors), std::ref(pm));
+
+  // polling loop for non interrupt handled sensors
  while (!do_exit) {
    std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();

@ -102,11 +187,17 @@ int sensor_loop() {
      sensors[i]->get_event(event);
    }

-    pm.send("sensorEvents", msg);
+    {
+      std::lock_guard<std::mutex> lock(pm_mutex);
+      pm.send("sensorEvents", msg);
+    }

    std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
    std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin));
  }
+
+  lsm_interrupt_thread.join();
+  delete i2c_bus_imu;
  return 0;
 }

--- a/selfdrive/sensord/tests/test_sensord.py
+++ b/selfdrive/sensord/tests/test_sensord.py
@ -2,12 +2,15 @@

 import time
 import unittest
+import numpy as np
+from collections import namedtuple
+from smbus2 import SMBus

 import cereal.messaging as messaging
-from system.hardware import TICI
+from cereal import log
+from system.hardware import TICI, HARDWARE
 from selfdrive.test.helpers import with_processes
-
-TEST_TIMESPAN = 10
+from selfdrive.manager.process_config import managed_processes

 SENSOR_CONFIGURATIONS = (
  {
@ -46,6 +49,63 @@ SENSOR_CONFIGURATIONS = (
  },
 )

+Sensor = log.SensorEventData.SensorSource
+SensorConfig = namedtuple('SensorConfig', ['type', 'min_samples', 'sanity_min', 'sanity_max'])
+ALL_SENSORS = {
+  Sensor.rpr0521: {
+    SensorConfig("light", 100, 0, 150),
+  },
+
+  Sensor.lsm6ds3: {
+    SensorConfig("acceleration", 100, 5, 15),
+    SensorConfig("gyroUncalibrated", 100, 0, .2),
+    SensorConfig("temperature", 100, 0, 60),
+  },
+
+  Sensor.lsm6ds3trc: {
+    SensorConfig("acceleration", 100, 5, 15),
+    SensorConfig("gyroUncalibrated", 100, 0, .2),
+    SensorConfig("temperature", 100, 0, 60),
+  },
+
+  Sensor.bmx055: {
+    SensorConfig("acceleration", 100, 5, 15),
+    SensorConfig("gyroUncalibrated", 100, 0, .2),
+    SensorConfig("magneticUncalibrated", 100, 0, 300),
+    SensorConfig("temperature", 100, 0, 60),
+  },
+
+  Sensor.mmc5603nj: {
+    SensorConfig("magneticUncalibrated", 100, 0, 300),
+  }
+}
+
+SENSOR_BUS = 1
+I2C_ADDR_LSM = 0x6A
+LSM_INT_GPIO = 84
+
+def read_sensor_events(duration_sec):
+  sensor_events = messaging.sub_sock("sensorEvents", timeout=0.1)
+  start_time_sec = time.monotonic()
+  events = []
+  while time.monotonic() - start_time_sec < duration_sec:
+    events += messaging.drain_sock(sensor_events)
+    time.sleep(0.01)
+
+  assert len(events) != 0, "No sensor events collected"
+  return events
+
+def get_proc_interrupts(int_pin):
+
+  with open("/proc/interrupts") as f:
+    lines = f.read().split("\n")
+
+  for line in lines:
+    if f" {int_pin} " in line:
+      return ''.join(list(filter(lambda e: e != '', line.split(' ')))[1:6])
+
+  return ""
+

 class TestSensord(unittest.TestCase):
  @classmethod
@ -53,26 +113,180 @@ class TestSensord(unittest.TestCase):
    if not TICI:
      raise unittest.SkipTest

+    # make sure gpiochip0 is readable
+    HARDWARE.initialize_hardware()
+
  @with_processes(['sensord'])
  def test_sensors_present(self):
-    sensor_events = messaging.sub_sock("sensorEvents", timeout=0.1)
-
-    start_time_sec = time.time()
-    events = []
-    while time.time() - start_time_sec < TEST_TIMESPAN:
-      events += messaging.drain_sock(sensor_events)
-      time.sleep(0.01)
+    # verify correct sensors configuration
+    events = read_sensor_events(10)

    seen = set()
    for event in events:
      for measurement in event.sensorEvents:
-        # Filter out unset events
+        # filter unset events (bmx magn)
        if measurement.version == 0:
          continue
        seen.add((str(measurement.source), measurement.which()))

    self.assertIn(seen, SENSOR_CONFIGURATIONS)

+  @with_processes(['sensord'])
+  def test_lsm6ds3_100Hz(self):
+    # verify measurements are sampled and published at a 100Hz rate
+    events = read_sensor_events(3) # 3sec (about 300 measurements)
+
+    data_points = set()
+    for event in events:
+      for measurement in event.sensorEvents:
+
+        # skip lsm6ds3 temperature measurements
+        if measurement.which() == 'temperature':
+          continue
+
+        if str(measurement.source).startswith("lsm6ds3"):
+          data_points.add(measurement.timestamp)
+
+    assert len(data_points) != 0, "No lsm6ds3 sensor events"
+
+    data_list = list(data_points)
+    data_list.sort()
+    tdiffs = np.diff(data_list)
+
+    high_delay_diffs = set(filter(lambda d: d >= 10.1*10**6, tdiffs))
+    assert len(high_delay_diffs) < 10, f"Too many high delay packages: {high_delay_diffs}"
+
+    avg_diff = sum(tdiffs)/len(tdiffs)
+    assert avg_diff > 9.6*10**6, f"avg difference {avg_diff}, below threshold"
+
+    stddev = np.std(tdiffs)
+    assert stddev < 1.5*10**6, f"Standard-dev to big {stddev}"
+
+  @with_processes(['sensord'])
+  def test_events_check(self):
+    # verify if all sensors produce events
+    events = read_sensor_events(3)
+
+    sensor_events = dict()
+    for event in events:
+      for measurement in event.sensorEvents:
+
+        # filter unset events (bmx magn)
+        if measurement.version == 0:
+          continue
+
+        if measurement.type in sensor_events:
+          sensor_events[measurement.type] += 1
+        else:
+          sensor_events[measurement.type] = 1
+
+    for s in sensor_events:
+      err_msg = f"Sensor {s}: 200 < {sensor_events[s]}"
+      assert sensor_events[s] > 200, err_msg
+
+  @with_processes(['sensord'])
+  def test_logmonottime_timestamp_diff(self):
+    # ensure diff between the message logMonotime and sample timestamp is small
+    events = read_sensor_events(3)
+
+    tdiffs = list()
+    for event in events:
+      for measurement in event.sensorEvents:
+
+        # filter unset events (bmx magn)
+        if measurement.version == 0:
+          continue
+
+        # check if gyro and accel timestamps are before logMonoTime
+        if str(measurement.source).startswith("lsm6ds3"):
+          if measurement.which() != 'temperature':
+            err_msg = f"Timestamp after logMonoTime: {measurement.timestamp} > {event.logMonoTime}"
+            assert measurement.timestamp < event.logMonoTime, err_msg
+
+        # negative values might occur, as non interrupt packages created
+        # before the sensor is read
+        tdiffs.append(abs(event.logMonoTime - measurement.timestamp))
+
+    high_delay_diffs = set(filter(lambda d: d >= 10*10**6, tdiffs))
+    assert len(high_delay_diffs) < 15, f"Too many high delay packages: {high_delay_diffs}"
+
+    avg_diff = round(sum(tdiffs)/len(tdiffs), 4)
+    assert avg_diff < 4*10**6, f"Avg packet diff: {avg_diff:.1f}ns"
+
+    stddev = np.std(tdiffs)
+    assert stddev < 2*10**6, f"Timing diffs have to high stddev: {stddev}"
+
+  @with_processes(['sensord'])
+  def test_sensor_values_sanity_check(self):
+
+    events = read_sensor_events(2)
+
+    sensor_values = dict()
+    for event in events:
+      for m in event.sensorEvents:
+
+        # filter unset events (bmx magn)
+        if m.version == 0:
+          continue
+
+        key = (m.source.raw, m.which())
+        values = getattr(m, m.which())
+        if hasattr(values, 'v'):
+          values = values.v
+        values = np.atleast_1d(values)
+
+        if key in sensor_values:
+          sensor_values[key].append(values)
+        else:
+          sensor_values[key] = [values]
+
+    # Sanity check sensor values and counts
+    for sensor, stype in sensor_values:
+
+      for s in ALL_SENSORS[sensor]:
+        if s.type != stype:
+          continue
+
+        key = (sensor, s.type)
+        val_cnt = len(sensor_values[key])
+        err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {s.min_samples}"
+        assert val_cnt > s.min_samples, err_msg
+
+        mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1))
+        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}"
+        assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg
+
+  def test_sensor_verify_no_interrupts_after_stop(self):
+
+    managed_processes["sensord"].start()
+    time.sleep(1)
+
+    # check if the interrupts are enableds
+    with SMBus(SENSOR_BUS, force=True) as bus:
+      int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D)
+      assert int1_ctrl_reg == 3, "Interrupts not enabled!"
+
+    # read /proc/interrupts to verify interrupts are received
+    state_one = get_proc_interrupts(LSM_INT_GPIO)
+    time.sleep(1)
+    state_two = get_proc_interrupts(LSM_INT_GPIO)
+
+    assert state_one != state_two, "no Interrupts received after sensord start!"
+
+    managed_processes["sensord"].stop()
+
+    # check if the interrupts got disabled
+    with SMBus(SENSOR_BUS, force=True) as bus:
+      int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D)
+      assert int1_ctrl_reg == 0, "Interrupts not disabled!"
+
+    # read /proc/interrupts to verify no more interrupts are received
+    state_one = get_proc_interrupts(LSM_INT_GPIO)
+    time.sleep(1)
+    state_two = get_proc_interrupts(LSM_INT_GPIO)
+    assert state_one == state_two, "Interrupts received after sensord stop!"
+

 if __name__ == "__main__":
  unittest.main()
+
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-bd712b78c1ef351343b60e7ea527d09583e8acb7
+48db2dee177706285226d1287912e191f1699865
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@ -183,7 +183,9 @@ void OffroadHome::hideEvent(QHideEvent *event) {
 }

 void OffroadHome::refresh() {
-  date->setText(QDateTime::currentDateTime().toString("dddd, MMMM d"));
+  QString locale_name = QString(uiState()->language).replace("main_", "");
+  QString dateString = QLocale(locale_name).toString(QDateTime::currentDateTime(), "dddd, MMMM d");
+  date->setText(dateString);

  bool updateAvailable = update_widget->refresh();
  int alerts = alerts_widget->refresh();
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@ -486,9 +486,9 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
    // for rhd, reflect direction and then flip
    if (is_rhd) {
      if (fn.contains("left")) {
-        fn.replace(QString("left"), QString("right"));
+        fn.replace("left", "right");
      } else if (fn.contains("right")) {
-        fn.replace(QString("right"), QString("left"));
+        fn.replace("right", "left");
      }
    }

--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@ -44,61 +44,31 @@ QMapbox::CoordinatesCollections model_to_collection(
  for (int i = 0; i < x.size(); i++) {
    Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef;
    Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]});
-    QMapbox::Coordinate coordinate(point_geodetic.lat, point_geodetic.lon);
-    coordinates.push_back(coordinate);
+    coordinates.push_back({point_geodetic.lat, point_geodetic.lon});
  }

-  QMapbox::CoordinatesCollection collection;
-  collection.push_back(coordinates);
-
-  QMapbox::CoordinatesCollections collections;
-  collections.push_back(collection);
-  return collections;
+  return {QMapbox::CoordinatesCollection{coordinates}};
 }

-QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c) {
-  QMapbox::Coordinates coordinates;
-  coordinates.push_back(c);
-
-  QMapbox::CoordinatesCollection collection;
-  collection.push_back(coordinates);
-
-  QMapbox::CoordinatesCollections collections;
-  collections.push_back(collection);
-  return collections;
+QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c) {
+  QMapbox::Coordinates coordinates{c};
+  return {QMapbox::CoordinatesCollection{coordinates}};
 }

 QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader& coordinate_list) {
  QMapbox::Coordinates coordinates;
-
  for (auto const &c: coordinate_list) {
-    QMapbox::Coordinate coordinate(c.getLatitude(), c.getLongitude());
-    coordinates.push_back(coordinate);
+    coordinates.push_back({c.getLatitude(), c.getLongitude()});
  }
-
-  QMapbox::CoordinatesCollection collection;
-  collection.push_back(coordinates);
-
-  QMapbox::CoordinatesCollections collections;
-  collections.push_back(collection);
-  return collections;
-
+  return {QMapbox::CoordinatesCollection{coordinates}};
 }

-QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list) {
+QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list) {
  QMapbox::Coordinates coordinates;
-
  for (auto &c : coordinate_list) {
-    QMapbox::Coordinate coordinate(c.latitude(), c.longitude());
-    coordinates.push_back(coordinate);
+    coordinates.push_back({c.latitude(), c.longitude()});
  }
-
-  QMapbox::CoordinatesCollection collection;
-  collection.push_back(coordinates);
-
-  QMapbox::CoordinatesCollections collections;
-  collections.push_back(collection);
-  return collections;
+  return {QMapbox::CoordinatesCollection{coordinates}};
 }

 QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString) {
@ -143,7 +113,7 @@ QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString)
  return path;
 }

-std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
+std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &param) {
  QString json_str = QString::fromStdString(Params().get(param));
  if (json_str.isEmpty()) return {};

--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@ -21,10 +21,10 @@ QMapbox::CoordinatesCollections model_to_collection(
  const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
  const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
  const cereal::ModelDataV2::XYZTData::Reader &line);
-QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c);
+QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c);
 QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
-QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
+QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list);
 QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);

-std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
+std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &param);
 double angle_difference(double angle1, double angle2);
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@ -156,6 +156,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {

 void MapPanel::showEvent(QShowEvent *event) {
  updateCurrentRoute();
+  refresh();
 }

 void MapPanel::clear() {
@ -184,18 +185,25 @@ void MapPanel::updateCurrentRoute() {
 }

 void MapPanel::parseResponse(const QString &response, bool success) {
-  stack->setCurrentIndex((uiState()->prime_type || success) ? 0 : 1);
+  if (!success) return;

