diff --git a/.gitignore b/.gitignore
index acbbe11c58..3731d8f749 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
 .DS_Store
 .tags
+.ipynb_checkpoints
 
 *.pyc
 .*.swp
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000000..14dcee805c
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,6 @@
+.PHONY: all
+
+# TODO: Add a global build system to openpilot
+all:
+	cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
+
diff --git a/README.md b/README.md
index b0a808a64e..afa45fe2cb 100644
--- a/README.md
+++ b/README.md
@@ -10,15 +10,9 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
 Hardware
 ------
 
-Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support [Open Source Car Control](https://github.com/PolySync/OSCC) as well.
+Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
 
-To install it on the NEO:
-
-```bash
-# Requires working adb in PATH
-cd installation
-./install.sh
-```
+Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
 Supported Cars
 ------
@@ -36,7 +30,6 @@ Directory structure
 - cereal        -- The messaging spec used for all logs on the phone
 - common        -- Library like functionality we've developed here
 - dbcs          -- Files showing how to interpret data from cars
-- installation  -- Installation on the neo platform
 - phonelibs     -- Libraries used on the phone
 - selfdrive     -- Code needed to drive the car
   - assets        -- Fonts for ui
diff --git a/RELEASES.md b/RELEASES.md
index 664ccd5c27..91166d1797 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,9 @@
+Version 0.2.4  (2017-01-27)
+===========================
+  * OnePlus 3T support
+  * Enable installation as NEOS app
+  * Various minor bugfixes
+
 Version 0.2.3  (2017-01-11)
 ===========================
   * Reduce space usage by 80%
diff --git a/board/can.h b/board/can.h
index 02053bafb6..5cb5b7e5c2 100644
--- a/board/can.h
+++ b/board/can.h
@@ -1,4 +1,13 @@
 void can_init(CAN_TypeDef *CAN) {
+  // enable CAN busses
+  if (CAN == CAN1) {
+    // CAN1_EN
+    GPIOB->ODR |= (1 << 3);
+  } else if (CAN == CAN2) {
+    // CAN2_EN
+    GPIOB->ODR |= (1 << 4);
+  }
+
   CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
   while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
   puts("CAN initting\n");
diff --git a/board/inc/stm32f2xx_hal_def.h b/board/inc/stm32f2xx_hal_def.h
new file mode 100644
index 0000000000..a20355fbf3
--- /dev/null
+++ b/board/inc/stm32f2xx_hal_def.h
@@ -0,0 +1,148 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx_hal_def.h
+  * @author  MCD Application Team
+  * @version V1.0.1
+  * @date    25-March-2014
+  * @brief   This file contains HAL common defines, enumeration, macros and 
+  *          structures definitions. 
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F2xx_HAL_DEF
+#define __STM32F2xx_HAL_DEF
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f2xx.h"
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  HAL Status structures definition  
+  */  
+typedef enum 
+{
+  HAL_OK       = 0x00,
+  HAL_ERROR    = 0x01,
+  HAL_BUSY     = 0x02,
+  HAL_TIMEOUT  = 0x03
+} HAL_StatusTypeDef;
+
+/** 
+  * @brief  HAL Lock structures definition  
+  */
+typedef enum 
+{
+  HAL_UNLOCKED = 0x00,
+  HAL_LOCKED   = 0x01  
+} HAL_LockTypeDef;
+
+/* Exported macro ------------------------------------------------------------*/
+#ifndef NULL
+  #define NULL      (void *) 0
+#endif
+
+#define HAL_MAX_DELAY      0xFFFFFFFF
+
+#define HAL_IS_BIT_SET(REG, BIT)         (((REG) & (BIT)) != RESET)
+#define HAL_IS_BIT_CLR(REG, BIT)         (((REG) & (BIT)) == RESET)
+
+#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD_, __DMA_HANDLE_)               \
+                        do{                                                      \
+                              (__HANDLE__)->__PPP_DMA_FIELD_ = &(__DMA_HANDLE_); \
+                              (__DMA_HANDLE_).Parent = (__HANDLE__);             \
+                          } while(0)
+
+#if (USE_RTOS == 1)
+  /* Reserved for future use */
+#else
+  #define __HAL_LOCK(__HANDLE__)                                           \
+                                do{                                        \
+                                    if((__HANDLE__)->Lock == HAL_LOCKED)   \
+                                    {                                      \
+                                       return HAL_BUSY;                    \
+                                    }                                      \
+                                    else                                   \
+                                    {                                      \
+                                       (__HANDLE__)->Lock = HAL_LOCKED;    \
+                                    }                                      \
+                                  }while (0)
+
+  #define __HAL_UNLOCK(__HANDLE__)                                          \
+                                  do{                                       \
+                                      (__HANDLE__)->Lock = HAL_UNLOCKED;    \
+                                    }while (0)
+#endif /* USE_RTOS */
+
+#if  defined ( __GNUC__ )
+  #ifndef __weak
+    #define __weak   __attribute__((weak))
+  #endif /* __weak */
+  #ifndef __packed
+    #define __packed __attribute__((__packed__))
+  #endif /* __packed */
+#endif /* __GNUC__ */
+
+  
+/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
+#if defined   (__GNUC__)        /* GNU Compiler */
+  #ifndef __ALIGN_END
+    #define __ALIGN_END    __attribute__ ((aligned (4)))
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN  
+    #define __ALIGN_BEGIN
+  #endif /* __ALIGN_BEGIN */
+#else
+  #ifndef __ALIGN_END
+    #define __ALIGN_END
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN      
+    #if defined   (__CC_ARM)      /* ARM Compiler */
+      #define __ALIGN_BEGIN    __align(4)  
+    #elif defined (__ICCARM__)    /* IAR Compiler */
+      #define __ALIGN_BEGIN 
+    #elif defined  (__TASKING__)  /* TASKING Compiler */
+      #define __ALIGN_BEGIN    __align(4) 
+    #endif /* __CC_ARM */
+  #endif /* __ALIGN_BEGIN */
+#endif /* __GNUC__ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ___STM32F2xx_HAL_DEF */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/board/inc/stm32f2xx_hal_gpio_ex.h b/board/inc/stm32f2xx_hal_gpio_ex.h
new file mode 100644
index 0000000000..67e455eb5e
--- /dev/null
+++ b/board/inc/stm32f2xx_hal_gpio_ex.h
@@ -0,0 +1,236 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx_hal_gpio_ex.h
+  * @author  MCD Application Team
+  * @version V1.0.1
+  * @date    25-March-2014
+  * @brief   Header file of GPIO HAL Extension module.
+  ******************************************************************************
+  * @attention 
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F2xx_HAL_GPIO_EX_H
+#define __STM32F2xx_HAL_GPIO_EX_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f2xx_hal_def.h"
+
+/** @addtogroup STM32F2xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup GPIO
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup GPIO_Exported_Constants
+  * @{
+  */ 
+  
+/** @defgroup GPIO_Alternat_function_selection 
+  * @{
+  */
+
+/** 
+  * @brief   AF 0 selection  
+  */ 
+#define GPIO_AF0_RTC_50Hz      ((uint8_t)0x00)  /* RTC_50Hz Alternate Function mapping                       */
+#define GPIO_AF0_MCO           ((uint8_t)0x00)  /* MCO (MCO1 and MCO2) Alternate Function mapping            */
+#define GPIO_AF0_TAMPER        ((uint8_t)0x00)  /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */
+#define GPIO_AF0_SWJ           ((uint8_t)0x00)  /* SWJ (SWD and JTAG) Alternate Function mapping             */
+#define GPIO_AF0_TRACE         ((uint8_t)0x00)  /* TRACE Alternate Function mapping                          */
+
+/** 
+  * @brief   AF 1 selection  
+  */ 
+#define GPIO_AF1_TIM1          ((uint8_t)0x01)  /* TIM1 Alternate Function mapping */
+#define GPIO_AF1_TIM2          ((uint8_t)0x01)  /* TIM2 Alternate Function mapping */
+
+/** 
+  * @brief   AF 2 selection  
+  */ 
+#define GPIO_AF2_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
+#define GPIO_AF2_TIM4          ((uint8_t)0x02)  /* TIM4 Alternate Function mapping */
+#define GPIO_AF2_TIM5          ((uint8_t)0x02)  /* TIM5 Alternate Function mapping */
+
+/** 
+  * @brief   AF 3 selection  
+  */ 
+#define GPIO_AF3_TIM8          ((uint8_t)0x03)  /* TIM8 Alternate Function mapping  */
+#define GPIO_AF3_TIM9          ((uint8_t)0x03)  /* TIM9 Alternate Function mapping  */
+#define GPIO_AF3_TIM10         ((uint8_t)0x03)  /* TIM10 Alternate Function mapping */
+#define GPIO_AF3_TIM11         ((uint8_t)0x03)  /* TIM11 Alternate Function mapping */
+
+/** 
+  * @brief   AF 4 selection  
+  */ 
+#define GPIO_AF4_I2C1          ((uint8_t)0x04)  /* I2C1 Alternate Function mapping */
+#define GPIO_AF4_I2C2          ((uint8_t)0x04)  /* I2C2 Alternate Function mapping */
+#define GPIO_AF4_I2C3          ((uint8_t)0x04)  /* I2C3 Alternate Function mapping */
+
+/** 
+  * @brief   AF 5 selection  
+  */ 
+#define GPIO_AF5_SPI1          ((uint8_t)0x05)  /* SPI1 Alternate Function mapping        */
+#define GPIO_AF5_SPI2          ((uint8_t)0x05)  /* SPI2/I2S2 Alternate Function mapping   */
+/** 
+  * @brief   AF 6 selection  
+  */ 
+#define GPIO_AF6_SPI3          ((uint8_t)0x06)  /* SPI3/I2S3 Alternate Function mapping  */
+
+/** 
+  * @brief   AF 7 selection  
+  */ 
+#define GPIO_AF7_USART1        ((uint8_t)0x07)  /* USART1 Alternate Function mapping     */
+#define GPIO_AF7_USART2        ((uint8_t)0x07)  /* USART2 Alternate Function mapping     */
+#define GPIO_AF7_USART3        ((uint8_t)0x07)  /* USART3 Alternate Function mapping     */
+
+/** 
+  * @brief   AF 8 selection  
+  */ 
+#define GPIO_AF8_UART4         ((uint8_t)0x08)  /* UART4 Alternate Function mapping  */
+#define GPIO_AF8_UART5         ((uint8_t)0x08)  /* UART5 Alternate Function mapping  */
+#define GPIO_AF8_USART6        ((uint8_t)0x08)  /* USART6 Alternate Function mapping */
+
+/** 
+  * @brief   AF 9 selection 
+  */ 
+#define GPIO_AF9_CAN1          ((uint8_t)0x09)  /* CAN1 Alternate Function mapping  */
+#define GPIO_AF9_CAN2          ((uint8_t)0x09)  /* CAN2 Alternate Function mapping  */
+#define GPIO_AF9_TIM12         ((uint8_t)0x09)  /* TIM12 Alternate Function mapping */
+#define GPIO_AF9_TIM13         ((uint8_t)0x09)  /* TIM13 Alternate Function mapping */
+#define GPIO_AF9_TIM14         ((uint8_t)0x09)  /* TIM14 Alternate Function mapping */
+
+/** 
+  * @brief   AF 10 selection  
+  */ 
+#define GPIO_AF10_OTG_FS        ((uint8_t)0xA)  /* OTG_FS Alternate Function mapping */
+#define GPIO_AF10_OTG_HS        ((uint8_t)0xA)  /* OTG_HS Alternate Function mapping */
+
+/** 
+  * @brief   AF 11 selection  
+  */ 
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define GPIO_AF11_ETH             ((uint8_t)0x0B)  /* ETHERNET Alternate Function mapping */
+#endif /* STM32F207xx || STM32F217xx */
+
+/** 
+  * @brief   AF 12 selection  
+  */ 
+#define GPIO_AF12_FSMC          ((uint8_t)0xC)  /* FSMC Alternate Function mapping                     */
+#define GPIO_AF12_OTG_HS_FS     ((uint8_t)0xC)  /* OTG HS configured in FS, Alternate Function mapping */
+#define GPIO_AF12_SDIO          ((uint8_t)0xC)  /* SDIO Alternate Function mapping                     */
+
+/** 
+  * @brief   AF 13 selection  
+  */ 
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define GPIO_AF13_DCMI          ((uint8_t)0x0D)  /* DCMI Alternate Function mapping */
+#endif /* STM32F207xx || STM32F217xx */
+
+/** 
+  * @brief   AF 15 selection  
+  */ 
+#define GPIO_AF15_EVENTOUT      ((uint8_t)0x0F)  /* EVENTOUT Alternate Function mapping */
+
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF9_TIM14)      || \
+                          ((AF) == GPIO_AF0_MCO)        || ((AF) == GPIO_AF0_TAMPER)     || \
+                          ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
+                          ((AF) == GPIO_AF1_TIM1)       || ((AF) == GPIO_AF1_TIM2)       || \
+                          ((AF) == GPIO_AF2_TIM3)       || ((AF) == GPIO_AF2_TIM4)       || \
+                          ((AF) == GPIO_AF2_TIM5)       || ((AF) == GPIO_AF3_TIM8)       || \
+                          ((AF) == GPIO_AF4_I2C1)       || ((AF) == GPIO_AF4_I2C2)       || \
+                          ((AF) == GPIO_AF4_I2C3)       || ((AF) == GPIO_AF5_SPI1)       || \
+                          ((AF) == GPIO_AF5_SPI2)       || ((AF) == GPIO_AF9_TIM13)      || \
+                          ((AF) == GPIO_AF6_SPI3)       || ((AF) == GPIO_AF9_TIM12)      || \
+                          ((AF) == GPIO_AF7_USART1)     || ((AF) == GPIO_AF7_USART2)     || \
+                          ((AF) == GPIO_AF7_USART3)     || ((AF) == GPIO_AF8_UART4)      || \
+                          ((AF) == GPIO_AF8_UART5)      || ((AF) == GPIO_AF8_USART6)     || \
+                          ((AF) == GPIO_AF9_CAN1)       || ((AF) == GPIO_AF9_CAN2)       || \
+                          ((AF) == GPIO_AF10_OTG_FS)    || ((AF) == GPIO_AF10_OTG_HS)    || \
+                          ((AF) == GPIO_AF11_ETH)       || ((AF) == GPIO_AF12_OTG_HS_FS) || \
+                          ((AF) == GPIO_AF12_SDIO)      || ((AF) == GPIO_AF13_DCMI)      || \
+                          ((AF) == GPIO_AF12_FSMC)      || ((AF) == GPIO_AF15_EVENTOUT))
+#else /* STM32F207xx || STM32F217xx */
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF9_TIM14)      || \
+                          ((AF) == GPIO_AF0_MCO)        || ((AF) == GPIO_AF0_TAMPER)     || \
+                          ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
+                          ((AF) == GPIO_AF1_TIM1)       || ((AF) == GPIO_AF1_TIM2)       || \
+                          ((AF) == GPIO_AF2_TIM3)       || ((AF) == GPIO_AF2_TIM4)       || \
+                          ((AF) == GPIO_AF2_TIM5)       || ((AF) == GPIO_AF3_TIM8)       || \
+                          ((AF) == GPIO_AF4_I2C1)       || ((AF) == GPIO_AF4_I2C2)       || \
+                          ((AF) == GPIO_AF4_I2C3)       || ((AF) == GPIO_AF5_SPI1)       || \
+                          ((AF) == GPIO_AF5_SPI2)       || ((AF) == GPIO_AF9_TIM13)      || \
+                          ((AF) == GPIO_AF6_SPI3)       || ((AF) == GPIO_AF9_TIM12)      || \
+                          ((AF) == GPIO_AF7_USART1)     || ((AF) == GPIO_AF7_USART2)     || \
+                          ((AF) == GPIO_AF7_USART3)     || ((AF) == GPIO_AF8_UART4)      || \
+                          ((AF) == GPIO_AF8_UART5)      || ((AF) == GPIO_AF8_USART6)     || \
+                          ((AF) == GPIO_AF9_CAN1)       || ((AF) == GPIO_AF9_CAN2)       || \
+                          ((AF) == GPIO_AF10_OTG_FS)    || ((AF) == GPIO_AF10_OTG_HS)    || \
+                          ((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDIO)      || \
+                          ((AF) == GPIO_AF12_FSMC)      || ((AF) == GPIO_AF15_EVENTOUT))
+#endif /* STM32F207xx || STM32F217xx */
+                          
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/ 
+
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+  
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F2xx_HAL_GPIO_EX_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/board/libc.h b/board/libc.h
index 4a2913b883..798de46c04 100644
--- a/board/libc.h
+++ b/board/libc.h
@@ -13,19 +13,7 @@
 #define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
 #define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
 
-#define GPIO_AF2_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
-#define GPIO_AF7_USART2        ((uint8_t)0x07)  /* USART2 Alternate Function mapping     */
-#define GPIO_AF7_USART3        ((uint8_t)0x07)  /* USART3 Alternate Function mapping     */
-#define GPIO_AF9_CAN1          ((uint8_t)0x09)  /* CAN1 Alternate Function mapping  */
-#define GPIO_AF10_OTG_FS        ((uint8_t)0xA)  /* OTG_FS Alternate Function mapping */
-#define GPIO_AF12_OTG_HS_FS       ((uint8_t)0xC)  /* OTG HS configured in FS */
-
-#ifdef OLD_BOARD
-  #define USART USART2
-#else
-  #define USART USART3
-#endif
-
+#include "stm32f2xx_hal_gpio_ex.h"
 
 // **** shitty libc ****
 
@@ -68,15 +56,20 @@ void clock_init() {
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+
   RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
   RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
   RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
   RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
   RCC->APB1ENR |= RCC_APB1ENR_DACEN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
   RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
 
   // turn on alt USB
   RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
@@ -101,7 +94,7 @@ void gpio_init() {
   // IGNITION on C13
 
   // set mode for LEDs and CAN
-  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0;
+  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0 | GPIO_MODER_MODER12_0;
   // CAN 2
   GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
   // CAN 1
@@ -125,6 +118,12 @@ void gpio_init() {
 
   GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
 
+  // setup SPI
+  GPIOA->MODER |= GPIO_MODER_MODER4_1 | GPIO_MODER_MODER5_1 |
+                  GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1;
+  GPIOA->AFR[0] |= GPIO_AF5_SPI1 << (4*4) | GPIO_AF5_SPI1 << (5*4) |
+                   GPIO_AF5_SPI1 << (6*4) | GPIO_AF5_SPI1 << (7*4);
+
   // set mode for CAN / USB_HS pins
   GPIOB->AFR[0] = GPIO_AF9_CAN1 << (5*4) | GPIO_AF9_CAN1 << (6*4);
   GPIOB->AFR[1] = GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
@@ -136,9 +135,6 @@ void gpio_init() {
 
   GPIOB->OSPEEDR = GPIO_OSPEEDER_OSPEEDR14 | GPIO_OSPEEDER_OSPEEDR15;
 
-  // enable CAN busses
-  GPIOB->ODR |= (1 << 3) | (1 << 4);
-
   // enable OTG out tied to ground
   GPIOA->ODR = 0;
   GPIOA->MODER |= GPIO_MODER_MODER1_0;
@@ -223,4 +219,13 @@ void *memcpy(void *dest, const void *src, unsigned int n) {
   return dest;
 }
 
+void set_led(int led_num, int state) {
+  if (state) {
+    // turn on
+    GPIOB->ODR &= ~(1 << (10 + led_num));
+  } else {
+    // turn off
+    GPIOB->ODR |= (1 << (10 + led_num));
+  }
+}
 
diff --git a/board/main.c b/board/main.c
index 19ed6c0c48..637fdf1c84 100644
--- a/board/main.c
+++ b/board/main.c
@@ -3,6 +3,11 @@
 //#define USE_INTERNAL_OSC
 //#define OLD_BOARD
 //#define ENABLE_CURRENT_SENSOR
+//#define ENABLE_SPI
+
+// choose serial port for debugging
+//#define USART USART2
+#define USART USART3
 
 #define USB_VID 0xbbaa
 #define USB_PID 0xddcc
@@ -22,6 +27,7 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #include "timer.h"
 #include "usb.h"
 #include "can.h"
+#include "spi.h"
 
 // debug safety check: is controls allowed?
 int controls_allowed = 0;
@@ -394,6 +400,48 @@ void ADC_IRQHandler(void) {
   puts("ADC_IRQ\n");
 }
 
+#ifdef ENABLE_SPI
+
+#define SPI_BUF_SIZE 128
+uint8_t spi_buf[SPI_BUF_SIZE];
+int spi_buf_count = 0;
+uint8_t spi_tx_buf[0x10];
+
+void DMA2_Stream3_IRQHandler(void) {
+  #ifdef DEBUG
+    puts("DMA2\n");
+  #endif
+  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
+
+  pop(&can_rx_q, spi_tx_buf);
+  spi_tx_dma(spi_tx_buf, 0x10);
+}
+
+void SPI1_IRQHandler(void) {
+  // status is 0x43
+  if (SPI1->SR & SPI_SR_RXNE) {
+    uint8_t dat = SPI1->DR;
+    /*spi_buf[spi_buf_count] = dat;
+    if (spi_buf_count < SPI_BUF_SIZE-1) {
+      spi_buf_count += 1;
+    }*/
+  }
+
+  if (SPI1->SR & SPI_SR_TXE) {
+    // all i send is U U U no matter what
+    //SPI1->DR = 'U';
+  }
+
+  int stat = SPI1->SR;
+  if (stat & ((~SPI_SR_RXNE) & (~SPI_SR_TXE) & (~SPI_SR_BSY))) {
+    puts("SPI status: ");
+    puth(stat);
+    puts("\n");
+  }
+}
+
+#endif
+
 // ***************************** main code *****************************
 
 void __initialize_hardware_early() {
@@ -428,11 +476,6 @@ int main() {
   // init devices
   clock_init();
 
-  // test the USB choice before GPIO init
-  if (GPIOA->IDR & (1 << 12)) {
-    USBx = USB_OTG_HS;
-  }
-
   gpio_init();
   uart_init();
   usb_init();
@@ -440,6 +483,14 @@ int main() {
   can_init(CAN2);
   adc_init();
 
+#ifdef ENABLE_SPI
+  spi_init();
+
+  // set up DMA
+  memset(spi_tx_buf, 0, 0x10);
+  spi_tx_dma(spi_tx_buf, 0x10);
+#endif
+
   // timer for fan PWM
   #ifdef OLD_BOARD
     TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
@@ -475,13 +526,21 @@ int main() {
   NVIC_EnableIRQ(CAN2_TX_IRQn);
   NVIC_EnableIRQ(CAN2_RX0_IRQn);
   NVIC_EnableIRQ(CAN2_SCE_IRQn);
+
+#ifdef ENABLE_SPI
+  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+  NVIC_EnableIRQ(SPI1_IRQn);
+#endif
   __enable_irq();
 
 
   // LED should keep on blinking all the time
-  while (1) {
+  int cnt;
+  for (cnt=0;;cnt++) {
     can_live = pending_can_live;
-    pending_can_live = 0;
+
+    // reset this every 16th pass
+    if ((cnt&0xF) == 0) pending_can_live = 0;
 
     #ifdef DEBUG
       puts("** blink ");
@@ -504,6 +563,13 @@ int main() {
     GPIOB->ODR &= ~(1 << 10);
     delay(1000000);
 
