Merge cereal subtree

old-commit-hash: a1f069c6d8

cereal/car.capnp

@@ -78,6 +78,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     commIssue @53;
     tooDistracted @54;
     posenetInvalid @55;
+    soundsUnavailable @56;
   }
 }
 
@@ -109,6 +110,7 @@ struct CarState {
   steeringAngle @7 :Float32;   # deg
   steeringRate @15 :Float32;   # deg/s
   steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringTorqueEps @27 :Float32;  # TODO: standardize units
   steeringPressed @9 :Bool;    # if the user is using the steering wheel
 
   # cruise state

cereal/log.capnp

@@ -439,7 +439,8 @@ struct ControlsState @0x97ff69c53601abf1 {
   alertSize @39 :AlertSize;
   alertBlinkingRate @42 :Float32;
   alertType @44 :Text;
-  alertSound @45 :Text;
+  alertSoundDEPRECATED @45 :Text;
+  alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
   awarenessStatus @26 :Float32;
   angleModelBias @27 :Float32;
   gpsPlannerActive @40 :Bool;
@@ -1681,6 +1682,8 @@ struct DriverMonitoring {
   faceProb @5 :Float32;
   leftEyeProb @6 :Float32;
   rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
 }
 
 struct Boot {