-  if (!success) {
-    return;
+  cur_destinations = response;
+  if (isVisible()) {
+    refresh();
  }
+}
+
+void MapPanel::refresh() {
+  stack->setCurrentIndex(uiState()->prime_type ? 0 : 1);
+  if (cur_destinations == prev_destinations) return;

-  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
+  QJsonDocument doc = QJsonDocument::fromJson(cur_destinations.trimmed().toUtf8());
  if (doc.isNull()) {
    qDebug() << "JSON Parse failed on navigation locations";
    return;
  }

+  prev_destinations = cur_destinations;
  clear();

  bool has_recents = false;
--- a/selfdrive/ui/qt/maps/map_settings.h
+++ b/selfdrive/ui/qt/maps/map_settings.h
@ -23,8 +23,10 @@ public:

 private:
  void showEvent(QShowEvent *event) override;
+  void refresh();

  Params params;
+  QString prev_destinations, cur_destinations;
  QStackedWidget *stack;
  QPushButton *home_button, *work_button;
  QLabel *home_address, *work_address;
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@ -189,8 +189,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
  auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), "");
  connect(translateBtn, &ButtonControl::clicked, [=]() {
    QMap<QString, QString> langs = getSupportedLanguages();
-    QString currentLang = QString::fromStdString(Params().get("LanguageSetting"));
-    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(currentLang), this);
+    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
    if (!selection.isEmpty()) {
      // put language setting, exit Qt UI, and trigger fast restart
      Params().put("LanguageSetting", langs[selection].toStdString());
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@ -165,7 +165,7 @@ private:
    p.setPen(Qt::gray);
    for (int i = 0; i < inner_layout.count() - 1; ++i) {
      QWidget *widget = inner_layout.itemAt(i)->widget();
-      if (widget->isVisible()) {
+      if (widget == nullptr || widget->isVisible()) {
        QRect r = inner_layout.itemAt(i)->geometry();
        int bottom = r.bottom() + inner_layout.spacing() / 2;
        p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom);
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@ -18,21 +18,24 @@
 using qrcodegen::QrCode;

 PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) {
-  QTimer* timer = new QTimer(this);
-  timer->start(5 * 60 * 1000);
+  timer = new QTimer(this);
  connect(timer, &QTimer::timeout, this, &PairingQRWidget::refresh);
 }

 void PairingQRWidget::showEvent(QShowEvent *event) {
  refresh();
+  timer->start(5 * 60 * 1000);
+}
+
+void PairingQRWidget::hideEvent(QHideEvent *event) {
+  timer->stop();
 }

 void PairingQRWidget::refresh() {
-  if (isVisible()) {
-    QString pairToken = CommaApi::create_jwt({{"pair", true}});
-    QString qrString = "https://connect.comma.ai/?pair=" + pairToken;
-    this->updateQrCode(qrString);
-  }
+  QString pairToken = CommaApi::create_jwt({{"pair", true}});
+  QString qrString = "https://connect.comma.ai/?pair=" + pairToken;
+  this->updateQrCode(qrString);
+  update();
 }

 void PairingQRWidget::updateQrCode(const QString &text) {
--- a/selfdrive/ui/qt/widgets/prime.h
+++ b/selfdrive/ui/qt/widgets/prime.h
@ -25,8 +25,10 @@ public:

 private:
  QPixmap img;
+  QTimer *timer;
  void updateQrCode(const QString &text);
  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;

 private slots:
  void refresh();
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@ -526,7 +526,7 @@ location set</source>
        <translation>更新</translation>
    </message>
    <message>
-        <location line="+91"/>
+        <location line="+93"/>
        <source> ALERTS</source>
        <translation> 警告</translation>
    </message>
@ -539,7 +539,7 @@ location set</source>
 <context>
    <name>PairingPopup</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="+86"/>
+        <location filename="../qt/widgets/prime.cc" line="+89"/>
        <source>Pair your device to your comma account</source>
        <translation>デバイスと comma アカウントを連携する</translation>
    </message>
@ -1170,7 +1170,7 @@ location set</source>
    <message>
        <location line="+1"/>
        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。</translation>
+        <translation>時速31マイル（50km）を超えるスピードで走行中、ウインカーを作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。</translation>
    </message>
    <message>
        <location line="+5"/>
@ -1195,22 +1195,22 @@ location set</source>
    <message>
        <location line="+11"/>
        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation type="unfinished"></translation>
+        <translation>🌮 エンドツーエンドのアクセル制御 (超アルファ版) 🌮</translation>
    </message>
    <message>
        <location line="+6"/>
        <source>Experimental openpilot longitudinal control</source>
-        <translation type="unfinished"></translation>
+        <translation>実験段階のopenpilotによるアクセル制御</translation>
    </message>
    <message>
        <location line="+1"/>
        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;b&gt;警告: openpilotによるアクセル制御は実験段階であり、AEBを無効化します。&lt;/b&gt;</translation>
    </message>
    <message>
        <location line="+42"/>
        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation type="unfinished"></translation>
+        <translation>アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。</translation>
    </message>
    <message>
        <location line="-55"/>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -70,7 +70,7 @@
    <message>
        <location line="+0"/>
        <source>leave blank for automatic configuration</source>
-        <translation>자동설정을 하려면 공백으로 두세요</translation>
+        <translation>자동설정하려면 공백으로 두세요</translation>
    </message>
 </context>
 <context>
@ -92,7 +92,7 @@
    <message>
        <location filename="../qt/offroad/onboarding.cc" line="+140"/>
        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>openpilot을 사용하려면 이용 약관에 동의해야 합니다.</translation>
+        <translation>openpilot을 사용하려면 이용약관에 동의해야 합니다.</translation>
    </message>
    <message>
        <location line="+9"/>
@ -140,7 +140,7 @@
    <message>
        <location line="+4"/>
        <source>Reset Calibration</source>
-        <translation>캘리브레이션 재설정</translation>
+        <translation>캘리브레이션</translation>
    </message>
    <message>
        <location line="+0"/>
@ -155,7 +155,7 @@
    <message>
        <location line="+7"/>
        <source>Review Training Guide</source>
-        <translation>트레이닝 가이드 다시보기</translation>
+        <translation>트레이닝 가이드</translation>
    </message>
    <message>
        <location line="+0"/>
@ -210,12 +210,12 @@
    <message>
        <location line="+20"/>
        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
+        <translation>openpilot은 좌우측은 4° 이내, 위쪽은 5° 아래쪽은 8° 이내로 장치를 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋은 거의 필요하지 않습니다.</translation>
    </message>
    <message>
        <location line="+11"/>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
+        <translation> 사용자의 장치가 %1° %2 및 %3° %4 위치에 설치되어있습니다.</translation>
    </message>
    <message>
        <location line="+1"/>
@ -479,7 +479,7 @@ location set</source>
        <location line="+0"/>
        <location line="+10"/>
        <source>for &quot;%1&quot;</source>
-        <translation>하기위한 &quot;%1&quot;</translation>
+        <translation>&quot;%1&quot;에 접속하려면 인증이 필요합니다</translation>
    </message>
    <message>
        <location line="+0"/>
@ -526,7 +526,7 @@ location set</source>
        <translation>업데이트</translation>
    </message>
    <message>
-        <location line="+91"/>
+        <location line="+93"/>
        <source> ALERTS</source>
        <translation> 알림</translation>
    </message>
@ -539,7 +539,7 @@ location set</source>
 <context>
    <name>PairingPopup</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="+86"/>
+        <location filename="../qt/widgets/prime.cc" line="+89"/>
        <source>Pair your device to your comma account</source>
        <translation>장치를 콤마 계정과 페어링합니다</translation>
    </message>
@ -684,7 +684,7 @@ location set</source>
    <message>
        <location line="+6"/>
        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 취소를 누르면 다시 부팅합니다.</translation>
+        <translation>장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 부팅을 재개하려면 취소를 누르세요.</translation>
    </message>
    <message>
        <location line="+9"/>
@ -797,7 +797,7 @@ location set</source>
    <message>
        <location line="-81"/>
        <source>Continue without Wi-Fi</source>
-        <translation>wifi 없이 계속</translation>
+        <translation>wifi 연결없이 계속하기</translation>
    </message>
    <message>
        <location line="+2"/>
@ -842,7 +842,7 @@ location set</source>
    <message>
        <location line="+6"/>
        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>입력된 URL이 유효하고 장치의 인터넷 연결이 잘 되어 있는지 확인합니다.</translation>
+        <translation>입력된 URL이 유효하고 장치의 네트워크 연결이 잘 되어 있는지 확인하세요.</translation>
    </message>
    <message>
        <location line="+13"/>
@ -1080,7 +1080,7 @@ location set</source>
    <message>
        <location line="+0"/>
        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>경고：이렇게 하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. 자신의 사용자 이름이 아닌 GitHub 사용자 이름을 입력하지 마십시오. comma 직원은 GitHub 사용자 이름을 추가하도록 요청하지 않습니다.</translation>
+        <translation>경고: 허용으로 설정하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. GitHub 사용자 ID 이외에는 입력하지 마십시오. comma에서는 GitHub ID를 추가하라는 요청을 하지 않습니다.</translation>
    </message>
    <message>
        <location line="+6"/>
@ -1160,7 +1160,7 @@ location set</source>
    <message>
        <location line="+1"/>
        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다.</translation>
+        <translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 설정변경은 장치 재부팅후 적용됩니다.</translation>
    </message>
    <message>
        <location line="+5"/>
@ -1170,7 +1170,7 @@ location set</source>
    <message>
        <location line="+1"/>
        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.</translation>
+        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등 없이 감지된 차선 위를 주행할 경우 차선이탈 경고를 표시합니다.</translation>
    </message>
    <message>
        <location line="+5"/>
@ -1195,22 +1195,22 @@ location set</source>
    <message>
        <location line="+11"/>
        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation>🌮 e2e long 사용 (매우 실험적) 🌮 </translation>
+        <translation>🌮 e2e 롱컨트롤 사용 (매우 실험적) 🌮 </translation>
    </message>
    <message>
        <location line="+6"/>
        <source>Experimental openpilot longitudinal control</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot 롱컨트롤 (실험적)</translation>
    </message>
    <message>
        <location line="+1"/>
        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;b&gt;경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.&lt;/b&gt;</translation>
    </message>
    <message>
        <location line="+42"/>
        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation type="unfinished"></translation>
+        <translation>주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적)</translation>
    </message>
    <message>
        <location line="-55"/>
@ -1253,7 +1253,7 @@ location set</source>
    <message>
        <location line="+6"/>
        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>OS 업데이트가 필요합니다. 장치를 wifi에 연결하여 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다.</translation>
+        <translation>OS 업데이트가 필요합니다. 장치를 wifi에 연결하면 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다.</translation>
    </message>
    <message>
        <location line="+11"/>
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@ -527,7 +527,7 @@ trabalho definido</translation>
        <translation>ATUALIZAÇÃO</translation>
    </message>
    <message>
-        <location line="+91"/>
+        <location line="+93"/>
        <source> ALERTS</source>
        <translation> ALERTAS</translation>
    </message>
@ -540,7 +540,7 @@ trabalho definido</translation>
 <context>
    <name>PairingPopup</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="+86"/>
+        <location filename="../qt/widgets/prime.cc" line="+89"/>
        <source>Pair your device to your comma account</source>
        <translation>Pareie seu dispositivo à sua conta comma</translation>
    </message>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@ -524,7 +524,7 @@ location set</source>
        <translation>更新</translation>
    </message>
    <message>
-        <location line="+91"/>
+        <location line="+93"/>
        <source> ALERTS</source>
        <translation> 警报</translation>
    </message>
@ -537,7 +537,7 @@ location set</source>
 <context>
    <name>PairingPopup</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="+86"/>
+        <location filename="../qt/widgets/prime.cc" line="+89"/>
        <source>Pair your device to your comma account</source>
        <translation>将您的设备与comma账号配对</translation>
    </message>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@ -526,7 +526,7 @@ location set</source>
        <translation>更新</translation>
    </message>
    <message>
-        <location line="+91"/>
+        <location line="+93"/>
        <source> ALERTS</source>
        <translation> 提醒</translation>
    </message>
@ -539,7 +539,7 @@ location set</source>
 <context>
    <name>PairingPopup</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="+86"/>
+        <location filename="../qt/widgets/prime.cc" line="+89"/>
        <source>Pair your device to your comma account</source>
        <translation>將設備與您的 comma 帳號配對</translation>
    </message>
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@ -236,6 +236,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
  Params params;
  wide_camera = params.getBool("WideCameraOnly");
  prime_type = std::atoi(params.get("PrimeType").c_str());
+  language = QString::fromStdString(params.get("LanguageSetting"));

  // update timer
  timer = new QTimer(this);
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@ -127,6 +127,7 @@ public:

  bool awake;
  int prime_type = 0;
+  QString language;

  QTransform car_space_transform;
  bool wide_camera;
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@ -249,13 +249,14 @@ def finalize_update(wait_helper: WaitTimeHelper) -> None:
  run(["git", "reset", "--hard"], FINALIZED)
  run(["git", "submodule", "foreach", "--recursive", "git", "reset"], FINALIZED)

-  cloudlog.info("Starting git gc")
+  cloudlog.info("Starting git cleanup in finalized update")
  t = time.monotonic()
  try:
    run(["git", "gc"], FINALIZED)
-    cloudlog.event("Done git gc", duration=time.monotonic() - t)
+    run(["git", "lfs", "prune"], FINALIZED)
+    cloudlog.event("Done git cleanup", duration=time.monotonic() - t)
  except subprocess.CalledProcessError:
-    cloudlog.exception(f"Failed git gc, took {time.monotonic() - t:.3f} s")
+    cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s")

  if wait_helper.shutdown:
    cloudlog.info("got interrupted finalizing overlay")
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@ -1,21 +1,18 @@
 Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')

-libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon]
+libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']

-cameras = []
-if arch == "larch64":
-  libs += ['atomic']
-  cameras = ['cameras/camera_qcom2.cc']
+cenv = env.Clone()
+cenv['CPPPATH'].append('include/')

-  env.Program('camerad', [
-      'main.cc',
-      'cameras/camera_common.cc',
-      'imgproc/utils.cc',
-      cameras,
-    ], LIBS=libs)
+camera_obj = cenv.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc'])
+cenv.Program('camerad', [
+    'main.cc',
+    camera_obj,
+  ], LIBS=libs)

 if GetOption("test") and arch == "x86_64":
-  env.Program('test/ae_gray_test', [
+  cenv.Program('test/ae_gray_test', [
      'test/ae_gray_test.cc',
-      'cameras/camera_common.cc',
+      camera_obj,
    ], LIBS=libs)
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@ -18,11 +18,9 @@
 #include "system/hardware/hw.h"
 #include "msm_media_info.h"

+#include "system/camerad/cameras/camera_qcom2.h"
 #ifdef QCOM2
 #include "CL/cl_ext_qcom.h"
-#include "system/camerad/cameras/camera_qcom2.h"
-#else
-#include "system/camerad/test/camera_test.h"
 #endif

 ExitHandler do_exit;
@ -36,10 +34,10 @@ public:
             "-cl-fast-relaxed-math -cl-denorms-are-zero "
             "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
             "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
-             "-DCAM_NUM=%d%s",
+             "-DIS_OX=%d -DCAM_NUM=%d%s",
             ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
             b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset,
-             s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+             s->camera_id==CAMERA_ID_OX03C10 ? 1 : 0, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
    const char *cl_file = "cameras/real_debayer.cl";
    cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
    krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
@ -348,8 +346,8 @@ void camerad_thread() {
  MultiCameraState cameras = {};
  VisionIpcServer vipc_server("camerad", device_id, context);

-  cameras_init(&vipc_server, &cameras, device_id, context);
  cameras_open(&cameras);
+  cameras_init(&vipc_server, &cameras, device_id, context);

  vipc_server.start_listener();

--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@ -23,7 +23,7 @@
 #define CAMERA_ID_LGC920 6
 #define CAMERA_ID_LGC615 7
 #define CAMERA_ID_AR0231 8
-#define CAMERA_ID_IMX390 9
+#define CAMERA_ID_OX03C10 9
 #define CAMERA_ID_MAX 10

 const int YUV_BUFFER_COUNT = 40;
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@ -32,7 +32,8 @@ const size_t FRAME_HEIGHT = 1208;
 const size_t FRAME_STRIDE = 2896;  // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)

 const size_t AR0231_REGISTERS_HEIGHT = 2;
-const size_t AR0231_STATS_HEIGHT = 2;
+// TODO: this extra height is universal and doesn't apply per camera
+const size_t AR0231_STATS_HEIGHT = 2+8;

 const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py

@ -47,153 +48,60 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
    .frame_offset = AR0231_REGISTERS_HEIGHT,
    .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
  },
-  [CAMERA_ID_IMX390] = {
+  [CAMERA_ID_OX03C10] = {
    .frame_width = FRAME_WIDTH,
    .frame_height = FRAME_HEIGHT,
-    .frame_stride = FRAME_STRIDE,
+    .frame_stride = FRAME_STRIDE, // (0xa80*12//8)
+    .extra_height = 16, // this right?
  },
 };

-const float DC_GAIN = 2.5;
-const float sensor_analog_gains[] = {
+const float DC_GAIN_AR0231 = 2.5;
+const float DC_GAIN_OX03C10 = 7.32;
+
+const float DC_GAIN_ON_GREY_AR0231= 0.2;
+const float DC_GAIN_OFF_GREY_AR0231 = 0.3;
+const float DC_GAIN_ON_GREY_OX03C10= 0.3;
+const float DC_GAIN_OFF_GREY_OX03C10 = 0.375;
+
+const int DC_GAIN_MIN_WEIGHT = 0;
+const int DC_GAIN_MAX_WEIGHT_AR0231 = 1;
+const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32;
+
+const float sensor_analog_gains_AR0231[] = {
  1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3
  3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7
  5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11
  7.0/2.0, 8.0/2.0, 8.0/1.0};         // 12, 13, 14, 15 = bypass

-const int ANALOG_GAIN_MIN_IDX = 0x1; // 0.25x
-const int ANALOG_GAIN_REC_IDX = 0x6; // 0.8x
-const int ANALOG_GAIN_MAX_IDX = 0xD; // 4.0x
-
-const int EXPOSURE_TIME_MIN = 2; // with HDR, fastest ss
-const int EXPOSURE_TIME_MAX = 0x0855; // with HDR, slowest ss, 40ms
-
-// ************** low level camera helpers ****************
-int do_cam_control(int fd, int op_code, void *handle, int size) {
-  struct cam_control camcontrol = {0};
-  camcontrol.op_code = op_code;
-  camcontrol.handle = (uint64_t)handle;
-  if (size == 0) {
-    camcontrol.size = 8;
-    camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE;
-  } else {
-    camcontrol.size = size;
-    camcontrol.handle_type = CAM_HANDLE_USER_POINTER;
-  }
-
-  int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
-  if (ret == -1) {
-    LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno);
-  }
-  return ret;
-}
-
-std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1) {
-  struct cam_acquire_dev_cmd cmd = {
-      .session_handle = session_handle,
-      .handle_type = CAM_HANDLE_USER_POINTER,
-      .num_resources = (uint32_t)(data ? num_resources : 0),
-      .resource_hdl = (uint64_t)data,
-  };
-  int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
-  return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
-};
-
-int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
-  struct cam_config_dev_cmd cmd = {
-      .session_handle = session_handle,
-      .dev_handle = dev_handle,
-      .packet_handle = packet_handle,
-  };
-  return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
-}
-
-int device_control(int fd, int op_code, int session_handle, int dev_handle) {
-  // start stop and release are all the same
-  struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
-  return do_cam_control(fd, op_code, &cmd, sizeof(cmd));
-}
-
-void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-                      int mmu_hdl = 0, int mmu_hdl2 = 0) {
-  struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
-  mem_mgr_alloc_cmd.len = len;
-  mem_mgr_alloc_cmd.align = align;
-  mem_mgr_alloc_cmd.flags = flags;
-  mem_mgr_alloc_cmd.num_hdl = 0;
-  if (mmu_hdl != 0) {
-    mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl;
-    mem_mgr_alloc_cmd.num_hdl++;
-  }
-  if (mmu_hdl2 != 0) {
-    mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2;
-    mem_mgr_alloc_cmd.num_hdl++;
-  }
-
-  do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
-  *handle = mem_mgr_alloc_cmd.out.buf_handle;
-
-  void *ptr = NULL;
-  if (mem_mgr_alloc_cmd.out.fd > 0) {
-    ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0);
-    assert(ptr != MAP_FAILED);
-  }
-
-  // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr);
-
-  return ptr;
-}
-
-void release(int video0_fd, uint32_t handle) {
-  int ret;
-  struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
-  mem_mgr_release_cmd.buf_handle = handle;
+// similar gain curve to AR
+const float sensor_analog_gains_OX03C10[] = {
+  1.0, 1.25, 1.3125, 1.5625,
+  1.6875, 2.0, 2.25, 2.625,
+  3.125, 3.625, 4.5, 5.0,
+  7.25, 8.5, 12.0, 15.5};

-  ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
-  assert(ret == 0);
-}
+const uint32_t ox03c10_analog_gains_reg[] = {
+  0x100, 0x140, 0x150, 0x190,
+  0x1B0, 0x200, 0x240, 0x2A0,
+  0x320, 0x3A0, 0x480, 0x500,
+  0x740, 0x880, 0xC00, 0xF80};

-void release_fd(int video0_fd, uint32_t handle) {
-  // handle to fd
-  close(handle>>16);
-  release(video0_fd, handle);
-}
+const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x
+const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x
+const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x

-void *MemoryManager::alloc(int size, uint32_t *handle) {
-  lock.lock();
-  void *ptr;
-  if (!cached_allocations[size].empty()) {
-    ptr = cached_allocations[size].front();
-    cached_allocations[size].pop();
-    *handle = handle_lookup[ptr];
-  } else {
-    ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
-    handle_lookup[ptr] = *handle;
-    size_lookup[ptr] = size;
-  }
-  lock.unlock();
-  return ptr;
-}
+const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0;
+const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x5; // 2x
+const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0xF;

-void MemoryManager::free(void *ptr) {
-  lock.lock();
-  cached_allocations[size_lookup[ptr]].push(ptr);
-  lock.unlock();
-}
+const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss
+const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms

-MemoryManager::~MemoryManager() {
-  for (auto& x : cached_allocations) {
-    while (!x.second.empty()) {
-      void *ptr = x.second.front();
-      x.second.pop();
-      LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
-      munmap(ptr, size_lookup[ptr]);
-      release_fd(video0_fd, handle_lookup[ptr]);
-      handle_lookup.erase(ptr);
-      size_lookup.erase(ptr);
-    }
-  }
-}
+const int EXPOSURE_TIME_MIN_OX03C10 = 2; // 1x
+const int EXPOSURE_TIME_MAX_OX03C10 = 2016;
+const uint32_t VS_TIME_MIN_OX03C10 = 1;
+const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35

 int CameraState::clear_req_queue() {
  struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
@ -213,8 +121,8 @@ void CameraState::sensors_start() {
  LOGD("starting sensor %d", camera_num);
  if (camera_id == CAMERA_ID_AR0231) {
    sensors_i2c(start_reg_array_ar0231, std::size(start_reg_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
-  } else if (camera_id == CAMERA_ID_IMX390) {
-    sensors_i2c(start_reg_array_imx390, std::size(start_reg_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
+  } else if (camera_id == CAMERA_ID_OX03C10) {
+    sensors_i2c(start_reg_array_ox03c10, std::size(start_reg_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
  } else {
    assert(false);
  }
@ -300,15 +208,15 @@ int CameraState::sensors_init() {
  switch (camera_num) {
    case 0:
      // port 0
-      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34;
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; // 6C = 0x36*2
      break;
    case 1:
      // port 1
-      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x36;
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x20;
      break;
    case 2:
      // port 2
-      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34;
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C;
      break;
  }

@ -324,9 +232,9 @@ int CameraState::sensors_init() {
  if (camera_id == CAMERA_ID_AR0231) {
    probe->reg_addr = 0x3000;
    probe->expected_data = 0x354;
-  } else if (camera_id == CAMERA_ID_IMX390) {
-    probe->reg_addr = 0x330;
-    probe->expected_data = 0x1538;
+  } else if (camera_id == CAMERA_ID_OX03C10) {
+    probe->reg_addr = 0x300a;
+    probe->expected_data = 0x5803;
  } else {
    assert(false);
  }
@ -393,8 +301,8 @@ int CameraState::sensors_init() {
  power->power_settings[1].power_seq_type = 1;
  power->power_settings[2].power_seq_type = 3;

-  LOGD("probing the sensor");
  int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
+  LOGD("probing the sensor: %d", ret);

  mm.free(i2c_info);
  mm.free(power_settings);
@ -606,12 +514,67 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {

 // ******************* camera *******************

-void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled_) {
-  multi_cam_state = multi_cam_state_;
-  camera_id = camera_id_;
-  camera_num = camera_num_;
-  enabled = enabled_;
+void CameraState::camera_set_parameters() {
+  if (camera_id == CAMERA_ID_AR0231) {
+    dc_gain_factor = DC_GAIN_AR0231;
+    dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231;
+    dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231;
+    dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231;
+    exposure_time_min = EXPOSURE_TIME_MIN_AR0231;
+    exposure_time_max = EXPOSURE_TIME_MAX_AR0231;
+    analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231;
+    analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231;
+    analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231;
+    for (int i=0; i<=analog_gain_max_idx; i++) {
+      sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
+    }
+    min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
+  } else if (camera_id == CAMERA_ID_OX03C10) {
+    dc_gain_factor = DC_GAIN_OX03C10;
+    dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10;
+    dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10;
+    dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10;
+    exposure_time_min = EXPOSURE_TIME_MIN_OX03C10;
+    exposure_time_max = EXPOSURE_TIME_MAX_OX03C10;
+    analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10;
+    analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10;
+    analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10;
+    for (int i=0; i<=analog_gain_max_idx; i++) {
+      sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i];
+    }
+    min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
+  } else {
+    assert(false);
+  }
+
+  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
+  target_grey_fraction = 0.3;
+
+  dc_gain_enabled = false;
+  dc_gain_weight = DC_GAIN_MIN_WEIGHT;
+  gain_idx = analog_gain_rec_idx;
+  exposure_time = 5;
+  cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time;
+}
+
+void CameraState::camera_map_bufs(MultiCameraState *s) {
+  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+    // configure ISP to put the image in place
+    struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
+    mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
+    mem_mgr_map_cmd.num_hdl = 1;
+    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
+    mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
+    int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+    buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
+  }
+  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
+}
+
+void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, int camera_id_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) {
  if (!enabled) return;
+  camera_id = camera_id_;

  LOGD("camera init %d", camera_num);
  assert(camera_id < std::size(cameras_supported));
@ -621,19 +584,18 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe
  request_id_last = 0;
  skipped = true;

-  min_ev = EXPOSURE_TIME_MIN * sensor_analog_gains[ANALOG_GAIN_MIN_IDX];
-  max_ev = EXPOSURE_TIME_MAX * sensor_analog_gains[ANALOG_GAIN_MAX_IDX] * DC_GAIN;
-  target_grey_fraction = 0.3;
-
-  dc_gain_enabled = false;
-  gain_idx = ANALOG_GAIN_REC_IDX;
-  exposure_time = 5;
-  cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time;
+  camera_set_parameters();