+    #ifdef ENABLE_SPI
+      if (spi_buf_count > 0) {
+        hexdump(spi_buf, spi_buf_count);
+        spi_buf_count = 0;
+      }
+    #endif
+
     // started logic
     int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
     if (started_signal) { started_signal_detected = 1; }
diff --git a/board/spi.h b/board/spi.h
new file mode 100644
index 0000000000..e725790d06
--- /dev/null
+++ b/board/spi.h
@@ -0,0 +1,23 @@
+void spi_init() {
+  puts("SPI init\n");
+  SPI1->CR1 = SPI_CR1_SPE;
+  SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
+}
+
+void spi_tx_dma(void *addr, int len) {
+  // disable DMA
+  SPI1->CR2 &= ~SPI_CR2_TXDMAEN;
+  DMA2_Stream3->CR &= ~DMA_SxCR_EN;
+
+  // DMA2, stream 3, channel 3
+  DMA2_Stream3->M0AR = addr;
+  DMA2_Stream3->NDTR = len;
+  DMA2_Stream3->PAR = &(SPI1->DR);
+
+  // channel3, increment memory, memory -> periph, enable
+  DMA2_Stream3->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN;
+  DMA2_Stream3->CR |= DMA_SxCR_TCIE;
+
+  SPI1->CR2 |= SPI_CR2_TXDMAEN;
+}
+
diff --git a/cereal/gen/c/car.capnp.c b/cereal/gen/c/car.capnp.c
new file mode 100644
index 0000000000..9cf47c5fb7
--- /dev/null
+++ b/cereal/gen/c/car.capnp.c
@@ -0,0 +1,337 @@
+#include "car.capnp.h"
+/* AUTO GENERATED - DO NOT EDIT */
+
+cereal_CarState_ptr cereal_new_CarState(struct capn_segment *s) {
+	cereal_CarState_ptr p;
+	p.p = capn_new_struct(s, 24, 5);
+	return p;
+}
+cereal_CarState_list cereal_new_CarState_list(struct capn_segment *s, int len) {
+	cereal_CarState_list p;
+	p.p = capn_new_list(s, len, 24, 5);
+	return p;
+}
+void cereal_read_CarState(struct cereal_CarState *s, cereal_CarState_ptr p) {
+	capn_resolve(&p.p);
+	s->errors.p = capn_getp(p.p, 0, 0);
+	s->vEgo = capn_to_f32(capn_read32(p.p, 0));
+	s->wheelSpeeds.p = capn_getp(p.p, 1, 0);
+	s->gas = capn_to_f32(capn_read32(p.p, 4));
+	s->gasPressed = (capn_read8(p.p, 8) & 1) != 0;
+	s->brake = capn_to_f32(capn_read32(p.p, 12));
+	s->brakePressed = (capn_read8(p.p, 8) & 2) != 0;
+	s->steeringAngle = capn_to_f32(capn_read32(p.p, 16));
+	s->steeringTorque = capn_to_f32(capn_read32(p.p, 20));
+	s->steeringPressed = (capn_read8(p.p, 8) & 4) != 0;
+	s->cruiseState.p = capn_getp(p.p, 2, 0);
+	s->buttonEvents.p = capn_getp(p.p, 3, 0);
+	s->canMonoTimes.p = capn_getp(p.p, 4, 0);
+}
+void cereal_write_CarState(const struct cereal_CarState *s, cereal_CarState_ptr p) {
+	capn_resolve(&p.p);
+	capn_setp(p.p, 0, s->errors.p);
+	capn_write32(p.p, 0, capn_from_f32(s->vEgo));
+	capn_setp(p.p, 1, s->wheelSpeeds.p);
+	capn_write32(p.p, 4, capn_from_f32(s->gas));
+	capn_write1(p.p, 64, s->gasPressed != 0);
+	capn_write32(p.p, 12, capn_from_f32(s->brake));
+	capn_write1(p.p, 65, s->brakePressed != 0);
+	capn_write32(p.p, 16, capn_from_f32(s->steeringAngle));
+	capn_write32(p.p, 20, capn_from_f32(s->steeringTorque));
+	capn_write1(p.p, 66, s->steeringPressed != 0);
+	capn_setp(p.p, 2, s->cruiseState.p);
+	capn_setp(p.p, 3, s->buttonEvents.p);
+	capn_setp(p.p, 4, s->canMonoTimes.p);
+}
+void cereal_get_CarState(struct cereal_CarState *s, cereal_CarState_list l, int i) {
+	cereal_CarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState(s, p);
+}
+void cereal_set_CarState(const struct cereal_CarState *s, cereal_CarState_list l, int i) {
+	cereal_CarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState(s, p);
+}
+
+cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment *s) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment *s, int len) {
+	cereal_CarState_WheelSpeeds_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
+	capn_resolve(&p.p);
+	s->fl = capn_to_f32(capn_read32(p.p, 0));
+	s->fr = capn_to_f32(capn_read32(p.p, 4));
+	s->rl = capn_to_f32(capn_read32(p.p, 8));
+	s->rr = capn_to_f32(capn_read32(p.p, 12));
+}
+void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
+	capn_resolve(&p.p);
+	capn_write32(p.p, 0, capn_from_f32(s->fl));
+	capn_write32(p.p, 4, capn_from_f32(s->fr));
+	capn_write32(p.p, 8, capn_from_f32(s->rl));
+	capn_write32(p.p, 12, capn_from_f32(s->rr));
+}
+void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_WheelSpeeds(s, p);
+}
+void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_WheelSpeeds(s, p);
+}
+
+cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment *s) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_new_struct(s, 8, 0);
+	return p;
+}
+cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment *s, int len) {
+	cereal_CarState_CruiseState_list p;
+	p.p = capn_new_list(s, len, 8, 0);
+	return p;
+}
+void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
+	capn_resolve(&p.p);
+	s->enabled = (capn_read8(p.p, 0) & 1) != 0;
+	s->speed = capn_to_f32(capn_read32(p.p, 4));
+}
+void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->enabled != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->speed));
+}
+void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_CruiseState(s, p);
+}
+void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_CruiseState(s, p);
+}
+
+cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment *s) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_new_struct(s, 8, 0);
+	return p;
+}
+cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment *s, int len) {
+	cereal_CarState_ButtonEvent_list p;
+	p.p = capn_new_list(s, len, 8, 0);
+	return p;
+}
+void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
+	capn_resolve(&p.p);
+	s->pressed = (capn_read8(p.p, 0) & 1) != 0;
+	s->type = (enum cereal_CarState_ButtonEvent_Type)(int) capn_read16(p.p, 2);
+}
+void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->pressed != 0);
+	capn_write16(p.p, 2, (uint16_t) (s->type));
+}
+void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_ButtonEvent(s, p);
+}
+void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_ButtonEvent(s, p);
+}
+
+cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment *s) {
+	cereal_RadarState_ptr p;
+	p.p = capn_new_struct(s, 0, 3);
+	return p;
+}
+cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment *s, int len) {
+	cereal_RadarState_list p;
+	p.p = capn_new_list(s, len, 0, 3);
+	return p;
+}
+void cereal_read_RadarState(struct cereal_RadarState *s, cereal_RadarState_ptr p) {
+	capn_resolve(&p.p);
+	s->errors.p = capn_getp(p.p, 0, 0);
+	s->points.p = capn_getp(p.p, 1, 0);
+	s->canMonoTimes.p = capn_getp(p.p, 2, 0);
+}
+void cereal_write_RadarState(const struct cereal_RadarState *s, cereal_RadarState_ptr p) {
+	capn_resolve(&p.p);
+	capn_setp(p.p, 0, s->errors.p);
+	capn_setp(p.p, 1, s->points.p);
+	capn_setp(p.p, 2, s->canMonoTimes.p);
+}
+void cereal_get_RadarState(struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
+	cereal_RadarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_RadarState(s, p);
+}
+void cereal_set_RadarState(const struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
+	cereal_RadarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_RadarState(s, p);
+}
+
+cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment *s) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_new_struct(s, 32, 0);
+	return p;
+}
+cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment *s, int len) {
+	cereal_RadarState_RadarPoint_list p;
+	p.p = capn_new_list(s, len, 32, 0);
+	return p;
+}
+void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
+	capn_resolve(&p.p);
+	s->trackId = capn_read64(p.p, 0);
+	s->dRel = capn_to_f32(capn_read32(p.p, 8));
+	s->yRel = capn_to_f32(capn_read32(p.p, 12));
+	s->vRel = capn_to_f32(capn_read32(p.p, 16));
+	s->aRel = capn_to_f32(capn_read32(p.p, 20));
+	s->yvRel = capn_to_f32(capn_read32(p.p, 24));
+}
+void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
+	capn_resolve(&p.p);
+	capn_write64(p.p, 0, s->trackId);
+	capn_write32(p.p, 8, capn_from_f32(s->dRel));
+	capn_write32(p.p, 12, capn_from_f32(s->yRel));
+	capn_write32(p.p, 16, capn_from_f32(s->vRel));
+	capn_write32(p.p, 20, capn_from_f32(s->aRel));
+	capn_write32(p.p, 24, capn_from_f32(s->yvRel));
+}
+void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_RadarState_RadarPoint(s, p);
+}
+void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_RadarState_RadarPoint(s, p);
+}
+
+cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment *s) {
+	cereal_CarControl_ptr p;
+	p.p = capn_new_struct(s, 16, 2);
+	return p;
+}
+cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_list p;
+	p.p = capn_new_list(s, len, 16, 2);
+	return p;
+}
+void cereal_read_CarControl(struct cereal_CarControl *s, cereal_CarControl_ptr p) {
+	capn_resolve(&p.p);
+	s->enabled = (capn_read8(p.p, 0) & 1) != 0;
+	s->gas = capn_to_f32(capn_read32(p.p, 4));
+	s->brake = capn_to_f32(capn_read32(p.p, 8));
+	s->steeringTorque = capn_to_f32(capn_read32(p.p, 12));
+	s->cruiseControl.p = capn_getp(p.p, 0, 0);
+	s->hudControl.p = capn_getp(p.p, 1, 0);
+}
+void cereal_write_CarControl(const struct cereal_CarControl *s, cereal_CarControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->enabled != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->gas));
+	capn_write32(p.p, 8, capn_from_f32(s->brake));
+	capn_write32(p.p, 12, capn_from_f32(s->steeringTorque));
+	capn_setp(p.p, 0, s->cruiseControl.p);
+	capn_setp(p.p, 1, s->hudControl.p);
+}
+void cereal_get_CarControl(struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
+	cereal_CarControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl(s, p);
+}
+void cereal_set_CarControl(const struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
+	cereal_CarControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl(s, p);
+}
+
+cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment *s) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_CruiseControl_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
+	capn_resolve(&p.p);
+	s->cancel = (capn_read8(p.p, 0) & 1) != 0;
+	s->override = (capn_read8(p.p, 0) & 2) != 0;
+	s->speedOverride = capn_to_f32(capn_read32(p.p, 4));
+	s->accelOverride = capn_to_f32(capn_read32(p.p, 8));
+}
+void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->cancel != 0);
+	capn_write1(p.p, 1, s->override != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->speedOverride));
+	capn_write32(p.p, 8, capn_from_f32(s->accelOverride));
+}
+void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl_CruiseControl(s, p);
+}
+void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl_CruiseControl(s, p);
+}
+
+cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment *s) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_HUDControl_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
+	capn_resolve(&p.p);
+	s->speedVisible = (capn_read8(p.p, 0) & 1) != 0;
+	s->setSpeed = capn_to_f32(capn_read32(p.p, 4));
+	s->lanesVisible = (capn_read8(p.p, 0) & 2) != 0;
+	s->leadVisible = (capn_read8(p.p, 0) & 4) != 0;
+	s->visualAlert = (enum cereal_CarControl_HUDControl_VisualAlert)(int) capn_read16(p.p, 2);
+	s->audibleAlert = (enum cereal_CarControl_HUDControl_AudibleAlert)(int) capn_read16(p.p, 8);
+}
+void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->speedVisible != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->setSpeed));
+	capn_write1(p.p, 1, s->lanesVisible != 0);
+	capn_write1(p.p, 2, s->leadVisible != 0);
+	capn_write16(p.p, 2, (uint16_t) (s->visualAlert));
+	capn_write16(p.p, 8, (uint16_t) (s->audibleAlert));
+}
+void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl_HUDControl(s, p);
+}
+void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl_HUDControl(s, p);
+}
diff --git a/cereal/gen/c/car.capnp.h b/cereal/gen/c/car.capnp.h
new file mode 100644
index 0000000000..0a9b010af0
--- /dev/null
+++ b/cereal/gen/c/car.capnp.h
@@ -0,0 +1,287 @@
+#ifndef CAPN_8E2AF1E78AF8B8D
+#define CAPN_8E2AF1E78AF8B8D
+/* AUTO GENERATED - DO NOT EDIT */
+#include <capnp_c.h>
+
+#if CAPN_VERSION != 1
+#error "version mismatch between capnp_c.h and generated code"
+#endif
+
+#include "c++.capnp.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct cereal_CarState;
+struct cereal_CarState_WheelSpeeds;
+struct cereal_CarState_CruiseState;
+struct cereal_CarState_ButtonEvent;
+struct cereal_RadarState;
+struct cereal_RadarState_RadarPoint;
+struct cereal_CarControl;
+struct cereal_CarControl_CruiseControl;
+struct cereal_CarControl_HUDControl;
+
+typedef struct {capn_ptr p;} cereal_CarState_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_CruiseState_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_ptr;
+typedef struct {capn_ptr p;} cereal_RadarState_ptr;
+typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_ptr;
+
+typedef struct {capn_ptr p;} cereal_CarState_list;
+typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_list;
+typedef struct {capn_ptr p;} cereal_CarState_CruiseState_list;
+typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_list;
+typedef struct {capn_ptr p;} cereal_RadarState_list;
+typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_list;
+typedef struct {capn_ptr p;} cereal_CarControl_list;
+typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_list;
+typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_list;
+
+enum cereal_CarState_Error {
+	cereal_CarState_Error_commIssue = 0,
+	cereal_CarState_Error_steerUnavailable = 1,
+	cereal_CarState_Error_brakeUnavailable = 2,
+	cereal_CarState_Error_gasUnavailable = 3,
+	cereal_CarState_Error_wrongGear = 4,
+	cereal_CarState_Error_doorOpen = 5,
+	cereal_CarState_Error_seatbeltNotLatched = 6,
+	cereal_CarState_Error_espDisabled = 7,
+	cereal_CarState_Error_wrongCarMode = 8,
+	cereal_CarState_Error_steerTemporarilyUnavailable = 9,
+	cereal_CarState_Error_reverseGear = 10
+};
+
+enum cereal_CarState_ButtonEvent_Type {
+	cereal_CarState_ButtonEvent_Type_unknown = 0,
+	cereal_CarState_ButtonEvent_Type_leftBlinker = 1,
+	cereal_CarState_ButtonEvent_Type_rightBlinker = 2,
+	cereal_CarState_ButtonEvent_Type_accelCruise = 3,
+	cereal_CarState_ButtonEvent_Type_decelCruise = 4,
+	cereal_CarState_ButtonEvent_Type_cancel = 5,
+	cereal_CarState_ButtonEvent_Type_altButton1 = 6,
+	cereal_CarState_ButtonEvent_Type_altButton2 = 7,
+	cereal_CarState_ButtonEvent_Type_altButton3 = 8
+};
+
+enum cereal_RadarState_Error {
+	cereal_RadarState_Error_notValid = 0
+};
+
+enum cereal_CarControl_HUDControl_VisualAlert {
+	cereal_CarControl_HUDControl_VisualAlert_none = 0,
+	cereal_CarControl_HUDControl_VisualAlert_fcw = 1,
+	cereal_CarControl_HUDControl_VisualAlert_steerRequired = 2,
+	cereal_CarControl_HUDControl_VisualAlert_brakePressed = 3,
+	cereal_CarControl_HUDControl_VisualAlert_wrongGear = 4,
+	cereal_CarControl_HUDControl_VisualAlert_seatbeltUnbuckled = 5,
+	cereal_CarControl_HUDControl_VisualAlert_speedTooHigh = 6
+};
+
+enum cereal_CarControl_HUDControl_AudibleAlert {
+	cereal_CarControl_HUDControl_AudibleAlert_none = 0,
+	cereal_CarControl_HUDControl_AudibleAlert_beepSingle = 1,
+	cereal_CarControl_HUDControl_AudibleAlert_beepTriple = 2,
+	cereal_CarControl_HUDControl_AudibleAlert_beepRepeated = 3,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeSingle = 4,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeDouble = 5,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeRepeated = 6,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeContinuous = 7
+};
+
+struct cereal_CarState {
+	capn_list16 errors;
+	float vEgo;
+	cereal_CarState_WheelSpeeds_ptr wheelSpeeds;
+	float gas;
+	unsigned gasPressed : 1;
+	float brake;
+	unsigned brakePressed : 1;
+	float steeringAngle;
+	float steeringTorque;
+	unsigned steeringPressed : 1;
+	cereal_CarState_CruiseState_ptr cruiseState;
+	cereal_CarState_ButtonEvent_list buttonEvents;
+	capn_list64 canMonoTimes;
+};
+
+static const size_t cereal_CarState_word_count = 3;
+
+static const size_t cereal_CarState_pointer_count = 5;
+
+static const size_t cereal_CarState_struct_bytes_count = 64;
+
+struct cereal_CarState_WheelSpeeds {
+	float fl;
+	float fr;
+	float rl;
+	float rr;
+};
+
+static const size_t cereal_CarState_WheelSpeeds_word_count = 2;
+
+static const size_t cereal_CarState_WheelSpeeds_pointer_count = 0;
+
+static const size_t cereal_CarState_WheelSpeeds_struct_bytes_count = 16;
+
+struct cereal_CarState_CruiseState {
+	unsigned enabled : 1;
+	float speed;
+};
+
+static const size_t cereal_CarState_CruiseState_word_count = 1;
+
+static const size_t cereal_CarState_CruiseState_pointer_count = 0;
+
+static const size_t cereal_CarState_CruiseState_struct_bytes_count = 8;
+
+struct cereal_CarState_ButtonEvent {
+	unsigned pressed : 1;
+	enum cereal_CarState_ButtonEvent_Type type;
+};
+
+static const size_t cereal_CarState_ButtonEvent_word_count = 1;
+
+static const size_t cereal_CarState_ButtonEvent_pointer_count = 0;
+
+static const size_t cereal_CarState_ButtonEvent_struct_bytes_count = 8;
+
+struct cereal_RadarState {
+	capn_list16 errors;
+	cereal_RadarState_RadarPoint_list points;
+	capn_list64 canMonoTimes;
+};
+
+static const size_t cereal_RadarState_word_count = 0;
+
+static const size_t cereal_RadarState_pointer_count = 3;
+
+static const size_t cereal_RadarState_struct_bytes_count = 24;
+
+struct cereal_RadarState_RadarPoint {
+	uint64_t trackId;
+	float dRel;
+	float yRel;
+	float vRel;
+	float aRel;
+	float yvRel;
+};
+
+static const size_t cereal_RadarState_RadarPoint_word_count = 4;
+
+static const size_t cereal_RadarState_RadarPoint_pointer_count = 0;
+
+static const size_t cereal_RadarState_RadarPoint_struct_bytes_count = 32;
+
+struct cereal_CarControl {
+	unsigned enabled : 1;
+	float gas;
+	float brake;
+	float steeringTorque;
+	cereal_CarControl_CruiseControl_ptr cruiseControl;
+	cereal_CarControl_HUDControl_ptr hudControl;
+};
+
+static const size_t cereal_CarControl_word_count = 2;
+
+static const size_t cereal_CarControl_pointer_count = 2;
+
+static const size_t cereal_CarControl_struct_bytes_count = 32;
+
+struct cereal_CarControl_CruiseControl {
+	unsigned cancel : 1;
+	unsigned override : 1;
+	float speedOverride;
+	float accelOverride;
+};
+
+static const size_t cereal_CarControl_CruiseControl_word_count = 2;
+
+static const size_t cereal_CarControl_CruiseControl_pointer_count = 0;
+
+static const size_t cereal_CarControl_CruiseControl_struct_bytes_count = 16;
+
+struct cereal_CarControl_HUDControl {
+	unsigned speedVisible : 1;
+	float setSpeed;
+	unsigned lanesVisible : 1;
+	unsigned leadVisible : 1;
+	enum cereal_CarControl_HUDControl_VisualAlert visualAlert;
+	enum cereal_CarControl_HUDControl_AudibleAlert audibleAlert;
+};
+
+static const size_t cereal_CarControl_HUDControl_word_count = 2;
+
+static const size_t cereal_CarControl_HUDControl_pointer_count = 0;
+
+static const size_t cereal_CarControl_HUDControl_struct_bytes_count = 16;
+
+cereal_CarState_ptr cereal_new_CarState(struct capn_segment*);
+cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment*);
+cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment*);
+cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment*);
+cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment*);
+cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment*);
+cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment*);
+cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment*);
+cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment*);
+
+cereal_CarState_list cereal_new_CarState_list(struct capn_segment*, int len);
+cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment*, int len);
+cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment*, int len);
+cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment*, int len);
+cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment*, int len);
+cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment*, int len);
+cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment*, int len);
+cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment*, int len);
+cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment*, int len);
+
+void cereal_read_CarState(struct cereal_CarState*, cereal_CarState_ptr);
+void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
+void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
+void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
+void cereal_read_RadarState(struct cereal_RadarState*, cereal_RadarState_ptr);
+void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
+void cereal_read_CarControl(struct cereal_CarControl*, cereal_CarControl_ptr);
+void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
+void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
+
+void cereal_write_CarState(const struct cereal_CarState*, cereal_CarState_ptr);
+void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
+void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
+void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
+void cereal_write_RadarState(const struct cereal_RadarState*, cereal_RadarState_ptr);
+void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
+void cereal_write_CarControl(const struct cereal_CarControl*, cereal_CarControl_ptr);
+void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
+void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
+
+void cereal_get_CarState(struct cereal_CarState*, cereal_CarState_list, int i);
+void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
+void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
+void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
+void cereal_get_RadarState(struct cereal_RadarState*, cereal_RadarState_list, int i);
+void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
+void cereal_get_CarControl(struct cereal_CarControl*, cereal_CarControl_list, int i);
+void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
+void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
+
+void cereal_set_CarState(const struct cereal_CarState*, cereal_CarState_list, int i);
+void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
+void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
+void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
+void cereal_set_RadarState(const struct cereal_RadarState*, cereal_RadarState_list, int i);
+void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
+void cereal_set_CarControl(const struct cereal_CarControl*, cereal_CarControl_list, int i);
+void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
+void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
+
+#ifdef __cplusplus
+}
+#endif
+#endif
diff --git a/cereal/gen/c/log.capnp.c b/cereal/gen/c/log.capnp.c
index 59363044d6..a62a180aab 100644
--- a/cereal/gen/c/log.capnp.c
+++ b/cereal/gen/c/log.capnp.c
@@ -137,6 +137,7 @@ void cereal_read_SensorEventData(struct cereal_SensorEventData *s, cereal_Sensor
 	default:
 		break;
 	}
+	s->source = (enum cereal_SensorEventData_SensorSource)(int) capn_read16(p.p, 14);
 }
 void cereal_write_SensorEventData(const struct cereal_SensorEventData *s, cereal_SensorEventData_ptr p) {
 	capn_resolve(&p.p);
@@ -155,6 +156,7 @@ void cereal_write_SensorEventData(const struct cereal_SensorEventData *s, cereal
 	default:
 		break;
 	}
+	capn_write16(p.p, 14, (uint16_t) (s->source));
 }
 void cereal_get_SensorEventData(struct cereal_SensorEventData *s, cereal_SensorEventData_list l, int i) {
 	cereal_SensorEventData_ptr p;
@@ -198,6 +200,49 @@ void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_Se
 	cereal_write_SensorEventData_SensorVec(s, p);
 }
 
+cereal_GpsLocationData_ptr cereal_new_GpsLocationData(struct capn_segment *s) {
+	cereal_GpsLocationData_ptr p;
+	p.p = capn_new_struct(s, 48, 0);
+	return p;
+}
+cereal_GpsLocationData_list cereal_new_GpsLocationData_list(struct capn_segment *s, int len) {
+	cereal_GpsLocationData_list p;
+	p.p = capn_new_list(s, len, 48, 0);
+	return p;
+}
+void cereal_read_GpsLocationData(struct cereal_GpsLocationData *s, cereal_GpsLocationData_ptr p) {
+	capn_resolve(&p.p);
+	s->flags = capn_read16(p.p, 0);
+	s->latitude = capn_to_f64(capn_read64(p.p, 8));
+	s->longitude = capn_to_f64(capn_read64(p.p, 16));
+	s->altitude = capn_to_f64(capn_read64(p.p, 24));
+	s->speed = capn_to_f32(capn_read32(p.p, 4));
+	s->bearing = capn_to_f32(capn_read32(p.p, 32));
+	s->accuracy = capn_to_f32(capn_read32(p.p, 36));
+	s->timestamp = (int64_t) ((int64_t)(capn_read64(p.p, 40)));
+}
+void cereal_write_GpsLocationData(const struct cereal_GpsLocationData *s, cereal_GpsLocationData_ptr p) {
+	capn_resolve(&p.p);
+	capn_write16(p.p, 0, s->flags);
+	capn_write64(p.p, 8, capn_from_f64(s->latitude));
+	capn_write64(p.p, 16, capn_from_f64(s->longitude));
+	capn_write64(p.p, 24, capn_from_f64(s->altitude));
+	capn_write32(p.p, 4, capn_from_f32(s->speed));
+	capn_write32(p.p, 32, capn_from_f32(s->bearing));
+	capn_write32(p.p, 36, capn_from_f32(s->accuracy));
+	capn_write64(p.p, 40, (uint64_t) (s->timestamp));
+}
+void cereal_get_GpsLocationData(struct cereal_GpsLocationData *s, cereal_GpsLocationData_list l, int i) {
+	cereal_GpsLocationData_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_GpsLocationData(s, p);
+}
+void cereal_set_GpsLocationData(const struct cereal_GpsLocationData *s, cereal_GpsLocationData_list l, int i) {
+	cereal_GpsLocationData_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_GpsLocationData(s, p);
+}
+
 cereal_CanData_ptr cereal_new_CanData(struct capn_segment *s) {
 	cereal_CanData_ptr p;
 	p.p = capn_new_struct(s, 8, 1);
@@ -253,6 +298,7 @@ void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_pt
 	s->gpu = capn_read16(p.p, 10);
 	s->bat = capn_read32(p.p, 12);
 	s->freeSpace = capn_to_f32(capn_read32(p.p, 16));
+	s->batteryPercent = (int16_t) ((int16_t)capn_read16(p.p, 20));
 }
 void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
 	capn_resolve(&p.p);
@@ -264,6 +310,7 @@ void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_Thermal
 	capn_write16(p.p, 10, s->gpu);
 	capn_write32(p.p, 12, s->bat);
 	capn_write32(p.p, 16, capn_from_f32(s->freeSpace));
+	capn_write16(p.p, 20, (uint16_t) (s->batteryPercent));
 }
 void cereal_get_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_list l, int i) {
 	cereal_ThermalData_ptr p;
@@ -969,7 +1016,9 @@ void cereal_read_Event(struct cereal_Event *s, cereal_Event_ptr p) {
 	case cereal_Event_sendcan:
 	case cereal_Event_liveCalibration:
 	case cereal_Event_androidLogEntry:
-		s->androidLogEntry.p = capn_getp(p.p, 0, 0);
+	case cereal_Event_gpsLocation:
+	case cereal_Event_carState:
+		s->carState.p = capn_getp(p.p, 0, 0);
 		break;
 	default:
 		break;
@@ -1002,7 +1051,9 @@ void cereal_write_Event(const struct cereal_Event *s, cereal_Event_ptr p) {
 	case cereal_Event_sendcan:
 	case cereal_Event_liveCalibration:
 	case cereal_Event_androidLogEntry:
-		capn_setp(p.p, 0, s->androidLogEntry.p);
+	case cereal_Event_gpsLocation:
+	case cereal_Event_carState:
+		capn_setp(p.p, 0, s->carState.p);
 		break;
 	default:
 		break;
diff --git a/cereal/gen/c/log.capnp.h b/cereal/gen/c/log.capnp.h
index 232ff9ab1f..24ad3e1ebe 100644
--- a/cereal/gen/c/log.capnp.h
+++ b/cereal/gen/c/log.capnp.h
@@ -8,6 +8,7 @@
 #endif
 
 #include "c++.capnp.h"
+#include "car.capnp.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -18,6 +19,7 @@ struct cereal_FrameData;
 struct cereal_GPSNMEAData;
 struct cereal_SensorEventData;
 struct cereal_SensorEventData_SensorVec;
+struct cereal_GpsLocationData;
 struct cereal_CanData;
 struct cereal_ThermalData;
 struct cereal_HealthData;
@@ -43,6 +45,7 @@ typedef struct {capn_ptr p;} cereal_FrameData_ptr;
 typedef struct {capn_ptr p;} cereal_GPSNMEAData_ptr;
 typedef struct {capn_ptr p;} cereal_SensorEventData_ptr;
 typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_ptr;
+typedef struct {capn_ptr p;} cereal_GpsLocationData_ptr;
 typedef struct {capn_ptr p;} cereal_CanData_ptr;
 typedef struct {capn_ptr p;} cereal_ThermalData_ptr;
 typedef struct {capn_ptr p;} cereal_HealthData_ptr;
@@ -68,6 +71,7 @@ typedef struct {capn_ptr p;} cereal_FrameData_list;
 typedef struct {capn_ptr p;} cereal_GPSNMEAData_list;
 typedef struct {capn_ptr p;} cereal_SensorEventData_list;
 typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_list;
+typedef struct {capn_ptr p;} cereal_GpsLocationData_list;
 typedef struct {capn_ptr p;} cereal_CanData_list;
 typedef struct {capn_ptr p;} cereal_ThermalData_list;
 typedef struct {capn_ptr p;} cereal_HealthData_list;
@@ -88,6 +92,13 @@ typedef struct {capn_ptr p;} cereal_AndroidLogEntry_list;
 typedef struct {capn_ptr p;} cereal_LogRotate_list;
 typedef struct {capn_ptr p;} cereal_Event_list;
 
+enum cereal_SensorEventData_SensorSource {
+	cereal_SensorEventData_SensorSource_android = 0,
+	cereal_SensorEventData_SensorSource_iOS = 1,
+	cereal_SensorEventData_SensorSource_fiber = 2,
+	cereal_SensorEventData_SensorSource_velodyne = 3
+};
+
 enum cereal_EncodeIndex_Type {
 	cereal_EncodeIndex_Type_bigBoxLossless = 0,
 	cereal_EncodeIndex_Type_fullHEVC = 1,
@@ -153,6 +164,7 @@ struct cereal_SensorEventData {
 		cereal_SensorEventData_SensorVec_ptr orientation;
 		cereal_SensorEventData_SensorVec_ptr gyro;
 	};
+	enum cereal_SensorEventData_SensorSource source;
 };
 
 static const size_t cereal_SensorEventData_word_count = 3;
@@ -172,6 +184,23 @@ static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
 
 static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
 
+struct cereal_GpsLocationData {
+	uint16_t flags;
+	double latitude;
+	double longitude;
+	double altitude;
+	float speed;
+	float bearing;
+	float accuracy;
+	int64_t timestamp;
+};
+
+static const size_t cereal_GpsLocationData_word_count = 6;
+
+static const size_t cereal_GpsLocationData_pointer_count = 0;
+
+static const size_t cereal_GpsLocationData_struct_bytes_count = 48;
+
 struct cereal_CanData {
 	uint32_t address;
 	uint16_t busTime;
@@ -194,6 +223,7 @@ struct cereal_ThermalData {
 	uint16_t gpu;
 	uint32_t bat;
 	float freeSpace;
+	int16_t batteryPercent;
 };
 
 static const size_t cereal_ThermalData_word_count = 3;
@@ -477,7 +507,9 @@ enum cereal_Event_which {
 	cereal_Event_sendcan = 16,
 	cereal_Event_logMessage = 17,
 	cereal_Event_liveCalibration = 18,
-	cereal_Event_androidLogEntry = 19
+	cereal_Event_androidLogEntry = 19,
+	cereal_Event_gpsLocation = 20,
+	cereal_Event_carState = 21
 };
 
 struct cereal_Event {
@@ -504,6 +536,8 @@ struct cereal_Event {
 		capn_text logMessage;
 		cereal_LiveCalibrationData_ptr liveCalibration;
 		cereal_AndroidLogEntry_ptr androidLogEntry;
+		cereal_GpsLocationData_ptr gpsLocation;
+		cereal_CarState_ptr carState;
 	};
 };
 