  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
+  camera_map_bufs(s);
 }

-void CameraState::camera_open() {
+void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
+  multi_cam_state = multi_cam_state_;
+  camera_num = camera_num_;
+  enabled = enabled_;
+  if (!enabled) return;
+
  int ret;
  sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
  assert(sensor_fd >= 0);
@ -644,10 +606,12 @@ void CameraState::camera_open() {

  // probe the sensor
  LOGD("-- Probing sensor %d", camera_num);
+  camera_id = CAMERA_ID_AR0231;
  ret = sensors_init();
  if (ret != 0) {
-    LOGD("AR0231 init failed, trying IMX390");
-    camera_id = CAMERA_ID_IMX390;
+    // TODO: use build flag instead?
+    LOGD("AR0231 init failed, trying OX03C10");
+    camera_id = CAMERA_ID_OX03C10;
    ret = sensors_init();
  }
  LOGD("-- Probing sensor %d done with %d", camera_num, ret);
@ -671,13 +635,18 @@ void CameraState::camera_open() {
  LOGD("acquire sensor dev");

  LOG("-- Configuring sensor");
+  uint32_t dt;
  if (camera_id == CAMERA_ID_AR0231) {
    sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
-  } else if (camera_id == CAMERA_ID_IMX390) {
-    sensors_i2c(init_array_imx390, std::size(init_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
+    dt = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
+  } else if (camera_id == CAMERA_ID_OX03C10) {
+    sensors_i2c(init_array_ox03c10, std::size(init_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
+    // one is 0x2a, two are 0x2b
+    dt = 0x2c;
  } else {
    assert(false);
  }
+  printf("dt is %x\n", dt);

  // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
  // If you don't do this, the strobe GPIO is an output (even in reset it seems!)
@ -691,7 +660,7 @@ void CameraState::camera_open() {
      .lane_cfg = 0x3210,

      .vc = 0x0,
-      .dt = 0x12, // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
+      .dt = dt,
      .format = CAM_FORMAT_MIPI_RAW_12,

      .test_pattern = 0x2,  // 0x3?
@ -805,29 +774,15 @@ void CameraState::camera_open() {
  ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
  LOGD("start isp: %d", ret);

-  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
-    // configure ISP to put the image in place
-    struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
-    mem_mgr_map_cmd.num_hdl = 1;
-    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
-    mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
-    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
-    buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
-  }
-
  // TODO: this is unneeded, should we be doing the start i2c in a different way?
  //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);
  //LOGD("start sensor: %d", ret);
-
-  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }

 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_DRIVER, !env_disable_driver);
-  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_ROAD, !env_disable_road);
-  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
+  s->driver_cam.camera_init(s, v, s->driver_cam.camera_id, 20, device_id, ctx, VISION_STREAM_DRIVER);
+  s->road_cam.camera_init(s, v, s->road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_ROAD);
+  s->wide_road_cam.camera_init(s, v, s->wide_road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD);

  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@ -873,11 +828,11 @@ void cameras_open(MultiCameraState *s) {
  ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
  LOGD("req mgr subscribe: %d", ret);

-  s->driver_cam.camera_open();
+  s->driver_cam.camera_open(s, 2, !env_disable_driver);
  LOGD("driver camera opened");
-  s->road_cam.camera_open();
+  s->road_cam.camera_open(s, 1, !env_disable_road);
  LOGD("road camera opened");
-  s->wide_road_cam.camera_open();
+  s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
  LOGD("wide road camera opened");
 }

@ -1044,7 +999,7 @@ void CameraState::handle_camera_event(void *evdat) {
    meta_data.frame_id = main_id - idx_offset;
    meta_data.timestamp_sof = timestamp;
    exp_lock.lock();
-    meta_data.gain = dc_gain_enabled ? analog_gain_frac * DC_GAIN : analog_gain_frac;
+    meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);
    meta_data.high_conversion_gain = dc_gain_enabled;
    meta_data.integ_lines = exposure_time;
    meta_data.measured_grey_fraction = measured_grey_fraction;
@ -1096,12 +1051,17 @@ void CameraState::set_camera_exposure(float grey_frac) {
  // Hysteresis around high conversion gain
  // We usually want this on since it results in lower noise, but turn off in very bright day scenes
  bool enable_dc_gain = dc_gain_enabled;
-  if (!enable_dc_gain && target_grey < 0.2) {
+  if (!enable_dc_gain && target_grey < dc_gain_on_grey) {
    enable_dc_gain = true;
-  } else if (enable_dc_gain && target_grey > 0.3) {
+    dc_gain_weight = DC_GAIN_MIN_WEIGHT;
+  } else if (enable_dc_gain && target_grey > dc_gain_off_grey) {
    enable_dc_gain = false;
+    dc_gain_weight = dc_gain_max_weight;
  }

+  if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;}
+  if (!enable_dc_gain && dc_gain_weight > DC_GAIN_MIN_WEIGHT) {dc_gain_weight -= 1;}
+
  std::string gain_bytes, time_bytes;
  if (env_ctrl_exp_from_params) {
      gain_bytes = Params().get("CameraDebugExpGain");
@ -1119,14 +1079,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
  } else {
    // Simple brute force optimizer to choose sensor parameters
    // to reach desired EV
-    for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) {
-      float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1);
+    for (int g = std::max((int)analog_gain_min_idx, gain_idx - 1); g <= std::min((int)analog_gain_max_idx, gain_idx + 1); g++) {
+      float gain = sensor_analog_gains[g] * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);

      // Compute optimal time for given gain
-      int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX);
+      int t = std::clamp(int(std::round(desired_ev / gain)), exposure_time_min, exposure_time_max);

      // Only go below recommended gain when absolutely necessary to not overexpose
-      if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) {
+      if (g < analog_gain_rec_idx && t > 20 && g < gain_idx) {
        continue;
      }

@ -1134,8 +1094,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
      float score = std::abs(desired_ev - (t * gain)) * 10;

      // Going below recommended gain needs lower penalty to not overexpose
-      float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1;
-      score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m;
+      float m = g > analog_gain_rec_idx ? 5.0 : 0.1;
+      score += std::abs(g - (int)analog_gain_rec_idx) * m;

      // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev);

@ -1160,7 +1120,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
  exposure_time = new_t;
  dc_gain_enabled = enable_dc_gain;

-  float gain = analog_gain_frac * (dc_gain_enabled ? DC_GAIN : 1.0);
+  float gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);
  cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;

  exp_lock.unlock();
@ -1181,17 +1141,25 @@ void CameraState::set_camera_exposure(float grey_frac) {
                                                    {0x3012, (uint16_t)exposure_time},
                                                  };
    sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
-  } else if (camera_id == CAMERA_ID_IMX390) {
-    // if gain is sub 1, we have to use exposure to mimic sub 1 gains
-    uint32_t real_exposure_time = (gain < 1.0) ? (exposure_time*gain) : exposure_time;
-    // invert real_exposure_time, max exposure is 2
-    real_exposure_time = (exposure_time >= 0x7cf) ? 2 : (0x7cf - exposure_time);
-    uint32_t real_gain = int((10*log10(fmax(1.0, gain)))/0.3);
-    //printf("%d expose: %d gain: %f = %d\n", camera_num, exposure_time, gain, real_gain);
+  } else if (camera_id == CAMERA_ID_OX03C10) {
+    // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD
+    uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0);
+    uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0);
+    uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min);
+    uint32_t vs_time = std::min(std::max(hcg_time / 64, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
+
+    uint32_t real_gain = ox03c10_analog_gains_reg[new_g];
    struct i2c_random_wr_payload exp_reg_array[] = {
-      {0x000c, real_exposure_time&0xFF}, {0x000d, real_exposure_time>>8},
-      {0x0010, real_exposure_time&0xFF}, {0x0011, real_exposure_time>>8},
-      {0x0018, real_gain&0xFF}, {0x0019, real_gain>>8},
+
+      {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
+      {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
+      {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
+      {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF},
+
+      {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
+      {0x3588, real_gain>>8}, {0x3589, real_gain&0xFF},
+      {0x3548, real_gain>>8}, {0x3549, real_gain&0xFF},
+      {0x35c8, real_gain>>8}, {0x35c9, real_gain&0xFF},
    };
    sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
  }
@ -1336,4 +1304,3 @@ void cameras_run(MultiCameraState *s) {

  cameras_close(s);
 }
-
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@ -7,25 +7,12 @@
 #include <media/cam_req_mgr.h>

 #include "system/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_util.h"
 #include "common/params.h"
 #include "common/util.h"

 #define FRAME_BUF_COUNT 4

-class MemoryManager {
-  public:
-    void init(int _video0_fd) { video0_fd = _video0_fd; }
-    void *alloc(int len, uint32_t *handle);
-    void free(void *ptr);
-    ~MemoryManager();
-  private:
-    std::mutex lock;
-    std::map<void *, uint32_t> handle_lookup;
-    std::map<void *, int> size_lookup;
-    std::map<int, std::queue<void *> > cached_allocations;
-    int video0_fd;
-};
-
 class CameraState {
 public:
  MultiCameraState *multi_cam_state;
@ -36,14 +23,28 @@ public:

  int exposure_time;
  bool dc_gain_enabled;
+  int dc_gain_weight;
+  int gain_idx;
  float analog_gain_frac;

+  int exposure_time_min;
+  int exposure_time_max;
+
+  float dc_gain_factor;
+  int dc_gain_max_weight;
+  float dc_gain_on_grey;
+  float dc_gain_off_grey;
+
+  float sensor_analog_gains[16];
+  int analog_gain_min_idx;
+  int analog_gain_max_idx;
+  int analog_gain_rec_idx;
+
  float cur_ev[3];
  float min_ev, max_ev;

  float measured_grey_fraction;
  float target_grey_fraction;
-  int gain_idx;

  unique_fd sensor_fd;
  unique_fd csiphy_fd;
@ -55,8 +56,10 @@ public:

  void sensors_start();

-  void camera_open();
-  void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled);
+  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
+  void camera_set_parameters();
+  void camera_map_bufs(MultiCameraState *s);
+  void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
  void camera_close();

  std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
--- a/system/camerad/cameras/camera_util.cc
+++ b/system/camerad/cameras/camera_util.cc
@ -0,0 +1,135 @@
+#include "system/camerad/cameras/camera_util.h"
+
+#include <cassert>
+
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+
+#include "common/swaglog.h"
+#include "common/util.h"
+
+// ************** low level camera helpers ****************
+int do_cam_control(int fd, int op_code, void *handle, int size) {
+  struct cam_control camcontrol = {0};
+  camcontrol.op_code = op_code;
+  camcontrol.handle = (uint64_t)handle;
+  if (size == 0) {
+    camcontrol.size = 8;
+    camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE;
+  } else {
+    camcontrol.size = size;
+    camcontrol.handle_type = CAM_HANDLE_USER_POINTER;
+  }
+
+  int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
+  if (ret == -1) {
+    LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno);
+  }
+  return ret;
+}
+
+std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) {
+  struct cam_acquire_dev_cmd cmd = {
+      .session_handle = session_handle,
+      .handle_type = CAM_HANDLE_USER_POINTER,
+      .num_resources = (uint32_t)(data ? num_resources : 0),
+      .resource_hdl = (uint64_t)data,
+  };
+  int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
+  return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
+};
+
+int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
+  struct cam_config_dev_cmd cmd = {
+      .session_handle = session_handle,
+      .dev_handle = dev_handle,
+      .packet_handle = packet_handle,
+  };
+  return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
+}
+
+int device_control(int fd, int op_code, int session_handle, int dev_handle) {
+  // start stop and release are all the same
+  struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
+  return do_cam_control(fd, op_code, &cmd, sizeof(cmd));
+}
+
+void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) {
+  struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
+  mem_mgr_alloc_cmd.len = len;
+  mem_mgr_alloc_cmd.align = align;
+  mem_mgr_alloc_cmd.flags = flags;
+  mem_mgr_alloc_cmd.num_hdl = 0;
+  if (mmu_hdl != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+  if (mmu_hdl2 != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+
+  do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
+  *handle = mem_mgr_alloc_cmd.out.buf_handle;
+
+  void *ptr = NULL;
+  if (mem_mgr_alloc_cmd.out.fd > 0) {
+    ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0);
+    assert(ptr != MAP_FAILED);
+  }
+
+  // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr);
+
+  return ptr;
+}
+
+void release(int video0_fd, uint32_t handle) {
+  int ret;
+  struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
+  mem_mgr_release_cmd.buf_handle = handle;
+
+  ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
+  assert(ret == 0);
+}
+
+void release_fd(int video0_fd, uint32_t handle) {
+  // handle to fd
+  close(handle>>16);
+  release(video0_fd, handle);
+}
+
+void *MemoryManager::alloc(int size, uint32_t *handle) {
+  lock.lock();
+  void *ptr;
+  if (!cached_allocations[size].empty()) {
+    ptr = cached_allocations[size].front();
+    cached_allocations[size].pop();
+    *handle = handle_lookup[ptr];
+  } else {
+    ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
+    handle_lookup[ptr] = *handle;
+    size_lookup[ptr] = size;
+  }
+  lock.unlock();
+  return ptr;
+}
+
+void MemoryManager::free(void *ptr) {
+  lock.lock();
+  cached_allocations[size_lookup[ptr]].push(ptr);
+  lock.unlock();
+}
+
+MemoryManager::~MemoryManager() {
+  for (auto& x : cached_allocations) {
+    while (!x.second.empty()) {
+      void *ptr = x.second.front();
+      x.second.pop();
+      LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
+      munmap(ptr, size_lookup[ptr]);
+      release_fd(video0_fd, handle_lookup[ptr]);
+      handle_lookup.erase(ptr);
+      size_lookup.erase(ptr);
+    }
+  }
+}
--- a/system/camerad/cameras/camera_util.h
+++ b/system/camerad/cameras/camera_util.h
@ -0,0 +1,30 @@
+#pragma once
+
+#include <map>
+#include <mutex>
+#include <optional>
+#include <queue>
+
+#include <media/cam_req_mgr.h>
+
+std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
+int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
+int device_control(int fd, int op_code, int session_handle, int dev_handle);
+int do_cam_control(int fd, int op_code, void *handle, int size);
+void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                      int mmu_hdl = 0, int mmu_hdl2 = 0);
+void release(int video0_fd, uint32_t handle);
+
+class MemoryManager {
+  public:
+    void init(int _video0_fd) { video0_fd = _video0_fd; }
+    void *alloc(int len, uint32_t *handle);
+    void free(void *ptr);
+    ~MemoryManager();
+  private:
+    std::mutex lock;
+    std::map<void *, uint32_t> handle_lookup;
+    std::map<void *, int> size_lookup;
+    std::map<int, std::queue<void *> > cached_allocations;
+    int video0_fd;
+};
--- a/system/camerad/cameras/real_debayer.cl
+++ b/system/camerad/cameras/real_debayer.cl
@ -8,9 +8,15 @@

 float3 color_correct(float3 rgb) {
  // color correction
+  #if IS_OX
+  float3 x = rgb.x * (float3)(1.81485125, -0.51650643, -0.06985117);
+  x += rgb.y * (float3)(-0.51681964,  1.85935946, -0.49871889);
+  x += rgb.z * (float3)(-0.29803161, -0.34285304,  1.56857006);
+  #else
  float3 x = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
  x += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
  x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
+  #endif

  // tone mapping params
  const float gamma_k = 0.75;
@ -36,14 +42,43 @@ float get_vignetting_s(float r) {
  }
 }

+constant float ox03c10_lut[] = {
+  0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, 
+  1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, 
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+  6.2743e-02, 6.2987e-02, 6.3231e-02, 6.3475e-02, 6.3719e-02, 6.3964e-02, 6.4208e-02, 6.4452e-02, 6.4696e-02, 6.4940e-02, 6.5184e-02, 6.5428e-02, 6.5673e-02, 6.5917e-02, 6.6161e-02, 6.6405e-02, 6.6649e-02, 6.6893e-02, 6.7137e-02, 6.7382e-02, 6.7626e-02, 6.7870e-02, 6.8114e-02, 6.8358e-02, 6.8602e-02, 6.8846e-02, 6.9091e-02, 6.9335e-02, 6.9579e-02, 6.9823e-02, 7.0067e-02, 7.0311e-02, 7.0555e-02, 7.0799e-02, 7.1044e-02, 7.1288e-02, 7.1532e-02, 7.1776e-02, 7.2020e-02, 7.2264e-02, 7.2508e-02, 7.2753e-02, 7.2997e-02, 7.3241e-02, 7.3485e-02, 7.3729e-02, 7.3973e-02, 7.4217e-02, 7.4462e-02, 7.4706e-02, 7.4950e-02, 7.5194e-02, 7.5438e-02, 7.5682e-02, 7.5926e-02, 7.6171e-02, 7.6415e-02, 7.6659e-02, 7.6903e-02, 7.7147e-02, 7.7391e-02, 7.7635e-02, 7.7880e-02, 7.8124e-02, 7.8368e-02, 7.8612e-02, 7.8856e-02, 7.9100e-02, 7.9344e-02, 7.9589e-02, 7.9833e-02, 8.0077e-02, 8.0321e-02, 8.0565e-02, 8.0809e-02, 8.1053e-02, 8.1298e-02, 8.1542e-02, 8.1786e-02, 8.2030e-02, 8.2274e-02, 8.2518e-02, 8.2762e-02, 8.3006e-02, 8.3251e-02, 8.3495e-02, 8.3739e-02, 8.3983e-02, 8.4227e-02, 8.4471e-02, 8.4715e-02, 8.4960e-02, 8.5204e-02, 8.5448e-02, 8.5692e-02, 8.5936e-02, 8.6180e-02, 8.6424e-02, 8.6669e-02, 8.6913e-02, 8.7157e-02, 8.7401e-02, 8.7645e-02, 8.7889e-02, 8.8133e-02, 8.8378e-02, 8.8622e-02, 8.8866e-02, 8.9110e-02, 8.9354e-02, 8.9598e-02, 8.9842e-02, 9.0087e-02, 9.0331e-02, 9.0575e-02, 9.0819e-02, 9.1063e-02, 9.1307e-02, 9.1551e-02, 9.1796e-02, 9.2040e-02, 9.2284e-02, 9.2528e-02, 9.2772e-02, 9.3016e-02, 9.3260e-02, 9.3504e-02, 9.3749e-02, 9.4237e-02, 9.4725e-02, 9.5213e-02, 9.5702e-02, 9.6190e-02, 9.6678e-02, 9.7167e-02, 9.7655e-02, 9.8143e-02, 9.8631e-02, 9.9120e-02, 9.9608e-02, 1.0010e-01, 1.0058e-01, 1.0107e-01, 1.0156e-01, 1.0205e-01, 1.0254e-01, 1.0303e-01, 1.0351e-01, 1.0400e-01, 1.0449e-01, 1.0498e-01, 1.0547e-01, 1.0596e-01, 1.0644e-01, 1.0693e-01, 1.0742e-01, 1.0791e-01, 1.0840e-01, 1.0889e-01, 1.0937e-01, 1.0986e-01, 1.1035e-01, 1.1084e-01, 1.1133e-01, 1.1182e-01, 1.1230e-01, 1.1279e-01, 1.1328e-01, 1.1377e-01, 1.1426e-01, 1.1474e-01, 1.1523e-01, 1.1572e-01, 1.1621e-01, 1.1670e-01, 1.1719e-01, 1.1767e-01, 1.1816e-01, 1.1865e-01, 1.1914e-01, 1.1963e-01, 1.2012e-01, 1.2060e-01, 1.2109e-01, 1.2158e-01, 1.2207e-01, 1.2256e-01, 1.2305e-01, 1.2353e-01, 1.2402e-01, 1.2451e-01, 1.2500e-01, 1.2549e-01, 1.2598e-01, 1.2646e-01, 1.2695e-01, 1.2744e-01, 1.2793e-01, 1.2842e-01, 1.2890e-01, 1.2939e-01, 1.2988e-01, 1.3037e-01, 1.3086e-01, 1.3135e-01, 1.3183e-01, 1.3232e-01, 1.3281e-01, 1.3330e-01, 1.3379e-01, 1.3428e-01, 1.3476e-01, 1.3525e-01, 1.3574e-01, 1.3623e-01, 1.3672e-01, 1.3721e-01, 1.3769e-01, 1.3818e-01, 1.3867e-01, 1.3916e-01, 1.3965e-01, 1.4014e-01, 1.4062e-01, 1.4111e-01, 1.4160e-01, 1.4209e-01, 1.4258e-01, 1.4306e-01, 1.4355e-01, 1.4404e-01, 1.4453e-01, 1.4502e-01, 1.4551e-01, 1.4599e-01, 1.4648e-01, 1.4697e-01, 1.4746e-01, 1.4795e-01, 1.4844e-01, 1.4892e-01, 1.4941e-01, 1.4990e-01, 1.5039e-01, 1.5088e-01, 1.5137e-01, 1.5185e-01, 1.5234e-01, 1.5283e-01, 1.5332e-01, 1.5381e-01, 1.5430e-01, 1.5478e-01, 1.5527e-01, 1.5576e-01, 1.5625e-01, 
+  1.5674e-01, 1.5723e-01, 1.5771e-01, 1.5820e-01, 1.5869e-01, 1.5918e-01, 1.5967e-01, 1.6015e-01, 1.6064e-01, 1.6113e-01, 1.6162e-01, 1.6211e-01, 1.6260e-01, 1.6308e-01, 1.6357e-01, 1.6406e-01, 1.6455e-01, 1.6504e-01, 1.6553e-01, 1.6601e-01, 1.6650e-01, 1.6699e-01, 1.6748e-01, 1.6797e-01, 1.6846e-01, 1.6894e-01, 1.6943e-01, 1.6992e-01, 1.7041e-01, 1.7090e-01, 1.7139e-01, 1.7187e-01, 1.7236e-01, 1.7285e-01, 1.7334e-01, 1.7383e-01, 1.7431e-01, 1.7480e-01, 1.7529e-01, 1.7578e-01, 1.7627e-01, 1.7676e-01, 1.7724e-01, 1.7773e-01, 1.7822e-01, 1.7871e-01, 1.7920e-01, 1.7969e-01, 1.8017e-01, 1.8066e-01, 1.8115e-01, 1.8164e-01, 1.8213e-01, 1.8262e-01, 1.8310e-01, 1.8359e-01, 1.8408e-01, 1.8457e-01, 1.8506e-01, 1.8555e-01, 1.8603e-01, 1.8652e-01, 1.8701e-01, 1.8750e-01, 1.8848e-01, 1.8945e-01, 1.9043e-01, 1.9140e-01, 1.9238e-01, 1.9336e-01, 1.9433e-01, 1.9531e-01, 1.9629e-01, 1.9726e-01, 1.9824e-01, 1.9922e-01, 2.0019e-01, 2.0117e-01, 2.0215e-01, 2.0312e-01, 2.0410e-01, 2.0508e-01, 2.0605e-01, 2.0703e-01, 2.0801e-01, 2.0898e-01, 2.0996e-01, 2.1094e-01, 2.1191e-01, 2.1289e-01, 2.1387e-01, 2.1484e-01, 2.1582e-01, 2.1680e-01, 2.1777e-01, 2.1875e-01, 2.1972e-01, 2.2070e-01, 2.2168e-01, 2.2265e-01, 2.2363e-01, 2.2461e-01, 2.2558e-01, 2.2656e-01, 2.2754e-01, 2.2851e-01, 2.2949e-01, 2.3047e-01, 2.3144e-01, 2.3242e-01, 2.3340e-01, 2.3437e-01, 2.3535e-01, 2.3633e-01, 2.3730e-01, 2.3828e-01, 2.3926e-01, 2.4023e-01, 2.4121e-01, 2.4219e-01, 2.4316e-01, 2.4414e-01, 2.4512e-01, 2.4609e-01, 2.4707e-01, 2.4805e-01, 2.4902e-01, 2.5000e-01, 2.5097e-01, 2.5195e-01, 2.5293e-01, 2.5390e-01, 2.5488e-01, 2.5586e-01, 2.5683e-01, 2.5781e-01, 2.5879e-01, 2.5976e-01, 2.6074e-01, 2.6172e-01, 2.6269e-01, 2.6367e-01, 2.6465e-01, 2.6562e-01, 2.6660e-01, 2.6758e-01, 2.6855e-01, 2.6953e-01, 2.7051e-01, 2.7148e-01, 2.7246e-01, 2.7344e-01, 2.7441e-01, 2.7539e-01, 2.7637e-01, 2.7734e-01, 2.7832e-01, 2.7930e-01, 2.8027e-01, 2.8125e-01, 2.8222e-01, 2.8320e-01, 2.8418e-01, 2.8515e-01, 2.8613e-01, 2.8711e-01, 2.8808e-01, 2.8906e-01, 2.9004e-01, 2.9101e-01, 2.9199e-01, 2.9297e-01, 2.9394e-01, 2.9492e-01, 2.9590e-01, 2.9687e-01, 2.9785e-01, 2.9883e-01, 2.9980e-01, 3.0078e-01, 3.0176e-01, 3.0273e-01, 3.0371e-01, 3.0469e-01, 3.0566e-01, 3.0664e-01, 3.0762e-01, 3.0859e-01, 3.0957e-01, 3.1055e-01, 3.1152e-01, 3.1250e-01, 3.1347e-01, 3.1445e-01, 3.1543e-01, 3.1640e-01, 3.1738e-01, 3.1836e-01, 3.1933e-01, 3.2031e-01, 3.2129e-01, 3.2226e-01, 3.2324e-01, 3.2422e-01, 3.2519e-01, 3.2617e-01, 3.2715e-01, 3.2812e-01, 3.2910e-01, 3.3008e-01, 3.3105e-01, 3.3203e-01, 3.3301e-01, 3.3398e-01, 3.3496e-01, 3.3594e-01, 3.3691e-01, 3.3789e-01, 3.3887e-01, 3.3984e-01, 3.4082e-01, 3.4180e-01, 3.4277e-01, 3.4375e-01, 3.4472e-01, 3.4570e-01, 3.4668e-01, 3.4765e-01, 3.4863e-01, 3.4961e-01, 3.5058e-01, 3.5156e-01, 3.5254e-01, 3.5351e-01, 3.5449e-01, 3.5547e-01, 3.5644e-01, 3.5742e-01, 3.5840e-01, 3.5937e-01, 3.6035e-01, 3.6133e-01, 3.6230e-01, 3.6328e-01, 3.6426e-01, 3.6523e-01, 3.6621e-01, 3.6719e-01, 3.6816e-01, 3.6914e-01, 3.7012e-01, 3.7109e-01, 3.7207e-01, 3.7305e-01, 3.7402e-01, 3.7500e-01, 
+  3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00
+};
+
 float4 val4_from_12(uchar8 pvs, float gain) {
  uint4 parsed = (uint4)(((uint)pvs.s0<<4) + (pvs.s1>>4),  // is from the previous 10 bit
                         ((uint)pvs.s2<<4) + (pvs.s4&0xF),
                         ((uint)pvs.s3<<4) + (pvs.s4>>4),
                         ((uint)pvs.s5<<4) + (pvs.s7&0xF));
+  #if IS_OX
+  // PWL
+  //float4 pv = (convert_float4(parsed) - 64.0) / (4096.0 - 64.0);
+  float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
+
+  // it's a 24 bit signal, center in the middle 8 bits
+  return pv*256.0;
+  #else // AR
  // normalize and scale
  float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0);
  return clamp(pv*gain, 0.0, 1.0);
+  #endif
+
 }

 float get_k(float a, float b, float c, float d) {
--- a/system/camerad/cameras/sensor2_i2c.h
+++ b/system/camerad/cameras/sensor2_i2c.h
@ -1,48 +1,754 @@
 struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
 struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
-struct i2c_random_wr_payload start_reg_array_imx390[] = {{0x0, 0}};
-struct i2c_random_wr_payload stop_reg_array_imx390[] = {{0x0, 1}};
+struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}};
+struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}};