@@ -518,6 +552,7 @@ cereal_FrameData_ptr cereal_new_FrameData(struct capn_segment*);
 cereal_GPSNMEAData_ptr cereal_new_GPSNMEAData(struct capn_segment*);
 cereal_SensorEventData_ptr cereal_new_SensorEventData(struct capn_segment*);
 cereal_SensorEventData_SensorVec_ptr cereal_new_SensorEventData_SensorVec(struct capn_segment*);
+cereal_GpsLocationData_ptr cereal_new_GpsLocationData(struct capn_segment*);
 cereal_CanData_ptr cereal_new_CanData(struct capn_segment*);
 cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment*);
 cereal_HealthData_ptr cereal_new_HealthData(struct capn_segment*);
@@ -543,6 +578,7 @@ cereal_FrameData_list cereal_new_FrameData_list(struct capn_segment*, int len);
 cereal_GPSNMEAData_list cereal_new_GPSNMEAData_list(struct capn_segment*, int len);
 cereal_SensorEventData_list cereal_new_SensorEventData_list(struct capn_segment*, int len);
 cereal_SensorEventData_SensorVec_list cereal_new_SensorEventData_SensorVec_list(struct capn_segment*, int len);
+cereal_GpsLocationData_list cereal_new_GpsLocationData_list(struct capn_segment*, int len);
 cereal_CanData_list cereal_new_CanData_list(struct capn_segment*, int len);
 cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment*, int len);
 cereal_HealthData_list cereal_new_HealthData_list(struct capn_segment*, int len);
@@ -568,6 +604,7 @@ void cereal_read_FrameData(struct cereal_FrameData*, cereal_FrameData_ptr);
 void cereal_read_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
 void cereal_read_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
 void cereal_read_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
+void cereal_read_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
 void cereal_read_CanData(struct cereal_CanData*, cereal_CanData_ptr);
 void cereal_read_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_ptr);
 void cereal_read_HealthData(struct cereal_HealthData*, cereal_HealthData_ptr);
@@ -593,6 +630,7 @@ void cereal_write_FrameData(const struct cereal_FrameData*, cereal_FrameData_ptr
 void cereal_write_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
 void cereal_write_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
 void cereal_write_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
+void cereal_write_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
 void cereal_write_CanData(const struct cereal_CanData*, cereal_CanData_ptr);
 void cereal_write_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_ptr);
 void cereal_write_HealthData(const struct cereal_HealthData*, cereal_HealthData_ptr);
@@ -618,6 +656,7 @@ void cereal_get_FrameData(struct cereal_FrameData*, cereal_FrameData_list, int i
 void cereal_get_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
 void cereal_get_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
 void cereal_get_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
+void cereal_get_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
 void cereal_get_CanData(struct cereal_CanData*, cereal_CanData_list, int i);
 void cereal_get_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_list, int i);
 void cereal_get_HealthData(struct cereal_HealthData*, cereal_HealthData_list, int i);
@@ -643,6 +682,7 @@ void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list,
 void cereal_set_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
 void cereal_set_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
 void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
+void cereal_set_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
 void cereal_set_CanData(const struct cereal_CanData*, cereal_CanData_list, int i);
 void cereal_set_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_list, int i);
 void cereal_set_HealthData(const struct cereal_HealthData*, cereal_HealthData_list, int i);
diff --git a/cereal/gen/cpp/car.capnp.c++ b/cereal/gen/cpp/car.capnp.c++
new file mode 100644
index 0000000000..10ccef31af
--- /dev/null
+++ b/cereal/gen/cpp/car.capnp.c++
@@ -0,0 +1,1504 @@
+// Generated by Cap'n Proto compiler, DO NOT EDIT
+// source: car.capnp
+
+#include "car.capnp.h"
+
+namespace capnp {
+namespace schemas {
+static const ::capnp::_::AlignedData<248> b_9da4fa09e052903c = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     60, 144,  82, 224,   9, 250, 164, 157,
+     10,   0,   0,   0,   1,   0,   3,   0,
+    141, 139, 175,   8, 231, 241,  42, 142,
+      5,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 154,   0,   0,   0,
+     29,   0,   0,   0,  71,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     85,   0,   0,   0, 223,   2,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  83, 116,  97,
+    116, 101,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   1,   0,   1,   0,
+    163,  53,  89,  21, 166,  55,  26, 153,
+     25,   0,   0,   0,  98,   0,   0,   0,
+    175,  96, 110, 142,  71, 129,  78, 230,
+     25,   0,   0,   0,  98,   0,   0,   0,
+    222,  39, 247,   5, 213, 197, 168, 186,
+     25,   0,   0,   0,  50,   0,   0,   0,
+    246, 206,  74,  91, 131, 166,  92, 255,
+     21,   0,   0,   0,  98,   0,   0,   0,
+     87, 104, 101, 101, 108,  83, 112, 101,
+    101, 100, 115,   0,   0,   0,   0,   0,
+     67, 114, 117, 105, 115, 101,  83, 116,
+     97, 116, 101,   0,   0,   0,   0,   0,
+     69, 114, 114, 111, 114,   0,   0,   0,
+     66, 117, 116, 116, 111, 110,  69, 118,
+    101, 110, 116,   0,   0,   0,   0,   0,
+     52,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     93,   1,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     88,   1,   0,   0,   3,   0,   1,   0,
+    116,   1,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    113,   1,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,   1,   0,   0,   3,   0,   1,   0,
+    120,   1,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117,   1,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116,   1,   0,   0,   3,   0,   1,   0,
+    128,   1,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    125,   1,   0,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    120,   1,   0,   0,   3,   0,   1,   0,
+    132,   1,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,  64,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    129,   1,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    128,   1,   0,   0,   3,   0,   1,   0,
+    140,   1,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    137,   1,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    132,   1,   0,   0,   3,   0,   1,   0,
+    144,   1,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,  65,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    141,   1,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    140,   1,   0,   0,   3,   0,   1,   0,
+    152,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    149,   1,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    148,   1,   0,   0,   3,   0,   1,   0,
+    160,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    157,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    156,   1,   0,   0,   3,   0,   1,   0,
+    168,   1,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    165,   1,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    164,   1,   0,   0,   3,   0,   1,   0,
+    176,   1,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,  10,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    173,   1,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    172,   1,   0,   0,   3,   0,   1,   0,
+    184,   1,   0,   0,   2,   0,   1,   0,
+     11,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,  11,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    181,   1,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    180,   1,   0,   0,   3,   0,   1,   0,
+    208,   1,   0,   0,   2,   0,   1,   0,
+     12,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,  12,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    205,   1,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    204,   1,   0,   0,   3,   0,   1,   0,
+    232,   1,   0,   0,   2,   0,   1,   0,
+    101, 114, 114, 111, 114, 115,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   3,   0,   1,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+    222,  39, 247,   5, 213, 197, 168, 186,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    118,  69, 103, 111,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    119, 104, 101, 101, 108,  83, 112, 101,
+    101, 100, 115,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+    163,  53,  89,  21, 166,  55,  26, 153,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    103,  97, 115,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    103,  97, 115,  80, 114, 101, 115, 115,
+    101, 100,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98, 114,  97, 107, 101,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98, 114,  97, 107, 101,  80, 114, 101,
+    115, 115, 101, 100,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 116, 101, 101, 114, 105, 110, 103,
+     65, 110, 103, 108, 101,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 116, 101, 101, 114, 105, 110, 103,
+     84, 111, 114, 113, 117, 101,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 116, 101, 101, 114, 105, 110, 103,
+     80, 114, 101, 115, 115, 101, 100,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 114, 117, 105, 115, 101,  83, 116,
+     97, 116, 101,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+    175,  96, 110, 142,  71, 129,  78, 230,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98, 117, 116, 116, 111, 110,  69, 118,
+    101, 110, 116, 115,   0,   0,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   3,   0,   1,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+    246, 206,  74,  91, 131, 166,  92, 255,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 110,  77, 111, 110, 111,  84,
+    105, 109, 101, 115,   0,   0,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   3,   0,   1,   0,
+      9,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_9da4fa09e052903c = b_9da4fa09e052903c.words;
+#if !CAPNP_LITE
+static const ::capnp::_::RawSchema* const d_9da4fa09e052903c[] = {
+  &s_991a37a6155935a3,
+  &s_baa8c5d505f727de,
+  &s_e64e81478e6e60af,
+  &s_ff5ca6835b4acef6,
+};
+static const uint16_t m_9da4fa09e052903c[] = {5, 6, 11, 12, 10, 0, 3, 4, 7, 9, 8, 1, 2};
+static const uint16_t i_9da4fa09e052903c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
+const ::capnp::_::RawSchema s_9da4fa09e052903c = {
+  0x9da4fa09e052903c, b_9da4fa09e052903c.words, 248, d_9da4fa09e052903c, m_9da4fa09e052903c,
+  4, 13, i_9da4fa09e052903c, nullptr, nullptr, { &s_9da4fa09e052903c, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<78> b_991a37a6155935a3 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    163,  53,  89,  21, 166,  55,  26, 153,
+     19,   0,   0,   0,   1,   0,   2,   0,
+     60, 144,  82, 224,   9, 250, 164, 157,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 250,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0, 231,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  83, 116,  97,
+    116, 101,  46,  87, 104, 101, 101, 108,
+     83, 112, 101, 101, 100, 115,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     16,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97,   0,   0,   0,  26,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     92,   0,   0,   0,   3,   0,   1,   0,
+    104,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    101,   0,   0,   0,  26,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     96,   0,   0,   0,   3,   0,   1,   0,
+    108,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    105,   0,   0,   0,  26,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100,   0,   0,   0,   3,   0,   1,   0,
+    112,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    109,   0,   0,   0,  26,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    104,   0,   0,   0,   3,   0,   1,   0,
+    116,   0,   0,   0,   2,   0,   1,   0,
+    102, 108,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    102, 114,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    114, 108,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    114, 114,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_991a37a6155935a3 = b_991a37a6155935a3.words;
+#if !CAPNP_LITE
+static const uint16_t m_991a37a6155935a3[] = {0, 1, 2, 3};
+static const uint16_t i_991a37a6155935a3[] = {0, 1, 2, 3};
+const ::capnp::_::RawSchema s_991a37a6155935a3 = {
+  0x991a37a6155935a3, b_991a37a6155935a3.words, 78, nullptr, m_991a37a6155935a3,
+  0, 4, i_991a37a6155935a3, nullptr, nullptr, { &s_991a37a6155935a3, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<48> b_e64e81478e6e60af = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    175,  96, 110, 142,  71, 129,  78, 230,
+     19,   0,   0,   0,   1,   0,   1,   0,
+     60, 144,  82, 224,   9, 250, 164, 157,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 250,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0, 119,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  83, 116,  97,
+    116, 101,  46,  67, 114, 117, 105, 115,
+    101,  83, 116,  97, 116, 101,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     36,   0,   0,   0,   3,   0,   1,   0,
+     48,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     45,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   0,   0,   0,   3,   0,   1,   0,
+     52,   0,   0,   0,   2,   0,   1,   0,
+    101, 110,  97,  98, 108, 101, 100,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 112, 101, 101, 100,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_e64e81478e6e60af = b_e64e81478e6e60af.words;
+#if !CAPNP_LITE
+static const uint16_t m_e64e81478e6e60af[] = {0, 1};
+static const uint16_t i_e64e81478e6e60af[] = {0, 1};
+const ::capnp::_::RawSchema s_e64e81478e6e60af = {
+  0xe64e81478e6e60af, b_e64e81478e6e60af.words, 48, nullptr, m_e64e81478e6e60af,
+  0, 2, i_e64e81478e6e60af, nullptr, nullptr, { &s_e64e81478e6e60af, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<78> b_baa8c5d505f727de = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    222,  39, 247,   5, 213, 197, 168, 186,
+     19,   0,   0,   0,   2,   0,   0,   0,
+     60, 144,  82, 224,   9, 250, 164, 157,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 202,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0,  15,   1,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  83, 116,  97,
+    116, 101,  46,  69, 114, 114, 111, 114,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     44,   0,   0,   0,   1,   0,   2,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    125,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+    121,   0,   0,   0, 138,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      2,   0,   0,   0,   0,   0,   0,   0,
+    121,   0,   0,   0, 138,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+    121,   0,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
+    117,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   0,   0,   0,   0,   0,   0,   0,
+    113,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      6,   0,   0,   0,   0,   0,   0,   0,
+    109,   0,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      7,   0,   0,   0,   0,   0,   0,   0,
+    109,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      8,   0,   0,   0,   0,   0,   0,   0,
+    105,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      9,   0,   0,   0,   0,   0,   0,   0,
+    101,   0,   0,   0, 226,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+    105,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 111, 109, 109,  73, 115, 115, 117,
+    101,   0,   0,   0,   0,   0,   0,   0,
+    115, 116, 101, 101, 114,  85, 110,  97,
+    118,  97, 105, 108,  97,  98, 108, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98, 114,  97, 107, 101,  85, 110,  97,
+    118,  97, 105, 108,  97,  98, 108, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    103,  97, 115,  85, 110,  97, 118,  97,
+    105, 108,  97,  98, 108, 101,   0,   0,
+    119, 114, 111, 110, 103,  71, 101,  97,
+    114,   0,   0,   0,   0,   0,   0,   0,
+    100, 111, 111, 114,  79, 112, 101, 110,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 101,  97, 116,  98, 101, 108, 116,
+     78, 111, 116,  76,  97, 116,  99, 104,
+    101, 100,   0,   0,   0,   0,   0,   0,
+    101, 115, 112,  68, 105, 115,  97,  98,
+    108, 101, 100,   0,   0,   0,   0,   0,
+    119, 114, 111, 110, 103,  67,  97, 114,
+     77, 111, 100, 101,   0,   0,   0,   0,
+    115, 116, 101, 101, 114,  84, 101, 109,
+    112, 111, 114,  97, 114, 105, 108, 121,
+     85, 110,  97, 118,  97, 105, 108,  97,
+     98, 108, 101,   0,   0,   0,   0,   0,
+    114, 101, 118, 101, 114, 115, 101,  71,
+    101,  97, 114,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_baa8c5d505f727de = b_baa8c5d505f727de.words;
+#if !CAPNP_LITE
+static const uint16_t m_baa8c5d505f727de[] = {2, 0, 5, 7, 3, 10, 6, 9, 1, 8, 4};
+const ::capnp::_::RawSchema s_baa8c5d505f727de = {
+  0xbaa8c5d505f727de, b_baa8c5d505f727de.words, 78, nullptr, m_baa8c5d505f727de,
+  0, 11, nullptr, nullptr, nullptr, { &s_baa8c5d505f727de, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+CAPNP_DEFINE_ENUM(Error_baa8c5d505f727de, baa8c5d505f727de);
+static const ::capnp::_::AlignedData<51> b_ff5ca6835b4acef6 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    246, 206,  74,  91, 131, 166,  92, 255,
+     19,   0,   0,   0,   1,   0,   1,   0,
+     60, 144,  82, 224,   9, 250, 164, 157,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 250,   0,   0,   0,
+     33,   0,   0,   0,  23,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0, 119,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  83, 116,  97,
+    116, 101,  46,  66, 117, 116, 116, 111,
+    110,  69, 118, 101, 110, 116,   0,   0,
+      4,   0,   0,   0,   1,   0,   1,   0,
+    124, 113,  20,  84,  32,   0,  97, 225,
+      1,   0,   0,   0,  42,   0,   0,   0,
+     84, 121, 112, 101,   0,   0,   0,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     36,   0,   0,   0,   3,   0,   1,   0,
+     48,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     45,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   0,   0,   0,   3,   0,   1,   0,
+     52,   0,   0,   0,   2,   0,   1,   0,
+    112, 114, 101, 115, 115, 101, 100,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116, 121, 112, 101,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+    124, 113,  20,  84,  32,   0,  97, 225,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_ff5ca6835b4acef6 = b_ff5ca6835b4acef6.words;
+#if !CAPNP_LITE
+static const ::capnp::_::RawSchema* const d_ff5ca6835b4acef6[] = {
+  &s_e16100205414717c,
+};
+static const uint16_t m_ff5ca6835b4acef6[] = {0, 1};
+static const uint16_t i_ff5ca6835b4acef6[] = {0, 1};
+const ::capnp::_::RawSchema s_ff5ca6835b4acef6 = {
+  0xff5ca6835b4acef6, b_ff5ca6835b4acef6.words, 51, d_ff5ca6835b4acef6, m_ff5ca6835b4acef6,
+  1, 2, i_ff5ca6835b4acef6, nullptr, nullptr, { &s_ff5ca6835b4acef6, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<62> b_e16100205414717c = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    124, 113,  20,  84,  32,   0,  97, 225,
+     31,   0,   0,   0,   2,   0,   0,   0,
+    246, 206,  74,  91, 131, 166,  92, 255,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  34,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 223,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  83, 116,  97,
+    116, 101,  46,  66, 117, 116, 116, 111,
+    110,  69, 118, 101, 110, 116,  46,  84,
+    121, 112, 101,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     36,   0,   0,   0,   1,   0,   2,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    101,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+     93,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      2,   0,   0,   0,   0,   0,   0,   0,
+     89,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+     85,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
+     81,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   0,   0,   0,   0,   0,   0,   0,
+     77,   0,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      6,   0,   0,   0,   0,   0,   0,   0,
+     69,   0,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      7,   0,   0,   0,   0,   0,   0,   0,
+     65,   0,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      8,   0,   0,   0,   0,   0,   0,   0,
+     61,   0,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117, 110, 107, 110, 111, 119, 110,   0,
+    108, 101, 102, 116,  66, 108, 105, 110,
+    107, 101, 114,   0,   0,   0,   0,   0,
+    114, 105, 103, 104, 116,  66, 108, 105,
+    110, 107, 101, 114,   0,   0,   0,   0,
+     97,  99,  99, 101, 108,  67, 114, 117,
+    105, 115, 101,   0,   0,   0,   0,   0,
+    100, 101,  99, 101, 108,  67, 114, 117,
+    105, 115, 101,   0,   0,   0,   0,   0,
+     99,  97, 110,  99, 101, 108,   0,   0,
+     97, 108, 116,  66, 117, 116, 116, 111,
+    110,  49,   0,   0,   0,   0,   0,   0,
+     97, 108, 116,  66, 117, 116, 116, 111,
+    110,  50,   0,   0,   0,   0,   0,   0,
+     97, 108, 116,  66, 117, 116, 116, 111,
+    110,  51,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_e16100205414717c = b_e16100205414717c.words;
+#if !CAPNP_LITE
+static const uint16_t m_e16100205414717c[] = {3, 6, 7, 8, 5, 4, 1, 2, 0};
+const ::capnp::_::RawSchema s_e16100205414717c = {
+  0xe16100205414717c, b_e16100205414717c.words, 62, nullptr, m_e16100205414717c,
+  0, 9, nullptr, nullptr, nullptr, { &s_e16100205414717c, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+CAPNP_DEFINE_ENUM(Type_e16100205414717c, e16100205414717c);
+static const ::capnp::_::AlignedData<82> b_888ad6581cf0aacb = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    203, 170, 240,  28,  88, 214, 138, 136,
+     10,   0,   0,   0,   1,   0,   0,   0,
+    141, 139, 175,   8, 231, 241,  42, 142,
+      3,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 170,   0,   0,   0,
+     29,   0,   0,   0,  39,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     53,   0,   0,   0, 175,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  82,  97, 100,  97, 114,  83,
+    116,  97, 116, 101,   0,   0,   0,   0,
+      8,   0,   0,   0,   1,   0,   1,   0,
+    173, 118, 186, 235, 121, 102, 168, 232,
+      9,   0,   0,   0,  50,   0,   0,   0,
+     54, 223,  31, 172, 235,  51, 243, 143,
+      5,   0,   0,   0,  90,   0,   0,   0,
+     69, 114, 114, 111, 114,   0,   0,   0,
+     82,  97, 100,  97, 114,  80, 111, 105,
+    110, 116,   0,   0,   0,   0,   0,   0,
+     12,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     69,   0,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     64,   0,   0,   0,   3,   0,   1,   0,
+     92,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     89,   0,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     84,   0,   0,   0,   3,   0,   1,   0,
+    112,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    109,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,   0,   0,   0,   3,   0,   1,   0,
+    136,   0,   0,   0,   2,   0,   1,   0,
+    101, 114, 114, 111, 114, 115,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   3,   0,   1,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+    173, 118, 186, 235, 121, 102, 168, 232,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    112, 111, 105, 110, 116, 115,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   3,   0,   1,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+     54, 223,  31, 172, 235,  51, 243, 143,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 110,  77, 111, 110, 111,  84,
+    105, 109, 101, 115,   0,   0,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   3,   0,   1,   0,
+      9,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_888ad6581cf0aacb = b_888ad6581cf0aacb.words;
+#if !CAPNP_LITE
+static const ::capnp::_::RawSchema* const d_888ad6581cf0aacb[] = {
+  &s_8ff333ebac1fdf36,
+  &s_e8a86679ebba76ad,
+};
+static const uint16_t m_888ad6581cf0aacb[] = {2, 0, 1};
+static const uint16_t i_888ad6581cf0aacb[] = {0, 1, 2};
+const ::capnp::_::RawSchema s_888ad6581cf0aacb = {
+  0x888ad6581cf0aacb, b_888ad6581cf0aacb.words, 82, d_888ad6581cf0aacb, m_888ad6581cf0aacb,
+  2, 3, i_888ad6581cf0aacb, nullptr, nullptr, { &s_888ad6581cf0aacb, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<23> b_e8a86679ebba76ad = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    173, 118, 186, 235, 121, 102, 168, 232,
+     21,   0,   0,   0,   2,   0,   0,   0,
+    203, 170, 240,  28,  88, 214, 138, 136,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 218,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0,  31,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  82,  97, 100,  97, 114,  83,
+    116,  97, 116, 101,  46,  69, 114, 114,
+    111, 114,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      4,   0,   0,   0,   1,   0,   2,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    110, 111, 116,  86,  97, 108, 105, 100,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_e8a86679ebba76ad = b_e8a86679ebba76ad.words;
+#if !CAPNP_LITE
+static const uint16_t m_e8a86679ebba76ad[] = {0};
+const ::capnp::_::RawSchema s_e8a86679ebba76ad = {
+  0xe8a86679ebba76ad, b_e8a86679ebba76ad.words, 23, nullptr, m_e8a86679ebba76ad,
+  0, 1, nullptr, nullptr, nullptr, { &s_e8a86679ebba76ad, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+CAPNP_DEFINE_ENUM(Error_e8a86679ebba76ad, e8a86679ebba76ad);
+static const ::capnp::_::AlignedData<108> b_8ff333ebac1fdf36 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     54, 223,  31, 172, 235,  51, 243, 143,
+     21,   0,   0,   0,   1,   0,   4,   0,
+    203, 170, 240,  28,  88, 214, 138, 136,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,   2,   1,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0,  87,   1,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  82,  97, 100,  97, 114,  83,
+    116,  97, 116, 101,  46,  82,  97, 100,
+     97, 114,  80, 111, 105, 110, 116,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     24,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    153,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    148,   0,   0,   0,   3,   0,   1,   0,
+    160,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    157,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    152,   0,   0,   0,   3,   0,   1,   0,
+    164,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    161,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    156,   0,   0,   0,   3,   0,   1,   0,
+    168,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    165,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    160,   0,   0,   0,   3,   0,   1,   0,
+    172,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    169,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    164,   0,   0,   0,   3,   0,   1,   0,
+    176,   0,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   6,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    173,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    168,   0,   0,   0,   3,   0,   1,   0,
+    180,   0,   0,   0,   2,   0,   1,   0,
+    116, 114,  97,  99, 107,  73, 100,   0,
+      9,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      9,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100,  82, 101, 108,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    121,  82, 101, 108,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    118,  82, 101, 108,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97,  82, 101, 108,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    121, 118,  82, 101, 108,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_8ff333ebac1fdf36 = b_8ff333ebac1fdf36.words;
+#if !CAPNP_LITE
+static const uint16_t m_8ff333ebac1fdf36[] = {4, 1, 0, 3, 2, 5};
+static const uint16_t i_8ff333ebac1fdf36[] = {0, 1, 2, 3, 4, 5};
+const ::capnp::_::RawSchema s_8ff333ebac1fdf36 = {
+  0x8ff333ebac1fdf36, b_8ff333ebac1fdf36.words, 108, nullptr, m_8ff333ebac1fdf36,
+  0, 6, i_8ff333ebac1fdf36, nullptr, nullptr, { &s_8ff333ebac1fdf36, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<118> b_f78829049ab814af = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    175,  20, 184, 154,   4,  41, 136, 247,
+     10,   0,   0,   0,   1,   0,   2,   0,
+    141, 139, 175,   8, 231, 241,  42, 142,
+      2,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 170,   0,   0,   0,
+     29,   0,   0,   0,  39,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     57,   0,   0,   0,  87,   1,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  67, 111, 110,
+    116, 114, 111, 108,   0,   0,   0,   0,
+      8,   0,   0,   0,   1,   0,   1,   0,
+    211, 168,  11,  14, 110,  56,  14, 178,
+      9,   0,   0,   0, 114,   0,   0,   0,
+     56,  58, 176,  78, 124, 200, 149, 216,
+      9,   0,   0,   0,  90,   0,   0,   0,
+     67, 114, 117, 105, 115, 101,  67, 111,
+    110, 116, 114, 111, 108,   0,   0,   0,
+     72,  85,  68,  67, 111, 110, 116, 114,
+    111, 108,   0,   0,   0,   0,   0,   0,
+     24,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    153,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    148,   0,   0,   0,   3,   0,   1,   0,
+    160,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    157,   0,   0,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    152,   0,   0,   0,   3,   0,   1,   0,
+    164,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    161,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    156,   0,   0,   0,   3,   0,   1,   0,
+    168,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    165,   0,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    164,   0,   0,   0,   3,   0,   1,   0,
+    176,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    173,   0,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    172,   0,   0,   0,   3,   0,   1,   0,
+    184,   0,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    181,   0,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    180,   0,   0,   0,   3,   0,   1,   0,
+    192,   0,   0,   0,   2,   0,   1,   0,
+    101, 110,  97,  98, 108, 101, 100,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    103,  97, 115,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98, 114,  97, 107, 101,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 116, 101, 101, 114, 105, 110, 103,
+     84, 111, 114, 113, 117, 101,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 114, 117, 105, 115, 101,  67, 111,
+    110, 116, 114, 111, 108,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+    211, 168,  11,  14, 110,  56,  14, 178,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    104, 117, 100,  67, 111, 110, 116, 114,
+    111, 108,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+     56,  58, 176,  78, 124, 200, 149, 216,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_f78829049ab814af = b_f78829049ab814af.words;
+#if !CAPNP_LITE
+static const ::capnp::_::RawSchema* const d_f78829049ab814af[] = {
+  &s_b20e386e0e0ba8d3,
+  &s_d895c87c4eb03a38,
+};
+static const uint16_t m_f78829049ab814af[] = {2, 4, 0, 1, 5, 3};
+static const uint16_t i_f78829049ab814af[] = {0, 1, 2, 3, 4, 5};
+const ::capnp::_::RawSchema s_f78829049ab814af = {
+  0xf78829049ab814af, b_f78829049ab814af.words, 118, d_f78829049ab814af, m_f78829049ab814af,
+  2, 6, i_f78829049ab814af, nullptr, nullptr, { &s_f78829049ab814af, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<82> b_b20e386e0e0ba8d3 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    211, 168,  11,  14, 110,  56,  14, 178,
+     21,   0,   0,   0,   1,   0,   2,   0,
+    175,  20, 184, 154,   4,  41, 136, 247,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  26,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 231,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  67, 111, 110,
+    116, 114, 111, 108,  46,  67, 114, 117,
+    105, 115, 101,  67, 111, 110, 116, 114,
+    111, 108,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     16,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97,   0,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     92,   0,   0,   0,   3,   0,   1,   0,
+    104,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    101,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100,   0,   0,   0,   3,   0,   1,   0,
+    112,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    109,   0,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,   0,   0,   0,   3,   0,   1,   0,
+    120,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117,   0,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116,   0,   0,   0,   3,   0,   1,   0,
+    128,   0,   0,   0,   2,   0,   1,   0,
+     99,  97, 110,  99, 101, 108,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    111, 118, 101, 114, 114, 105, 100, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 112, 101, 101, 100,  79, 118, 101,
+    114, 114, 105, 100, 101,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97,  99,  99, 101, 108,  79, 118, 101,
+    114, 114, 105, 100, 101,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_b20e386e0e0ba8d3 = b_b20e386e0e0ba8d3.words;
+#if !CAPNP_LITE
+static const uint16_t m_b20e386e0e0ba8d3[] = {3, 0, 1, 2};
+static const uint16_t i_b20e386e0e0ba8d3[] = {0, 1, 2, 3};
+const ::capnp::_::RawSchema s_b20e386e0e0ba8d3 = {
+  0xb20e386e0e0ba8d3, b_b20e386e0e0ba8d3.words, 82, nullptr, m_b20e386e0e0ba8d3,
+  0, 4, i_b20e386e0e0ba8d3, nullptr, nullptr, { &s_b20e386e0e0ba8d3, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<122> b_d895c87c4eb03a38 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     56,  58, 176,  78, 124, 200, 149, 216,
+     21,   0,   0,   0,   1,   0,   2,   0,
+    175,  20, 184, 154,   4,  41, 136, 247,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,   2,   1,   0,   0,
+     33,   0,   0,   0,  39,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     61,   0,   0,   0,  87,   1,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  67, 111, 110,
+    116, 114, 111, 108,  46,  72,  85,  68,
+     67, 111, 110, 116, 114, 111, 108,   0,
+      8,   0,   0,   0,   1,   0,   1,   0,
+    212,  23, 110,  97, 132, 142, 215, 144,
+      9,   0,   0,   0,  98,   0,   0,   0,
+    158,  51,  78, 149, 108, 226, 165, 245,
+      9,   0,   0,   0, 106,   0,   0,   0,
+     86, 105, 115, 117,  97, 108,  65, 108,
+    101, 114, 116,   0,   0,   0,   0,   0,
+     65, 117, 100, 105,  98, 108, 101,  65,
+    108, 101, 114, 116,   0,   0,   0,   0,
+     24,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    153,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    152,   0,   0,   0,   3,   0,   1,   0,
+    164,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    161,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    160,   0,   0,   0,   3,   0,   1,   0,
+    172,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    169,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    168,   0,   0,   0,   3,   0,   1,   0,
+    180,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    177,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    176,   0,   0,   0,   3,   0,   1,   0,
+    188,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    185,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    184,   0,   0,   0,   3,   0,   1,   0,
+    196,   0,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    193,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    192,   0,   0,   0,   3,   0,   1,   0,
+    204,   0,   0,   0,   2,   0,   1,   0,
+    115, 112, 101, 101, 100,  86, 105, 115,
+    105,  98, 108, 101,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 101, 116,  83, 112, 101, 101, 100,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,  97, 110, 101, 115,  86, 105, 115,
+    105,  98, 108, 101,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108, 101,  97, 100,  86, 105, 115, 105,
+     98, 108, 101,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    118, 105, 115, 117,  97, 108,  65, 108,
+    101, 114, 116,   0,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+    212,  23, 110,  97, 132, 142, 215, 144,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97, 117, 100, 105,  98, 108, 101,  65,
+    108, 101, 114, 116,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+    158,  51,  78, 149, 108, 226, 165, 245,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_d895c87c4eb03a38 = b_d895c87c4eb03a38.words;
+#if !CAPNP_LITE
+static const ::capnp::_::RawSchema* const d_d895c87c4eb03a38[] = {
+  &s_90d78e84616e17d4,
+  &s_f5a5e26c954e339e,
+};
+static const uint16_t m_d895c87c4eb03a38[] = {5, 2, 3, 1, 0, 4};
+static const uint16_t i_d895c87c4eb03a38[] = {0, 1, 2, 3, 4, 5};
+const ::capnp::_::RawSchema s_d895c87c4eb03a38 = {
+  0xd895c87c4eb03a38, b_d895c87c4eb03a38.words, 122, d_d895c87c4eb03a38, m_d895c87c4eb03a38,
+  2, 6, i_d895c87c4eb03a38, nullptr, nullptr, { &s_d895c87c4eb03a38, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<54> b_90d78e84616e17d4 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    212,  23, 110,  97, 132, 142, 215, 144,
+     32,   0,   0,   0,   2,   0,   0,   0,
+     56,  58, 176,  78, 124, 200, 149, 216,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  98,   1,   0,   0,
+     41,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     37,   0,   0,   0, 175,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  67, 111, 110,
+    116, 114, 111, 108,  46,  72,  85,  68,
+     67, 111, 110, 116, 114, 111, 108,  46,
+     86, 105, 115, 117,  97, 108,  65, 108,
+    101, 114, 116,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     28,   0,   0,   0,   1,   0,   2,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     77,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+     69,   0,   0,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      2,   0,   0,   0,   0,   0,   0,   0,
+     61,   0,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+     57,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
+     53,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   0,   0,   0,   0,   0,   0,   0,
+     49,   0,   0,   0, 146,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      6,   0,   0,   0,   0,   0,   0,   0,
+     49,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    110, 111, 110, 101,   0,   0,   0,   0,
+    102,  99, 119,   0,   0,   0,   0,   0,
+    115, 116, 101, 101, 114,  82, 101, 113,
+    117, 105, 114, 101, 100,   0,   0,   0,
+     98, 114,  97, 107, 101,  80, 114, 101,
+    115, 115, 101, 100,   0,   0,   0,   0,
+    119, 114, 111, 110, 103,  71, 101,  97,
+    114,   0,   0,   0,   0,   0,   0,   0,
+    115, 101,  97, 116,  98, 101, 108, 116,
+     85, 110,  98, 117,  99, 107, 108, 101,
+    100,   0,   0,   0,   0,   0,   0,   0,
+    115, 112, 101, 101, 100,  84, 111, 111,
+     72, 105, 103, 104,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_90d78e84616e17d4 = b_90d78e84616e17d4.words;
+#if !CAPNP_LITE
+static const uint16_t m_90d78e84616e17d4[] = {3, 1, 0, 5, 6, 2, 4};
+const ::capnp::_::RawSchema s_90d78e84616e17d4 = {
+  0x90d78e84616e17d4, b_90d78e84616e17d4.words, 54, nullptr, m_90d78e84616e17d4,
+  0, 7, nullptr, nullptr, nullptr, { &s_90d78e84616e17d4, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+CAPNP_DEFINE_ENUM(VisualAlert_90d78e84616e17d4, 90d78e84616e17d4);
+static const ::capnp::_::AlignedData<59> b_f5a5e26c954e339e = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    158,  51,  78, 149, 108, 226, 165, 245,
+     32,   0,   0,   0,   2,   0,   0,   0,
+     56,  58, 176,  78, 124, 200, 149, 216,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 106,   1,   0,   0,
+     41,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     37,   0,   0,   0, 199,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  46,  99,  97, 112, 110,
+    112,  58,  67,  97, 114,  67, 111, 110,
+    116, 114, 111, 108,  46,  72,  85,  68,
+     67, 111, 110, 116, 114, 111, 108,  46,
+     65, 117, 100, 105,  98, 108, 101,  65,
+    108, 101, 114, 116,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     32,   0,   0,   0,   1,   0,   2,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     89,   0,   0,   0,  42,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+     81,   0,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      2,   0,   0,   0,   0,   0,   0,   0,
+     77,   0,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+     73,   0,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
+     69,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   0,   0,   0,   0,   0,   0,   0,
+     65,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      6,   0,   0,   0,   0,   0,   0,   0,
+     61,   0,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      7,   0,   0,   0,   0,   0,   0,   0,
+     57,   0,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    110, 111, 110, 101,   0,   0,   0,   0,
+     98, 101, 101, 112,  83, 105, 110, 103,
+    108, 101,   0,   0,   0,   0,   0,   0,
+     98, 101, 101, 112,  84, 114, 105, 112,
+    108, 101,   0,   0,   0,   0,   0,   0,
+     98, 101, 101, 112,  82, 101, 112, 101,
+     97, 116, 101, 100,   0,   0,   0,   0,
+     99, 104, 105, 109, 101,  83, 105, 110,
+    103, 108, 101,   0,   0,   0,   0,   0,
+     99, 104, 105, 109, 101,  68, 111, 117,
+     98, 108, 101,   0,   0,   0,   0,   0,
+     99, 104, 105, 109, 101,  82, 101, 112,
+    101,  97, 116, 101, 100,   0,   0,   0,