-struct i2c_random_wr_payload init_array_imx390[] = {
-  {0x2008, 0xd0}, {0x2009, 0x07}, {0x200a, 0x00}, // MODE_VMAX = time between frames
-  {0x200C, 0xe4}, {0x200D, 0x0c},  // MODE_HMAX
+struct i2c_random_wr_payload init_array_ox03c10[] = {
+  {0x103, 1},
+  {0x107, 1},

-  // crop
-  {0x3410, 0x88}, {0x3411, 0x7},     // CROP_H_SIZE
-  {0x3418, 0xb8}, {0x3419, 0x4},     // CROP_V_SIZE
-  {0x0078, 1}, {0x03c0, 1},
+  // X3C_1920x1280_60fps_HDR4_LFR_PWL12_mipi1200

-  // external trigger (off)
-  // while images still come in, they are blank with this
-  {0x3650, 0},  // CU_MODE
+  // TPM
+  {0x4d5a, 0x1a}, {0x4d09, 0xff}, {0x4d09, 0xdf},

-  // exposure
-  {0x000c, 0xc0}, {0x000d, 0x07},
-  {0x0010, 0xc0}, {0x0011, 0x07},
+  /*)
+  // group 4
+  {0x3208, 0x04},
+  {0x4620, 0x04},
+  {0x3208, 0x14},

-  // WUXGA mode
-  // not in datasheet, from https://github.com/bogsen/STLinux-Kernel/blob/master/drivers/media/platform/tegra/imx185.c
-  {0x0086, 0xc4}, {0x0087, 0xff},   // WND_SHIFT_V = -60
-  {0x03c6, 0xc4}, {0x03c7, 0xff},   // SM_WND_SHIFT_V_APL = -60
+  // group 5
+  {0x3208, 0x05},
+  {0x4620, 0x04},
+  {0x3208, 0x15},

-  {0x201c, 0xe1}, {0x201d, 0x12},   // image read amount
-  {0x21ee, 0xc4}, {0x21ef, 0x04},   // image send amount (1220 is the end)
-  {0x21f0, 0xc4}, {0x21f1, 0x04},   // image processing amount
+  // group 2
+  {0x3208, 0x02},
+  {0x3507, 0x00},
+  {0x3208, 0x12},

-  // disable a bunch of errors causing blanking
-  {0x0390, 0x00}, {0x0391, 0x00}, {0x0392, 0x00},
+  // delay launch group 2
+  {0x3208, 0xa2},*/

-  // flip bayer
-  {0x2D64, 0x64 + 2},
+  // PLL setup
+  {0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix
+  {0x0303, 0x01}, // pll1_prediv
+  {0x0304, 0x01}, {0x0305, 0x2c}, // pll1_loopdiv = 300
+  {0x0306, 0x04}, // pll1_divmipi = 4
+  {0x0307, 0x01}, // pll1_divm = 1
+  {0x0316, 0x00},
+  {0x0317, 0x00},
+  {0x0318, 0x00},
+  {0x0323, 0x05}, // pll2_prediv
+  {0x0324, 0x01}, {0x0325, 0x2c}, // pll2_divp = 300

-  // color correction
-  {0x0030, 0xf8}, {0x0031, 0x00},  // red gain
-  {0x0032, 0x9a}, {0x0033, 0x00},  // gr gain
-  {0x0034, 0x9a}, {0x0035, 0x00},  // gb gain
-  {0x0036, 0x22}, {0x0037, 0x01},  // blue gain
+  // SCLK/PCLK
+  {0x0400, 0xe0}, {0x0401, 0x80},
+  {0x0403, 0xde}, {0x0404, 0x34},
+  {0x0405, 0x3b}, {0x0406, 0xde},
+  {0x0407, 0x08},
+  {0x0408, 0xe0}, {0x0409, 0x7f},
+  {0x040a, 0xde}, {0x040b, 0x34},
+  {0x040c, 0x47}, {0x040d, 0xd8},
+  {0x040e, 0x08},