+     99, 104, 105, 109, 101,  67, 111, 110,
+    116, 105, 110, 117, 111, 117, 115,   0, }
+};
+::capnp::word const* const bp_f5a5e26c954e339e = b_f5a5e26c954e339e.words;
+#if !CAPNP_LITE
+static const uint16_t m_f5a5e26c954e339e[] = {3, 1, 2, 7, 5, 6, 4, 0};
+const ::capnp::_::RawSchema s_f5a5e26c954e339e = {
+  0xf5a5e26c954e339e, b_f5a5e26c954e339e.words, 59, nullptr, m_f5a5e26c954e339e,
+  0, 8, nullptr, nullptr, nullptr, { &s_f5a5e26c954e339e, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+CAPNP_DEFINE_ENUM(AudibleAlert_f5a5e26c954e339e, f5a5e26c954e339e);
+}  // namespace schemas
+}  // namespace capnp
+
+// =======================================================================================
+
+namespace cereal {
+
+// CarState
+#ifndef _MSC_VER
+constexpr uint16_t CarState::_capnpPrivate::dataWordSize;
+constexpr uint16_t CarState::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind CarState::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CarState::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* CarState::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
+// CarState::WheelSpeeds
+#ifndef _MSC_VER
+constexpr uint16_t CarState::WheelSpeeds::_capnpPrivate::dataWordSize;
+constexpr uint16_t CarState::WheelSpeeds::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind CarState::WheelSpeeds::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CarState::WheelSpeeds::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* CarState::WheelSpeeds::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
+// CarState::CruiseState
+#ifndef _MSC_VER
+constexpr uint16_t CarState::CruiseState::_capnpPrivate::dataWordSize;
+constexpr uint16_t CarState::CruiseState::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind CarState::CruiseState::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CarState::CruiseState::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* CarState::CruiseState::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
+// CarState::ButtonEvent
+#ifndef _MSC_VER
+constexpr uint16_t CarState::ButtonEvent::_capnpPrivate::dataWordSize;
+constexpr uint16_t CarState::ButtonEvent::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind CarState::ButtonEvent::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CarState::ButtonEvent::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* CarState::ButtonEvent::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
+// RadarState
+#ifndef _MSC_VER
+constexpr uint16_t RadarState::_capnpPrivate::dataWordSize;
+constexpr uint16_t RadarState::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind RadarState::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* RadarState::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* RadarState::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
+// RadarState::RadarPoint
+#ifndef _MSC_VER
+constexpr uint16_t RadarState::RadarPoint::_capnpPrivate::dataWordSize;
+constexpr uint16_t RadarState::RadarPoint::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind RadarState::RadarPoint::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* RadarState::RadarPoint::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* RadarState::RadarPoint::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
+// CarControl
+#ifndef _MSC_VER
+constexpr uint16_t CarControl::_capnpPrivate::dataWordSize;
+constexpr uint16_t CarControl::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind CarControl::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CarControl::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* CarControl::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
+// CarControl::CruiseControl
+#ifndef _MSC_VER
+constexpr uint16_t CarControl::CruiseControl::_capnpPrivate::dataWordSize;
+constexpr uint16_t CarControl::CruiseControl::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind CarControl::CruiseControl::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CarControl::CruiseControl::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* CarControl::CruiseControl::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
+// CarControl::HUDControl
+#ifndef _MSC_VER
+constexpr uint16_t CarControl::HUDControl::_capnpPrivate::dataWordSize;
+constexpr uint16_t CarControl::HUDControl::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind CarControl::HUDControl::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CarControl::HUDControl::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* CarControl::HUDControl::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
+
+}  // namespace
+
diff --git a/cereal/gen/cpp/car.capnp.h b/cereal/gen/cpp/car.capnp.h
new file mode 100644
index 0000000000..5f7cf8d6de
--- /dev/null
+++ b/cereal/gen/cpp/car.capnp.h
@@ -0,0 +1,2032 @@
+// Generated by Cap'n Proto compiler, DO NOT EDIT
+// source: car.capnp
+
+#ifndef CAPNP_INCLUDED_8e2af1e708af8b8d_
+#define CAPNP_INCLUDED_8e2af1e708af8b8d_
+
+#include <capnp/generated-header-support.h>
+
+#if CAPNP_VERSION != 5003
+#error "Version mismatch between generated code and library headers.  You must use the same version of the Cap'n Proto compiler and library."
+#endif
+
+
+namespace capnp {
+namespace schemas {
+
+CAPNP_DECLARE_SCHEMA(9da4fa09e052903c);
+CAPNP_DECLARE_SCHEMA(991a37a6155935a3);
+CAPNP_DECLARE_SCHEMA(e64e81478e6e60af);
+CAPNP_DECLARE_SCHEMA(baa8c5d505f727de);
+enum class Error_baa8c5d505f727de: uint16_t {
+  COMM_ISSUE,
+  STEER_UNAVAILABLE,
+  BRAKE_UNAVAILABLE,
+  GAS_UNAVAILABLE,
+  WRONG_GEAR,
+  DOOR_OPEN,
+  SEATBELT_NOT_LATCHED,
+  ESP_DISABLED,
+  WRONG_CAR_MODE,
+  STEER_TEMPORARILY_UNAVAILABLE,
+  REVERSE_GEAR,
+};
+CAPNP_DECLARE_ENUM(Error, baa8c5d505f727de);
+CAPNP_DECLARE_SCHEMA(ff5ca6835b4acef6);
+CAPNP_DECLARE_SCHEMA(e16100205414717c);
+enum class Type_e16100205414717c: uint16_t {
+  UNKNOWN,
+  LEFT_BLINKER,
+  RIGHT_BLINKER,
+  ACCEL_CRUISE,
+  DECEL_CRUISE,
+  CANCEL,
+  ALT_BUTTON1,
+  ALT_BUTTON2,
+  ALT_BUTTON3,
+};
+CAPNP_DECLARE_ENUM(Type, e16100205414717c);
+CAPNP_DECLARE_SCHEMA(888ad6581cf0aacb);
+CAPNP_DECLARE_SCHEMA(e8a86679ebba76ad);
+enum class Error_e8a86679ebba76ad: uint16_t {
+  NOT_VALID,
+};
+CAPNP_DECLARE_ENUM(Error, e8a86679ebba76ad);
+CAPNP_DECLARE_SCHEMA(8ff333ebac1fdf36);
+CAPNP_DECLARE_SCHEMA(f78829049ab814af);
+CAPNP_DECLARE_SCHEMA(b20e386e0e0ba8d3);
+CAPNP_DECLARE_SCHEMA(d895c87c4eb03a38);
+CAPNP_DECLARE_SCHEMA(90d78e84616e17d4);
+enum class VisualAlert_90d78e84616e17d4: uint16_t {
+  NONE,
+  FCW,
+  STEER_REQUIRED,
+  BRAKE_PRESSED,
+  WRONG_GEAR,
+  SEATBELT_UNBUCKLED,
+  SPEED_TOO_HIGH,
+};
+CAPNP_DECLARE_ENUM(VisualAlert, 90d78e84616e17d4);
+CAPNP_DECLARE_SCHEMA(f5a5e26c954e339e);
+enum class AudibleAlert_f5a5e26c954e339e: uint16_t {
+  NONE,
+  BEEP_SINGLE,
+  BEEP_TRIPLE,
+  BEEP_REPEATED,
+  CHIME_SINGLE,
+  CHIME_DOUBLE,
+  CHIME_REPEATED,
+  CHIME_CONTINUOUS,
+};
+CAPNP_DECLARE_ENUM(AudibleAlert, f5a5e26c954e339e);
+
+}  // namespace schemas
+}  // namespace capnp
+
+namespace cereal {
+
+struct CarState {
+  CarState() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+  struct WheelSpeeds;
+  struct CruiseState;
+  typedef ::capnp::schemas::Error_baa8c5d505f727de Error;
+
+  struct ButtonEvent;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(9da4fa09e052903c, 3, 5)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
+struct CarState::WheelSpeeds {
+  WheelSpeeds() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(991a37a6155935a3, 2, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
+struct CarState::CruiseState {
+  CruiseState() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(e64e81478e6e60af, 1, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
+struct CarState::ButtonEvent {
+  ButtonEvent() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+  typedef ::capnp::schemas::Type_e16100205414717c Type;
+
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(ff5ca6835b4acef6, 1, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
+struct RadarState {
+  RadarState() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+  typedef ::capnp::schemas::Error_e8a86679ebba76ad Error;
+
+  struct RadarPoint;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(888ad6581cf0aacb, 0, 3)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
+struct RadarState::RadarPoint {
+  RadarPoint() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(8ff333ebac1fdf36, 4, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
+struct CarControl {
+  CarControl() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+  struct CruiseControl;
+  struct HUDControl;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(f78829049ab814af, 2, 2)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
+struct CarControl::CruiseControl {
+  CruiseControl() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(b20e386e0e0ba8d3, 2, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
+struct CarControl::HUDControl {
+  HUDControl() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+  typedef ::capnp::schemas::VisualAlert_90d78e84616e17d4 VisualAlert;
+
+  typedef ::capnp::schemas::AudibleAlert_f5a5e26c954e339e AudibleAlert;
+
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(d895c87c4eb03a38, 2, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
+// =======================================================================================
+
+class CarState::Reader {
+public:
+  typedef CarState Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool hasErrors() const;
+  inline  ::capnp::List< ::cereal::CarState::Error>::Reader getErrors() const;
+
+  inline float getVEgo() const;
+
+  inline bool hasWheelSpeeds() const;
+  inline  ::cereal::CarState::WheelSpeeds::Reader getWheelSpeeds() const;
+
+  inline float getGas() const;
+
+  inline bool getGasPressed() const;
+
+  inline float getBrake() const;
+
+  inline bool getBrakePressed() const;
+
+  inline float getSteeringAngle() const;
+
+  inline float getSteeringTorque() const;
+
+  inline bool getSteeringPressed() const;
+
+  inline bool hasCruiseState() const;
+  inline  ::cereal::CarState::CruiseState::Reader getCruiseState() const;
+
+  inline bool hasButtonEvents() const;
+  inline  ::capnp::List< ::cereal::CarState::ButtonEvent>::Reader getButtonEvents() const;
+
+  inline bool hasCanMonoTimes() const;
+  inline  ::capnp::List< ::uint64_t>::Reader getCanMonoTimes() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class CarState::Builder {
+public:
+  typedef CarState Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool hasErrors();
+  inline  ::capnp::List< ::cereal::CarState::Error>::Builder getErrors();
+  inline void setErrors( ::capnp::List< ::cereal::CarState::Error>::Reader value);
+  inline void setErrors(::kj::ArrayPtr<const  ::cereal::CarState::Error> value);
+  inline  ::capnp::List< ::cereal::CarState::Error>::Builder initErrors(unsigned int size);
+  inline void adoptErrors(::capnp::Orphan< ::capnp::List< ::cereal::CarState::Error>>&& value);
+  inline ::capnp::Orphan< ::capnp::List< ::cereal::CarState::Error>> disownErrors();
+
+  inline float getVEgo();
+  inline void setVEgo(float value);
+
+  inline bool hasWheelSpeeds();
+  inline  ::cereal::CarState::WheelSpeeds::Builder getWheelSpeeds();
+  inline void setWheelSpeeds( ::cereal::CarState::WheelSpeeds::Reader value);
+  inline  ::cereal::CarState::WheelSpeeds::Builder initWheelSpeeds();
+  inline void adoptWheelSpeeds(::capnp::Orphan< ::cereal::CarState::WheelSpeeds>&& value);
+  inline ::capnp::Orphan< ::cereal::CarState::WheelSpeeds> disownWheelSpeeds();
+
+  inline float getGas();
+  inline void setGas(float value);
+
+  inline bool getGasPressed();
+  inline void setGasPressed(bool value);
+
+  inline float getBrake();
+  inline void setBrake(float value);
+
+  inline bool getBrakePressed();
+  inline void setBrakePressed(bool value);
+
+  inline float getSteeringAngle();
+  inline void setSteeringAngle(float value);
+
+  inline float getSteeringTorque();
+  inline void setSteeringTorque(float value);
+
+  inline bool getSteeringPressed();
+  inline void setSteeringPressed(bool value);
+
+  inline bool hasCruiseState();
+  inline  ::cereal::CarState::CruiseState::Builder getCruiseState();
+  inline void setCruiseState( ::cereal::CarState::CruiseState::Reader value);
+  inline  ::cereal::CarState::CruiseState::Builder initCruiseState();
+  inline void adoptCruiseState(::capnp::Orphan< ::cereal::CarState::CruiseState>&& value);
+  inline ::capnp::Orphan< ::cereal::CarState::CruiseState> disownCruiseState();
+
+  inline bool hasButtonEvents();
+  inline  ::capnp::List< ::cereal::CarState::ButtonEvent>::Builder getButtonEvents();
+  inline void setButtonEvents( ::capnp::List< ::cereal::CarState::ButtonEvent>::Reader value);
+  inline  ::capnp::List< ::cereal::CarState::ButtonEvent>::Builder initButtonEvents(unsigned int size);
+  inline void adoptButtonEvents(::capnp::Orphan< ::capnp::List< ::cereal::CarState::ButtonEvent>>&& value);
+  inline ::capnp::Orphan< ::capnp::List< ::cereal::CarState::ButtonEvent>> disownButtonEvents();
+
+  inline bool hasCanMonoTimes();
+  inline  ::capnp::List< ::uint64_t>::Builder getCanMonoTimes();
+  inline void setCanMonoTimes( ::capnp::List< ::uint64_t>::Reader value);
+  inline void setCanMonoTimes(::kj::ArrayPtr<const  ::uint64_t> value);
+  inline  ::capnp::List< ::uint64_t>::Builder initCanMonoTimes(unsigned int size);
+  inline void adoptCanMonoTimes(::capnp::Orphan< ::capnp::List< ::uint64_t>>&& value);
+  inline ::capnp::Orphan< ::capnp::List< ::uint64_t>> disownCanMonoTimes();
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class CarState::Pipeline {
+public:
+  typedef CarState Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+  inline  ::cereal::CarState::WheelSpeeds::Pipeline getWheelSpeeds();
+  inline  ::cereal::CarState::CruiseState::Pipeline getCruiseState();
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
+class CarState::WheelSpeeds::Reader {
+public:
+  typedef WheelSpeeds Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline float getFl() const;
+
+  inline float getFr() const;
+
+  inline float getRl() const;
+
+  inline float getRr() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class CarState::WheelSpeeds::Builder {
+public:
+  typedef WheelSpeeds Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline float getFl();
+  inline void setFl(float value);
+
+  inline float getFr();
+  inline void setFr(float value);
+
+  inline float getRl();
+  inline void setRl(float value);
+
+  inline float getRr();
+  inline void setRr(float value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class CarState::WheelSpeeds::Pipeline {
+public:
+  typedef WheelSpeeds Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
+class CarState::CruiseState::Reader {
+public:
+  typedef CruiseState Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool getEnabled() const;
+
+  inline float getSpeed() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class CarState::CruiseState::Builder {
+public:
+  typedef CruiseState Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool getEnabled();
+  inline void setEnabled(bool value);
+
+  inline float getSpeed();
+  inline void setSpeed(float value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class CarState::CruiseState::Pipeline {
+public:
+  typedef CruiseState Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
+class CarState::ButtonEvent::Reader {
+public:
+  typedef ButtonEvent Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool getPressed() const;
+
+  inline  ::cereal::CarState::ButtonEvent::Type getType() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class CarState::ButtonEvent::Builder {
+public:
+  typedef ButtonEvent Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool getPressed();
+  inline void setPressed(bool value);
+
+  inline  ::cereal::CarState::ButtonEvent::Type getType();
+  inline void setType( ::cereal::CarState::ButtonEvent::Type value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class CarState::ButtonEvent::Pipeline {
+public:
+  typedef ButtonEvent Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
+class RadarState::Reader {
+public:
+  typedef RadarState Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool hasErrors() const;
+  inline  ::capnp::List< ::cereal::RadarState::Error>::Reader getErrors() const;
+
+  inline bool hasPoints() const;
+  inline  ::capnp::List< ::cereal::RadarState::RadarPoint>::Reader getPoints() const;
+
+  inline bool hasCanMonoTimes() const;
+  inline  ::capnp::List< ::uint64_t>::Reader getCanMonoTimes() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class RadarState::Builder {
+public:
+  typedef RadarState Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool hasErrors();
+  inline  ::capnp::List< ::cereal::RadarState::Error>::Builder getErrors();
+  inline void setErrors( ::capnp::List< ::cereal::RadarState::Error>::Reader value);
+  inline void setErrors(::kj::ArrayPtr<const  ::cereal::RadarState::Error> value);
+  inline  ::capnp::List< ::cereal::RadarState::Error>::Builder initErrors(unsigned int size);
+  inline void adoptErrors(::capnp::Orphan< ::capnp::List< ::cereal::RadarState::Error>>&& value);
+  inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarState::Error>> disownErrors();
+
+  inline bool hasPoints();
+  inline  ::capnp::List< ::cereal::RadarState::RadarPoint>::Builder getPoints();
+  inline void setPoints( ::capnp::List< ::cereal::RadarState::RadarPoint>::Reader value);
+  inline  ::capnp::List< ::cereal::RadarState::RadarPoint>::Builder initPoints(unsigned int size);
+  inline void adoptPoints(::capnp::Orphan< ::capnp::List< ::cereal::RadarState::RadarPoint>>&& value);
+  inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarState::RadarPoint>> disownPoints();
+
+  inline bool hasCanMonoTimes();
+  inline  ::capnp::List< ::uint64_t>::Builder getCanMonoTimes();
+  inline void setCanMonoTimes( ::capnp::List< ::uint64_t>::Reader value);
+  inline void setCanMonoTimes(::kj::ArrayPtr<const  ::uint64_t> value);
+  inline  ::capnp::List< ::uint64_t>::Builder initCanMonoTimes(unsigned int size);
+  inline void adoptCanMonoTimes(::capnp::Orphan< ::capnp::List< ::uint64_t>>&& value);
+  inline ::capnp::Orphan< ::capnp::List< ::uint64_t>> disownCanMonoTimes();
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class RadarState::Pipeline {
+public:
+  typedef RadarState Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
+class RadarState::RadarPoint::Reader {
+public:
+  typedef RadarPoint Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline  ::uint64_t getTrackId() const;
+
+  inline float getDRel() const;
+
+  inline float getYRel() const;
+
+  inline float getVRel() const;
+
+  inline float getARel() const;
+
+  inline float getYvRel() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class RadarState::RadarPoint::Builder {
+public:
+  typedef RadarPoint Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline  ::uint64_t getTrackId();
+  inline void setTrackId( ::uint64_t value);
+
+  inline float getDRel();
+  inline void setDRel(float value);
+
+  inline float getYRel();
+  inline void setYRel(float value);
+
+  inline float getVRel();
+  inline void setVRel(float value);
+
+  inline float getARel();
+  inline void setARel(float value);
+
+  inline float getYvRel();
+  inline void setYvRel(float value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class RadarState::RadarPoint::Pipeline {
+public:
+  typedef RadarPoint Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
+class CarControl::Reader {
+public:
+  typedef CarControl Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool getEnabled() const;
+
+  inline float getGas() const;
+
+  inline float getBrake() const;
+
+  inline float getSteeringTorque() const;
+
+  inline bool hasCruiseControl() const;
+  inline  ::cereal::CarControl::CruiseControl::Reader getCruiseControl() const;
+
+  inline bool hasHudControl() const;
+  inline  ::cereal::CarControl::HUDControl::Reader getHudControl() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class CarControl::Builder {
+public:
+  typedef CarControl Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool getEnabled();
+  inline void setEnabled(bool value);
+
+  inline float getGas();
+  inline void setGas(float value);
+
+  inline float getBrake();
+  inline void setBrake(float value);
+
+  inline float getSteeringTorque();
+  inline void setSteeringTorque(float value);
+
+  inline bool hasCruiseControl();
+  inline  ::cereal::CarControl::CruiseControl::Builder getCruiseControl();
+  inline void setCruiseControl( ::cereal::CarControl::CruiseControl::Reader value);
+  inline  ::cereal::CarControl::CruiseControl::Builder initCruiseControl();
+  inline void adoptCruiseControl(::capnp::Orphan< ::cereal::CarControl::CruiseControl>&& value);
+  inline ::capnp::Orphan< ::cereal::CarControl::CruiseControl> disownCruiseControl();
+
+  inline bool hasHudControl();
+  inline  ::cereal::CarControl::HUDControl::Builder getHudControl();
+  inline void setHudControl( ::cereal::CarControl::HUDControl::Reader value);
+  inline  ::cereal::CarControl::HUDControl::Builder initHudControl();
+  inline void adoptHudControl(::capnp::Orphan< ::cereal::CarControl::HUDControl>&& value);
+  inline ::capnp::Orphan< ::cereal::CarControl::HUDControl> disownHudControl();
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class CarControl::Pipeline {
+public:
+  typedef CarControl Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+  inline  ::cereal::CarControl::CruiseControl::Pipeline getCruiseControl();
+  inline  ::cereal::CarControl::HUDControl::Pipeline getHudControl();
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
+class CarControl::CruiseControl::Reader {
+public:
+  typedef CruiseControl Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool getCancel() const;
+
+  inline bool getOverride() const;
+
+  inline float getSpeedOverride() const;
+
+  inline float getAccelOverride() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class CarControl::CruiseControl::Builder {
+public:
+  typedef CruiseControl Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool getCancel();
+  inline void setCancel(bool value);
+
+  inline bool getOverride();
+  inline void setOverride(bool value);
+
+  inline float getSpeedOverride();
+  inline void setSpeedOverride(float value);
+
+  inline float getAccelOverride();
+  inline void setAccelOverride(float value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class CarControl::CruiseControl::Pipeline {
+public:
+  typedef CruiseControl Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
+class CarControl::HUDControl::Reader {
+public:
+  typedef HUDControl Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool getSpeedVisible() const;
+
+  inline float getSetSpeed() const;
+
+  inline bool getLanesVisible() const;
+
+  inline bool getLeadVisible() const;
+
+  inline  ::cereal::CarControl::HUDControl::VisualAlert getVisualAlert() const;
+
+  inline  ::cereal::CarControl::HUDControl::AudibleAlert getAudibleAlert() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class CarControl::HUDControl::Builder {
+public:
+  typedef HUDControl Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool getSpeedVisible();
+  inline void setSpeedVisible(bool value);
+
+  inline float getSetSpeed();
+  inline void setSetSpeed(float value);
+
+  inline bool getLanesVisible();
+  inline void setLanesVisible(bool value);
+
+  inline bool getLeadVisible();
+  inline void setLeadVisible(bool value);
+
+  inline  ::cereal::CarControl::HUDControl::VisualAlert getVisualAlert();
+  inline void setVisualAlert( ::cereal::CarControl::HUDControl::VisualAlert value);
+
+  inline  ::cereal::CarControl::HUDControl::AudibleAlert getAudibleAlert();
+  inline void setAudibleAlert( ::cereal::CarControl::HUDControl::AudibleAlert value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class CarControl::HUDControl::Pipeline {
+public:
+  typedef HUDControl Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
+// =======================================================================================
+
+inline bool CarState::Reader::hasErrors() const {
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool CarState::Builder::hasErrors() {
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::List< ::cereal::CarState::Error>::Reader CarState::Reader::getErrors() const {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::Error>>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::capnp::List< ::cereal::CarState::Error>::Builder CarState::Builder::getErrors() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::Error>>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void CarState::Builder::setErrors( ::capnp::List< ::cereal::CarState::Error>::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::Error>>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline void CarState::Builder::setErrors(::kj::ArrayPtr<const  ::cereal::CarState::Error> value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::Error>>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::capnp::List< ::cereal::CarState::Error>::Builder CarState::Builder::initErrors(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::Error>>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS), size);
+}
+inline void CarState::Builder::adoptErrors(
+    ::capnp::Orphan< ::capnp::List< ::cereal::CarState::Error>>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::Error>>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::List< ::cereal::CarState::Error>> CarState::Builder::disownErrors() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::Error>>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
+inline float CarState::Reader::getVEgo() const {
+  return _reader.getDataField<float>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::Builder::getVEgo() {
+  return _builder.getDataField<float>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setVEgo(float value) {
+  _builder.setDataField<float>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::Reader::hasWheelSpeeds() const {
+  return !_reader.getPointerField(1 * ::capnp::POINTERS).isNull();
+}
+inline bool CarState::Builder::hasWheelSpeeds() {
+  return !_builder.getPointerField(1 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarState::WheelSpeeds::Reader CarState::Reader::getWheelSpeeds() const {
+  return ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::get(
+      _reader.getPointerField(1 * ::capnp::POINTERS));
+}
+inline  ::cereal::CarState::WheelSpeeds::Builder CarState::Builder::getWheelSpeeds() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::get(
+      _builder.getPointerField(1 * ::capnp::POINTERS));
+}
+#if !CAPNP_LITE
+inline  ::cereal::CarState::WheelSpeeds::Pipeline CarState::Pipeline::getWheelSpeeds() {
+  return  ::cereal::CarState::WheelSpeeds::Pipeline(_typeless.getPointerField(1));
+}
+#endif  // !CAPNP_LITE
+inline void CarState::Builder::setWheelSpeeds( ::cereal::CarState::WheelSpeeds::Reader value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::set(
+      _builder.getPointerField(1 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarState::WheelSpeeds::Builder CarState::Builder::initWheelSpeeds() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::init(
+      _builder.getPointerField(1 * ::capnp::POINTERS));
+}
+inline void CarState::Builder::adoptWheelSpeeds(
+    ::capnp::Orphan< ::cereal::CarState::WheelSpeeds>&& value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::adopt(
+      _builder.getPointerField(1 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarState::WheelSpeeds> CarState::Builder::disownWheelSpeeds() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarState::WheelSpeeds>::disown(
+      _builder.getPointerField(1 * ::capnp::POINTERS));
+}
+
+inline float CarState::Reader::getGas() const {
+  return _reader.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::Builder::getGas() {
+  return _builder.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setGas(float value) {
+  _builder.setDataField<float>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::Reader::getGasPressed() const {
+  return _reader.getDataField<bool>(
+      64 * ::capnp::ELEMENTS);
+}
+
+inline bool CarState::Builder::getGasPressed() {
+  return _builder.getDataField<bool>(
+      64 * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setGasPressed(bool value) {
+  _builder.setDataField<bool>(
+      64 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarState::Reader::getBrake() const {
+  return _reader.getDataField<float>(
+      3 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::Builder::getBrake() {
+  return _builder.getDataField<float>(
+      3 * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setBrake(float value) {
+  _builder.setDataField<float>(
+      3 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::Reader::getBrakePressed() const {
+  return _reader.getDataField<bool>(
+      65 * ::capnp::ELEMENTS);
+}
+
+inline bool CarState::Builder::getBrakePressed() {
+  return _builder.getDataField<bool>(
+      65 * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setBrakePressed(bool value) {
+  _builder.setDataField<bool>(
+      65 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarState::Reader::getSteeringAngle() const {
+  return _reader.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::Builder::getSteeringAngle() {
+  return _builder.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setSteeringAngle(float value) {
+  _builder.setDataField<float>(
+      4 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarState::Reader::getSteeringTorque() const {
+  return _reader.getDataField<float>(
+      5 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::Builder::getSteeringTorque() {
+  return _builder.getDataField<float>(
+      5 * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setSteeringTorque(float value) {
+  _builder.setDataField<float>(
+      5 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::Reader::getSteeringPressed() const {
+  return _reader.getDataField<bool>(
+      66 * ::capnp::ELEMENTS);
+}
+
+inline bool CarState::Builder::getSteeringPressed() {
+  return _builder.getDataField<bool>(
+      66 * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setSteeringPressed(bool value) {
+  _builder.setDataField<bool>(
+      66 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::Reader::hasCruiseState() const {
+  return !_reader.getPointerField(2 * ::capnp::POINTERS).isNull();
+}
+inline bool CarState::Builder::hasCruiseState() {
+  return !_builder.getPointerField(2 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarState::CruiseState::Reader CarState::Reader::getCruiseState() const {
+  return ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::get(
+      _reader.getPointerField(2 * ::capnp::POINTERS));
+}
+inline  ::cereal::CarState::CruiseState::Builder CarState::Builder::getCruiseState() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::get(
+      _builder.getPointerField(2 * ::capnp::POINTERS));
+}
+#if !CAPNP_LITE
+inline  ::cereal::CarState::CruiseState::Pipeline CarState::Pipeline::getCruiseState() {
+  return  ::cereal::CarState::CruiseState::Pipeline(_typeless.getPointerField(2));
+}
+#endif  // !CAPNP_LITE
+inline void CarState::Builder::setCruiseState( ::cereal::CarState::CruiseState::Reader value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::set(
+      _builder.getPointerField(2 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarState::CruiseState::Builder CarState::Builder::initCruiseState() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::init(
+      _builder.getPointerField(2 * ::capnp::POINTERS));
+}
+inline void CarState::Builder::adoptCruiseState(
+    ::capnp::Orphan< ::cereal::CarState::CruiseState>&& value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::adopt(
+      _builder.getPointerField(2 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarState::CruiseState> CarState::Builder::disownCruiseState() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarState::CruiseState>::disown(
+      _builder.getPointerField(2 * ::capnp::POINTERS));
+}
+
+inline bool CarState::Reader::hasButtonEvents() const {
+  return !_reader.getPointerField(3 * ::capnp::POINTERS).isNull();
+}
+inline bool CarState::Builder::hasButtonEvents() {
+  return !_builder.getPointerField(3 * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::List< ::cereal::CarState::ButtonEvent>::Reader CarState::Reader::getButtonEvents() const {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent>>::get(
+      _reader.getPointerField(3 * ::capnp::POINTERS));
+}
+inline  ::capnp::List< ::cereal::CarState::ButtonEvent>::Builder CarState::Builder::getButtonEvents() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent>>::get(
+      _builder.getPointerField(3 * ::capnp::POINTERS));
+}
+inline void CarState::Builder::setButtonEvents( ::capnp::List< ::cereal::CarState::ButtonEvent>::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent>>::set(
+      _builder.getPointerField(3 * ::capnp::POINTERS), value);
+}
+inline  ::capnp::List< ::cereal::CarState::ButtonEvent>::Builder CarState::Builder::initButtonEvents(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent>>::init(
+      _builder.getPointerField(3 * ::capnp::POINTERS), size);
+}
+inline void CarState::Builder::adoptButtonEvents(
+    ::capnp::Orphan< ::capnp::List< ::cereal::CarState::ButtonEvent>>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent>>::adopt(
+      _builder.getPointerField(3 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::List< ::cereal::CarState::ButtonEvent>> CarState::Builder::disownButtonEvents() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::CarState::ButtonEvent>>::disown(
+      _builder.getPointerField(3 * ::capnp::POINTERS));
+}
+
+inline bool CarState::Reader::hasCanMonoTimes() const {
+  return !_reader.getPointerField(4 * ::capnp::POINTERS).isNull();
+}
+inline bool CarState::Builder::hasCanMonoTimes() {
+  return !_builder.getPointerField(4 * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::List< ::uint64_t>::Reader CarState::Reader::getCanMonoTimes() const {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::get(
+      _reader.getPointerField(4 * ::capnp::POINTERS));
+}
+inline  ::capnp::List< ::uint64_t>::Builder CarState::Builder::getCanMonoTimes() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::get(
+      _builder.getPointerField(4 * ::capnp::POINTERS));
+}
+inline void CarState::Builder::setCanMonoTimes( ::capnp::List< ::uint64_t>::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::set(
+      _builder.getPointerField(4 * ::capnp::POINTERS), value);
+}
+inline void CarState::Builder::setCanMonoTimes(::kj::ArrayPtr<const  ::uint64_t> value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::set(
+      _builder.getPointerField(4 * ::capnp::POINTERS), value);
+}
+inline  ::capnp::List< ::uint64_t>::Builder CarState::Builder::initCanMonoTimes(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::init(
+      _builder.getPointerField(4 * ::capnp::POINTERS), size);
+}
+inline void CarState::Builder::adoptCanMonoTimes(
+    ::capnp::Orphan< ::capnp::List< ::uint64_t>>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::adopt(
+      _builder.getPointerField(4 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::List< ::uint64_t>> CarState::Builder::disownCanMonoTimes() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::disown(
+      _builder.getPointerField(4 * ::capnp::POINTERS));
+}
+
+inline float CarState::WheelSpeeds::Reader::getFl() const {
+  return _reader.getDataField<float>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::WheelSpeeds::Builder::getFl() {
+  return _builder.getDataField<float>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void CarState::WheelSpeeds::Builder::setFl(float value) {
+  _builder.setDataField<float>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarState::WheelSpeeds::Reader::getFr() const {
+  return _reader.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::WheelSpeeds::Builder::getFr() {
+  return _builder.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarState::WheelSpeeds::Builder::setFr(float value) {
+  _builder.setDataField<float>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarState::WheelSpeeds::Reader::getRl() const {
+  return _reader.getDataField<float>(
+      2 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::WheelSpeeds::Builder::getRl() {
+  return _builder.getDataField<float>(
+      2 * ::capnp::ELEMENTS);
+}
+inline void CarState::WheelSpeeds::Builder::setRl(float value) {
+  _builder.setDataField<float>(
+      2 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarState::WheelSpeeds::Reader::getRr() const {
+  return _reader.getDataField<float>(
+      3 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::WheelSpeeds::Builder::getRr() {
+  return _builder.getDataField<float>(
+      3 * ::capnp::ELEMENTS);
+}
+inline void CarState::WheelSpeeds::Builder::setRr(float value) {
+  _builder.setDataField<float>(
+      3 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::CruiseState::Reader::getEnabled() const {
+  return _reader.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline bool CarState::CruiseState::Builder::getEnabled() {
+  return _builder.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void CarState::CruiseState::Builder::setEnabled(bool value) {
+  _builder.setDataField<bool>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarState::CruiseState::Reader::getSpeed() const {
+  return _reader.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline float CarState::CruiseState::Builder::getSpeed() {
+  return _builder.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarState::CruiseState::Builder::setSpeed(float value) {
+  _builder.setDataField<float>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::ButtonEvent::Reader::getPressed() const {
+  return _reader.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline bool CarState::ButtonEvent::Builder::getPressed() {
+  return _builder.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void CarState::ButtonEvent::Builder::setPressed(bool value) {
+  _builder.setDataField<bool>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline  ::cereal::CarState::ButtonEvent::Type CarState::ButtonEvent::Reader::getType() const {
+  return _reader.getDataField< ::cereal::CarState::ButtonEvent::Type>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::CarState::ButtonEvent::Type CarState::ButtonEvent::Builder::getType() {
+  return _builder.getDataField< ::cereal::CarState::ButtonEvent::Type>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarState::ButtonEvent::Builder::setType( ::cereal::CarState::ButtonEvent::Type value) {
+  _builder.setDataField< ::cereal::CarState::ButtonEvent::Type>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline bool RadarState::Reader::hasErrors() const {
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool RadarState::Builder::hasErrors() {
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::List< ::cereal::RadarState::Error>::Reader RadarState::Reader::getErrors() const {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::Error>>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::capnp::List< ::cereal::RadarState::Error>::Builder RadarState::Builder::getErrors() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::Error>>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void RadarState::Builder::setErrors( ::capnp::List< ::cereal::RadarState::Error>::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::Error>>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline void RadarState::Builder::setErrors(::kj::ArrayPtr<const  ::cereal::RadarState::Error> value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::Error>>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::capnp::List< ::cereal::RadarState::Error>::Builder RadarState::Builder::initErrors(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::Error>>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS), size);
+}
+inline void RadarState::Builder::adoptErrors(
+    ::capnp::Orphan< ::capnp::List< ::cereal::RadarState::Error>>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::Error>>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarState::Error>> RadarState::Builder::disownErrors() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::Error>>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
+inline bool RadarState::Reader::hasPoints() const {
+  return !_reader.getPointerField(1 * ::capnp::POINTERS).isNull();
+}
+inline bool RadarState::Builder::hasPoints() {
+  return !_builder.getPointerField(1 * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::List< ::cereal::RadarState::RadarPoint>::Reader RadarState::Reader::getPoints() const {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::RadarPoint>>::get(
+      _reader.getPointerField(1 * ::capnp::POINTERS));
+}
+inline  ::capnp::List< ::cereal::RadarState::RadarPoint>::Builder RadarState::Builder::getPoints() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::RadarPoint>>::get(
+      _builder.getPointerField(1 * ::capnp::POINTERS));
+}
+inline void RadarState::Builder::setPoints( ::capnp::List< ::cereal::RadarState::RadarPoint>::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::RadarPoint>>::set(
+      _builder.getPointerField(1 * ::capnp::POINTERS), value);
+}
+inline  ::capnp::List< ::cereal::RadarState::RadarPoint>::Builder RadarState::Builder::initPoints(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::RadarPoint>>::init(
+      _builder.getPointerField(1 * ::capnp::POINTERS), size);
+}
+inline void RadarState::Builder::adoptPoints(
+    ::capnp::Orphan< ::capnp::List< ::cereal::RadarState::RadarPoint>>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::RadarPoint>>::adopt(
+      _builder.getPointerField(1 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::List< ::cereal::RadarState::RadarPoint>> RadarState::Builder::disownPoints() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::cereal::RadarState::RadarPoint>>::disown(
+      _builder.getPointerField(1 * ::capnp::POINTERS));
+}
+
+inline bool RadarState::Reader::hasCanMonoTimes() const {
+  return !_reader.getPointerField(2 * ::capnp::POINTERS).isNull();
+}
+inline bool RadarState::Builder::hasCanMonoTimes() {
+  return !_builder.getPointerField(2 * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::List< ::uint64_t>::Reader RadarState::Reader::getCanMonoTimes() const {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::get(
+      _reader.getPointerField(2 * ::capnp::POINTERS));
+}
+inline  ::capnp::List< ::uint64_t>::Builder RadarState::Builder::getCanMonoTimes() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::get(
+      _builder.getPointerField(2 * ::capnp::POINTERS));
+}
+inline void RadarState::Builder::setCanMonoTimes( ::capnp::List< ::uint64_t>::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::set(
+      _builder.getPointerField(2 * ::capnp::POINTERS), value);
+}
+inline void RadarState::Builder::setCanMonoTimes(::kj::ArrayPtr<const  ::uint64_t> value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::set(
+      _builder.getPointerField(2 * ::capnp::POINTERS), value);
+}
+inline  ::capnp::List< ::uint64_t>::Builder RadarState::Builder::initCanMonoTimes(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::init(
+      _builder.getPointerField(2 * ::capnp::POINTERS), size);
+}
+inline void RadarState::Builder::adoptCanMonoTimes(
+    ::capnp::Orphan< ::capnp::List< ::uint64_t>>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::adopt(
+      _builder.getPointerField(2 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::List< ::uint64_t>> RadarState::Builder::disownCanMonoTimes() {
+  return ::capnp::_::PointerHelpers< ::capnp::List< ::uint64_t>>::disown(
+      _builder.getPointerField(2 * ::capnp::POINTERS));
+}
+
+inline  ::uint64_t RadarState::RadarPoint::Reader::getTrackId() const {
+  return _reader.getDataField< ::uint64_t>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline  ::uint64_t RadarState::RadarPoint::Builder::getTrackId() {
+  return _builder.getDataField< ::uint64_t>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void RadarState::RadarPoint::Builder::setTrackId( ::uint64_t value) {
+  _builder.setDataField< ::uint64_t>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline float RadarState::RadarPoint::Reader::getDRel() const {
+  return _reader.getDataField<float>(
+      2 * ::capnp::ELEMENTS);
+}
+
+inline float RadarState::RadarPoint::Builder::getDRel() {
+  return _builder.getDataField<float>(
+      2 * ::capnp::ELEMENTS);
+}
+inline void RadarState::RadarPoint::Builder::setDRel(float value) {
+  _builder.setDataField<float>(
+      2 * ::capnp::ELEMENTS, value);
+}
+
+inline float RadarState::RadarPoint::Reader::getYRel() const {
+  return _reader.getDataField<float>(
+      3 * ::capnp::ELEMENTS);
+}
+
+inline float RadarState::RadarPoint::Builder::getYRel() {
+  return _builder.getDataField<float>(
+      3 * ::capnp::ELEMENTS);
+}
+inline void RadarState::RadarPoint::Builder::setYRel(float value) {
+  _builder.setDataField<float>(
+      3 * ::capnp::ELEMENTS, value);
+}
+
+inline float RadarState::RadarPoint::Reader::getVRel() const {
+  return _reader.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+
+inline float RadarState::RadarPoint::Builder::getVRel() {
+  return _builder.getDataField<float>(
+      4 * ::capnp::ELEMENTS);
+}
+inline void RadarState::RadarPoint::Builder::setVRel(float value) {
+  _builder.setDataField<float>(
+      4 * ::capnp::ELEMENTS, value);
+}
+
+inline float RadarState::RadarPoint::Reader::getARel() const {
+  return _reader.getDataField<float>(
+      5 * ::capnp::ELEMENTS);
+}
+
+inline float RadarState::RadarPoint::Builder::getARel() {
+  return _builder.getDataField<float>(
+      5 * ::capnp::ELEMENTS);
+}
+inline void RadarState::RadarPoint::Builder::setARel(float value) {
+  _builder.setDataField<float>(
+      5 * ::capnp::ELEMENTS, value);
+}
+
+inline float RadarState::RadarPoint::Reader::getYvRel() const {
+  return _reader.getDataField<float>(
+      6 * ::capnp::ELEMENTS);
+}
+
+inline float RadarState::RadarPoint::Builder::getYvRel() {
+  return _builder.getDataField<float>(
+      6 * ::capnp::ELEMENTS);
+}
+inline void RadarState::RadarPoint::Builder::setYvRel(float value) {
+  _builder.setDataField<float>(
+      6 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarControl::Reader::getEnabled() const {
+  return _reader.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline bool CarControl::Builder::getEnabled() {
+  return _builder.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void CarControl::Builder::setEnabled(bool value) {
+  _builder.setDataField<bool>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarControl::Reader::getGas() const {
+  return _reader.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline float CarControl::Builder::getGas() {
+  return _builder.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarControl::Builder::setGas(float value) {
+  _builder.setDataField<float>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarControl::Reader::getBrake() const {
+  return _reader.getDataField<float>(
+      2 * ::capnp::ELEMENTS);
+}
+
+inline float CarControl::Builder::getBrake() {
+  return _builder.getDataField<float>(
+      2 * ::capnp::ELEMENTS);
+}
+inline void CarControl::Builder::setBrake(float value) {
+  _builder.setDataField<float>(
+      2 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarControl::Reader::getSteeringTorque() const {
+  return _reader.getDataField<float>(
+      3 * ::capnp::ELEMENTS);
+}
+
+inline float CarControl::Builder::getSteeringTorque() {
+  return _builder.getDataField<float>(
+      3 * ::capnp::ELEMENTS);
+}
+inline void CarControl::Builder::setSteeringTorque(float value) {
+  _builder.setDataField<float>(
+      3 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarControl::Reader::hasCruiseControl() const {
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool CarControl::Builder::hasCruiseControl() {
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarControl::CruiseControl::Reader CarControl::Reader::getCruiseControl() const {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::cereal::CarControl::CruiseControl::Builder CarControl::Builder::getCruiseControl() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+#if !CAPNP_LITE
+inline  ::cereal::CarControl::CruiseControl::Pipeline CarControl::Pipeline::getCruiseControl() {
+  return  ::cereal::CarControl::CruiseControl::Pipeline(_typeless.getPointerField(0));
+}
+#endif  // !CAPNP_LITE
+inline void CarControl::Builder::setCruiseControl( ::cereal::CarControl::CruiseControl::Reader value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarControl::CruiseControl::Builder CarControl::Builder::initCruiseControl() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void CarControl::Builder::adoptCruiseControl(
+    ::capnp::Orphan< ::cereal::CarControl::CruiseControl>&& value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarControl::CruiseControl> CarControl::Builder::disownCruiseControl() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::CruiseControl>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
+inline bool CarControl::Reader::hasHudControl() const {
+  return !_reader.getPointerField(1 * ::capnp::POINTERS).isNull();
+}
+inline bool CarControl::Builder::hasHudControl() {
+  return !_builder.getPointerField(1 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarControl::HUDControl::Reader CarControl::Reader::getHudControl() const {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::get(
+      _reader.getPointerField(1 * ::capnp::POINTERS));
+}
+inline  ::cereal::CarControl::HUDControl::Builder CarControl::Builder::getHudControl() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::get(
+      _builder.getPointerField(1 * ::capnp::POINTERS));
+}
+#if !CAPNP_LITE
+inline  ::cereal::CarControl::HUDControl::Pipeline CarControl::Pipeline::getHudControl() {
+  return  ::cereal::CarControl::HUDControl::Pipeline(_typeless.getPointerField(1));
+}
+#endif  // !CAPNP_LITE
+inline void CarControl::Builder::setHudControl( ::cereal::CarControl::HUDControl::Reader value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::set(
+      _builder.getPointerField(1 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarControl::HUDControl::Builder CarControl::Builder::initHudControl() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::init(
+      _builder.getPointerField(1 * ::capnp::POINTERS));
+}
+inline void CarControl::Builder::adoptHudControl(
+    ::capnp::Orphan< ::cereal::CarControl::HUDControl>&& value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::adopt(
+      _builder.getPointerField(1 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarControl::HUDControl> CarControl::Builder::disownHudControl() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::HUDControl>::disown(
+      _builder.getPointerField(1 * ::capnp::POINTERS));
+}
+
+inline bool CarControl::CruiseControl::Reader::getCancel() const {
+  return _reader.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline bool CarControl::CruiseControl::Builder::getCancel() {
+  return _builder.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void CarControl::CruiseControl::Builder::setCancel(bool value) {
+  _builder.setDataField<bool>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarControl::CruiseControl::Reader::getOverride() const {
+  return _reader.getDataField<bool>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline bool CarControl::CruiseControl::Builder::getOverride() {
+  return _builder.getDataField<bool>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarControl::CruiseControl::Builder::setOverride(bool value) {
+  _builder.setDataField<bool>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarControl::CruiseControl::Reader::getSpeedOverride() const {
+  return _reader.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline float CarControl::CruiseControl::Builder::getSpeedOverride() {
+  return _builder.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarControl::CruiseControl::Builder::setSpeedOverride(float value) {
+  _builder.setDataField<float>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarControl::CruiseControl::Reader::getAccelOverride() const {
+  return _reader.getDataField<float>(
+      2 * ::capnp::ELEMENTS);
+}
+
+inline float CarControl::CruiseControl::Builder::getAccelOverride() {
+  return _builder.getDataField<float>(
+      2 * ::capnp::ELEMENTS);
+}
+inline void CarControl::CruiseControl::Builder::setAccelOverride(float value) {
+  _builder.setDataField<float>(
+      2 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarControl::HUDControl::Reader::getSpeedVisible() const {
+  return _reader.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline bool CarControl::HUDControl::Builder::getSpeedVisible() {
+  return _builder.getDataField<bool>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void CarControl::HUDControl::Builder::setSpeedVisible(bool value) {
+  _builder.setDataField<bool>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline float CarControl::HUDControl::Reader::getSetSpeed() const {
+  return _reader.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline float CarControl::HUDControl::Builder::getSetSpeed() {
+  return _builder.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarControl::HUDControl::Builder::setSetSpeed(float value) {
+  _builder.setDataField<float>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarControl::HUDControl::Reader::getLanesVisible() const {
+  return _reader.getDataField<bool>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline bool CarControl::HUDControl::Builder::getLanesVisible() {
+  return _builder.getDataField<bool>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarControl::HUDControl::Builder::setLanesVisible(bool value) {
+  _builder.setDataField<bool>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarControl::HUDControl::Reader::getLeadVisible() const {
+  return _reader.getDataField<bool>(
+      2 * ::capnp::ELEMENTS);
+}
+
+inline bool CarControl::HUDControl::Builder::getLeadVisible() {
+  return _builder.getDataField<bool>(
+      2 * ::capnp::ELEMENTS);
+}
+inline void CarControl::HUDControl::Builder::setLeadVisible(bool value) {
+  _builder.setDataField<bool>(
+      2 * ::capnp::ELEMENTS, value);
+}
+
+inline  ::cereal::CarControl::HUDControl::VisualAlert CarControl::HUDControl::Reader::getVisualAlert() const {
+  return _reader.getDataField< ::cereal::CarControl::HUDControl::VisualAlert>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::CarControl::HUDControl::VisualAlert CarControl::HUDControl::Builder::getVisualAlert() {
+  return _builder.getDataField< ::cereal::CarControl::HUDControl::VisualAlert>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void CarControl::HUDControl::Builder::setVisualAlert( ::cereal::CarControl::HUDControl::VisualAlert value) {
+  _builder.setDataField< ::cereal::CarControl::HUDControl::VisualAlert>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline  ::cereal::CarControl::HUDControl::AudibleAlert CarControl::HUDControl::Reader::getAudibleAlert() const {
+  return _reader.getDataField< ::cereal::CarControl::HUDControl::AudibleAlert>(
+      4 * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::CarControl::HUDControl::AudibleAlert CarControl::HUDControl::Builder::getAudibleAlert() {
+  return _builder.getDataField< ::cereal::CarControl::HUDControl::AudibleAlert>(
+      4 * ::capnp::ELEMENTS);
+}
+inline void CarControl::HUDControl::Builder::setAudibleAlert( ::cereal::CarControl::HUDControl::AudibleAlert value) {
+  _builder.setDataField< ::cereal::CarControl::HUDControl::AudibleAlert>(
+      4 * ::capnp::ELEMENTS, value);
+}
+
+}  // namespace
+
+#endif  // CAPNP_INCLUDED_8e2af1e708af8b8d_
diff --git a/cereal/gen/cpp/log.capnp.c++ b/cereal/gen/cpp/log.capnp.c++
index 4ffc7516ca..99178add84 100644
--- a/cereal/gen/cpp/log.capnp.c++
+++ b/cereal/gen/cpp/log.capnp.c++
@@ -329,7 +329,7 @@ const ::capnp::_::RawSchema s_9d291d7813ba4a88 = {
   0, 3, i_9d291d7813ba4a88, nullptr, nullptr, { &s_9d291d7813ba4a88, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
+static const ::capnp::_::AlignedData<165> b_a2b29a69d44529a1 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     161,  41,  69, 212, 105, 154, 178, 162,
      10,   0,   0,   0,   1,   0,   3,   0,
@@ -337,77 +337,88 @@ static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
       1,   0,   7,   0,   0,   0,   4,   0,
       6,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 210,   0,   0,   0,
-     33,   0,   0,   0,  23,   0,   0,   0,
+     33,   0,   0,   0,  39,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     45,   0,   0,   0, 199,   1,   0,   0,
+     61,   0,   0,   0, 255,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  83, 101, 110, 115, 111, 114,
      69, 118, 101, 110, 116,  68,  97, 116,
      97,   0,   0,   0,   0,   0,   0,   0,
-      4,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   1,   0,   1,   0,
     252,  36, 252,  43, 189,  41,  52, 164,
-      1,   0,   0,   0,  82,   0,   0,   0,
+      9,   0,   0,   0,  82,   0,   0,   0,
+     13, 141, 244, 247, 232,  60, 155, 228,
+      9,   0,   0,   0, 106,   0,   0,   0,
      83, 101, 110, 115, 111, 114,  86, 101,
      99,   0,   0,   0,   0,   0,   0,   0,
-     32,   0,   0,   0,   3,   0,   4,   0,
+     83, 101, 110, 115, 111, 114,  83, 111,
+    117, 114,  99, 101,   0,   0,   0,   0,
+     36,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   0,   0,   0,  66,   0,   0,   0,
+    237,   0,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    204,   0,   0,   0,   3,   0,   1,   0,
-    216,   0,   0,   0,   2,   0,   1,   0,
+    232,   0,   0,   0,   3,   0,   1,   0,
+    244,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    213,   0,   0,   0,  58,   0,   0,   0,
+    241,   0,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    208,   0,   0,   0,   3,   0,   1,   0,
-    220,   0,   0,   0,   2,   0,   1,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    217,   0,   0,   0,  42,   0,   0,   0,
+    245,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    212,   0,   0,   0,   3,   0,   1,   0,
-    224,   0,   0,   0,   2,   0,   1,   0,
+    240,   0,   0,   0,   3,   0,   1,   0,
+    252,   0,   0,   0,   2,   0,   1,   0,
       3,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    221,   0,   0,   0,  82,   0,   0,   0,
+    249,   0,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    220,   0,   0,   0,   3,   0,   1,   0,
-    232,   0,   0,   0,   2,   0,   1,   0,
+    248,   0,   0,   0,   3,   0,   1,   0,
+      4,   1,   0,   0,   2,   0,   1,   0,
       4,   0, 255, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    229,   0,   0,   0, 106,   0,   0,   0,
+      1,   1,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    228,   0,   0,   0,   3,   0,   1,   0,
-    240,   0,   0,   0,   2,   0,   1,   0,
+      0,   1,   0,   0,   3,   0,   1,   0,
+     12,   1,   0,   0,   2,   0,   1,   0,
       5,   0, 254, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    237,   0,   0,   0,  74,   0,   0,   0,
+      9,   1,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    236,   0,   0,   0,   3,   0,   1,   0,
-    248,   0,   0,   0,   2,   0,   1,   0,
+      8,   1,   0,   0,   3,   0,   1,   0,
+     20,   1,   0,   0,   2,   0,   1,   0,
       6,   0, 253, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    245,   0,   0,   0,  98,   0,   0,   0,
+     17,   1,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    244,   0,   0,   0,   3,   0,   1,   0,
-      0,   1,   0,   0,   2,   0,   1,   0,
+     16,   1,   0,   0,   3,   0,   1,   0,
+     28,   1,   0,   0,   2,   0,   1,   0,
       7,   0, 252, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    253,   0,   0,   0,  42,   0,   0,   0,
+     25,   1,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    248,   0,   0,   0,   3,   0,   1,   0,
-      4,   1,   0,   0,   2,   0,   1,   0,
+     20,   1,   0,   0,   3,   0,   1,   0,
+     32,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   1,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     24,   1,   0,   0,   3,   0,   1,   0,
+     36,   1,   0,   0,   2,   0,   1,   0,
     118, 101, 114, 115, 105, 111, 110,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -474,6 +485,14 @@ static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 111, 117, 114,  99, 101,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+     13, 141, 244, 247, 232,  60, 155, 228,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
@@ -481,12 +500,13 @@ static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
 #if !CAPNP_LITE
 static const ::capnp::_::RawSchema* const d_a2b29a69d44529a1[] = {
   &s_a43429bd2bfc24fc,
+  &s_e49b3ce8f7f48d0d,
 };
-static const uint16_t m_a2b29a69d44529a1[] = {4, 7, 5, 6, 1, 3, 2, 0};
-static const uint16_t i_a2b29a69d44529a1[] = {4, 5, 6, 7, 0, 1, 2, 3};
+static const uint16_t m_a2b29a69d44529a1[] = {4, 7, 5, 6, 1, 8, 3, 2, 0};
+static const uint16_t i_a2b29a69d44529a1[] = {4, 5, 6, 7, 0, 1, 2, 3, 8};
 const ::capnp::_::RawSchema s_a2b29a69d44529a1 = {
-  0xa2b29a69d44529a1, b_a2b29a69d44529a1.words, 146, d_a2b29a69d44529a1, m_a2b29a69d44529a1,
-  1, 8, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr }
+  0xa2b29a69d44529a1, b_a2b29a69d44529a1.words, 165, d_a2b29a69d44529a1, m_a2b29a69d44529a1,
+  2, 9, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<53> b_a43429bd2bfc24fc = {
@@ -553,6 +573,207 @@ const ::capnp::_::RawSchema s_a43429bd2bfc24fc = {
   0, 2, i_a43429bd2bfc24fc, nullptr, nullptr, { &s_a43429bd2bfc24fc, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<36> b_e49b3ce8f7f48d0d = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     13, 141, 244, 247, 232,  60, 155, 228,
+     26,   0,   0,   0,   2,   0,   0,   0,
+    161,  41,  69, 212, 105, 154, 178, 162,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  58,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 103,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108, 111, 103,  46,  99,  97, 112, 110,
+    112,  58,  83, 101, 110, 115, 111, 114,
+     69, 118, 101, 110, 116,  68,  97, 116,
+     97,  46,  83, 101, 110, 115, 111, 114,
+     83, 111, 117, 114,  99, 101,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     16,   0,   0,   0,   1,   0,   2,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      2,   0,   0,   0,   0,   0,   0,   0,
+     25,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+     17,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97, 110, 100, 114, 111, 105, 100,   0,
+    105,  79,  83,   0,   0,   0,   0,   0,
+    102, 105,  98, 101, 114,   0,   0,   0,
+    118, 101, 108, 111, 100, 121, 110, 101,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_e49b3ce8f7f48d0d = b_e49b3ce8f7f48d0d.words;
+#if !CAPNP_LITE
+static const uint16_t m_e49b3ce8f7f48d0d[] = {0, 2, 1, 3};
+const ::capnp::_::RawSchema s_e49b3ce8f7f48d0d = {
+  0xe49b3ce8f7f48d0d, b_e49b3ce8f7f48d0d.words, 36, nullptr, m_e49b3ce8f7f48d0d,
+  0, 4, nullptr, nullptr, nullptr, { &s_e49b3ce8f7f48d0d, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+CAPNP_DEFINE_ENUM(SensorSource_e49b3ce8f7f48d0d, e49b3ce8f7f48d0d);
+static const ::capnp::_::AlignedData<143> b_e946524859add50e = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     14, 213, 173,  89,  72,  82,  70, 233,
+     10,   0,   0,   0,   1,   0,   6,   0,
+     91,  40, 164,  37, 126, 241, 177, 243,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 210,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0, 199,   1,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108, 111, 103,  46,  99,  97, 112, 110,
+    112,  58,  71, 112, 115,  76, 111,  99,
+     97, 116, 105, 111, 110,  68,  97, 116,
+     97,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     32,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    209,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    204,   0,   0,   0,   3,   0,   1,   0,
+    216,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    213,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    212,   0,   0,   0,   3,   0,   1,   0,
+    224,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    221,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    220,   0,   0,   0,   3,   0,   1,   0,
+    232,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    229,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    228,   0,   0,   0,   3,   0,   1,   0,
+    240,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    237,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    232,   0,   0,   0,   3,   0,   1,   0,
+    244,   0,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   8,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    241,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   9,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    245,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    244,   0,   0,   0,   3,   0,   1,   0,
+      0,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    253,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    252,   0,   0,   0,   3,   0,   1,   0,
+      8,   1,   0,   0,   2,   0,   1,   0,
+    102, 108,  97, 103, 115,   0,   0,   0,
+      7,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      7,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,  97, 116, 105, 116, 117, 100, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108, 111, 110, 103, 105, 116, 117, 100,
+    101,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97, 108, 116, 105, 116, 117, 100, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 112, 101, 101, 100,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98, 101,  97, 114, 105, 110, 103,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97,  99,  99, 117, 114,  97,  99, 121,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116, 105, 109, 101, 115, 116,  97, 109,
+    112,   0,   0,   0,   0,   0,   0,   0,
+      5,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_e946524859add50e = b_e946524859add50e.words;
+#if !CAPNP_LITE
+static const uint16_t m_e946524859add50e[] = {6, 3, 5, 0, 1, 2, 4, 7};
+static const uint16_t i_e946524859add50e[] = {0, 1, 2, 3, 4, 5, 6, 7};
+const ::capnp::_::RawSchema s_e946524859add50e = {
+  0xe946524859add50e, b_e946524859add50e.words, 143, nullptr, m_e946524859add50e,
+  0, 8, i_e946524859add50e, nullptr, nullptr, { &s_e946524859add50e, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<77> b_8785009a964c7c59 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      89, 124,  76, 150, 154,   0, 133, 135,
@@ -641,7 +862,7 @@ const ::capnp::_::RawSchema s_8785009a964c7c59 = {
   0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
+static const ::capnp::_::AlignedData<154> b_8d8231a40b7fe6e0 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     224, 230, 127,  11, 164,  49, 130, 141,
      10,   0,   0,   0,   1,   0,   3,   0,
@@ -651,70 +872,77 @@ static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
      21,   0,   0,   0, 178,   0,   0,   0,
      29,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0, 199,   1,   0,   0,
+     25,   0,   0,   0, 255,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  84, 104, 101, 114, 109,  97,
     108,  68,  97, 116,  97,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     32,   0,   0,   0,   3,   0,   4,   0,
+     36,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   0,   0,   0,  42,   0,   0,   0,
+    237,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    204,   0,   0,   0,   3,   0,   1,   0,
-    216,   0,   0,   0,   2,   0,   1,   0,
+    232,   0,   0,   0,   3,   0,   1,   0,
+    244,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    213,   0,   0,   0,  42,   0,   0,   0,
+    241,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    208,   0,   0,   0,   3,   0,   1,   0,
-    220,   0,   0,   0,   2,   0,   1,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    217,   0,   0,   0,  42,   0,   0,   0,
+    245,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    212,   0,   0,   0,   3,   0,   1,   0,
-    224,   0,   0,   0,   2,   0,   1,   0,
+    240,   0,   0,   0,   3,   0,   1,   0,
+    252,   0,   0,   0,   2,   0,   1,   0,
       3,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    221,   0,   0,   0,  42,   0,   0,   0,
+    249,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    216,   0,   0,   0,   3,   0,   1,   0,
-    228,   0,   0,   0,   2,   0,   1,   0,
+    244,   0,   0,   0,   3,   0,   1,   0,
+      0,   1,   0,   0,   2,   0,   1,   0,
       4,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    225,   0,   0,   0,  34,   0,   0,   0,
+    253,   0,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    220,   0,   0,   0,   3,   0,   1,   0,
-    232,   0,   0,   0,   2,   0,   1,   0,
+    248,   0,   0,   0,   3,   0,   1,   0,
+      4,   1,   0,   0,   2,   0,   1,   0,
       5,   0,   0,   0,   5,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    229,   0,   0,   0,  34,   0,   0,   0,
+      1,   1,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    224,   0,   0,   0,   3,   0,   1,   0,
-    236,   0,   0,   0,   2,   0,   1,   0,
+    252,   0,   0,   0,   3,   0,   1,   0,
+      8,   1,   0,   0,   2,   0,   1,   0,
       6,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    233,   0,   0,   0,  34,   0,   0,   0,
+      5,   1,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    228,   0,   0,   0,   3,   0,   1,   0,
-    240,   0,   0,   0,   2,   0,   1,   0,
+      0,   1,   0,   0,   3,   0,   1,   0,
+     12,   1,   0,   0,   2,   0,   1,   0,
       7,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    237,   0,   0,   0,  82,   0,   0,   0,
+      9,   1,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    236,   0,   0,   0,   3,   0,   1,   0,
-    248,   0,   0,   0,   2,   0,   1,   0,
+      8,   1,   0,   0,   3,   0,   1,   0,
+     20,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,  10,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     17,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   1,   0,   0,   3,   0,   1,   0,
+     28,   1,   0,   0,   2,   0,   1,   0,
      99, 112, 117,  48,   0,   0,   0,   0,
       7,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -778,16 +1006,25 @@ static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98,  97, 116, 116, 101, 114, 121,  80,
+    101, 114,  99, 101, 110, 116,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_8d8231a40b7fe6e0 = b_8d8231a40b7fe6e0.words;
 #if !CAPNP_LITE
-static const uint16_t m_8d8231a40b7fe6e0[] = {6, 0, 1, 2, 3, 7, 5, 4};
-static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7};
+static const uint16_t m_8d8231a40b7fe6e0[] = {6, 8, 0, 1, 2, 3, 7, 5, 4};
+static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
 const ::capnp::_::RawSchema s_8d8231a40b7fe6e0 = {
-  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 138, nullptr, m_8d8231a40b7fe6e0,
-  0, 8, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
+  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 154, nullptr, m_8d8231a40b7fe6e0,
+  0, 9, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<112> b_cfa2b0c2c82af1e4 = {
@@ -3102,170 +3339,184 @@ const ::capnp::_::RawSchema s_9811e1f38f62f2d1 = {
   0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<366> b_d314cfd957229c11 = {
+static const ::capnp::_::AlignedData<398> b_d314cfd957229c11 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      17, 156,  34,  87, 217, 207,  20, 211,
      10,   0,   0,   0,   1,   0,   2,   0,
      91,  40, 164,  37, 126, 241, 177, 243,
-      1,   0,   7,   0,   0,   0,  20,   0,
+      1,   0,   7,   0,   0,   0,  22,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 130,   0,   0,   0,
      25,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 159,   4,   0,   0,
+     21,   0,   0,   0,  15,   5,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  69, 118, 101, 110, 116,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     84,   0,   0,   0,   3,   0,   4,   0,
+     92,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     61,   2,   0,   0,  98,   0,   0,   0,
+    117,   2,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     60,   2,   0,   0,   3,   0,   1,   0,
-     72,   2,   0,   0,   2,   0,   1,   0,
+    116,   2,   0,   0,   3,   0,   1,   0,
+    128,   2,   0,   0,   2,   0,   1,   0,
       1,   0, 255, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     69,   2,   0,   0,  74,   0,   0,   0,
+    125,   2,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     68,   2,   0,   0,   3,   0,   1,   0,
-     80,   2,   0,   0,   2,   0,   1,   0,
+    124,   2,   0,   0,   3,   0,   1,   0,
+    136,   2,   0,   0,   2,   0,   1,   0,
       2,   0, 254, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     77,   2,   0,   0,  50,   0,   0,   0,
+    133,   2,   0,   0,  50,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     72,   2,   0,   0,   3,   0,   1,   0,
-     84,   2,   0,   0,   2,   0,   1,   0,
+    128,   2,   0,   0,   3,   0,   1,   0,
+    140,   2,   0,   0,   2,   0,   1,   0,
       3,   0, 253, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     81,   2,   0,   0,  66,   0,   0,   0,
+    137,   2,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     76,   2,   0,   0,   3,   0,   1,   0,
-     88,   2,   0,   0,   2,   0,   1,   0,
+    132,   2,   0,   0,   3,   0,   1,   0,
+    144,   2,   0,   0,   2,   0,   1,   0,
       4,   0, 252, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     85,   2,   0,   0, 178,   0,   0,   0,
+    141,   2,   0,   0, 178,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     88,   2,   0,   0,   3,   0,   1,   0,
-    100,   2,   0,   0,   2,   0,   1,   0,
+    144,   2,   0,   0,   3,   0,   1,   0,
+    156,   2,   0,   0,   2,   0,   1,   0,
       5,   0, 251, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     97,   2,   0,   0,  34,   0,   0,   0,
+    153,   2,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     92,   2,   0,   0,   3,   0,   1,   0,
-    120,   2,   0,   0,   2,   0,   1,   0,
+    148,   2,   0,   0,   3,   0,   1,   0,
+    176,   2,   0,   0,   2,   0,   1,   0,
       6,   0, 250, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    117,   2,   0,   0,  66,   0,   0,   0,
+    173,   2,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    112,   2,   0,   0,   3,   0,   1,   0,
-    124,   2,   0,   0,   2,   0,   1,   0,
+    168,   2,   0,   0,   3,   0,   1,   0,
+    180,   2,   0,   0,   2,   0,   1,   0,
       7,   0, 249, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    121,   2,   0,   0,  66,   0,   0,   0,
+    177,   2,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    116,   2,   0,   0,   3,   0,   1,   0,
-    128,   2,   0,   0,   2,   0,   1,   0,
+    172,   2,   0,   0,   3,   0,   1,   0,
+    184,   2,   0,   0,   2,   0,   1,   0,
       8,   0, 248, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   8,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    125,   2,   0,   0, 162,   0,   0,   0,
+    181,   2,   0,   0, 162,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    128,   2,   0,   0,   3,   0,   1,   0,
-    156,   2,   0,   0,   2,   0,   1,   0,
+    184,   2,   0,   0,   3,   0,   1,   0,
+    212,   2,   0,   0,   2,   0,   1,   0,
       9,   0, 247, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   9,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    153,   2,   0,   0,  50,   0,   0,   0,
+    209,   2,   0,   0,  50,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    148,   2,   0,   0,   3,   0,   1,   0,
-    160,   2,   0,   0,   2,   0,   1,   0,
+    204,   2,   0,   0,   3,   0,   1,   0,
+    216,   2,   0,   0,   2,   0,   1,   0,
      10,   0, 246, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  10,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    157,   2,   0,   0,  74,   0,   0,   0,
+    213,   2,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    156,   2,   0,   0,   3,   0,   1,   0,
-    168,   2,   0,   0,   2,   0,   1,   0,
+    212,   2,   0,   0,   3,   0,   1,   0,
+    224,   2,   0,   0,   2,   0,   1,   0,
      11,   0, 245, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  11,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    165,   2,   0,   0, 106,   0,   0,   0,
+    221,   2,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    164,   2,   0,   0,   3,   0,   1,   0,
-    192,   2,   0,   0,   2,   0,   1,   0,
+    220,   2,   0,   0,   3,   0,   1,   0,
+    248,   2,   0,   0,   2,   0,   1,   0,
      12,   0, 244, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  12,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    189,   2,   0,   0,  58,   0,   0,   0,
+    245,   2,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    184,   2,   0,   0,   3,   0,   1,   0,
-    196,   2,   0,   0,   2,   0,   1,   0,
+    240,   2,   0,   0,   3,   0,   1,   0,
+    252,   2,   0,   0,   2,   0,   1,   0,
      13,   0, 243, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  13,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    193,   2,   0,   0,  58,   0,   0,   0,
+    249,   2,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    188,   2,   0,   0,   3,   0,   1,   0,
-    200,   2,   0,   0,   2,   0,   1,   0,
+    244,   2,   0,   0,   3,   0,   1,   0,
+      0,   3,   0,   0,   2,   0,   1,   0,
      14,   0, 242, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  14,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    197,   2,   0,   0, 138,   0,   0,   0,
+    253,   2,   0,   0, 138,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    200,   2,   0,   0,   3,   0,   1,   0,
-    212,   2,   0,   0,   2,   0,   1,   0,
+      0,   3,   0,   0,   3,   0,   1,   0,
+     12,   3,   0,   0,   2,   0,   1,   0,
      15,   0, 241, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  15,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   2,   0,   0,  82,   0,   0,   0,
+      9,   3,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    208,   2,   0,   0,   3,   0,   1,   0,
-    220,   2,   0,   0,   2,   0,   1,   0,
+      8,   3,   0,   0,   3,   0,   1,   0,
+     20,   3,   0,   0,   2,   0,   1,   0,
      16,   0, 240, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  16,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    217,   2,   0,   0,  90,   0,   0,   0,
+     17,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    216,   2,   0,   0,   3,   0,   1,   0,
-    244,   2,   0,   0,   2,   0,   1,   0,
+     16,   3,   0,   0,   3,   0,   1,   0,
+     44,   3,   0,   0,   2,   0,   1,   0,
      17,   0, 239, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  17,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    241,   2,   0,   0,  66,   0,   0,   0,
+     41,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    236,   2,   0,   0,   3,   0,   1,   0,
-      8,   3,   0,   0,   2,   0,   1,   0,
+     36,   3,   0,   0,   3,   0,   1,   0,
+     64,   3,   0,   0,   2,   0,   1,   0,
      18,   0, 238, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  18,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      5,   3,   0,   0,  90,   0,   0,   0,
+     61,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      4,   3,   0,   0,   3,   0,   1,   0,
-     16,   3,   0,   0,   2,   0,   1,   0,
+     60,   3,   0,   0,   3,   0,   1,   0,
+     72,   3,   0,   0,   2,   0,   1,   0,
      19,   0, 237, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  19,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     13,   3,   0,   0, 130,   0,   0,   0,
+     69,   3,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     12,   3,   0,   0,   3,   0,   1,   0,
-     24,   3,   0,   0,   2,   0,   1,   0,
+     68,   3,   0,   0,   3,   0,   1,   0,
+     80,   3,   0,   0,   2,   0,   1,   0,
      20,   0, 236, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  20,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   3,   0,   0, 130,   0,   0,   0,
+     77,   3,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     20,   3,   0,   0,   3,   0,   1,   0,
-     32,   3,   0,   0,   2,   0,   1,   0,
+     76,   3,   0,   0,   3,   0,   1,   0,
+     88,   3,   0,   0,   2,   0,   1,   0,
+     21,   0, 235, 255,   0,   0,   0,   0,
+      0,   0,   1,   0,  21,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     85,   3,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     84,   3,   0,   0,   3,   0,   1,   0,
+     96,   3,   0,   0,   2,   0,   1,   0,
+     22,   0, 234, 255,   0,   0,   0,   0,
+      0,   0,   1,   0,  22,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     93,   3,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     92,   3,   0,   0,   3,   0,   1,   0,
+    104,   3,   0,   0,   2,   0,   1,   0,
     108, 111, 103,  77, 111, 110, 111,  84,
     105, 109, 101,   0,   0,   0,   0,   0,
       9,   0,   0,   0,   0,   0,   0,   0,
@@ -3466,6 +3717,24 @@ static const ::capnp::_::AlignedData<366> b_d314cfd957229c11 = {
     133, 125,  79, 137, 161,  93,   9, 234,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    103, 112, 115,  76, 111,  99,  97, 116,
+    105, 111, 110,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+     14, 213, 173,  89,  72,  82,  70, 233,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  83, 116,  97, 116, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+     60, 144,  82, 224,   9, 250, 164, 157,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
      16,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
@@ -3483,19 +3752,21 @@ static const ::capnp::_::RawSchema* const d_d314cfd957229c11[] = {
   &s_97ff69c53601abf1,
   &s_9a185389d6fdd05f,
   &s_9d291d7813ba4a88,
+  &s_9da4fa09e052903c,
   &s_a2b29a69d44529a1,
   &s_b8aad62cffef28a9,
   &s_c08240f996aefced,
   &s_cfa2b0c2c82af1e4,
   &s_e71008caeb3fb65c,
+  &s_e946524859add50e,
   &s_ea0245f695ae0a33,
   &s_ea095da1894f7d85,
 };
-static const uint16_t m_d314cfd957229c11[] = {20, 5, 15, 10, 2, 3, 12, 1, 7, 13, 19, 8, 16, 14, 18, 0, 9, 17, 4, 11, 6};
-static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 0};
+static const uint16_t m_d314cfd957229c11[] = {20, 5, 22, 15, 10, 2, 21, 3, 12, 1, 7, 13, 19, 8, 16, 14, 18, 0, 9, 17, 4, 11, 6};
+static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 0};
 const ::capnp::_::RawSchema s_d314cfd957229c11 = {
-  0xd314cfd957229c11, b_d314cfd957229c11.words, 366, d_d314cfd957229c11, m_d314cfd957229c11,
-  17, 21, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }
+  0xd314cfd957229c11, b_d314cfd957229c11.words, 398, d_d314cfd957229c11, m_d314cfd957229c11,
+  19, 23, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 }  // namespace schemas
@@ -3560,6 +3831,17 @@ constexpr ::capnp::_::RawSchema const* SensorEventData::SensorVec::_capnpPrivate
 constexpr ::capnp::_::RawBrandedSchema const* SensorEventData::SensorVec::_capnpPrivate::brand;
 #endif  // !CAPNP_LITE
 