-  // hdr enable (noise with this on for now)
-  {0x00f9, 0}
+  // xchk
+  {0x2803, 0xfe}, {0x280b, 0x00}, {0x280c, 0x79},
+
+  // SC ctrl
+  {0x3001, 0x03}, // io_pad_oen
+  {0x3002, 0xf8}, // io_pad_oen
+  {0x3005, 0x80}, // io_pad_out
+  {0x3007, 0x01}, // io_pad_sel
+  {0x3008, 0x80}, // io_pad_sel
+
+  // FSIN first frame
+  /*
+  {0x3009, 0x2},
+  {0x3015, 0x2},
+  {0x3822, 0x20},
+  {0x3823, 0x58},
+
+  {0x3826, 0x0}, {0x3827, 0x8},
+  {0x3881, 0x4},
+
+  {0x3882, 0x8}, {0x3883, 0x0D},
+  {0x3836, 0x1F}, {0x3837, 0x40},
+  */
+
+  // FSIN with external pulses
+  {0x3009, 0x2},
+  {0x3015, 0x2},
+  {0x383E, 0x80},
+  {0x3881, 0x4},
+  {0x3882, 0x8}, {0x3883, 0x0D},
+  {0x3836, 0x1F}, {0x3837, 0x40},
+
+  {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI
+  {0x3020, 0x05}, // SC_CTRL_20
+
+  // this is not in the datasheet, listed as RSVD
+  // but the camera doesn't work without it
+  {0x3700, 0x28}, {0x3701, 0x15}, {0x3702, 0x19}, {0x3703, 0x23},
+  {0x3704, 0x0a}, {0x3705, 0x00}, {0x3706, 0x3e}, {0x3707, 0x0d},
+  {0x3708, 0x50}, {0x3709, 0x5a}, {0x370a, 0x00}, {0x370b, 0x96},
+  {0x3711, 0x11}, {0x3712, 0x13}, {0x3717, 0x02}, {0x3718, 0x73},
+  {0x372c, 0x40}, {0x3733, 0x01}, {0x3738, 0x36}, {0x3739, 0x36},
+  {0x373a, 0x25}, {0x373b, 0x25}, {0x373f, 0x21}, {0x3740, 0x21},
+  {0x3741, 0x21}, {0x3742, 0x21}, {0x3747, 0x28}, {0x3748, 0x28},
+  {0x3749, 0x19}, {0x3755, 0x1a}, {0x3756, 0x0a}, {0x3757, 0x1c},
+  {0x3765, 0x19}, {0x3766, 0x05}, {0x3767, 0x05}, {0x3768, 0x13},
+  {0x376c, 0x07}, {0x3778, 0x20}, {0x377c, 0xc8}, {0x3781, 0x02},
+  {0x3783, 0x02}, {0x379c, 0x58}, {0x379e, 0x00}, {0x379f, 0x00},
+  {0x37a0, 0x00}, {0x37bc, 0x22}, {0x37c0, 0x01}, {0x37c4, 0x3e},
+  {0x37c5, 0x3e}, {0x37c6, 0x2a}, {0x37c7, 0x28}, {0x37c8, 0x02},
+  {0x37c9, 0x12}, {0x37cb, 0x29}, {0x37cd, 0x29}, {0x37d2, 0x00},
+  {0x37d3, 0x73}, {0x37d6, 0x00}, {0x37d7, 0x6b}, {0x37dc, 0x00},
+  {0x37df, 0x54}, {0x37e2, 0x00}, {0x37e3, 0x00}, {0x37f8, 0x00},
+  {0x37f9, 0x01}, {0x37fa, 0x00}, {0x37fb, 0x19},
+
+  // also RSVD
+  {0x3c03, 0x01}, {0x3c04, 0x01}, {0x3c06, 0x21}, {0x3c08, 0x01},
+  {0x3c09, 0x01}, {0x3c0a, 0x01}, {0x3c0b, 0x21}, {0x3c13, 0x21},
+  {0x3c14, 0x82}, {0x3c16, 0x13}, {0x3c21, 0x00}, {0x3c22, 0xf3},
+  {0x3c37, 0x12}, {0x3c38, 0x31}, {0x3c3c, 0x00}, {0x3c3d, 0x03},
+  {0x3c44, 0x16}, {0x3c5c, 0x8a}, {0x3c5f, 0x03}, {0x3c61, 0x80},
+  {0x3c6f, 0x2b}, {0x3c70, 0x5f}, {0x3c71, 0x2c}, {0x3c72, 0x2c},
+  {0x3c73, 0x2c}, {0x3c76, 0x12},
+
+  // PEC checks
+  {0x3182, 0x12},
+
+  {0x320e, 0x00}, {0x320f, 0x00}, // RSVD
+  {0x3211, 0x61},
+  {0x3215, 0xcd},
+  {0x3219, 0x08},
+
+  {0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure
+  {0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
+
+  {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure
+  {0x358a, 0x04}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain
+
+  {0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure
+  {0x354a, 0x04}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain
+
+  {0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure
+  {0x35ca, 0x04}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain
+
+  // also RSVD
+  {0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01},
+  {0x360e, 0x1d}, {0x360f, 0x10}, {0x3610, 0x70}, {0x3611, 0x3a},
+  {0x3612, 0x28}, {0x361a, 0x29}, {0x361b, 0x6c}, {0x361c, 0x0b},
+  {0x361d, 0x00}, {0x361e, 0xfc}, {0x362a, 0x00}, {0x364d, 0x0f},
+  {0x364e, 0x18}, {0x364f, 0x12}, {0x3653, 0x1c}, {0x3654, 0x00},
+  {0x3655, 0x1f}, {0x3656, 0x1f}, {0x3657, 0x0c}, {0x3658, 0x0a},
+  {0x3659, 0x14}, {0x365a, 0x18}, {0x365b, 0x14}, {0x365c, 0x10},
+  {0x365e, 0x12}, {0x3674, 0x08}, {0x3677, 0x3a}, {0x3678, 0x3a},
+  {0x3679, 0x19},
+
+  // Y_ADDR_START = 4
+  {0x3802, 0x00}, {0x3803, 0x04},
+  // Y_ADDR_END = 0x50b
+  {0x3806, 0x05}, {0x3807, 0x0b},
+
+  // X_OUTPUT_SIZE = 0x780 = 1920 (changed to 1928)
+  {0x3808, 0x07}, {0x3809, 0x88},
+
+  // Y_OUTPUT_SIZE = 0x500 = 1280 (changed to 1208)
+  {0x380a, 0x04}, {0x380b, 0xb8},
+
+  // horizontal timing 0x447
+  {0x380c, 0x04}, {0x380d, 0x47},
+
+  // rows per frame (was 0x2ae)
+  // 0x8ae = 53.65 ms
+  {0x380e, 0x08}, {0x380f, 0x15},
+  // this should be triggered by FSIN, not free running
+
+  {0x3810, 0x00}, {0x3811, 0x08}, // x cutoff
+  {0x3812, 0x00}, {0x3813, 0x04}, // y cutoff
+  {0x3816, 0x01},
+  {0x3817, 0x01},
+  {0x381c, 0x18},
+  {0x381e, 0x01},
+  {0x381f, 0x01},
+
+  // don't mirror, just flip
+  {0x3820, 0x04},
+
+  {0x3821, 0x19},
+  {0x3832, 0x00},
+  {0x3834, 0x00},
+  {0x384c, 0x02},
+  {0x384d, 0x0d},
+  {0x3850, 0x00},
+  {0x3851, 0x42},
+  {0x3852, 0x00},
+  {0x3853, 0x40},
+  {0x3858, 0x04},
+  {0x388c, 0x02},
+  {0x388d, 0x2b},
+
+  // APC
+  {0x3b40, 0x05}, {0x3b41, 0x40}, {0x3b42, 0x00}, {0x3b43, 0x90},
+  {0x3b44, 0x00}, {0x3b45, 0x20}, {0x3b46, 0x00}, {0x3b47, 0x20},
+  {0x3b48, 0x19}, {0x3b49, 0x12}, {0x3b4a, 0x16}, {0x3b4b, 0x2e},
+  {0x3b4c, 0x00}, {0x3b4d, 0x00},
+  {0x3b86, 0x00}, {0x3b87, 0x34}, {0x3b88, 0x00}, {0x3b89, 0x08},
+  {0x3b8a, 0x05}, {0x3b8b, 0x00}, {0x3b8c, 0x07}, {0x3b8d, 0x80},
+  {0x3b8e, 0x00}, {0x3b8f, 0x00}, {0x3b92, 0x05}, {0x3b93, 0x00},
+  {0x3b94, 0x07}, {0x3b95, 0x80}, {0x3b9e, 0x09},
+
+  // OTP
+  {0x3d82, 0x73},
+  {0x3d85, 0x05},
+  {0x3d8a, 0x03},
+  {0x3d8b, 0xff},
+  {0x3d99, 0x00},
+  {0x3d9a, 0x9f},
+  {0x3d9b, 0x00},
+  {0x3d9c, 0xa0},
+  {0x3da4, 0x00},
+  {0x3da7, 0x50},
+
+  // DTR
+  {0x420e, 0x6b},
+  {0x420f, 0x6e},
+  {0x4210, 0x06},
+  {0x4211, 0xc1},
+  {0x421e, 0x02},
+  {0x421f, 0x45},
+  {0x4220, 0xe1},
+  {0x4221, 0x01},
+  {0x4301, 0xff},
+  {0x4307, 0x03},
+  {0x4308, 0x13},
+  {0x430a, 0x13},
+  {0x430d, 0x93},
+  {0x430f, 0x57},
+  {0x4310, 0x95},
+  {0x4311, 0x16},
+  {0x4316, 0x00},
+
+  {0x4317, 0x38}, // both embedded rows are enabled
+
+  {0x4319, 0x03}, // spd dcg
+  {0x431a, 0x00}, // 8 bit mipi
+  {0x431b, 0x00},
+  {0x431d, 0x2a},
+  {0x431e, 0x11},
+
+  {0x431f, 0x20}, // enable PWL (pwl0_en), 12 bits
+  //{0x431f, 0x00}, // disable PWL
+
+  {0x4320, 0x19},
+  {0x4323, 0x80},
+  {0x4324, 0x00},
+  {0x4503, 0x4e},
+  {0x4505, 0x00},
+  {0x4509, 0x00},
+  {0x450a, 0x00},
+  {0x4580, 0xf8},
+  {0x4583, 0x07},
+  {0x4584, 0x6a},
+  {0x4585, 0x08},
+  {0x4586, 0x05},
+  {0x4587, 0x04},
+  {0x4588, 0x73},
+  {0x4589, 0x05},
+  {0x458a, 0x1f},
+  {0x458b, 0x02},
+  {0x458c, 0xdc},
+  {0x458d, 0x03},
+  {0x458e, 0x02},
+  {0x4597, 0x07},
+  {0x4598, 0x40},
+  {0x4599, 0x0e},
+  {0x459a, 0x0e},
+  {0x459b, 0xfb},
+  {0x459c, 0xf3},
+  {0x4602, 0x00},
+  {0x4603, 0x13},
+  {0x4604, 0x00},
+  {0x4609, 0x0a},
+  {0x460a, 0x30},
+  {0x4610, 0x00},
+  {0x4611, 0x70},
+  {0x4612, 0x01},
+  {0x4613, 0x00},
+  {0x4614, 0x00},
+  {0x4615, 0x70},
+  {0x4616, 0x01},
+  {0x4617, 0x00},
+
+  {0x4800, 0x04}, // invert output PCLK
+  {0x480a, 0x22},
+  {0x4813, 0xe4},
+
+  // mipi
+  {0x4814, 0x2a},
+  {0x4837, 0x0d},
+  {0x484b, 0x47},
+  {0x484f, 0x00},
+  {0x4887, 0x51},
+  {0x4d00, 0x4a},
+  {0x4d01, 0x18},
+  {0x4d05, 0xff},
+  {0x4d06, 0x88},
+  {0x4d08, 0x63},
+  {0x4d09, 0xdf},
+  {0x4d15, 0x7d},
+  {0x4d1a, 0x20},
+  {0x4d30, 0x0a},
+  {0x4d31, 0x00},
+  {0x4d34, 0x7d},
+  {0x4d3c, 0x7d},
+  {0x4f00, 0x00},
+  {0x4f01, 0x00},
+  {0x4f02, 0x00},
+  {0x4f03, 0x20},
+  {0x4f04, 0xe0},
+  {0x6a00, 0x00},
+  {0x6a01, 0x20},
+  {0x6a02, 0x00},
+  {0x6a03, 0x20},
+  {0x6a04, 0x02},
+  {0x6a05, 0x80},
+  {0x6a06, 0x01},
+  {0x6a07, 0xe0},
+  {0x6a08, 0xcf},
+  {0x6a09, 0x01},
+  {0x6a0a, 0x40},
+  {0x6a20, 0x00},
+  {0x6a21, 0x02},
+  {0x6a22, 0x00},
+  {0x6a23, 0x00},
+  {0x6a24, 0x00},
+  {0x6a25, 0x00},
+  {0x6a26, 0x00},
+  {0x6a27, 0x00},
+  {0x6a28, 0x00},
+
+  // isp
+  {0x5000, 0x8f},
+  {0x5001, 0x75},
+  {0x5002, 0x7f}, // PWL0
+  //{0x5002, 0x3f}, // PWL disable
+  {0x5003, 0x7a},
+
+  {0x5004, 0x3e},
+  {0x5005, 0x1e},
+  {0x5006, 0x1e},
+  {0x5007, 0x1e},
+
+  {0x5008, 0x00},
+  {0x500c, 0x00},
+  {0x502c, 0x00},
+  {0x502e, 0x00},
+  {0x502f, 0x00},
+  {0x504b, 0x00},
+  {0x5053, 0x00},
+  {0x505b, 0x00},
+  {0x5063, 0x00},
+  {0x5070, 0x00},
+  {0x5074, 0x04},
+  {0x507a, 0x04},
+  {0x507b, 0x09},
+  {0x5500, 0x02},
+  {0x5700, 0x02},
+  {0x5900, 0x02},
+  {0x6007, 0x04},
+  {0x6008, 0x05},
+  {0x6009, 0x02},
+  {0x600b, 0x08},
+  {0x600c, 0x07},
+  {0x600d, 0x88},
+  {0x6016, 0x00},
+  {0x6027, 0x04},
+  {0x6028, 0x05},
+  {0x6029, 0x02},
+  {0x602b, 0x08},
+  {0x602c, 0x07},
+  {0x602d, 0x88},
+  {0x6047, 0x04},
+  {0x6048, 0x05},
+  {0x6049, 0x02},
+  {0x604b, 0x08},
+  {0x604c, 0x07},
+  {0x604d, 0x88},
+  {0x6067, 0x04},
+  {0x6068, 0x05},
+  {0x6069, 0x02},
+  {0x606b, 0x08},
+  {0x606c, 0x07},
+  {0x606d, 0x88},
+  {0x6087, 0x04},
+  {0x6088, 0x05},
+  {0x6089, 0x02},
+  {0x608b, 0x08},
+  {0x608c, 0x07},
+  {0x608d, 0x88},
+
+  // 12-bit PWL0
+  {0x5e00, 0x00},
+
+  // m_ndX_exp[0:32]
+  // 9*2+0xa*3+0xb*2+0xc*2+0xd*2+0xe*2+0xf*2+0x10*2+0x11*2+0x12*4+0x13*3+0x14*3+0x15*3+0x16 = 518
+  {0x5e01, 0x09},
+  {0x5e02, 0x09},
+  {0x5e03, 0x0a},
+  {0x5e04, 0x0a},
+  {0x5e05, 0x0a},
+  {0x5e06, 0x0b},
+  {0x5e07, 0x0b},
+  {0x5e08, 0x0c},
+  {0x5e09, 0x0c},
+  {0x5e0a, 0x0d},
+  {0x5e0b, 0x0d},
+  {0x5e0c, 0x0e},
+  {0x5e0d, 0x0e},
+  {0x5e0e, 0x0f},
+  {0x5e0f, 0x0f},
+  {0x5e10, 0x10},
+  {0x5e11, 0x10},
+  {0x5e12, 0x11},
+  {0x5e13, 0x11},
+  {0x5e14, 0x12},
+  {0x5e15, 0x12},
+  {0x5e16, 0x12},
+  {0x5e17, 0x12},
+  {0x5e18, 0x13},
+  {0x5e19, 0x13},
+  {0x5e1a, 0x13},
+  {0x5e1b, 0x14},
+  {0x5e1c, 0x14},
+  {0x5e1d, 0x14},
+  {0x5e1e, 0x15},
+  {0x5e1f, 0x15},
+  {0x5e20, 0x15},
+  {0x5e21, 0x16},
+
+  // m_ndY_val[0:32]
+  // 0x200+0xff+0x100*3+0x80*12+0x40*16 = 4095
+  {0x5e22, 0x00}, {0x5e23, 0x02}, {0x5e24, 0x00},
+  {0x5e25, 0x00}, {0x5e26, 0x00}, {0x5e27, 0xff},
+  {0x5e28, 0x00}, {0x5e29, 0x01}, {0x5e2a, 0x00},
+  {0x5e2b, 0x00}, {0x5e2c, 0x01}, {0x5e2d, 0x00},
+  {0x5e2e, 0x00}, {0x5e2f, 0x01}, {0x5e30, 0x00},
+  {0x5e31, 0x00}, {0x5e32, 0x00}, {0x5e33, 0x80},
+  {0x5e34, 0x00}, {0x5e35, 0x00}, {0x5e36, 0x80},
+  {0x5e37, 0x00}, {0x5e38, 0x00}, {0x5e39, 0x80},
+  {0x5e3a, 0x00}, {0x5e3b, 0x00}, {0x5e3c, 0x80},
+  {0x5e3d, 0x00}, {0x5e3e, 0x00}, {0x5e3f, 0x80},
+  {0x5e40, 0x00}, {0x5e41, 0x00}, {0x5e42, 0x80},
+  {0x5e43, 0x00}, {0x5e44, 0x00}, {0x5e45, 0x80},
+  {0x5e46, 0x00}, {0x5e47, 0x00}, {0x5e48, 0x80},
+  {0x5e49, 0x00}, {0x5e4a, 0x00}, {0x5e4b, 0x80},
+  {0x5e4c, 0x00}, {0x5e4d, 0x00}, {0x5e4e, 0x80},
+  {0x5e4f, 0x00}, {0x5e50, 0x00}, {0x5e51, 0x80},
+  {0x5e52, 0x00}, {0x5e53, 0x00}, {0x5e54, 0x80},
+  {0x5e55, 0x00}, {0x5e56, 0x00}, {0x5e57, 0x40},
+  {0x5e58, 0x00}, {0x5e59, 0x00}, {0x5e5a, 0x40},
+  {0x5e5b, 0x00}, {0x5e5c, 0x00}, {0x5e5d, 0x40},
+  {0x5e5e, 0x00}, {0x5e5f, 0x00}, {0x5e60, 0x40},
+  {0x5e61, 0x00}, {0x5e62, 0x00}, {0x5e63, 0x40},
+  {0x5e64, 0x00}, {0x5e65, 0x00}, {0x5e66, 0x40},
+  {0x5e67, 0x00}, {0x5e68, 0x00}, {0x5e69, 0x40},
+  {0x5e6a, 0x00}, {0x5e6b, 0x00}, {0x5e6c, 0x40},
+  {0x5e6d, 0x00}, {0x5e6e, 0x00}, {0x5e6f, 0x40},
+  {0x5e70, 0x00}, {0x5e71, 0x00}, {0x5e72, 0x40},
+  {0x5e73, 0x00}, {0x5e74, 0x00}, {0x5e75, 0x40},
+  {0x5e76, 0x00}, {0x5e77, 0x00}, {0x5e78, 0x40},
+  {0x5e79, 0x00}, {0x5e7a, 0x00}, {0x5e7b, 0x40},
+  {0x5e7c, 0x00}, {0x5e7d, 0x00}, {0x5e7e, 0x40},
+  {0x5e7f, 0x00}, {0x5e80, 0x00}, {0x5e81, 0x40},
+  {0x5e82, 0x00}, {0x5e83, 0x00}, {0x5e84, 0x40},
+
+  // disable PWL
+  /*{0x5e01, 0x18}, {0x5e02, 0x00}, {0x5e03, 0x00}, {0x5e04, 0x00},
+  {0x5e05, 0x00}, {0x5e06, 0x00}, {0x5e07, 0x00}, {0x5e08, 0x00},
+  {0x5e09, 0x00}, {0x5e0a, 0x00}, {0x5e0b, 0x00}, {0x5e0c, 0x00},
+  {0x5e0d, 0x00}, {0x5e0e, 0x00}, {0x5e0f, 0x00}, {0x5e10, 0x00},
+  {0x5e11, 0x00}, {0x5e12, 0x00}, {0x5e13, 0x00}, {0x5e14, 0x00},
+  {0x5e15, 0x00}, {0x5e16, 0x00}, {0x5e17, 0x00}, {0x5e18, 0x00},
+  {0x5e19, 0x00}, {0x5e1a, 0x00}, {0x5e1b, 0x00}, {0x5e1c, 0x00},
+  {0x5e1d, 0x00}, {0x5e1e, 0x00}, {0x5e1f, 0x00}, {0x5e20, 0x00},
+  {0x5e21, 0x00},
+
+  {0x5e22, 0x00}, {0x5e23, 0x0f}, {0x5e24, 0xFF},*/
+
+  {0x4001, 0x2b},  // BLC_CTRL_1
+  {0x4008, 0x02}, {0x4009, 0x03},
+  {0x4018, 0x12},
+  {0x4022, 0x40},
+  {0x4023, 0x20},
+
+  // all black level targets are 0x40
+  {0x4026, 0x00}, {0x4027, 0x40},
+  {0x4028, 0x00}, {0x4029, 0x40},
+  {0x402a, 0x00}, {0x402b, 0x40},
+  {0x402c, 0x00}, {0x402d, 0x40},
+
+  {0x407e, 0xcc},
+  {0x407f, 0x18},
+  {0x4080, 0xff},
+  {0x4081, 0xff},
+  {0x4082, 0x01},
+  {0x4083, 0x53},
+  {0x4084, 0x01},
+  {0x4085, 0x2b},
+  {0x4086, 0x00},
+  {0x4087, 0xb3},
+
+  {0x4640, 0x40},
+  {0x4641, 0x11},
+  {0x4642, 0x0e},
+  {0x4643, 0xee},
+  {0x4646, 0x0f},
+  {0x4648, 0x00},
+  {0x4649, 0x03},
+
+  {0x4f00, 0x00},
+  {0x4f01, 0x00},
+  {0x4f02, 0x80},
+  {0x4f03, 0x2c},
+  {0x4f04, 0xf8},
+
+  {0x4d09, 0xff},
+  {0x4d09, 0xdf},
+
+  {0x5003, 0x7a},
+  {0x5b80, 0x08},
+  {0x5c00, 0x08},
+  {0x5c80, 0x00},
+  {0x5bbe, 0x12},
+  {0x5c3e, 0x12},
+  {0x5cbe, 0x12},
+  {0x5b8a, 0x80},
+  {0x5b8b, 0x80},
+  {0x5b8c, 0x80},
+  {0x5b8d, 0x80},
+  {0x5b8e, 0x60},
+  {0x5b8f, 0x80},
+  {0x5b90, 0x80},
+  {0x5b91, 0x80},
+  {0x5b92, 0x80},
+  {0x5b93, 0x20},
+  {0x5b94, 0x80},
+  {0x5b95, 0x80},
+  {0x5b96, 0x80},
+  {0x5b97, 0x20},
+  {0x5b98, 0x00},
+  {0x5b99, 0x80},
+  {0x5b9a, 0x40},
+  {0x5b9b, 0x20},
+  {0x5b9c, 0x00},
+  {0x5b9d, 0x00},
+  {0x5b9e, 0x80},
+  {0x5b9f, 0x00},
+  {0x5ba0, 0x00},
+  {0x5ba1, 0x00},
+  {0x5ba2, 0x00},
+  {0x5ba3, 0x00},
+  {0x5ba4, 0x00},
+  {0x5ba5, 0x00},
+  {0x5ba6, 0x00},
+  {0x5ba7, 0x00},
+  {0x5ba8, 0x02},
+  {0x5ba9, 0x00},
+  {0x5baa, 0x02},
+  {0x5bab, 0x76},
+  {0x5bac, 0x03},
+  {0x5bad, 0x08},
+  {0x5bae, 0x00},
+  {0x5baf, 0x80},
+  {0x5bb0, 0x00},
+  {0x5bb1, 0xc0},
+  {0x5bb2, 0x01},
+  {0x5bb3, 0x00},
+
+  // m_nNormCombineWeight
+  {0x5c0a, 0x80}, {0x5c0b, 0x80}, {0x5c0c, 0x80}, {0x5c0d, 0x80}, {0x5c0e, 0x60},
+  {0x5c0f, 0x80}, {0x5c10, 0x80}, {0x5c11, 0x80}, {0x5c12, 0x60}, {0x5c13, 0x20},
+  {0x5c14, 0x80}, {0x5c15, 0x80}, {0x5c16, 0x80}, {0x5c17, 0x20}, {0x5c18, 0x00},
+  {0x5c19, 0x80}, {0x5c1a, 0x40}, {0x5c1b, 0x20}, {0x5c1c, 0x00}, {0x5c1d, 0x00},
+  {0x5c1e, 0x80}, {0x5c1f, 0x00}, {0x5c20, 0x00}, {0x5c21, 0x00}, {0x5c22, 0x00},
+  {0x5c23, 0x00}, {0x5c24, 0x00}, {0x5c25, 0x00}, {0x5c26, 0x00}, {0x5c27, 0x00},
+
+  // m_nCombinThreL
+  {0x5c28, 0x02}, {0x5c29, 0x00},
+  {0x5c2a, 0x02}, {0x5c2b, 0x76},
+  {0x5c2c, 0x03}, {0x5c2d, 0x08},
+
+  // m_nCombinThreS
+  {0x5c2e, 0x00}, {0x5c2f, 0x80},
+  {0x5c30, 0x00}, {0x5c31, 0xc0},
+  {0x5c32, 0x01}, {0x5c33, 0x00},
+
+  // m_nNormCombineWeight
+  {0x5c8a, 0x80}, {0x5c8b, 0x80}, {0x5c8c, 0x80}, {0x5c8d, 0x80}, {0x5c8e, 0x80},
+  {0x5c8f, 0x80}, {0x5c90, 0x80}, {0x5c91, 0x80}, {0x5c92, 0x80}, {0x5c93, 0x60},
+  {0x5c94, 0x80}, {0x5c95, 0x80}, {0x5c96, 0x80}, {0x5c97, 0x60}, {0x5c98, 0x40},
+  {0x5c99, 0x80}, {0x5c9a, 0x80}, {0x5c9b, 0x80}, {0x5c9c, 0x40}, {0x5c9d, 0x00},
+  {0x5c9e, 0x80}, {0x5c9f, 0x80}, {0x5ca0, 0x80}, {0x5ca1, 0x20}, {0x5ca2, 0x00},
+  {0x5ca3, 0x80}, {0x5ca4, 0x80}, {0x5ca5, 0x00}, {0x5ca6, 0x00}, {0x5ca7, 0x00},
+
+  {0x5ca8, 0x01}, {0x5ca9, 0x00},
+  {0x5caa, 0x02}, {0x5cab, 0x00},
+  {0x5cac, 0x03}, {0x5cad, 0x08},
+
+  {0x5cae, 0x01}, {0x5caf, 0x00},
+  {0x5cb0, 0x02}, {0x5cb1, 0x00},
+  {0x5cb2, 0x03}, {0x5cb3, 0x08},
+
+  // combine ISP
+  {0x5be7, 0x80},
+  {0x5bc9, 0x80},
+  {0x5bca, 0x80},
+  {0x5bcb, 0x80},
+  {0x5bcc, 0x80},
+  {0x5bcd, 0x80},
+  {0x5bce, 0x80},
+  {0x5bcf, 0x80},
+  {0x5bd0, 0x80},
+  {0x5bd1, 0x80},
+  {0x5bd2, 0x20},
+  {0x5bd3, 0x80},
+  {0x5bd4, 0x40},
+  {0x5bd5, 0x20},
+  {0x5bd6, 0x00},
+  {0x5bd7, 0x00},
+  {0x5bd8, 0x00},
+  {0x5bd9, 0x00},
+  {0x5bda, 0x00},
+  {0x5bdb, 0x00},
+  {0x5bdc, 0x00},
+  {0x5bdd, 0x00},
+  {0x5bde, 0x00},
+  {0x5bdf, 0x00},
+  {0x5be0, 0x00},
+  {0x5be1, 0x00},
+  {0x5be2, 0x00},
+  {0x5be3, 0x00},
+  {0x5be4, 0x00},
+  {0x5be5, 0x00},
+  {0x5be6, 0x00},
+
+  // m_nSPDCombineWeight
+  {0x5c49, 0x80}, {0x5c4a, 0x80}, {0x5c4b, 0x80}, {0x5c4c, 0x80}, {0x5c4d, 0x40},
+  {0x5c4e, 0x80}, {0x5c4f, 0x80}, {0x5c50, 0x80}, {0x5c51, 0x60}, {0x5c52, 0x20},
+  {0x5c53, 0x80}, {0x5c54, 0x80}, {0x5c55, 0x80}, {0x5c56, 0x20}, {0x5c57, 0x00},
+  {0x5c58, 0x80}, {0x5c59, 0x40}, {0x5c5a, 0x20}, {0x5c5b, 0x00}, {0x5c5c, 0x00},
+  {0x5c5d, 0x80}, {0x5c5e, 0x00}, {0x5c5f, 0x00}, {0x5c60, 0x00}, {0x5c61, 0x00},
+  {0x5c62, 0x00}, {0x5c63, 0x00}, {0x5c64, 0x00}, {0x5c65, 0x00}, {0x5c66, 0x00},
+
+  // m_nSPDCombineWeight
+  {0x5cc9, 0x80}, {0x5cca, 0x80}, {0x5ccb, 0x80}, {0x5ccc, 0x80}, {0x5ccd, 0x80},
+  {0x5cce, 0x80}, {0x5ccf, 0x80}, {0x5cd0, 0x80}, {0x5cd1, 0x80}, {0x5cd2, 0x60},
+  {0x5cd3, 0x80}, {0x5cd4, 0x80}, {0x5cd5, 0x80}, {0x5cd6, 0x60}, {0x5cd7, 0x40},
+  {0x5cd8, 0x80}, {0x5cd9, 0x80}, {0x5cda, 0x80}, {0x5cdb, 0x40}, {0x5cdc, 0x20},
+  {0x5cdd, 0x80}, {0x5cde, 0x80}, {0x5cdf, 0x80}, {0x5ce0, 0x20}, {0x5ce1, 0x00},
+  {0x5ce2, 0x80}, {0x5ce3, 0x80}, {0x5ce4, 0x80}, {0x5ce5, 0x00}, {0x5ce6, 0x00},
+
+  {0x5d74, 0x01},
+  {0x5d75, 0x00},
+
+  {0x5d1f, 0x81},
+  {0x5d11, 0x00},
+  {0x5d12, 0x10},
+  {0x5d13, 0x10},
+  {0x5d15, 0x05},
+  {0x5d16, 0x05},
+  {0x5d17, 0x05},
+  {0x5d08, 0x03},
+  {0x5d09, 0xb6},
+  {0x5d0a, 0x03},
+  {0x5d0b, 0xb6},
+  {0x5d18, 0x03},
+  {0x5d19, 0xb6},
+  {0x5d62, 0x01},
+  {0x5d40, 0x02},
+  {0x5d41, 0x01},
+  {0x5d63, 0x1f},
+  {0x5d64, 0x00},
+  {0x5d65, 0x80},
+  {0x5d56, 0x00},
+  {0x5d57, 0x20},
+  {0x5d58, 0x00},
+  {0x5d59, 0x20},
+  {0x5d5a, 0x00},
+  {0x5d5b, 0x0c},
+  {0x5d5c, 0x02},
+  {0x5d5d, 0x40},
+  {0x5d5e, 0x02},
+  {0x5d5f, 0x40},
+  {0x5d60, 0x03},
+  {0x5d61, 0x40},
+  {0x5d4a, 0x02},
+  {0x5d4b, 0x40},
+  {0x5d4c, 0x02},
+  {0x5d4d, 0x40},
+  {0x5d4e, 0x02},
+  {0x5d4f, 0x40},
+  {0x5d50, 0x18},
+  {0x5d51, 0x80},
+  {0x5d52, 0x18},
+  {0x5d53, 0x80},
+  {0x5d54, 0x18},
+  {0x5d55, 0x80},
+  {0x5d46, 0x20},
+  {0x5d47, 0x00},
+  {0x5d48, 0x22},
+  {0x5d49, 0x00},
+  {0x5d42, 0x20},
+  {0x5d43, 0x00},
+  {0x5d44, 0x22},
+  {0x5d45, 0x00},
+
+  {0x5004, 0x1e},
+  {0x4221, 0x03},  // this is changed from 1 -> 3
+
+  // DCG exposure coarse
+  {0x3501, 0x01}, {0x3502, 0xc8},
+  // SPD exposure coarse
+  {0x3541, 0x01}, {0x3542, 0xc8},
+  // VS exposure coarse
+  {0x35c1, 0x00}, {0x35c2, 0x01},
+
+  // crc reference
+  {0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55},
+  // crc stat check
+  {0x507a, 0x5f}, {0x507b, 0x46},
+
+  // watchdog control
+  {0x4f00, 0x00}, {0x4f01, 0x01}, {0x4f02, 0x80}, {0x4f04, 0x2c},
+
+  // color balance gains
+  // blue
+  {0x5280, 0x06}, {0x5281, 0x4A}, // hcg
+  {0x5480, 0x06}, {0x5481, 0x4A}, // lcg
+  {0x5680, 0x07}, {0x5681, 0xDD}, // spd
+  {0x5880, 0x06}, {0x5881, 0x4A}, // vs
+
+  // green(blue)
+  {0x5282, 0x04}, {0x5283, 0x00},
+  {0x5482, 0x04}, {0x5483, 0x00},
+  {0x5682, 0x04}, {0x5683, 0x00},
+  {0x5882, 0x04}, {0x5883, 0x00},
+
+  // green(red)
+  {0x5284, 0x04}, {0x5285, 0x00},
+  {0x5484, 0x04}, {0x5485, 0x00},
+  {0x5684, 0x04}, {0x5685, 0x00},
+  {0x5884, 0x04}, {0x5885, 0x00},
+
+  // red
+  {0x5286, 0x08}, {0x5287, 0x6C},
+  {0x5486, 0x08}, {0x5487, 0x6C},
+  {0x5686, 0x08}, {0x5687, 0xAA},
+  {0x5886, 0x08}, {0x5887, 0x6C},
 };