+// GpsLocationData
+#ifndef _MSC_VER
+constexpr uint16_t GpsLocationData::_capnpPrivate::dataWordSize;
+constexpr uint16_t GpsLocationData::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind GpsLocationData::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* GpsLocationData::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* GpsLocationData::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
 // CanData
 #ifndef _MSC_VER
 constexpr uint16_t CanData::_capnpPrivate::dataWordSize;
diff --git a/cereal/gen/cpp/log.capnp.h b/cereal/gen/cpp/log.capnp.h
index 8cd21c0c58..084d36aaed 100644
--- a/cereal/gen/cpp/log.capnp.h
+++ b/cereal/gen/cpp/log.capnp.h
@@ -10,6 +10,7 @@
 #error "Version mismatch between generated code and library headers.  You must use the same version of the Cap'n Proto compiler and library."
 #endif
 
+#include "car.capnp.h"
 
 namespace capnp {
 namespace schemas {
@@ -20,6 +21,15 @@ CAPNP_DECLARE_SCHEMA(ea0245f695ae0a33);
 CAPNP_DECLARE_SCHEMA(9d291d7813ba4a88);
 CAPNP_DECLARE_SCHEMA(a2b29a69d44529a1);
 CAPNP_DECLARE_SCHEMA(a43429bd2bfc24fc);
+CAPNP_DECLARE_SCHEMA(e49b3ce8f7f48d0d);
+enum class SensorSource_e49b3ce8f7f48d0d: uint16_t {
+  ANDROID,
+  I_O_S,
+  FIBER,
+  VELODYNE,
+};
+CAPNP_DECLARE_ENUM(SensorSource, e49b3ce8f7f48d0d);
+CAPNP_DECLARE_SCHEMA(e946524859add50e);
 CAPNP_DECLARE_SCHEMA(8785009a964c7c59);
 CAPNP_DECLARE_SCHEMA(8d8231a40b7fe6e0);
 CAPNP_DECLARE_SCHEMA(cfa2b0c2c82af1e4);
@@ -111,6 +121,8 @@ struct SensorEventData {
     GYRO,
   };
   struct SensorVec;
+  typedef ::capnp::schemas::SensorSource_e49b3ce8f7f48d0d SensorSource;
+
 
   struct _capnpPrivate {
     CAPNP_DECLARE_STRUCT_HEADER(a2b29a69d44529a1, 3, 1)
@@ -135,6 +147,21 @@ struct SensorEventData::SensorVec {
   };
 };
 
+struct GpsLocationData {
+  GpsLocationData() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(e946524859add50e, 6, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
 struct CanData {
   CanData() = delete;
 
@@ -438,6 +465,8 @@ struct Event {
     LOG_MESSAGE,
     LIVE_CALIBRATION,
     ANDROID_LOG_ENTRY,
+    GPS_LOCATION,
+    CAR_STATE,
   };
 
   struct _capnpPrivate {
@@ -796,6 +825,8 @@ public:
   inline bool hasGyro() const;
   inline  ::cereal::SensorEventData::SensorVec::Reader getGyro() const;
 
+  inline  ::cereal::SensorEventData::SensorSource getSource() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -869,6 +900,9 @@ public:
   inline void adoptGyro(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value);
   inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownGyro();
 
+  inline  ::cereal::SensorEventData::SensorSource getSource();
+  inline void setSource( ::cereal::SensorEventData::SensorSource value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -982,6 +1016,117 @@ private:
 };
 #endif  // !CAPNP_LITE
 
+class GpsLocationData::Reader {
+public:
+  typedef GpsLocationData Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline  ::uint16_t getFlags() const;
+
+  inline double getLatitude() const;
+
+  inline double getLongitude() const;
+
+  inline double getAltitude() const;
+
+  inline float getSpeed() const;
+
+  inline float getBearing() const;
+
+  inline float getAccuracy() const;
+
+  inline  ::int64_t getTimestamp() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class GpsLocationData::Builder {
+public:
+  typedef GpsLocationData Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline  ::uint16_t getFlags();
+  inline void setFlags( ::uint16_t value);
+
+  inline double getLatitude();
+  inline void setLatitude(double value);
+
+  inline double getLongitude();
+  inline void setLongitude(double value);
+
+  inline double getAltitude();
+  inline void setAltitude(double value);
+
+  inline float getSpeed();
+  inline void setSpeed(float value);
+
+  inline float getBearing();
+  inline void setBearing(float value);
+
+  inline float getAccuracy();
+  inline void setAccuracy(float value);
+
+  inline  ::int64_t getTimestamp();
+  inline void setTimestamp( ::int64_t value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class GpsLocationData::Pipeline {
+public:
+  typedef GpsLocationData Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
 class CanData::Reader {
 public:
   typedef CanData Reads;
@@ -1111,6 +1256,8 @@ public:
 
   inline float getFreeSpace() const;
 
+  inline  ::int16_t getBatteryPercent() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1163,6 +1310,9 @@ public:
   inline float getFreeSpace();
   inline void setFreeSpace(float value);
 
+  inline  ::int16_t getBatteryPercent();
+  inline void setBatteryPercent( ::int16_t value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -3127,6 +3277,14 @@ public:
   inline bool hasAndroidLogEntry() const;
   inline  ::cereal::AndroidLogEntry::Reader getAndroidLogEntry() const;
 
+  inline bool isGpsLocation() const;
+  inline bool hasGpsLocation() const;
+  inline  ::cereal::GpsLocationData::Reader getGpsLocation() const;
+
+  inline bool isCarState() const;
+  inline bool hasCarState() const;
+  inline  ::cereal::CarState::Reader getCarState() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -3319,6 +3477,22 @@ public:
   inline void adoptAndroidLogEntry(::capnp::Orphan< ::cereal::AndroidLogEntry>&& value);
   inline ::capnp::Orphan< ::cereal::AndroidLogEntry> disownAndroidLogEntry();
 
+  inline bool isGpsLocation();
+  inline bool hasGpsLocation();
+  inline  ::cereal::GpsLocationData::Builder getGpsLocation();
+  inline void setGpsLocation( ::cereal::GpsLocationData::Reader value);
+  inline  ::cereal::GpsLocationData::Builder initGpsLocation();
+  inline void adoptGpsLocation(::capnp::Orphan< ::cereal::GpsLocationData>&& value);
+  inline ::capnp::Orphan< ::cereal::GpsLocationData> disownGpsLocation();
+
+  inline bool isCarState();
+  inline bool hasCarState();
+  inline  ::cereal::CarState::Builder getCarState();
+  inline void setCarState( ::cereal::CarState::Reader value);
+  inline  ::cereal::CarState::Builder initCarState();
+  inline void adoptCarState(::capnp::Orphan< ::cereal::CarState>&& value);
+  inline ::capnp::Orphan< ::cereal::CarState> disownCarState();
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -3894,6 +4068,20 @@ inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::B
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
+inline  ::cereal::SensorEventData::SensorSource SensorEventData::Reader::getSource() const {
+  return _reader.getDataField< ::cereal::SensorEventData::SensorSource>(
+      7 * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::SensorEventData::SensorSource SensorEventData::Builder::getSource() {
+  return _builder.getDataField< ::cereal::SensorEventData::SensorSource>(
+      7 * ::capnp::ELEMENTS);
+}
+inline void SensorEventData::Builder::setSource( ::cereal::SensorEventData::SensorSource value) {
+  _builder.setDataField< ::cereal::SensorEventData::SensorSource>(
+      7 * ::capnp::ELEMENTS, value);
+}
+
 inline bool SensorEventData::SensorVec::Reader::hasV() const {
   return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
 }
@@ -3944,6 +4132,118 @@ inline void SensorEventData::SensorVec::Builder::setStatus( ::int8_t value) {
       0 * ::capnp::ELEMENTS, value);
 }
 
+inline  ::uint16_t GpsLocationData::Reader::getFlags() const {
+  return _reader.getDataField< ::uint16_t>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline  ::uint16_t GpsLocationData::Builder::getFlags() {
+  return _builder.getDataField< ::uint16_t>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setFlags( ::uint16_t value) {
+  _builder.setDataField< ::uint16_t>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline double GpsLocationData::Reader::getLatitude() const {
+  return _reader.getDataField<double>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline double GpsLocationData::Builder::getLatitude() {
+  return _builder.getDataField<double>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setLatitude(double value) {
+  _builder.setDataField<double>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline double GpsLocationData::Reader::getLongitude() const {
+  return _reader.getDataField<double>(
+      2 * ::capnp::ELEMENTS);
+}
+
+inline double GpsLocationData::Builder::getLongitude() {
+  return _builder.getDataField<double>(
+      2 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setLongitude(double value) {
+  _builder.setDataField<double>(
+      2 * ::capnp::ELEMENTS, value);
+}
+
+inline double GpsLocationData::Reader::getAltitude() const {
+  return _reader.getDataField<double>(
+      3 * ::capnp::ELEMENTS);
+}
+
+inline double GpsLocationData::Builder::getAltitude() {
+  return _builder.getDataField<double>(
+      3 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setAltitude(double value) {
+  _builder.setDataField<double>(
+      3 * ::capnp::ELEMENTS, value);
+}
+
+inline float GpsLocationData::Reader::getSpeed() const {
+  return _reader.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline float GpsLocationData::Builder::getSpeed() {
+  return _builder.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setSpeed(float value) {
+  _builder.setDataField<float>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline float GpsLocationData::Reader::getBearing() const {
+  return _reader.getDataField<float>(
+      8 * ::capnp::ELEMENTS);
+}
+
+inline float GpsLocationData::Builder::getBearing() {
+  return _builder.getDataField<float>(
+      8 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setBearing(float value) {
+  _builder.setDataField<float>(
+      8 * ::capnp::ELEMENTS, value);
+}
+
+inline float GpsLocationData::Reader::getAccuracy() const {
+  return _reader.getDataField<float>(
+      9 * ::capnp::ELEMENTS);
+}
+
+inline float GpsLocationData::Builder::getAccuracy() {
+  return _builder.getDataField<float>(
+      9 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setAccuracy(float value) {
+  _builder.setDataField<float>(
+      9 * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int64_t GpsLocationData::Reader::getTimestamp() const {
+  return _reader.getDataField< ::int64_t>(
+      5 * ::capnp::ELEMENTS);
+}
+
+inline  ::int64_t GpsLocationData::Builder::getTimestamp() {
+  return _builder.getDataField< ::int64_t>(
+      5 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setTimestamp( ::int64_t value) {
+  _builder.setDataField< ::int64_t>(
+      5 * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint32_t CanData::Reader::getAddress() const {
   return _reader.getDataField< ::uint32_t>(
       0 * ::capnp::ELEMENTS);
@@ -4130,6 +4430,20 @@ inline void ThermalData::Builder::setFreeSpace(float value) {
       4 * ::capnp::ELEMENTS, value);
 }
 
+inline  ::int16_t ThermalData::Reader::getBatteryPercent() const {
+  return _reader.getDataField< ::int16_t>(
+      10 * ::capnp::ELEMENTS);
+}
+
+inline  ::int16_t ThermalData::Builder::getBatteryPercent() {
+  return _builder.getDataField< ::int16_t>(
+      10 * ::capnp::ELEMENTS);
+}
+inline void ThermalData::Builder::setBatteryPercent( ::int16_t value) {
+  _builder.setDataField< ::int16_t>(
+      10 * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint32_t HealthData::Reader::getVoltage() const {
   return _reader.getDataField< ::uint32_t>(
       0 * ::capnp::ELEMENTS);
@@ -7284,6 +7598,110 @@ inline ::capnp::Orphan< ::cereal::AndroidLogEntry> Event::Builder::disownAndroid
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
+inline bool Event::Reader::isGpsLocation() const {
+  return which() == Event::GPS_LOCATION;
+}
+inline bool Event::Builder::isGpsLocation() {
+  return which() == Event::GPS_LOCATION;
+}
+inline bool Event::Reader::hasGpsLocation() const {
+  if (which() != Event::GPS_LOCATION) return false;
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool Event::Builder::hasGpsLocation() {
+  if (which() != Event::GPS_LOCATION) return false;
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::GpsLocationData::Reader Event::Reader::getGpsLocation() const {
+  KJ_IREQUIRE(which() == Event::GPS_LOCATION,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::cereal::GpsLocationData::Builder Event::Builder::getGpsLocation() {
+  KJ_IREQUIRE(which() == Event::GPS_LOCATION,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::setGpsLocation( ::cereal::GpsLocationData::Reader value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
+  ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::GpsLocationData::Builder Event::Builder::initGpsLocation() {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::adoptGpsLocation(
+    ::capnp::Orphan< ::cereal::GpsLocationData>&& value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
+  ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::GpsLocationData> Event::Builder::disownGpsLocation() {
+  KJ_IREQUIRE(which() == Event::GPS_LOCATION,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
+inline bool Event::Reader::isCarState() const {
+  return which() == Event::CAR_STATE;
+}
+inline bool Event::Builder::isCarState() {
+  return which() == Event::CAR_STATE;
+}
+inline bool Event::Reader::hasCarState() const {
+  if (which() != Event::CAR_STATE) return false;
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool Event::Builder::hasCarState() {
+  if (which() != Event::CAR_STATE) return false;
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarState::Reader Event::Reader::getCarState() const {
+  KJ_IREQUIRE(which() == Event::CAR_STATE,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::cereal::CarState::Builder Event::Builder::getCarState() {
+  KJ_IREQUIRE(which() == Event::CAR_STATE,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::setCarState( ::cereal::CarState::Reader value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_STATE);
+  ::capnp::_::PointerHelpers< ::cereal::CarState>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarState::Builder Event::Builder::initCarState() {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_STATE);
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::adoptCarState(
+    ::capnp::Orphan< ::cereal::CarState>&& value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_STATE);
+  ::capnp::_::PointerHelpers< ::cereal::CarState>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarState> Event::Builder::disownCarState() {
+  KJ_IREQUIRE(which() == Event::CAR_STATE,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
 }  // namespace
 
 #endif  // CAPNP_INCLUDED_f3b1f17e25a4285b_
diff --git a/cereal/log.capnp b/cereal/log.capnp
index bc158976aa..17a879e6d8 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1,6 +1,8 @@
 using Cxx = import "c++.capnp";
 $Cxx.namespace("cereal");
 
+using Car = import "car.capnp";
+
 @0xf3b1f17e25a4285b;
 
 const logVersion :Int32 = 1;
@@ -39,11 +41,47 @@ struct SensorEventData {
     orientation @6 :SensorVec;
     gyro @7 :SensorVec;
   }
+  source @8 :SensorSource;
 
   struct SensorVec {
     v @0 :List(Float32);
     status @1 :Int8;
   }
+
+  enum SensorSource {
+    android @0;
+    iOS @1;
+    fiber @2;
+    velodyne @3;  # Velodyne IMU
+  }
+}
+
+# android struct GpsLocation
+struct GpsLocationData {
+  # Contains GpsLocationFlags bits.
+  flags @0 :UInt16;
+
+  # Represents latitude in degrees.
+  latitude @1 :Float64;
+
+  # Represents longitude in degrees.
+  longitude @2 :Float64;
+
+  # Represents altitude in meters above the WGS 84 reference ellipsoid.
+  altitude @3 :Float64;
+
+  # Represents speed in meters per second.
+  speed @4 :Float32;
+
+  # Represents heading in degrees.
+  bearing @5 :Float32;
+
+  # Represents expected accuracy in meters.
+  accuracy @6 :Float32;
+
+  # Timestamp for the location fix.
+  # Milliseconds since January 1, 1970.
+  timestamp @7 :Int64;
 }
 
 struct CanData {
@@ -64,6 +102,7 @@ struct ThermalData {
 
   # not thermal
   freeSpace @7 :Float32;
+  batteryPercent @8 :Int16;
 }
 
 struct HealthData {
@@ -272,5 +311,7 @@ struct Event {
     logMessage @18 :Text;
     liveCalibration @19 :LiveCalibrationData;
     androidLogEntry @20 :AndroidLogEntry;
+    gpsLocation @21 :GpsLocationData;
+    carState @22 :Car.CarState;
   }
 }
diff --git a/common/services.py b/common/services.py
index ffe592a335..9e9c6e11a1 100644
--- a/common/services.py
+++ b/common/services.py
@@ -33,6 +33,7 @@ service_list = {
   "logMessage": Service(8018, True),
   "liveCalibration": Service(8019, True),
   "androidLog": Service(8020, True),
+  "carState": Service(8021, True),
 }
 
 # manager -- base process to manage starting and stopping of all others
@@ -56,7 +57,7 @@ service_list = {
 
 # controlsd -- actually drives the car
 #   subscribes: can, thermal, model, live20
-#   publishes:  sendcan, live100
+#   publishes:  carState, sendcan, live100
 
 # radard -- processes the radar data
 #   subscribes: can, live100, model
diff --git a/installation/files/continue.sh b/installation/files/continue.sh
deleted file mode 100755
index adc05b3048..0000000000
--- a/installation/files/continue.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/bash
-
-# enable wifi access point for debugging only!
-#service call wifi 37 i32 0 i32 1 # WifiService.setWifiApEnabled(null, true)
-
-# check out the openpilot repo
-if [ ! -d /data/openpilot ]; then
-  cd /tmp
-  git clone https://github.com/commaai/openpilot.git -b release
-  mv /tmp/openpilot /data/openpilot
-fi
-
-# enter openpilot directory
-cd /data/openpilot
-
-# automatic update
-git pull
-
-# start manager
-cd selfdrive
-mkdir -p /sdcard/realdata
-PYTHONPATH=/data/openpilot ./manager.py
-
-# if broken, keep on screen error
-while true; do sleep 1; done
-
diff --git a/installation/install.sh b/installation/install.sh
deleted file mode 100755
index 85751cd508..0000000000
--- a/installation/install.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-set -e
-
-# moving continue into place runs the continue script
-adb push files/continue.sh /tmp/continue.sh
-adb shell mv /tmp/continue.sh /data/data/com.termux/files/
-
diff --git a/phonelibs/json/src/json.c b/phonelibs/json/src/json.c
new file mode 100644
index 0000000000..2f0452aebe
--- /dev/null
+++ b/phonelibs/json/src/json.c
@@ -0,0 +1,1381 @@
+/*
+  Copyright (C) 2011 Joseph A. Adams (joeyadams3.14159@gmail.com)
+  All rights reserved.
+
+  Permission is hereby granted, free of charge, to any person obtaining a copy
+  of this software and associated documentation files (the "Software"), to deal
+  in the Software without restriction, including without limitation the rights
+  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+  copies of the Software, and to permit persons to whom the Software is
+  furnished to do so, subject to the following conditions:
+
+  The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+
+  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+  THE SOFTWARE.
+*/
+
+#include "json.h"
+
+#include <assert.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define out_of_memory() do {                    \
+		fprintf(stderr, "Out of memory.\n");    \
+		exit(EXIT_FAILURE);                     \
+	} while (0)
+
+/* Sadly, strdup is not portable. */
+static char *json_strdup(const char *str)
+{
+	char *ret = (char*) malloc(strlen(str) + 1);
+	if (ret == NULL)
+		out_of_memory();
+	strcpy(ret, str);
+	return ret;
+}
+
+/* String buffer */
+
+typedef struct
+{
+	char *cur;
+	char *end;
+	char *start;
+} SB;
+
+static void sb_init(SB *sb)
+{
+	sb->start = (char*) malloc(17);
+	if (sb->start == NULL)
+		out_of_memory();
+	sb->cur = sb->start;
+	sb->end = sb->start + 16;
+}
+
+/* sb and need may be evaluated multiple times. */
+#define sb_need(sb, need) do {                  \
+		if ((sb)->end - (sb)->cur < (need))     \
+			sb_grow(sb, need);                  \
+	} while (0)
+
+static void sb_grow(SB *sb, int need)
+{
+	size_t length = sb->cur - sb->start;
+	size_t alloc = sb->end - sb->start;
+	
+	do {
+		alloc *= 2;
+	} while (alloc < length + need);
+	
+	sb->start = (char*) realloc(sb->start, alloc + 1);
+	if (sb->start == NULL)
+		out_of_memory();
+	sb->cur = sb->start + length;
+	sb->end = sb->start + alloc;
+}
+
+static void sb_put(SB *sb, const char *bytes, int count)
+{
+	sb_need(sb, count);
+	memcpy(sb->cur, bytes, count);
+	sb->cur += count;
+}
+
+#define sb_putc(sb, c) do {         \
+		if ((sb)->cur >= (sb)->end) \
+			sb_grow(sb, 1);         \
+		*(sb)->cur++ = (c);         \
+	} while (0)
+
+static void sb_puts(SB *sb, const char *str)
+{
+	sb_put(sb, str, strlen(str));
+}
+
+static char *sb_finish(SB *sb)
+{
+	*sb->cur = 0;
+	assert(sb->start <= sb->cur && strlen(sb->start) == (size_t)(sb->cur - sb->start));
+	return sb->start;
+}
+
+static void sb_free(SB *sb)
+{
+	free(sb->start);
+}
+
+/*
+ * Unicode helper functions
+ *
+ * These are taken from the ccan/charset module and customized a bit.
+ * Putting them here means the compiler can (choose to) inline them,
+ * and it keeps ccan/json from having a dependency.
+ */
+
+/*
+ * Type for Unicode codepoints.
+ * We need our own because wchar_t might be 16 bits.
+ */
+typedef uint32_t uchar_t;
+
+/*
+ * Validate a single UTF-8 character starting at @s.
+ * The string must be null-terminated.
+ *
+ * If it's valid, return its length (1 thru 4).
+ * If it's invalid or clipped, return 0.
+ *
+ * This function implements the syntax given in RFC3629, which is
+ * the same as that given in The Unicode Standard, Version 6.0.
+ *
+ * It has the following properties:
+ *
+ *  * All codepoints U+0000..U+10FFFF may be encoded,
+ *    except for U+D800..U+DFFF, which are reserved
+ *    for UTF-16 surrogate pair encoding.
+ *  * UTF-8 byte sequences longer than 4 bytes are not permitted,
+ *    as they exceed the range of Unicode.
+ *  * The sixty-six Unicode "non-characters" are permitted
+ *    (namely, U+FDD0..U+FDEF, U+xxFFFE, and U+xxFFFF).
+ */
+static int utf8_validate_cz(const char *s)
+{
+	unsigned char c = *s++;
+	
+	if (c <= 0x7F) {        /* 00..7F */
+		return 1;
+	} else if (c <= 0xC1) { /* 80..C1 */
+		/* Disallow overlong 2-byte sequence. */
+		return 0;
+	} else if (c <= 0xDF) { /* C2..DF */
+		/* Make sure subsequent byte is in the range 0x80..0xBF. */
+		if (((unsigned char)*s++ & 0xC0) != 0x80)
+			return 0;
+		
+		return 2;
+	} else if (c <= 0xEF) { /* E0..EF */
+		/* Disallow overlong 3-byte sequence. */
+		if (c == 0xE0 && (unsigned char)*s < 0xA0)
+			return 0;
+		
+		/* Disallow U+D800..U+DFFF. */
+		if (c == 0xED && (unsigned char)*s > 0x9F)
+			return 0;
+		
+		/* Make sure subsequent bytes are in the range 0x80..0xBF. */
+		if (((unsigned char)*s++ & 0xC0) != 0x80)
+			return 0;
+		if (((unsigned char)*s++ & 0xC0) != 0x80)
+			return 0;
+		
+		return 3;
+	} else if (c <= 0xF4) { /* F0..F4 */
+		/* Disallow overlong 4-byte sequence. */
+		if (c == 0xF0 && (unsigned char)*s < 0x90)
+			return 0;
+		
+		/* Disallow codepoints beyond U+10FFFF. */
+		if (c == 0xF4 && (unsigned char)*s > 0x8F)
+			return 0;
+		
+		/* Make sure subsequent bytes are in the range 0x80..0xBF. */
+		if (((unsigned char)*s++ & 0xC0) != 0x80)
+			return 0;
+		if (((unsigned char)*s++ & 0xC0) != 0x80)
+			return 0;
+		if (((unsigned char)*s++ & 0xC0) != 0x80)
+			return 0;
+		
+		return 4;
+	} else {                /* F5..FF */
+		return 0;
+	}
+}
+
+/* Validate a null-terminated UTF-8 string. */
+static bool utf8_validate(const char *s)
+{
+	int len;
+	
+	for (; *s != 0; s += len) {
+		len = utf8_validate_cz(s);
+		if (len == 0)
+			return false;
+	}
+	
+	return true;
+}
+
+/*
+ * Read a single UTF-8 character starting at @s,
+ * returning the length, in bytes, of the character read.
+ *
+ * This function assumes input is valid UTF-8,
+ * and that there are enough characters in front of @s.
+ */
+static int utf8_read_char(const char *s, uchar_t *out)
+{
+	const unsigned char *c = (const unsigned char*) s;
+	
+	assert(utf8_validate_cz(s));
+
+	if (c[0] <= 0x7F) {
+		/* 00..7F */
+		*out = c[0];
+		return 1;
+	} else if (c[0] <= 0xDF) {
+		/* C2..DF (unless input is invalid) */
+		*out = ((uchar_t)c[0] & 0x1F) << 6 |
+		       ((uchar_t)c[1] & 0x3F);
+		return 2;
+	} else if (c[0] <= 0xEF) {
+		/* E0..EF */
+		*out = ((uchar_t)c[0] &  0xF) << 12 |
+		       ((uchar_t)c[1] & 0x3F) << 6  |
+		       ((uchar_t)c[2] & 0x3F);
+		return 3;
+	} else {
+		/* F0..F4 (unless input is invalid) */
+		*out = ((uchar_t)c[0] &  0x7) << 18 |
+		       ((uchar_t)c[1] & 0x3F) << 12 |
+		       ((uchar_t)c[2] & 0x3F) << 6  |
+		       ((uchar_t)c[3] & 0x3F);
+		return 4;
+	}
+}
+
+/*
+ * Write a single UTF-8 character to @s,
+ * returning the length, in bytes, of the character written.
+ *
+ * @unicode must be U+0000..U+10FFFF, but not U+D800..U+DFFF.
+ *
+ * This function will write up to 4 bytes to @out.
+ */
+static int utf8_write_char(uchar_t unicode, char *out)
+{
+	unsigned char *o = (unsigned char*) out;
+	
+	assert(unicode <= 0x10FFFF && !(unicode >= 0xD800 && unicode <= 0xDFFF));
+
+	if (unicode <= 0x7F) {
+		/* U+0000..U+007F */
+		*o++ = unicode;
+		return 1;
+	} else if (unicode <= 0x7FF) {
+		/* U+0080..U+07FF */
+		*o++ = 0xC0 | unicode >> 6;
+		*o++ = 0x80 | (unicode & 0x3F);
+		return 2;
+	} else if (unicode <= 0xFFFF) {
+		/* U+0800..U+FFFF */
+		*o++ = 0xE0 | unicode >> 12;
+		*o++ = 0x80 | (unicode >> 6 & 0x3F);
+		*o++ = 0x80 | (unicode & 0x3F);
+		return 3;
+	} else {
+		/* U+10000..U+10FFFF */
+		*o++ = 0xF0 | unicode >> 18;
+		*o++ = 0x80 | (unicode >> 12 & 0x3F);
+		*o++ = 0x80 | (unicode >> 6 & 0x3F);
+		*o++ = 0x80 | (unicode & 0x3F);
+		return 4;
+	}
+}
+
+/*
+ * Compute the Unicode codepoint of a UTF-16 surrogate pair.
+ *
+ * @uc should be 0xD800..0xDBFF, and @lc should be 0xDC00..0xDFFF.
+ * If they aren't, this function returns false.
+ */
+static bool from_surrogate_pair(uint16_t uc, uint16_t lc, uchar_t *unicode)
+{
+	if (uc >= 0xD800 && uc <= 0xDBFF && lc >= 0xDC00 && lc <= 0xDFFF) {
+		*unicode = 0x10000 + ((((uchar_t)uc & 0x3FF) << 10) | (lc & 0x3FF));
+		return true;
+	} else {
+		return false;
+	}
+}
+
+/*
+ * Construct a UTF-16 surrogate pair given a Unicode codepoint.
+ *
+ * @unicode must be U+10000..U+10FFFF.
+ */
+static void to_surrogate_pair(uchar_t unicode, uint16_t *uc, uint16_t *lc)
+{
+	uchar_t n;
+	
+	assert(unicode >= 0x10000 && unicode <= 0x10FFFF);
+	
+	n = unicode - 0x10000;
+	*uc = ((n >> 10) & 0x3FF) | 0xD800;
+	*lc = (n & 0x3FF) | 0xDC00;
+}
+
+#define is_space(c) ((c) == '\t' || (c) == '\n' || (c) == '\r' || (c) == ' ')
+#define is_digit(c) ((c) >= '0' && (c) <= '9')
+
+static bool parse_value     (const char **sp, JsonNode        **out);
+static bool parse_string    (const char **sp, char            **out);
+static bool parse_number    (const char **sp, double           *out);
+static bool parse_array     (const char **sp, JsonNode        **out);
+static bool parse_object    (const char **sp, JsonNode        **out);
+static bool parse_hex16     (const char **sp, uint16_t         *out);
+
+static bool expect_literal  (const char **sp, const char *str);
+static void skip_space      (const char **sp);
+
+static void emit_value              (SB *out, const JsonNode *node);
+static void emit_value_indented     (SB *out, const JsonNode *node, const char *space, int indent_level);
+static void emit_string             (SB *out, const char *str);
+static void emit_number             (SB *out, double num);
+static void emit_array              (SB *out, const JsonNode *array);
+static void emit_array_indented     (SB *out, const JsonNode *array, const char *space, int indent_level);
+static void emit_object             (SB *out, const JsonNode *object);
+static void emit_object_indented    (SB *out, const JsonNode *object, const char *space, int indent_level);
+
+static int write_hex16(char *out, uint16_t val);
+
+static JsonNode *mknode(JsonTag tag);
+static void append_node(JsonNode *parent, JsonNode *child);
+static void prepend_node(JsonNode *parent, JsonNode *child);
+static void append_member(JsonNode *object, char *key, JsonNode *value);
+
+/* Assertion-friendly validity checks */
+static bool tag_is_valid(unsigned int tag);
+static bool number_is_valid(const char *num);
+
+JsonNode *json_decode(const char *json)
+{
+	const char *s = json;
+	JsonNode *ret;
+	
+	skip_space(&s);
+	if (!parse_value(&s, &ret))
+		return NULL;
+	
+	skip_space(&s);
+	if (*s != 0) {
+		json_delete(ret);
+		return NULL;
+	}
+	
+	return ret;
+}
+
+char *json_encode(const JsonNode *node)
+{
+	return json_stringify(node, NULL);
+}
+
+char *json_encode_string(const char *str)
+{
+	SB sb;
+	sb_init(&sb);
+	
+	emit_string(&sb, str);
+	
+	return sb_finish(&sb);
+}
+
+char *json_stringify(const JsonNode *node, const char *space)
+{
+	SB sb;
+	sb_init(&sb);
+	
+	if (space != NULL)
+		emit_value_indented(&sb, node, space, 0);
+	else
+		emit_value(&sb, node);
+	
+	return sb_finish(&sb);
+}
+
+void json_delete(JsonNode *node)
+{
+	if (node != NULL) {
+		json_remove_from_parent(node);
+		
+		switch (node->tag) {
+			case JSON_STRING:
+				free(node->string_);
+				break;
+			case JSON_ARRAY:
+			case JSON_OBJECT:
+			{
+				JsonNode *child, *next;
+				for (child = node->children.head; child != NULL; child = next) {
+					next = child->next;
+					json_delete(child);
+				}
+				break;
+			}
+			default:;
+		}
+		
+		free(node);
+	}
+}
+
+bool json_validate(const char *json)
+{
+	const char *s = json;
+	
+	skip_space(&s);
+	if (!parse_value(&s, NULL))
+		return false;
+	
+	skip_space(&s);
+	if (*s != 0)
+		return false;
+	
+	return true;
+}
+
+JsonNode *json_find_element(JsonNode *array, int index)
+{
+	JsonNode *element;
+	int i = 0;
+	
+	if (array == NULL || array->tag != JSON_ARRAY)
+		return NULL;
+	
+	json_foreach(element, array) {
+		if (i == index)
+			return element;
+		i++;
+	}
+	
+	return NULL;
+}
+
+JsonNode *json_find_member(JsonNode *object, const char *name)
+{
+	JsonNode *member;
+	
+	if (object == NULL || object->tag != JSON_OBJECT)
+		return NULL;
+	
+	json_foreach(member, object)
+		if (strcmp(member->key, name) == 0)
+			return member;
+	
+	return NULL;
+}
+
+JsonNode *json_first_child(const JsonNode *node)
+{
+	if (node != NULL && (node->tag == JSON_ARRAY || node->tag == JSON_OBJECT))
+		return node->children.head;
+	return NULL;
+}
+
+static JsonNode *mknode(JsonTag tag)
+{
+	JsonNode *ret = (JsonNode*) calloc(1, sizeof(JsonNode));
+	if (ret == NULL)
+		out_of_memory();
+	ret->tag = tag;
+	return ret;
+}
+
+JsonNode *json_mknull(void)
+{
+	return mknode(JSON_NULL);
+}
+
+JsonNode *json_mkbool(bool b)
+{
+	JsonNode *ret = mknode(JSON_BOOL);
+	ret->bool_ = b;
+	return ret;
+}
+
+static JsonNode *mkstring(char *s)
+{
+	JsonNode *ret = mknode(JSON_STRING);
+	ret->string_ = s;
+	return ret;
+}
+
+JsonNode *json_mkstring(const char *s)
+{
+	return mkstring(json_strdup(s));
+}
+
+JsonNode *json_mknumber(double n)
+{
+	JsonNode *node = mknode(JSON_NUMBER);
+	node->number_ = n;
+	return node;
+}
+
+JsonNode *json_mkarray(void)
+{
+	return mknode(JSON_ARRAY);
+}
+
+JsonNode *json_mkobject(void)
+{
+	return mknode(JSON_OBJECT);
+}
+
+static void append_node(JsonNode *parent, JsonNode *child)
+{
+	child->parent = parent;
+	child->prev = parent->children.tail;
+	child->next = NULL;
+	
+	if (parent->children.tail != NULL)
+		parent->children.tail->next = child;
+	else
+		parent->children.head = child;
+	parent->children.tail = child;
+}
+
+static void prepend_node(JsonNode *parent, JsonNode *child)
+{
+	child->parent = parent;
+	child->prev = NULL;
+	child->next = parent->children.head;
+	
+	if (parent->children.head != NULL)
+		parent->children.head->prev = child;
+	else
+		parent->children.tail = child;
+	parent->children.head = child;
+}
+
+static void append_member(JsonNode *object, char *key, JsonNode *value)
+{
+	value->key = key;
+	append_node(object, value);
+}
+
+void json_append_element(JsonNode *array, JsonNode *element)
+{
+	assert(array->tag == JSON_ARRAY);
+	assert(element->parent == NULL);
+	
+	append_node(array, element);
+}
+
+void json_prepend_element(JsonNode *array, JsonNode *element)
+{
+	assert(array->tag == JSON_ARRAY);
+	assert(element->parent == NULL);
+	
+	prepend_node(array, element);
+}
+
+void json_append_member(JsonNode *object, const char *key, JsonNode *value)
+{
+	assert(object->tag == JSON_OBJECT);
+	assert(value->parent == NULL);
+	
+	append_member(object, json_strdup(key), value);
+}
+
+void json_prepend_member(JsonNode *object, const char *key, JsonNode *value)
+{
+	assert(object->tag == JSON_OBJECT);
+	assert(value->parent == NULL);
+	
+	value->key = json_strdup(key);
+	prepend_node(object, value);
+}
+
+void json_remove_from_parent(JsonNode *node)
+{
+	JsonNode *parent = node->parent;
+	
+	if (parent != NULL) {
+		if (node->prev != NULL)
+			node->prev->next = node->next;
+		else
+			parent->children.head = node->next;
+		if (node->next != NULL)
+			node->next->prev = node->prev;
+		else
+			parent->children.tail = node->prev;
+		
+		free(node->key);
+		
+		node->parent = NULL;
+		node->prev = node->next = NULL;
+		node->key = NULL;
+	}
+}
+
+static bool parse_value(const char **sp, JsonNode **out)
+{
+	const char *s = *sp;
+	
+	switch (*s) {
+		case 'n':
+			if (expect_literal(&s, "null")) {
+				if (out)
+					*out = json_mknull();
+				*sp = s;
+				return true;
+			}
+			return false;
+		
+		case 'f':
+			if (expect_literal(&s, "false")) {
+				if (out)
+					*out = json_mkbool(false);
+				*sp = s;
+				return true;
+			}
+			return false;
+		
+		case 't':
+			if (expect_literal(&s, "true")) {
+				if (out)
+					*out = json_mkbool(true);
+				*sp = s;
+				return true;
+			}
+			return false;
+		
+		case '"': {
+			char *str;
+			if (parse_string(&s, out ? &str : NULL)) {
+				if (out)
+					*out = mkstring(str);
+				*sp = s;
+				return true;
+			}
+			return false;
+		}
+		
+		case '[':
+			if (parse_array(&s, out)) {
+				*sp = s;
+				return true;
+			}
+			return false;
+		
+		case '{':
+			if (parse_object(&s, out)) {
+				*sp = s;
+				return true;
+			}
+			return false;
+		
+		default: {
+			double num;
+			if (parse_number(&s, out ? &num : NULL)) {
+				if (out)
+					*out = json_mknumber(num);
+				*sp = s;
+				return true;
+			}
+			return false;
+		}
+	}
+}
+
+static bool parse_array(const char **sp, JsonNode **out)
+{
+	const char *s = *sp;
+	JsonNode *ret = out ? json_mkarray() : NULL;
+	JsonNode *element;
+	
+	if (*s++ != '[')
+		goto failure;
+	skip_space(&s);
+	
+	if (*s == ']') {
+		s++;
+		goto success;
+	}
+	
+	for (;;) {
+		if (!parse_value(&s, out ? &element : NULL))
+			goto failure;
+		skip_space(&s);
+		
+		if (out)
+			json_append_element(ret, element);
+		
+		if (*s == ']') {
+			s++;
+			goto success;
+		}
+		
+		if (*s++ != ',')
+			goto failure;
+		skip_space(&s);
+	}
+	
+success:
+	*sp = s;
+	if (out)
+		*out = ret;
+	return true;
+
+failure:
+	json_delete(ret);
+	return false;
+}
+
+static bool parse_object(const char **sp, JsonNode **out)
+{
+	const char *s = *sp;
+	JsonNode *ret = out ? json_mkobject() : NULL;
+	char *key;
+	JsonNode *value;
+	
+	if (*s++ != '{')
+		goto failure;
+	skip_space(&s);
+	
+	if (*s == '}') {
+		s++;
+		goto success;
+	}
+	
+	for (;;) {
+		if (!parse_string(&s, out ? &key : NULL))
+			goto failure;
+		skip_space(&s);
+		
+		if (*s++ != ':')
+			goto failure_free_key;
+		skip_space(&s);
+		
+		if (!parse_value(&s, out ? &value : NULL))
+			goto failure_free_key;
+		skip_space(&s);
+		
+		if (out)
+			append_member(ret, key, value);
+		
+		if (*s == '}') {
+			s++;
+			goto success;
+		}
+		
+		if (*s++ != ',')
+			goto failure;
+		skip_space(&s);
+	}
+	
+success:
+	*sp = s;
+	if (out)
+		*out = ret;
+	return true;
+
+failure_free_key:
+	if (out)
+		free(key);
+failure:
+	json_delete(ret);
+	return false;
+}
+
+bool parse_string(const char **sp, char **out)
+{
+	const char *s = *sp;
+	SB sb;
+	char throwaway_buffer[4];
+		/* enough space for a UTF-8 character */
+	char *b;
+	
+	if (*s++ != '"')
+		return false;
+	
+	if (out) {
+		sb_init(&sb);
+		sb_need(&sb, 4);
+		b = sb.cur;
+	} else {
+		b = throwaway_buffer;
+	}
+	
+	while (*s != '"') {
+		unsigned char c = *s++;
+		
+		/* Parse next character, and write it to b. */
+		if (c == '\\') {
+			c = *s++;
+			switch (c) {
+				case '"':
+				case '\\':
+				case '/':
+					*b++ = c;
+					break;
+				case 'b':
+					*b++ = '\b';
+					break;
+				case 'f':
+					*b++ = '\f';
+					break;
+				case 'n':
+					*b++ = '\n';
+					break;
+				case 'r':
+					*b++ = '\r';
+					break;
+				case 't':
+					*b++ = '\t';
+					break;
+				case 'u':
+				{
+					uint16_t uc, lc;
+					uchar_t unicode;
+					
+					if (!parse_hex16(&s, &uc))
+						goto failed;
+					
+					if (uc >= 0xD800 && uc <= 0xDFFF) {
+						/* Handle UTF-16 surrogate pair. */
+						if (*s++ != '\\' || *s++ != 'u' || !parse_hex16(&s, &lc))
+							goto failed; /* Incomplete surrogate pair. */
+						if (!from_surrogate_pair(uc, lc, &unicode))
+							goto failed; /* Invalid surrogate pair. */
+					} else if (uc == 0) {
+						/* Disallow "\u0000". */
+						goto failed;
+					} else {
+						unicode = uc;
+					}
+					
+					b += utf8_write_char(unicode, b);
+					break;
+				}
+				default:
+					/* Invalid escape */
+					goto failed;
+			}
+		} else if (c <= 0x1F) {
+			/* Control characters are not allowed in string literals. */
+			goto failed;
+		} else {
+			/* Validate and echo a UTF-8 character. */
+			int len;
+			
+			s--;
+			len = utf8_validate_cz(s);
+			if (len == 0)
+				goto failed; /* Invalid UTF-8 character. */
+			
+			while (len--)
+				*b++ = *s++;
+		}
+		
+		/*
+		 * Update sb to know about the new bytes,
+		 * and set up b to write another character.
+		 */
+		if (out) {
+			sb.cur = b;
+			sb_need(&sb, 4);
+			b = sb.cur;
+		} else {
+			b = throwaway_buffer;
+		}
+	}
+	s++;
+	
+	if (out)
+		*out = sb_finish(&sb);
+	*sp = s;
+	return true;
+
+failed:
+	if (out)
+		sb_free(&sb);
+	return false;
+}
+
+/*
+ * The JSON spec says that a number shall follow this precise pattern
+ * (spaces and quotes added for readability):
+ *	 '-'? (0 | [1-9][0-9]*) ('.' [0-9]+)? ([Ee] [+-]? [0-9]+)?
+ *
+ * However, some JSON parsers are more liberal.  For instance, PHP accepts
+ * '.5' and '1.'.  JSON.parse accepts '+3'.
+ *
+ * This function takes the strict approach.
+ */
+bool parse_number(const char **sp, double *out)
+{
+	const char *s = *sp;
+
+	/* '-'? */
+	if (*s == '-')
+		s++;
+
+	/* (0 | [1-9][0-9]*) */
+	if (*s == '0') {
+		s++;
+	} else {
+		if (!is_digit(*s))
+			return false;
+		do {
+			s++;
+		} while (is_digit(*s));
+	}
+
+	/* ('.' [0-9]+)? */
+	if (*s == '.') {
+		s++;
+		if (!is_digit(*s))
+			return false;
+		do {
+			s++;
+		} while (is_digit(*s));
+	}
+
+	/* ([Ee] [+-]? [0-9]+)? */
+	if (*s == 'E' || *s == 'e') {
+		s++;
+		if (*s == '+' || *s == '-')
+			s++;
+		if (!is_digit(*s))
+			return false;
+		do {
+			s++;
+		} while (is_digit(*s));
+	}
+
+	if (out)
+		*out = strtod(*sp, NULL);
+
+	*sp = s;
+	return true;
+}
+
+static void skip_space(const char **sp)
+{
+	const char *s = *sp;
+	while (is_space(*s))
+		s++;
+	*sp = s;
+}
+
+static void emit_value(SB *out, const JsonNode *node)
+{
+	assert(tag_is_valid(node->tag));
+	switch (node->tag) {
+		case JSON_NULL:
+			sb_puts(out, "null");
+			break;
+		case JSON_BOOL:
+			sb_puts(out, node->bool_ ? "true" : "false");
+			break;
+		case JSON_STRING:
+			emit_string(out, node->string_);
+			break;
+		case JSON_NUMBER:
+			emit_number(out, node->number_);
+			break;
+		case JSON_ARRAY:
+			emit_array(out, node);
+			break;
+		case JSON_OBJECT:
+			emit_object(out, node);
+			break;
+		default:
+			assert(false);
+	}
+}
+
+void emit_value_indented(SB *out, const JsonNode *node, const char *space, int indent_level)
+{
+	assert(tag_is_valid(node->tag));
+	switch (node->tag) {
+		case JSON_NULL:
+			sb_puts(out, "null");
+			break;
+		case JSON_BOOL:
+			sb_puts(out, node->bool_ ? "true" : "false");
+			break;
+		case JSON_STRING:
+			emit_string(out, node->string_);
+			break;
+		case JSON_NUMBER:
+			emit_number(out, node->number_);
+			break;
+		case JSON_ARRAY:
+			emit_array_indented(out, node, space, indent_level);
+			break;
+		case JSON_OBJECT:
+			emit_object_indented(out, node, space, indent_level);
+			break;
+		default:
+			assert(false);
+	}
+}
+
+static void emit_array(SB *out, const JsonNode *array)
+{
+	const JsonNode *element;
+	
+	sb_putc(out, '[');
+	json_foreach(element, array) {
+		emit_value(out, element);
+		if (element->next != NULL)
+			sb_putc(out, ',');
+	}
+	sb_putc(out, ']');
+}
+
+static void emit_array_indented(SB *out, const JsonNode *array, const char *space, int indent_level)
+{
+	const JsonNode *element = array->children.head;
+	int i;
+	
+	if (element == NULL) {
+		sb_puts(out, "[]");
+		return;
+	}
+	
+	sb_puts(out, "[\n");
+	while (element != NULL) {
+		for (i = 0; i < indent_level + 1; i++)
+			sb_puts(out, space);
+		emit_value_indented(out, element, space, indent_level + 1);
+		
+		element = element->next;
+		sb_puts(out, element != NULL ? ",\n" : "\n");
+	}
+	for (i = 0; i < indent_level; i++)
+		sb_puts(out, space);
+	sb_putc(out, ']');
+}
+
+static void emit_object(SB *out, const JsonNode *object)
+{
+	const JsonNode *member;
+	
+	sb_putc(out, '{');
+	json_foreach(member, object) {
+		emit_string(out, member->key);
+		sb_putc(out, ':');
+		emit_value(out, member);
+		if (member->next != NULL)
+			sb_putc(out, ',');
+	}
+	sb_putc(out, '}');
+}
+
+static void emit_object_indented(SB *out, const JsonNode *object, const char *space, int indent_level)
+{
+	const JsonNode *member = object->children.head;
+	int i;
+	
+	if (member == NULL) {
+		sb_puts(out, "{}");
+		return;
+	}
+	
+	sb_puts(out, "{\n");
+	while (member != NULL) {
+		for (i = 0; i < indent_level + 1; i++)
+			sb_puts(out, space);
+		emit_string(out, member->key);
+		sb_puts(out, ": ");
+		emit_value_indented(out, member, space, indent_level + 1);
+		
+		member = member->next;
+		sb_puts(out, member != NULL ? ",\n" : "\n");
+	}
+	for (i = 0; i < indent_level; i++)
+		sb_puts(out, space);
+	sb_putc(out, '}');
+}
+
+void emit_string(SB *out, const char *str)
+{
+	bool escape_unicode = false;
+	const char *s = str;
+	char *b;
+	
+	assert(utf8_validate(str));
+	
+	/*
+	 * 14 bytes is enough space to write up to two
+	 * \uXXXX escapes and two quotation marks.
+	 */
+	sb_need(out, 14);
+	b = out->cur;
+	
+	*b++ = '"';
+	while (*s != 0) {
+		unsigned char c = *s++;
+		
+		/* Encode the next character, and write it to b. */
+		switch (c) {
+			case '"':
+				*b++ = '\\';
+				*b++ = '"';
+				break;
+			case '\\':
+				*b++ = '\\';
+				*b++ = '\\';
+				break;
+			case '\b':
+				*b++ = '\\';
+				*b++ = 'b';
+				break;
+			case '\f':
+				*b++ = '\\';
+				*b++ = 'f';
+				break;
+			case '\n':
+				*b++ = '\\';
+				*b++ = 'n';
+				break;
+			case '\r':
+				*b++ = '\\';
+				*b++ = 'r';
+				break;
+			case '\t':
+				*b++ = '\\';
+				*b++ = 't';
+				break;
+			default: {
+				int len;
+				
+				s--;
+				len = utf8_validate_cz(s);
+				
+				if (len == 0) {
+					/*
+					 * Handle invalid UTF-8 character gracefully in production
+					 * by writing a replacement character (U+FFFD)
+					 * and skipping a single byte.
+					 *
+					 * This should never happen when assertions are enabled
+					 * due to the assertion at the beginning of this function.
+					 */
+					assert(false);
+					if (escape_unicode) {
+						strcpy(b, "\\uFFFD");
+						b += 6;
+					} else {
+						*b++ = 0xEF;
+						*b++ = 0xBF;
+						*b++ = 0xBD;
+					}
+					s++;
+				} else if (c < 0x1F || (c >= 0x80 && escape_unicode)) {
+					/* Encode using \u.... */
+					uint32_t unicode;
+					
+					s += utf8_read_char(s, &unicode);
+					
+					if (unicode <= 0xFFFF) {
+						*b++ = '\\';
+						*b++ = 'u';
+						b += write_hex16(b, unicode);
+					} else {
+						/* Produce a surrogate pair. */
+						uint16_t uc, lc;
+						assert(unicode <= 0x10FFFF);
+						to_surrogate_pair(unicode, &uc, &lc);
+						*b++ = '\\';
+						*b++ = 'u';
+						b += write_hex16(b, uc);
+						*b++ = '\\';
+						*b++ = 'u';
+						b += write_hex16(b, lc);
+					}
+				} else {
+					/* Write the character directly. */
+					while (len--)
+						*b++ = *s++;
+				}
+				
+				break;
+			}
+		}
+	
+		/*
+		 * Update *out to know about the new bytes,
+		 * and set up b to write another encoded character.
+		 */
+		out->cur = b;
+		sb_need(out, 14);
+		b = out->cur;
+	}
+	*b++ = '"';
+	
+	out->cur = b;
+}
+
+static void emit_number(SB *out, double num)
+{
+	/*
+	 * This isn't exactly how JavaScript renders numbers,
+	 * but it should produce valid JSON for reasonable numbers
+	 * preserve precision well enough, and avoid some oddities
+	 * like 0.3 -> 0.299999999999999988898 .
+	 */
+	char buf[64];
+	sprintf(buf, "%.16g", num);
+	
+	if (number_is_valid(buf))
+		sb_puts(out, buf);
+	else
+		sb_puts(out, "null");
+}
+
+static bool tag_is_valid(unsigned int tag)
+{
+	return (/* tag >= JSON_NULL && */ tag <= JSON_OBJECT);
+}
+
+static bool number_is_valid(const char *num)
+{
+	return (parse_number(&num, NULL) && *num == '\0');
+}
+
+static bool expect_literal(const char **sp, const char *str)
+{
+	const char *s = *sp;
+	
+	while (*str != '\0')
+		if (*s++ != *str++)
+			return false;
+	
+	*sp = s;
+	return true;
+}
+
+/*
+ * Parses exactly 4 hex characters (capital or lowercase).
+ * Fails if any input chars are not [0-9A-Fa-f].
+ */
+static bool parse_hex16(const char **sp, uint16_t *out)
+{
+	const char *s = *sp;
+	uint16_t ret = 0;
+	uint16_t i;
+	uint16_t tmp;
+	char c;
+
+	for (i = 0; i < 4; i++) {
+		c = *s++;
+		if (c >= '0' && c <= '9')
+			tmp = c - '0';
+		else if (c >= 'A' && c <= 'F')
+			tmp = c - 'A' + 10;
+		else if (c >= 'a' && c <= 'f')
+			tmp = c - 'a' + 10;
+		else
+			return false;
+
+		ret <<= 4;
+		ret += tmp;
+	}
+	
+	if (out)
+		*out = ret;
+	*sp = s;
+	return true;
+}
+
+/*
+ * Encodes a 16-bit number into hexadecimal,
+ * writing exactly 4 hex chars.
+ */
+static int write_hex16(char *out, uint16_t val)
+{
+	const char *hex = "0123456789ABCDEF";
+	
+	*out++ = hex[(val >> 12) & 0xF];
+	*out++ = hex[(val >> 8)  & 0xF];
+	*out++ = hex[(val >> 4)  & 0xF];
+	*out++ = hex[ val        & 0xF];
+	
+	return 4;
+}
+
+bool json_check(const JsonNode *node, char errmsg[256])
+{
+	#define problem(...) do { \
+			if (errmsg != NULL) \
+				snprintf(errmsg, 256, __VA_ARGS__); \
+			return false; \
+		} while (0)
+	
+	if (node->key != NULL && !utf8_validate(node->key))
+		problem("key contains invalid UTF-8");
+	
+	if (!tag_is_valid(node->tag))
+		problem("tag is invalid (%u)", node->tag);
+	
+	if (node->tag == JSON_BOOL) {
+		if (node->bool_ != false && node->bool_ != true)
+			problem("bool_ is neither false (%d) nor true (%d)", (int)false, (int)true);
+	} else if (node->tag == JSON_STRING) {
+		if (node->string_ == NULL)
+			problem("string_ is NULL");
+		if (!utf8_validate(node->string_))
+			problem("string_ contains invalid UTF-8");
+	} else if (node->tag == JSON_ARRAY || node->tag == JSON_OBJECT) {
+		JsonNode *head = node->children.head;
+		JsonNode *tail = node->children.tail;
+		
+		if (head == NULL || tail == NULL) {
+			if (head != NULL)
+				problem("tail is NULL, but head is not");
+			if (tail != NULL)
+				problem("head is NULL, but tail is not");
+		} else {
+			JsonNode *child;
+			JsonNode *last = NULL;
+			
+			if (head->prev != NULL)
+				problem("First child's prev pointer is not NULL");
+			
+			for (child = head; child != NULL; last = child, child = child->next) {
+				if (child == node)
+					problem("node is its own child");
+				if (child->next == child)
+					problem("child->next == child (cycle)");
+				if (child->next == head)
+					problem("child->next == head (cycle)");
+				
+				if (child->parent != node)
+					problem("child does not point back to parent");
+				if (child->next != NULL && child->next->prev != child)
+					problem("child->next does not point back to child");
+				
+				if (node->tag == JSON_ARRAY && child->key != NULL)
+					problem("Array element's key is not NULL");
+				if (node->tag == JSON_OBJECT && child->key == NULL)
+					problem("Object member's key is NULL");
+				
+				if (!json_check(child, errmsg))
+					return false;
+			}
+			
+			if (last != tail)
+				problem("tail does not match pointer found by starting at head and following next links");
+		}
+	}
+	
+	return true;
+	
+	#undef problem
+}
diff --git a/phonelibs/json/src/json.h b/phonelibs/json/src/json.h
new file mode 100644
index 0000000000..ed5255e682
--- /dev/null
+++ b/phonelibs/json/src/json.h
@@ -0,0 +1,117 @@
+/*
+  Copyright (C) 2011 Joseph A. Adams (joeyadams3.14159@gmail.com)
+  All rights reserved.
+
+  Permission is hereby granted, free of charge, to any person obtaining a copy
+  of this software and associated documentation files (the "Software"), to deal
+  in the Software without restriction, including without limitation the rights
+  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+  copies of the Software, and to permit persons to whom the Software is
+  furnished to do so, subject to the following conditions:
+
+  The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+
+  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+  THE SOFTWARE.
+*/
+
+#ifndef CCAN_JSON_H
+#define CCAN_JSON_H
+
+#include <stdbool.h>
+#include <stddef.h>
+
+typedef enum {
+	JSON_NULL,
+	JSON_BOOL,
+	JSON_STRING,
+	JSON_NUMBER,
+	JSON_ARRAY,
+	JSON_OBJECT,
+} JsonTag;
+
+typedef struct JsonNode JsonNode;
+
+struct JsonNode
+{
+	/* only if parent is an object or array (NULL otherwise) */
+	JsonNode *parent;
+	JsonNode *prev, *next;
+	
+	/* only if parent is an object (NULL otherwise) */
+	char *key; /* Must be valid UTF-8. */
+	
+	JsonTag tag;
+	union {
+		/* JSON_BOOL */
+		bool bool_;
+		
+		/* JSON_STRING */
+		char *string_; /* Must be valid UTF-8. */
+		
+		/* JSON_NUMBER */
+		double number_;
+		
+		/* JSON_ARRAY */
+		/* JSON_OBJECT */
+		struct {
+			JsonNode *head, *tail;
+		} children;
+	};
+};
+
+/*** Encoding, decoding, and validation ***/
+
+JsonNode   *json_decode         (const char *json);
+char       *json_encode         (const JsonNode *node);
+char       *json_encode_string  (const char *str);
+char       *json_stringify      (const JsonNode *node, const char *space);
+void        json_delete         (JsonNode *node);
+
+bool        json_validate       (const char *json);
+
+/*** Lookup and traversal ***/
+
+JsonNode   *json_find_element   (JsonNode *array, int index);
+JsonNode   *json_find_member    (JsonNode *object, const char *key);
+
+JsonNode   *json_first_child    (const JsonNode *node);
+
+#define json_foreach(i, object_or_array)            \
+	for ((i) = json_first_child(object_or_array);   \
+		 (i) != NULL;                               \
+		 (i) = (i)->next)
+
+/*** Construction and manipulation ***/
+
+JsonNode *json_mknull(void);
+JsonNode *json_mkbool(bool b);
+JsonNode *json_mkstring(const char *s);
+JsonNode *json_mknumber(double n);
+JsonNode *json_mkarray(void);
+JsonNode *json_mkobject(void);
+
+void json_append_element(JsonNode *array, JsonNode *element);
+void json_prepend_element(JsonNode *array, JsonNode *element);
+void json_append_member(JsonNode *object, const char *key, JsonNode *value);
+void json_prepend_member(JsonNode *object, const char *key, JsonNode *value);
+
+void json_remove_from_parent(JsonNode *node);
+
+/*** Debugging ***/
+
+/*
+ * Look for structure and encoding problems in a JsonNode or its descendents.
+ *
+ * If a problem is detected, return false, writing a description of the problem
+ * to errmsg (unless errmsg is NULL).
+ */
+bool json_check(const JsonNode *node, char errmsg[256]);
+
+#endif
diff --git a/selfdrive/boardd/Makefile b/selfdrive/boardd/Makefile
index 4e0c00c6c7..e27459dfb3 100644
--- a/selfdrive/boardd/Makefile
+++ b/selfdrive/boardd/Makefile
@@ -19,10 +19,7 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-              -l:libcapnp.a -l:libkj.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+JSON_FLAGS = -I$(PHONELIBS)/json/src
 