 struct i2c_random_wr_payload init_array_ar0231[] = {
--- a/system/camerad/main.cc
+++ b/system/camerad/main.cc
@ -7,14 +7,17 @@
 #include "system/hardware/hw.h"

 int main(int argc, char *argv[]) {
-  if (!Hardware::PC()) {
-    int ret;
-    ret = util::set_realtime_priority(53);
-    assert(ret == 0);
-    ret = util::set_core_affinity({6});
-    assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
+  if (Hardware::PC()) {
+    printf("camerad is not meant to run on PC\n");
+    return 0;
  }

+  int ret;
+  ret = util::set_realtime_priority(53);
+  assert(ret == 0);
+  ret = util::set_core_affinity({6});
+  assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
+
  camerad_thread();
  return 0;
 }
--- a/system/camerad/test/camera_test.h
+++ b/system/camerad/test/camera_test.h
@ -1,25 +0,0 @@
-// TODO: cleanup AE tests
-// needed by camera_common.cc
-void camera_autoexposure(CameraState *s, float grey_frac) {}
-void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {}
-void cameras_open(MultiCameraState *s) {}
-void cameras_run(MultiCameraState *s) {}
-
-typedef struct CameraState {
-  int camera_num;
-  CameraInfo ci;
-
-  int fps;
-  float digital_gain = 0;
-
-  CameraBuf buf;
-} CameraState;
-
-typedef struct MultiCameraState {
-  CameraState road_cam;
-  CameraState driver_cam;
-
-  PubMaster *pm = nullptr;
-} MultiCameraState;
-
-
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@ -462,6 +462,17 @@ class Tici(HardwareBase):
    sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
    sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")

+    # *** unexport GPIO for sensors ***
+    # remove from /userspace/usr/comma/gpio.sh
+    sudo_write(str(GPIO.BMX055_ACCEL_INT), "/sys/class/gpio/unexport")
+    sudo_write(str(GPIO.BMX055_GYRO_INT),  "/sys/class/gpio/unexport")
+    sudo_write(str(GPIO.BMX055_MAGN_INT),  "/sys/class/gpio/unexport")
+    sudo_write(str(GPIO.LSM_INT),          "/sys/class/gpio/unexport")
+
+    # *** set /dev/gpiochip0 rights to make accessible by sensord
+    os.system("sudo chmod +r /dev/gpiochip0")
+
+
  def configure_modem(self):
    sim_id = self.get_sim_info().get('sim_id', '')

--- a/system/hardware/tici/pins.py
+++ b/system/hardware/tici/pins.py
@ -19,3 +19,9 @@ class GPIO:
  CAM0_RSTN = 9
  CAM1_RSTN = 7
  CAM2_RSTN = 12
+
+  # Sensor interrupts
+  BMX055_ACCEL_INT = 21
+  BMX055_GYRO_INT = 23
+  BMX055_MAGN_INT = 87
+  LSM_INT = 84
--- a/Show More
+++ b/Show More