 EXTRA_LIBS = -lusb
 
@@ -34,14 +31,18 @@ CEREAL_LIBS = -L$(HOME)/drive/external/capnp/lib/ \
 EXTRA_LIBS = -lusb-1.0 -lpthread
 endif
 
+.PHONY: all
+all: boardd
+
+-include ../common/cereal.mk
 
 OBJS = boardd.o \
-       log.capnp.o
+       ../common/swaglog.o \
+       $(PHONELIBS)/json/src/json.o \
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: boardd
-
 boardd: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -53,18 +54,20 @@ boardd.o: boardd.cc
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
-           -c -o '$@' '$<'
-  
+%.o: %.c
+	@echo "[ CC ] $@"
+	$(CC) $(CFLAGS) -MMD \
+          -Iinclude -I.. -I../.. \
+          $(CEREAL_CFLAGS) \
+          $(ZMQ_FLAGS) \
+          $(JSON_FLAGS) \
+          -c -o '$@' '$<'
 
 .PHONY: clean
 clean:
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index bc8378a519..117fee611b 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -20,6 +20,7 @@
 #include <capnp/serialize.h>
 #include "cereal/gen/cpp/log.capnp.h"
 
+#include "common/swaglog.h"
 #include "common/timing.h"
 
 int do_exit = 0;
@@ -29,18 +30,12 @@ libusb_device_handle *dev_handle;
 pthread_mutex_t usb_lock;
 
 bool spoofing_started = false;
+bool fake_send = false;
 
 // double the FIFO size
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
 
-#define DEBUG_BOARDD
-#ifdef DEBUG_BOARDD
-#define DPRINTF(fmt, ...) printf("boardd(%lu): " fmt, time(NULL), ## __VA_ARGS__)
-#else
-#define DPRINTF(fmt, ...)
-#endif
-
 bool usb_connect() {
   int err;
 
@@ -56,11 +51,17 @@ bool usb_connect() {
   return true;
 }
 
+void usb_retry_connect() {
+  LOG("attempting to connect");
+  while (!usb_connect()) { usleep(100*1000); }
+  LOGW("connected to board");
+}
 
 void handle_usb_issue(int err, const char func[]) {
-  DPRINTF("usb error %d \"%s\" in %s\n", err, libusb_strerror((enum libusb_error)err), func);
+  LOGE("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
   if (err == -4) {
-    while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
+    LOGE("lost connection");
+    usb_retry_connect();
   }
   // TODO: check other errors, is simply retrying okay?
 }
@@ -77,7 +78,7 @@ void can_recv(void *s) {
   do {
     err = libusb_bulk_transfer(dev_handle, 0x81, (uint8_t*)data, RECV_SIZE, &recv, TIMEOUT);
     if (err != 0) { handle_usb_issue(err, __func__); }
-    if (err == -8) { DPRINTF("overflow got 0x%x\n", recv); };
+    if (err == -8) { LOGE("overflow got 0x%x", recv); };
 
     // timeout is okay to exit, recv still happened
     if (err == -7) { break; }
@@ -199,8 +200,6 @@ void can_send(void *s) {
     memcpy(&send[i*4+2], cmsg.getDat().begin(), cmsg.getDat().size());
   }
 
-  //DPRINTF("got send message: %d\n", msg_count);
-
   // release msg
   zmq_msg_close(&msg);
 
@@ -208,10 +207,12 @@ void can_send(void *s) {
   int sent;
   pthread_mutex_lock(&usb_lock);
 
-  do {
-    err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
-    if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
-  } while(err != 0);
+  if (!fake_send) {
+    do {
+      err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
+      if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
+    } while(err != 0);
+  }
 
   pthread_mutex_unlock(&usb_lock);
 
@@ -223,7 +224,7 @@ void can_send(void *s) {
 // **** threads ****
 
 void *can_send_thread(void *crap) {
-  DPRINTF("start send thread\n");
+  LOGD("start send thread");
 
   // sendcan = 8017
   void *context = zmq_ctx_new();
@@ -239,7 +240,7 @@ void *can_send_thread(void *crap) {
 }
 
 void *can_recv_thread(void *crap) {
-  DPRINTF("start recv thread\n");
+  LOGD("start recv thread");
 
   // can = 8006
   void *context = zmq_ctx_new();
@@ -256,7 +257,7 @@ void *can_recv_thread(void *crap) {
 }
 
 void *can_health_thread(void *crap) {
-  DPRINTF("start health thread\n");
+  LOGD("start health thread");
 
   // health = 8011
   void *context = zmq_ctx_new();
@@ -281,35 +282,31 @@ int set_realtime_priority(int level) {
 
 int main() {
   int err;
-  DPRINTF("starting boardd\n");
+  LOGW("starting boardd");
 
   // set process priority
   err = set_realtime_priority(4);
-  DPRINTF("setpriority returns %d\n", err);
+  LOG("setpriority returns %d", err);
 
   // check the environment
   if (getenv("STARTED")) {
     spoofing_started = true;
   }
 
-  // connect to the board
+  if (getenv("FAKESEND")) {
+    fake_send = true;
+  }
+
+  // init libusb
   err = libusb_init(&ctx);
   assert(err == 0);
   libusb_set_debug(ctx, 3);
 
-  // TODO: duplicate code from error handling
-  while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
-
-  /*int config;
-  err = libusb_get_configuration(dev_handle, &config);
-  assert(err == 0);
-  DPRINTF("configuration is %d\n", config);*/
+  // connect to the board
+  usb_retry_connect();
 
-  /*err = libusb_set_interface_alt_setting(dev_handle, 0, 0);
-  assert(err == 0);*/
 
   // create threads
-
   pthread_t can_health_thread_handle;
   err = pthread_create(&can_health_thread_handle, NULL,
                        can_health_thread, NULL);
diff --git a/selfdrive/calibrationd/calibrationd.py b/selfdrive/calibrationd/calibrationd.py
index 779cb4723f..9ae83da3f3 100755
--- a/selfdrive/calibrationd/calibrationd.py
+++ b/selfdrive/calibrationd/calibrationd.py
@@ -1,6 +1,9 @@
 #!/usr/bin/env python
+from __future__ import print_function
+
 import os
 import numpy as np
+import tempfile
 import zmq
 
 from common.services import service_list
@@ -8,6 +11,7 @@ import selfdrive.messaging as messaging
 from selfdrive.config import ImageParams, VehicleParams
 from selfdrive.calibrationd.calibration import ViewCalibrator, CalibStatus
 
+CALIBRATION_TMP_DIR = "/sdcard"
 CALIBRATION_FILE = "/sdcard/calibration_param"
 
 def load_calibration(gctx):
@@ -32,28 +36,33 @@ def load_calibration(gctx):
 
   # load calibration data
   if os.path.isfile(CALIBRATION_FILE):
-    # if the calibration file exist, start from the last cal values
-    with open(CALIBRATION_FILE, "r") as cal_file:
-      data = [float(l.strip()) for l in cal_file.readlines()]
-      calib = ViewCalibrator((I.X, I.Y),
-                             big_box_size,
-                             vp_img,
-                             warp_matrix_start,
-                             vp_f=[data[2], data[3]],
-                             cal_cycle=data[0],
-                             cal_status=data[1])
-
-      if calib.cal_status == CalibStatus.INCOMPLETE:
-        print "CALIBRATION IN PROGRESS", calib.cal_cycle
-  else:
-    print "NO CALIBRATION FILE"
-    calib = ViewCalibrator((I.X, I.Y),
-                           big_box_size,
-                           vp_img,
-                           warp_matrix_start,
-                           vp_f=vp_guess)
-
-  return calib
+    try:
+      # If the calibration file exist, start from the last cal values
+      with open(CALIBRATION_FILE, "r") as cal_file:
+        data = [float(l.strip()) for l in cal_file.readlines()]
+        return ViewCalibrator(
+            (I.X, I.Y),
+            big_box_size,
+            vp_img,
+            warp_matrix_start,
+            vp_f=[data[2], data[3]],
+            cal_cycle=data[0],
+            cal_status=data[1])
+    except Exception as e:
+      print("Could not load calibration file: {}".format(e))
+
+  return ViewCalibrator(
+    (I.X, I.Y), big_box_size, vp_img, warp_matrix_start, vp_f=vp_guess)
+
+def store_calibration(calib):
+  # Tempfile needs to be on the same device as the calbration file.
+  with tempfile.NamedTemporaryFile(delete=False, dir=CALIBRATION_TMP_DIR) as cal_file:
+    print(calib.cal_cycle, file=cal_file)
+    print(calib.cal_status, file=cal_file)
+    print(calib.vp_f[0], file=cal_file)
+    print(calib.vp_f[1], file=cal_file)
+    cal_file_name = cal_file.name
+  os.rename(cal_file_name, CALIBRATION_FILE)
 
 def calibrationd_thread(gctx):
   context = zmq.Context()
@@ -69,7 +78,7 @@ def calibrationd_thread(gctx):
   v_ego = None
 
   calib = load_calibration(gctx)
-  last_cal_cycle = calib.cal_cycle
+  last_write_cycle = calib.cal_cycle
 
   while 1:
     # calibration at the end so it does not delay radar processing above
@@ -91,14 +100,10 @@ def calibrationd_thread(gctx):
     calib.calibration(p0, p1, st, v_ego, steer_angle, VP)
 
     # write a new calibration every 100 cal cycle
-    if calib.cal_cycle - last_cal_cycle >= 100:
-      print "writing cal", calib.cal_cycle
-      with open(CALIBRATION_FILE, "w") as cal_file:
-        cal_file.write(str(calib.cal_cycle)+'\n')
-        cal_file.write(str(calib.cal_status)+'\n')
-        cal_file.write(str(calib.vp_f[0])+'\n')
-        cal_file.write(str(calib.vp_f[1])+'\n')
-      last_cal_cycle = calib.cal_cycle
+    if calib.cal_cycle - last_write_cycle >= 100:
+      print("writing cal", calib.cal_cycle)
+      store_calibration(calib)
+      last_write_cycle = calib.cal_cycle
 
     warp_matrix = map(float, calib.warp_matrix.reshape(9).tolist())
     dat = messaging.new_message()
diff --git a/selfdrive/common/cereal.mk b/selfdrive/common/cereal.mk
new file mode 100644
index 0000000000..f09bfa7722
--- /dev/null
+++ b/selfdrive/common/cereal.mk
@@ -0,0 +1,17 @@
+CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
+CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/include
+CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
+              -L$(PHONELIBS)/capnp-c/aarch64/lib/ \
+              -l:libcapn.a -l:libcapnp.a -l:libkj.a
+CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
+
+log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
+           -c -o '$@' '$<'
+
+car.capnp.o: ../../cereal/gen/cpp/car.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
+           -c -o '$@' '$<'
+  
diff --git a/selfdrive/common/framebuffer.cc b/selfdrive/common/framebuffer.cc
index 4b13b644d4..25e5d5577a 100644
--- a/selfdrive/common/framebuffer.cc
+++ b/selfdrive/common/framebuffer.cc
@@ -53,6 +53,7 @@ extern "C" FramebufferState* framebuffer_init(
   assert(status == 0);
 
   int orientation = 3; // rotate framebuffer 270 degrees
+  //int orientation = 1; // rotate framebuffer 90 degrees
   if(orientation == 1 || orientation == 3) {
       int temp = s->dinfo.h;
       s->dinfo.h = s->dinfo.w;
diff --git a/selfdrive/common/glutil.c b/selfdrive/common/glutil.c
new file mode 100644
index 0000000000..d118dd8af6
--- /dev/null
+++ b/selfdrive/common/glutil.c
@@ -0,0 +1,71 @@
+#include <stdlib.h>
+#include <stdio.h>
+
+#include <GLES3/gl3.h>
+
+#include "glutil.h"
+
+GLuint load_shader(GLenum shaderType, const char *src) {
+  GLint status = 0, len = 0;
+  GLuint shader;
+
+  if (!(shader = glCreateShader(shaderType)))
+    return 0;
+
+  glShaderSource(shader, 1, &src, NULL);
+  glCompileShader(shader);
+  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
+
+  if (status)
+    return shader;
+
+  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *msg = (char*)malloc(len);
+    if (msg) {
+      glGetShaderInfoLog(shader, len, NULL, msg);
+      msg[len-1] = 0;
+      fprintf(stderr, "error compiling shader:\n%s\n", msg);
+      free(msg);
+    }
+  }
+  glDeleteShader(shader);
+  return 0;
+}
+
+GLuint load_program(const char *vert_src, const char *frag_src) {
+  GLuint vert, frag, prog;
+  GLint status = 0, len = 0;
+
+  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
+    return 0;
+  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
+    goto fail_frag;
+  if (!(prog = glCreateProgram()))
+    goto fail_prog;
+
+  glAttachShader(prog, vert);
+  glAttachShader(prog, frag);
+  glLinkProgram(prog);
+
+  glGetProgramiv(prog, GL_LINK_STATUS, &status);
+  if (status)
+    return prog;
+
+  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *buf = (char*) malloc(len);
+    if (buf) {
+      glGetProgramInfoLog(prog, len, NULL, buf);
+      buf[len-1] = 0;
+      fprintf(stderr, "error linking program:\n%s\n", buf);
+      free(buf);
+    }
+  }
+  glDeleteProgram(prog);
+fail_prog:
+  glDeleteShader(frag);
+fail_frag:
+  glDeleteShader(vert);
+  return 0;
+}
diff --git a/selfdrive/common/glutil.h b/selfdrive/common/glutil.h
new file mode 100644
index 0000000000..68d6cfa630
--- /dev/null
+++ b/selfdrive/common/glutil.h
@@ -0,0 +1,8 @@
+#ifndef COMMON_GLUTIL_H
+#define COMMON_GLUTIL_H
+
+#include <GLES3/gl3.h>
+GLuint load_shader(GLenum shaderType, const char *src);
+GLuint load_program(const char *vert_src, const char *frag_src);
+
+#endif
diff --git a/selfdrive/common/swaglog.c b/selfdrive/common/swaglog.c
index 8fc64aed8e..8d31e99522 100644
--- a/selfdrive/common/swaglog.c
+++ b/selfdrive/common/swaglog.c
@@ -19,6 +19,7 @@ typedef struct LogState {
   JsonNode *ctx_j;
   void *zctx;
   void *sock;
+  int print_level;
 } LogState;
 
 static LogState s = {
@@ -31,6 +32,19 @@ static void cloudlog_init() {
   s.zctx = zmq_ctx_new();
   s.sock = zmq_socket(s.zctx, ZMQ_PUSH);
   zmq_connect(s.sock, "ipc:///tmp/logmessage");
+
+  s.print_level = CLOUDLOG_WARNING;
+  const char* print_level = getenv("LOGPRINT");
+  if (print_level) {
+    if (strcmp(print_level, "debug") == 0) {
+      s.print_level = CLOUDLOG_DEBUG;
+    } else if (strcmp(print_level, "info") == 0) {
+      s.print_level = CLOUDLOG_INFO;
+    } else if (strcmp(print_level, "warning") == 0) {
+      s.print_level = CLOUDLOG_WARNING;
+    }
+  }
+
   s.inited = true;
 }
 
@@ -50,7 +64,7 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
     return;
   }
 
-  if (levelnum >= CLOUDLOG_PRINT_LEVEL) {
+  if (levelnum >= s.print_level) {
     printf("%s: %s\n", filename, msg_buf);
   }
 
diff --git a/selfdrive/common/swaglog.h b/selfdrive/common/swaglog.h
index 50b01da66f..47f6af6e8b 100644
--- a/selfdrive/common/swaglog.h
+++ b/selfdrive/common/swaglog.h
@@ -7,13 +7,19 @@
 #define CLOUDLOG_ERROR 40
 #define CLOUDLOG_CRITICAL 50
 
-#define CLOUDLOG_PRINT_LEVEL CLOUDLOG_WARNING
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, const char* srctime, 
                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
 
 void cloudlog_bind(const char* k, const char* v);
 
+#ifdef __cplusplus
+}
+#endif
+
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                            __func__, __DATE__ " " __TIME__, \
                                            fmt, ## __VA_ARGS__)
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index fc442273c3..11b08e1f78 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-const char *openpilot_version = "0.2.3";
+const char *openpilot_version = "0.2.4";
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9b7ad903ed..51f52d1c56 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -38,6 +38,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
   # *** log ***
   context = zmq.Context()
   live100 = messaging.pub_sock(context, service_list['live100'].port)
+  carstate = messaging.pub_sock(context, service_list['carState'].port)
 
   thermal = messaging.sub_sock(context, service_list['thermal'].port)
   live20 = messaging.sub_sock(context, service_list['live20'].port)
@@ -88,6 +89,12 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     # read CAN
     CS = CI.update()
 
+    # broadcast carState
+    cs_send = messaging.new_message()
+    cs_send.init('carState')
+    cs_send.carState = CS    # copy?
+    carstate.send(cs_send.to_bytes())
+
     prof.checkpoint("CarInterface")
 
     # did it request to enable?
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index 0cf6ae180f..d30f46592d 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -57,10 +57,12 @@ class AlertManager(object):
     "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",             ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
     "outOfSpace":         alert("Comma Unavailable","Out of Space",                ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
     "ethicalDilemma":     alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "startup":            alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
   }
   def __init__(self):
     self.activealerts = []
     self.current_alert = None
+    self.add("startup", False)
 
   def alertPresent(self):
     return len(self.activealerts) > 0
diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py
index ec3a68c464..9d2216ccf4 100644
--- a/selfdrive/controls/lib/radar_helpers.py
+++ b/selfdrive/controls/lib/radar_helpers.py
@@ -219,7 +219,7 @@ class Cluster(object):
       ret += " vision_cnt: %6.0f" % self.vision_cnt
     return ret
 
-  def is_potential_lead(self, v_ego, enabled):
+  def is_potential_lead(self, v_ego):
     # predict cut-ins by extrapolating lateral speed by a lookahead time
     # lookahead time depends on cut-in distance. more attentive for close cut-ins
     # also, above 50 meters the predicted path isn't very reliable
@@ -233,12 +233,11 @@ class Cluster(object):
     # average dist
     d_path = self.dPath
 
-    if enabled:
-      t_lookahead = interp(self.dRel, t_lookahead_bp, t_lookahead_v)
-      # correct d_path for lookahead time, considering only cut-ins and no more than 1m impact
-      lat_corr = clip(t_lookahead * self.vLat, -1, 0)
-    else:
-      lat_corr = 0.
+    # lat_corr used to be gated on enabled, now always running
+    t_lookahead = interp(self.dRel, t_lookahead_bp, t_lookahead_v)
+    # correct d_path for lookahead time, considering only cut-ins and no more than 1m impact
+    lat_corr = clip(t_lookahead * self.vLat, -1, 0)
+
     d_path = max(d_path + lat_corr, 0)
 
     if d_path < 1.5 and not self.stationary and not self.oncoming:
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index ae612f9aa9..8bd93186f5 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -196,7 +196,7 @@ def radard_thread(gctx=None):
 
     # *** extract the lead car ***
     lead_clusters = [c for c in clusters
-                     if c.is_potential_lead(v_ego, enabled)]
+                     if c.is_potential_lead(v_ego)]
     lead_clusters.sort(key=lambda x: x.dRel)
     lead_len = len(lead_clusters)
 
diff --git a/selfdrive/logcatd/Makefile b/selfdrive/logcatd/Makefile
index 610ca25676..b22ef1e1c6 100644
--- a/selfdrive/logcatd/Makefile
+++ b/selfdrive/logcatd/Makefile
@@ -17,18 +17,16 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-              -l:libcapnp.a -l:libkj.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+.PHONY: all
+all: logcatd
+
+-include ../common/cereal.mk
 
 OBJS = logcatd.o \
-       log.capnp.o
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: logcatd
-
 logcatd: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -40,17 +38,12 @@ logcatd: $(OBJS)
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
-           -c -o '$@' '$<'
-
 .PHONY: clean
 clean:
 	rm -f logcatd $(OBJS) $(DEPS)
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index ca2ef87345..ab3729454a 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -194,6 +194,10 @@ def manager_thread():
 
   count = 0
 
+  # set 5 second timeout on health socket
+  # 5x slower than expected
+  health_sock.RCVTIMEO = 5000
+
   while 1:
     # get health of board, log this in "thermal"
     td = messaging.recv_sock(health_sock, wait=True)
@@ -208,6 +212,8 @@ def manager_thread():
 
     # thermal message now also includes free space
     msg.thermal.freeSpace = avail
+    with open("/sys/class/power_supply/battery/capacity") as f:
+      msg.thermal.batteryPercent = int(f.read())
     thermal_sock.send(msg.to_bytes())
     print msg
 
@@ -228,7 +234,7 @@ def manager_thread():
     # start constellation of processes when the car starts
     if not os.getenv("STARTALL"):
       # with 2% left, we killall, otherwise the phone is bricked
-      if td.health.started and avail > 0.02:
+      if td is not None and td.health.started and avail > 0.02:
         for p in car_started_processes:
           if p == "loggerd" and logger_dead:
             kill_managed_process(p)
@@ -246,7 +252,14 @@ def manager_thread():
     # report to server once per minute
     if (count%60) == 0:
       names, total_size = fake_uploader.get_data_stats()
-      cloudlog.info({"names": names, "total_size": total_size, "running": running.keys(), "count": count, "health": td.to_dict(), "thermal": msg.to_dict(), "version": version, "nonce": "THIS_STATUS_PACKET"})
+      cloudlog.event("STATUS_PACKET",
+        names=names,
+        total_size=total_size,
+        running=running.keys(),
+        count=count,
+        health=(td.to_dict() if td else None),
+        thermal=msg.to_dict(),
+        version=version)
 
     count += 1
 
@@ -270,24 +283,6 @@ def manager_prepare():
         subprocess.check_call(["make", "clean"], cwd=proc[0])
         subprocess.check_call(["make", "-j4"], cwd=proc[0])
 
-def manager_test():
-  global managed_processes
-  managed_processes = {}
-  managed_processes["test1"] = ("test", ["./test.py"])
-  managed_processes["test2"] = ("test", ["./test.py"])
-  managed_processes["test3"] = "selfdrive.test.test"
-  manager_prepare()
-  start_managed_process("test1")
-  start_managed_process("test2")
-  start_managed_process("test3")
-  print running
-  time.sleep(3)
-  kill_managed_process("test1")
-  kill_managed_process("test2")
-  kill_managed_process("test3")
-  print running
-  time.sleep(10)
-
 def wait_for_device():
   while 1:
     try:
@@ -319,20 +314,23 @@ def main():
     del managed_processes['loggerd']
     del managed_processes['logmessaged']
     del managed_processes['logcatd']
+  if os.getenv("NOCONTROL") is not None:
+    del managed_processes['controlsd']
+    del managed_processes['radard']
 
   manager_init()
+  manager_prepare()
+  
+  if os.getenv("PREPAREONLY") is not None:
+    sys.exit(0)
 
-  if len(sys.argv) > 1 and sys.argv[1] == "test":
-    manager_test()
-  else:
-    manager_prepare()
-    try:
-      manager_thread()
-    except Exception:
-      traceback.print_exc()
-      common.crash.capture_exception()
-    finally:
-      cleanup_all_processes(None, None)
+  try:
+    manager_thread()
+  except Exception:
+    traceback.print_exc()
+    common.crash.capture_exception()
+  finally:
+    cleanup_all_processes(None, None)
 
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/sensord/Makefile b/selfdrive/sensord/Makefile
index e6ad07817e..ac99cbcb23 100644
--- a/selfdrive/sensord/Makefile
+++ b/selfdrive/sensord/Makefile
@@ -17,18 +17,16 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-              -l:libcapnp.a -l:libkj.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+.PHONY: all
+all: sensord
+
+-include ../common/cereal.mk
 
 OBJS = sensors.o \
-       log.capnp.o
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: sensord
-
 sensord: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -40,19 +38,12 @@ sensors.o: sensors.cc
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
-           -c -o '$@' '$<'
-  
-
 .PHONY: clean
 clean:
 	rm -f sensord $(OBJS) $(DEPS)
diff --git a/selfdrive/sensord/sensors.cc b/selfdrive/sensord/sensors.cc
index 774b9afc26..e8ce856225 100644
--- a/selfdrive/sensord/sensors.cc
+++ b/selfdrive/sensord/sensors.cc
@@ -83,6 +83,7 @@ void sensor_loop() {
 
       const sensors_event_t& data = buffer[i];
 
+      sensorEvents[i].setSource(cereal::SensorEventData::SensorSource::ANDROID);
       sensorEvents[i].setVersion(data.version);
       sensorEvents[i].setSensor(data.sensor);
       sensorEvents[i].setType(data.type);
diff --git a/selfdrive/ui/Makefile b/selfdrive/ui/Makefile
index e4549e1183..19b9bc7df6 100644
--- a/selfdrive/ui/Makefile
+++ b/selfdrive/ui/Makefile
@@ -30,6 +30,7 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
 
 OBJS = ui.o \
        touch.o \
+       ../common/glutil.o \
        ../common/visionipc.o \
        ../common/framebuffer.o \
        $(PHONELIBS)/nanovg/nanovg.o \
diff --git a/selfdrive/ui/touch.c b/selfdrive/ui/touch.c
index a1b6a683af..a6dc226053 100644
--- a/selfdrive/ui/touch.c
+++ b/selfdrive/ui/touch.c
@@ -1,15 +1,50 @@
+#include <stdio.h>
+#include <stdlib.h>
 #include <stdbool.h>
+#include <assert.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <assert.h>
+#include <dirent.h>
 #include <sys/poll.h>
 #include <linux/input.h>
 
 #include "touch.h"
 
+static int find_dev() {
+  int err;
+
+  int ret = -1;
+
+  DIR *dir = opendir("/dev/input");
+  assert(dir);
+  struct dirent* de = NULL;
+  while ((de = readdir(dir))) {
+    if (strncmp(de->d_name, "event", 5)) continue;
+
+    int fd = openat(dirfd(dir), de->d_name, O_RDONLY);
+    assert(fd >= 0);
+
+    char name[128] = {0};
+    err = ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name);
+    assert(err >= 0);
+
+    unsigned long ev_bits[8] = {0};
+    err = ioctl(fd, EVIOCGBIT(0, sizeof(ev_bits)), ev_bits);
+    assert(err >= 0);
+
+    if (strncmp(name, "synaptics", 9) == 0 && ev_bits[0] == 0xb) {
+      ret = fd;
+      break;
+    }
+    close(fd);
+  }
+  closedir(dir);
+
+  return ret;
+}
+
 void touch_init(TouchState *s) {
-  // synaptics touch screen on oneplus 3
-  s->fd = open("/dev/input/event4", O_RDONLY);
+  s->fd = find_dev();
   assert(s->fd >= 0);
 }
 
diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c
index 4dfd18ff6b..a2b26b35e5 100644
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -20,6 +20,7 @@
 #include "common/timing.h"
 #include "common/util.h"
 #include "common/mat.h"
+#include "common/glutil.h"
 
 #include "common/framebuffer.h"
 #include "common/visionipc.h"
@@ -250,70 +251,6 @@ static const char line_fragment_shader[] =
   "  gl_FragColor = vColor;\n"
   "}\n";
 
-static GLuint load_shader(GLenum shaderType, const char *src) {
-  GLint status = 0, len = 0;
-  GLuint shader;
-
-  if (!(shader = glCreateShader(shaderType)))
-    return 0;
-
-  glShaderSource(shader, 1, &src, NULL);
-  glCompileShader(shader);
-  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
-
-  if (status)
-    return shader;
-
-  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *msg = malloc(len);
-    if (msg) {
-      glGetShaderInfoLog(shader, len, NULL, msg);
-      msg[len-1] = 0;
-      fprintf(stderr, "error compiling shader:\n%s\n", msg);
-      free(msg);
-    }
-  }
-  glDeleteShader(shader);
-  return 0;
-}
-
-static GLuint load_program(const char *vert_src, const char *frag_src) {
-  GLuint vert, frag, prog;
-  GLint status = 0, len = 0;
-
-  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
-    return 0;
-  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
-    goto fail_frag;
-  if (!(prog = glCreateProgram()))
-    goto fail_prog;
-
-  glAttachShader(prog, vert);
-  glAttachShader(prog, frag);
-  glLinkProgram(prog);
-
-  glGetProgramiv(prog, GL_LINK_STATUS, &status);
-  if (status)
-    return prog;
-
-  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *buf = (char*) malloc(len);
-    if (buf) {
-      glGetProgramInfoLog(prog, len, NULL, buf);
-      buf[len-1] = 0;
-      fprintf(stderr, "error linking program:\n%s\n", buf);
-      free(buf);
-    }
-  }
-  glDeleteProgram(prog);
-fail_prog:
-  glDeleteShader(frag);
-fail_frag:
-  glDeleteShader(vert);
-  return 0;
-}
 
 static const mat4 device_transform = {{
   1.0,  0.0, 0.0, 0.0,
@@ -760,9 +697,9 @@ static void ui_draw_vision(UIState *s) {
   draw_frame(s);
 
   if (!scene->frontview) {
-    draw_rgb_box(s, scene->big_box_x, s->rgb_height-scene->big_box_height-scene->big_box_y,
+    /*draw_rgb_box(s, scene->big_box_x, s->rgb_height-scene->big_box_height-scene->big_box_y,
                     scene->big_box_width, scene->big_box_height,
-                    0xFF0000FF);
+                    0xFF0000FF);*/
 
     ui_draw_transformed_box(s, 0xFF00FF00);
 
@@ -843,7 +780,7 @@ static void ui_draw_vision(UIState *s) {
       if (strlen(scene->alert_text2) > 0) {
         nvgFillColor(s->vg, nvgRGBA(255,255,255,255));
         nvgFontSize(s->vg, 100.0f);
-        nvgText(s->vg, 100+1700/2, 200+500, scene->alert_text2, NULL);
+        nvgText(s->vg, 100+1700/2, 200+550, scene->alert_text2, NULL);
       }
     }
 
@@ -1271,10 +1208,12 @@ static void ui_update(UIState *s) {
 
     s->last_base_update = ts;
 
-    if (s->awake_timeout > 0) {
-      s->awake_timeout--;
-    } else {
-      set_awake(s, false);
+    if (!activity_running()) {
+      if (s->awake_timeout > 0) {
+        s->awake_timeout--;
+      } else {
+        set_awake(s, false);
+      }
     }
   }
 
diff --git a/selfdrive/visiond/visiond b/selfdrive/visiond/visiond
index 127fe4d8de..77707ca4df 100755
Binary files a/selfdrive/visiond/visiond and b/selfdrive/visiond/visiond differ